Reducer and robot having the same

Abstract

The present application relates to a reducer and a robot having the same. The reducer includes a housing and a rigid wheel. The housing is provided with a first flow port and a second flow port communicating with the outside world. The interior of the housing is provided with a blade cavity and a mounting cavity communicating with each other. The blade cavity is connected to the second flow port. The inner wall of the mounting cavity is provided with a first mounting portion and a first flow channel portion. The rigid wheel is provided with a second mounting portion and a second flow channel portion. The second mounting portion is connected to the first mounting portion. The second flow channel portion can be spliced ​​with the first flow channel portion to form a flow channel connected to the first flow port. A cooling medium flows inside the flow channel, and the flow channel is connected to the blade cavity through a flow channel branch. Reducing the heat generated during the operation of the reducer can increase the service life of the reducer, improve the stability of the reducer performance, and thus improve the life and performance of the robot.

Description

Technical Field

[0001] The present application relates to the technical field of deceleration equipment, and in particular to a reducer and a robot having the same. Background Art

[0002] Reducers are an integral component of industrial robots. Installed at joints, they provide high-torque conversion, with their input connected to the motor and their output connected to the robotic arm. As robots age, reducers heat and deform, causing changes in the meshing between teeth. This increases wear and accelerates metal fatigue, shortening the reducer's lifespan and affecting its force transmission performance. Current reducers on robots typically use natural cooling, transferring heat through the tightly fitting arm or motor housing and then dissipating heat through air exchange. This inefficient cooling method can cause significant heat accumulation when the robot is operating at high frequencies, leading to stalling and paralysis. Summary of the Invention

[0003] The purpose of this application is to provide a reducer and a robot having the same, which solves the heat accumulation during the operation of the reducer, increases the service life of the reducer, and improves the stability of the reducer performance.

[0004] To this end, in a first aspect, an embodiment of the present application provides a reducer, the reducer comprising:

[0005] a housing having a first flow port and a second flow port communicating with the outside, a blade cavity and a mounting cavity communicating with each other being formed inside the housing, the blade cavity communicating with the second flow port, and an inner wall surface of the mounting cavity being provided with a first mounting portion and a first flow channel portion; and

[0006] A rigid wheel is provided with a second mounting portion and a second flow channel portion, the second mounting portion is cooperatively connected with the first mounting portion, the second flow channel portion can be spliced ​​with the first flow channel portion to form a flow channel connected to the first flow port, a cooling medium flows inside the flow channel, and the flow channel is connected to the blade cavity through a flow channel branch.

[0007] In one possible implementation, the mounting cavity includes a first mounting cavity and a second mounting cavity that are connected to each other, the first mounting cavity is located between the blade cavity and the second mounting cavity, and the first mounting portion and the first flow channel portion are formed in the second mounting cavity; the diameter of the first mounting cavity is smaller than the diameter of the second mounting cavity, and a first annular groove is provided on the end surface of the second mounting cavity facing the first mounting cavity.

[0008] In one possible implementation, the rigid wheel includes a first connecting member and a first transmission member connected to each other, the second mounting portion and the second flow channel portion are arranged on the first transmission member, and a second annular groove connected to the flow channel is opened on the side of the first transmission member away from the blade cavity.

[0009] In one possible implementation, one of the first mounting portion and the second mounting portion is an external thread structure, and the other is an internal thread structure; the first flow channel portion and the second flow channel portion are both spiral flow channel structures, and the lead of the spiral flow channel and the external thread is the same.

[0010] In one possible implementation, a first annular connecting groove is provided on the end surface of the second mounting cavity facing the first mounting cavity, and a second annular connecting groove cooperating with the first annular connecting groove is provided on the side of the rigid wheel facing the blade cavity. The first annular connecting groove and the second annular connecting groove are spliced ​​together to form an end surface connecting channel, and a first sealing member is provided in the end surface connecting channel.

[0011] In a possible implementation, the method further includes:

[0012] A rotating shaft is eccentrically arranged with respect to the blade cavity, a wave generator is sleeved on the rotating shaft and rotates with the rotating shaft, and the rigid wheel is sleeved on the rotating shaft and rotatably arranged relative to the rotating shaft; and

[0013] The flexible wheel comprises a second connecting member and a second transmission member connected to each other. The second transmission member is sleeved on the wave generator through a flexible bearing, and the outer gear ring of the second transmission member is meshed and connected with the inner gear ring of the rigid wheel.

[0014] In a possible implementation, the rotating shaft is a stepped shaft, and a plurality of sliding vane grooves are formed on the rotating shaft along its own radial direction. Slide vanes are provided in the sliding vane grooves, and arc-shaped portions are provided at the ends of the slide vanes.

[0015] In a possible implementation, the end of the rotating shaft is connected to a driver, and the driver is used to drive the rotating shaft to rotate.

[0016] In a possible implementation, the method further includes:

[0017] a medium tank, the medium tank being selectively connected to the first flow port via a first switch, and the medium tank being selectively connected to the second flow port via a second switch;

[0018] an encoder, disposed on the housing and used to detect the position of the rotating shaft; and

[0019] A controller is electrically connected to the encoder, the first switch, and the second switch.

[0020] In a second aspect, an embodiment of the present application provides a robot comprising: a reducer as described in the first aspect.

[0021] According to the reducer and the robot having the same provided in the embodiments of the present application, during the operation of the reducer, the impeller generates heat, the cooling medium enters the flow channel from the first flow port, passes through the blade cavity and then flows out of the shell through the second flow port. During the flow, the cooling medium takes away the heat transferred by the impeller, and the entire impeller generates a temperature difference. The heat flow is concentrated in the flow channel, and the cooling medium can achieve a good heat dissipation effect during the circulation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In addition, in the drawings, the same reference numerals are used for the same components, and the drawings are not drawn according to the actual scale.

[0023] Figure 1 An exploded view showing the overall structure of a reducer provided in an embodiment of the present application;

[0024] Figure 2 Show Figure 1 Schematic cross-section diagram of ;

[0025] Figure 3 Show Figure 1 Schematic diagram of the structure of the middle shell;

[0026] Figure 4 Show Figure 1 Schematic diagram of the structure of the middle rigid wheel;

[0027] Figure 5 An exploded view of a sealing cover in a reducer provided by an embodiment of the present application is shown;

[0028] Figure 6 A partial cross-sectional view of a reducer provided in an embodiment of the present application is shown;

[0029] Figure 7 A cross-sectional view showing a blade cavity in a reducer provided by an embodiment of the present application is shown;

[0030] Figure 8 A cross-sectional view of a reducer provided by another embodiment of the present application is shown;

[0031] Figure 9A control system diagram of a reducer provided in yet another embodiment of the present application is shown.

[0032] Description of reference numerals:

[0033] 1. Housing; 101. First flow port; 102. Second flow port; 103. Blade chamber; 104. First mounting chamber; 105. Second mounting chamber; 106. First mounting portion; 107. First flow channel; 108. First annular sink; 109. First annular connecting groove;

[0034] 2. Steel wheel; 21. First connecting member; 22. First transmission member; 23. Second mounting portion; 24. Second flow channel; 25. Second annular sink; 26. Second annular connecting groove; 27. Internal gear ring; 28. Second raceway;

[0035] 3. Flow channel; 4. Flow channel branch; 5. First electric pressure regulating valve; 6. Second electric pressure regulating valve;

[0036] 7. Rotating shaft; 701. Slide slot;

[0037] 8. Flexspline; 81. Second connecting member; 82. Second transmission member; 83. Outer gear ring; 84. First hole;

[0038] 9. Support bearing; 10. Wave generator; 11. Sliding vane; 111. Arc-shaped portion; 12. Flexible bearing;

[0039] 13. Support plate; 131. Second hole; 132. First sink; 133. First raceway; 14. Ball;

[0040] 15. Sealing cover; 151. Sealing groove;

[0041] 16. Driver; 17. Medium tank; 18. Encoder; 19. Controller; 20. First switch; 201. Second switch. DETAILED DESCRIPTION

[0042] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] like Figures 1-4As shown, an embodiment of the present application provides a reducer, including a shell 1 and a wheel 2, the shell 1 is provided with a first flow port 101 and a second flow port 102 connected to the outside world, the interior of the shell 1 is provided with a blade cavity 103 and an installation cavity that are connected, the blade cavity 103 is connected to the second flow port 102, and the inner wall surface of the installation cavity is provided with a first mounting portion 106 and a first flow channel portion 107; a second mounting portion 23 and a second flow channel portion 24 are provided on the wheel 2, the second mounting portion 23 is cooperated with the first mounting portion 106 and is connected, the second flow channel portion 24 can be spliced ​​with the first flow channel portion 107 to form a flow channel 3 connected to the first flow port 101, a cooling medium circulates inside the flow channel 3, and the flow channel 3 is connected to the blade cavity 103 through a flow channel branch 4.

[0044] During the operation of the reducer, the impeller 2 generates heat, and the cooling medium enters the flow channel 3 from the first flow port 101, passes through the blade cavity 103, and then flows out of the shell 1 through the second flow port 102. The cooling medium takes away the heat transferred by the impeller 2 during the flow process, and a temperature difference is generated in the impeller 2 as a whole. The heat flow is concentrated in the flow channel 3, and the cooling medium can achieve a good heat dissipation effect during the circulation process.

[0045] Optionally, the cooling medium can flow from the outside into the flow channel 3 through the first flow port 101, or from the outside into the flow channel 3 through the second flow port 102. Furthermore, the cooling medium can be a gaseous cooling medium or a liquid cooling medium. Gaseous cooling mediums include compressed air, for example, and liquid cooling mediums include cooling water or cooling oil, for example. In this application, compressed air is used as the cooling medium. The high-speed gas flow can remove a large amount of heat, resulting in fast cooling and high efficiency.

[0046] In addition, it should be noted that in the embodiments of the present application, for the convenience of description, the structure of the reducer is introduced as a harmonic reducer as an example. It can be understood that reducers of other specifications can also refer to the scheme provided in this application for structural changes.

[0047] Reference Figure 3-Figure 6In some embodiments, the mounting cavity includes a first mounting cavity 104 and a second mounting cavity 105 that communicate with each other. The first mounting cavity 104 is located between the blade cavity 103 and the second mounting cavity 105. The first mounting portion 106 and the first flow channel portion 107 are formed within the second mounting cavity 105. The diameter of the first mounting cavity 104 is smaller than that of the second mounting cavity 105. A first annular recess 108 is defined on the end surface of the second mounting cavity 105 facing the first mounting cavity 104. The provision of the first annular recess 108 allows the flow passage 3 to temporarily store the cooling medium when it flows through the flow passage 3, thereby buffering the cooling medium and preventing impact.

[0048] In some embodiments, the rigid wheel 2 includes a first connecting member 21 and a first transmission member 22 connected thereto, the second mounting portion 23 and the second flow channel portion 24 are disposed on the first transmission member 22, and a second annular groove 25 communicating with the flow passage 3 is provided on a side of the first transmission member 22 away from the blade cavity 103. The second annular groove 25 can be understood as a tool-retracting groove provided on the rigid wheel 2. The second annular groove 25 is used to trim the flow passage 3 at the end of the shaping process, and can also serve as a buffer for the cooling medium in the flow passage 3 to prevent impact. At the same time, it can also correspond to the first annular groove 108, so that the front and rear ends of the flow passage 3 can both serve as a buffer, thereby ensuring the stable flow of the cooling medium in the flow passage 3.

[0049] Optionally, a first annular connecting groove 109 is defined on the end surface of the second mounting cavity 105 facing the first mounting cavity 104, and a second annular connecting groove 26 is defined on the side of the rigid wheel 2 facing the blade cavity 103, which cooperates with the first annular connecting groove 109. The first annular connecting groove 109 and the second annular connecting groove 26 are joined to form an end surface connecting channel, and a first sealing member is provided within the end surface connecting channel. The provision of the first sealing member ensures a stable connection between the rigid wheel 2 and the housing 1 and prevents leakage of the cooling medium.

[0050] Reference Figures 1-6In some embodiments, one of the first mounting portion 106 and the second mounting portion 23 is an external thread structure, and the other is an internal thread structure; the first flow channel portion 107 and the second flow channel portion 24 are both spiral flow channel structures, and the lead of the spiral flow channel and the external thread are the same. Exemplarily, the first mounting portion 106 is an internal thread structure, and the second mounting portion 23 is an external thread structure, which is convenient for processing and preparation, as well as for maintenance. At the same time, the mutual cooperation between the internal thread structure and the external thread structure also facilitates the installation and disassembly between the wheel 2 and the shell 1. In addition, by making the lead of the spiral flow channel the same as that of the external thread, that is, it can be understood that the spiral flow channel is also the same as the lead of the internal thread, which facilitates the preparation of the flow channel 3, and at the same time ensures that the cooling medium flows evenly outside the wheel 2, and does not affect the connection between the wheel 2 and the shell 1.

[0051] Optionally, the cross-sectional shape of the external thread structure is triangular, and correspondingly, the cross-sectional shape of the internal thread structure is triangular, correspondingly matching the cross-sectional shape of the external thread structure, so that the external thread structure can be threadedly engaged with the internal thread structure; the cross-sectional shape of the first flow channel portion 107 is semicircular, and correspondingly, the cross-sectional shape of the second flow channel portion 24 is semicircular, correspondingly matching the cross-sectional shape of the second flow channel portion 24, so that the two semicircles can be spliced ​​together to form a complete circular flow channel 3. Moreover, because the external thread structure and the first flow channel portion 107 have different shapes, during connection, it can effectively avoid the situation where the external thread structure is connected to the first flow channel portion 107.

[0052] In some embodiments, the reducer also includes a rotating shaft 7 and a flexible wheel 8, wherein the rotating shaft 7 is eccentrically arranged with the blade cavity 103, and a wave generator 10 that rotates with the rotating shaft 7 is sleeved on the rotating shaft 7, and the rigid wheel 2 is sleeved on the rotating shaft 7 and is rotatably arranged relative to the rotating shaft 7; the flexible wheel 8 includes a second connecting member 81 and a second transmission member 82 that are connected to each other, and the second transmission member 82 is sleeved on the wave generator 10 through a flexible bearing 12, and the outer gear ring 83 of the second transmission member 82 is meshed with the inner gear ring 27 of the rigid wheel 2; the wave generator 10 is an elliptical structure, and the wave generator 10 is tightly fitted with the inner ring of the flexible bearing 12.

[0053] Specifically, the flexspline 8 is a thin-walled cylindrical structure with a flange that is easily deformed radially and is used to achieve differential gear transmission. The flexspline 8 includes a second connecting member 81 and a second transmission member 82. An outer ring gear 83 is provided at one end of the second transmission member 82. An inner ring gear 27 is provided at a corresponding position of the first transmission member 22 of the rigid wheel 2. The inner ring gear 27 and the outer ring gear 83 transmit force through tooth meshing. The second connecting member 81 is the flange end of the flexspline 8. A first hole 84 is provided on the second connecting member 81. Multiple first holes 84 are arranged at intervals along the circumference of the flexspline 8. A support plate 13 is provided on the second connecting member 81. The support plate 13 is provided with multiple second holes 131 that correspond one-to-one with the first holes 84. The flexspline 8 and the support plate 13 are detachably connected by screws that sequentially engage with the first holes 84 and the second holes 131. The support plate 13 is an annular disc structure that supports the flexspline 8.

[0054] Optionally, a first sink groove 132 is formed on a side of the support plate 13 facing the flexible wheel 8 . A sealing ring is embedded in the first sink groove 132 to prevent grease leakage.

[0055] In some embodiments, the support plate 13 is sleeved on the outside of the rigid wheel 2, and a first raceway 133 is provided on the side of the support plate 13 facing the rigid wheel 2, and a second raceway 28 is provided on the side of the rigid wheel 2 facing the support plate 13. The second raceway 28 is arranged corresponding to the first raceway 133, so that the first raceway 133 and the second raceway 28 are spliced ​​to form a closed raceway, and a ball 14 is arranged in the closed raceway. The ball 14 and the closed raceway form a structure similar to a bearing to realize the rotation function, so that the support plate 13 is rotatably arranged relative to the rigid wheel 2.

[0056] Reference Figure 1-Figure 7 Specifically, the rotating shaft 7 is a stepped shaft, and the rotating shaft 7 is provided with a plurality of sliding vane grooves 701 along its own radial direction. Slide vanes are provided in the sliding vane grooves 701, and the ends of the slide vanes are provided with arc-shaped portions 111. The blade cavity 103 includes a first blade cavity 103 and a second blade cavity 103. The two ends of the second blade cavity 103 are respectively between the first blade cavity 103 and the mounting cavity, and the diameter of the first blade cavity 103 is smaller than that of the second blade cavity 103. The sliding vane groove 701 is provided on the rotating shaft 7 located in the second blade cavity 103. The slide vane is a smooth rectangular block structure. The side of the slide vane facing the inner wall of the second blade cavity 103 is an arc-shaped portion 111. When the slide vane moves, the arc-shaped portion 111 of the slide vane contacts and slides with the inner wall of the second blade cavity 103.

[0057] The slide itself will automatically extend due to rotational inertia, and the slide will automatically retract under the constraint of the cavity structure of the second blade cavity 103; optionally, an elastic reset member is provided in the slide groove 701, including a spring, and the elastic reset member is used to connect the slide and the slide groove 701. Under the elastic action of the elastic reset member, the slide extends out of the slide groove 701.

[0058] In some embodiments, the shell 1 is a cylindrical structure, and a stepped sink is provided inside the shell 1. The interior of the shell 1 is divided into a first blade cavity 103, a second blade cavity 103, a first installation cavity 104 and a second installation cavity 105 in sequence through multiple stepped sinks. The corresponding multiple stepped sinks include a first step, a second step, a third step and a fourth step. The second installation portion 23 and the second flow channel portion 24 are both arranged on the inner side of the fourth step to achieve the connection of the wheel 2 and the flow guidance of the cooling medium.

[0059] Optionally, the housing 1 is provided with a plurality of mounting threaded holes, through which the housing 1 can be fixedly connected to other components.

[0060] Specifically, the flow branch 4 can be set as a right-angle structure, the flow branch 4 can also be set as an arc structure, of course, the flow branch 4 can also be set as a wavy line structure. It only needs to ensure that the flow channel 3 is connected to the blade cavity 103, and the specific structure of the flow branch 4 can be not limited.

[0061] As an example, in the present application, the flow branch 4 includes a first flow branch 4 and a second flow branch 4. One end of the first flow branch 4 is connected to the first annular trough 108, and the first flow branch 4 is arranged to extend in a straight line. The other end of the first flow branch 4 passes through the shell 1 to communicate with the outside world. A first plug is provided on the first flow branch 4, and the first plug is used to block the end of the first flow branch 4 away from the first annular trough 108. The second flow branch 4 is also arranged in a straight line structure, and the axis of the second flow branch 4 is arranged perpendicular to the axis of the first flow branch 4. The first flow branch 4 is connected to the second flow branch 4, so that the cooling medium is connected to the blade cavity 103; one end of the second flow branch 4 is opened on the second step and is connected to the second blade cavity 103, and the other end of the second flow branch 4 is connected to the outside world through the second plug, so that the cooling medium is connected to the external environment or accessories.

[0062] Reference Figure 1-Figure 7A sealing cover 15 is provided in the installation cavity. The sealing cover 15 is an annular disc structure. A sealing groove 151 is provided on the side of the sealing cover 15 facing the blade cavity 103. A sealing ring is provided in the sealing groove 151. The sealing ring is used to seal the blade cavity 103. A support bearing 9 is provided on the inner side of the sealing cover 15. The support bearing 9 cooperates with the rotating shaft 7 for support. Under the action of the support bearing 9, the rotating shaft 7 is suspended in the blade cavity 103 and rotates.

[0063] The flexspline 8 is screwed to the support plate 13 and rotates with it. The teeth of the outer ring gear 83 of the flexspline 8 mesh with the teeth of the inner ring gear 27 of the rigid wheel 2, achieving differential transmission. A bearing structure is formed between the rigid wheel 2 and the support plate 13, via balls 14. This allows the rigid wheel 2 and the support plate 13 to rotate relative to each other while one of the two structures is fixed. The rigid wheel 2 is fastened to the housing 1 via a first mounting portion 106 and a second mounting portion 23. The sliding vanes are positioned within the corresponding sliding vane slots 701 of the rotating shaft 7. The sealing cover 15 is screwed to the housing 1 to complete the seal. The rotating shaft 7 is keyed to the wave generator 10. The outer elliptical surface of the wave generator 10 has an interference fit with the flexible bearing 12. The outer ring of the flexible bearing 12 has an interference fit with the inner wall corresponding to the teeth of the outer ring gear 83 of the flexspline 8. Due to the interference deformation, the corresponding portions of the flexible bearing 12 and the flexspline 8 are deformed to the elliptical shape of the wave generator 10.

[0064] When the reducer is working, the housing 1 is fixed and the cooling medium, i.e., the compressed air in this application, enters through the first flow port 101 and enters the blade cavity 103 through the flow channel 3, pushing the sliding vane to slide, thereby driving the rotating shaft 7 to rotate. The original gas in the blade cavity 103 is discharged through the second flow port 102. The airflow is kept uninterrupted during the whole process. The rotating shaft 7 will continue to rotate, driving the wave generator 10 to rotate. The wave generator 10 rotates inside the flexible bearing 12. Due to the elliptical structure, the end point of the long axis squeezes the flexible bearing 12 to deform, and then squeezes the flexible wheel 8 to deform, resulting in the flexible wheel 8 and the rigid wheel 2 teeth meshing only at the two ends, thereby causing staggered tooth transmission, driving the flexible wheel 8 to rotate, achieving torque output, and quickly taking away the heat generated by the friction of the staggered tooth meshing in the gas flow. It should be noted that when the reducer is working, the cooling medium can also enter the flow channel 3 through the second flow port 102 and be discharged from the flow channel 3 through the first flow port 101 to achieve directional movement.

[0065] Reference Figures 1-8 In some embodiments, a driver 16 is connected to the end of the rotating shaft 7 to drive the rotating shaft 7 to rotate. The driver 16 includes a drive motor, the output shaft of which is coaxially fixed to the rotating shaft 7 via a coupling; therefore, the movement of the output shaft of the drive motor drives the synchronous movement of the rotating shaft 7.

[0066] When the reducer is running, the driving motor drives the rotating shaft 7 to rotate clockwise. Due to the rotation of the slide, a negative pressure is generated in the blade cavity 103 through which the first circulation port 101 passes, and air is sucked in by the first circulation port 101. The gas in the blade cavity 103 through which the second circulation port 102 passes is compressed to generate a positive pressure, and the second circulation port 102 is exhausted. During continuous operation, a continuous airflow is formed inside the flow channel 3 to quickly take away the heat. By the same token, when the driving motor drives the rotating shaft 7 to rotate counterclockwise, its working process is opposite to the above, with the first circulation port 101 being exhausted and the second circulation port 102 being inhaled, thereby achieving self-cooling and heat dissipation. It should be noted that at this time, both the first circulation port 101 and the second circulation port 102 can be directly connected to the outside world, so the external ambient air circulates in the flow channel 3. However, attention should be paid to the ambient temperature, otherwise the heat will continue to escape into the environment to form a cycle, presenting a state of heating the environment, which will cause the ambient temperature to rise and the heat dissipation effect to be poor.

[0067] Reference Figures 1-9 In some embodiments, the reducer further includes a medium tank 17, an encoder 18 and a controller 19, wherein the medium tank 17 is selectively connected to the first circulation port 101 through a first switch 20, and the medium tank 17 is selectively connected to the second circulation port 102 through a second switch 201; the encoder 18 is arranged on the housing 1 and is used to detect the position of the rotating shaft 7; the controller 19 is electrically connected to the encoder 18, the first switch 20 and the second switch 201.

[0068] Specifically, a cooling medium is provided in the medium tank 17, and the medium tank 17 is connected to both the first circulation port 101 and the second circulation port 102 to realize the circulation of the cooling medium. The first switch 20 includes a first solenoid valve, and the second switch 201 includes a second solenoid valve. The first circulation port 101 is also provided with a first electric pressure regulating valve 5 electrically connected to the controller 19, and the second circulation port 102 is provided with a second electric pressure regulating valve 6 electrically connected to the controller 19. The encoder 18 is used to feedback the position of the rotating shaft 7 and transmit the position signal to the controller 19. The controller 19 calculates the position of the rotating shaft 7 internally, and the controller 19 issues a control instruction to the first solenoid valve and the second solenoid valve to change the on-off direction of the cooling medium and adjust the direction of the reducer. In addition, based on the position signal of the rotating shaft 7, the controller 19 can also issue instructions to the first electric pressure regulating valve 5 and the second electric pressure regulating valve 6 to change the pressure of the cooling medium and adjust the speed of the reducer, thereby ensuring the reliability of the reducer operation.

[0069] Reference Figures 1-9 As shown, an embodiment of the present application further provides a robot comprising the reducer as described above.

[0070] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0071] It should be readily understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0072] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be in other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A reducer, characterized in that: include: A shell (1) is provided with a first flow port (101) and a second flow port (102) communicating with the outside world; a blade cavity (103) and a mounting cavity are provided inside the shell (1); the blade cavity (103) is connected to the second flow port (102); and an inner wall surface of the mounting cavity is provided with a first mounting portion (106) and a first flow channel portion (107); and A rigid wheel (2) is provided with a second mounting portion (23) and a second flow channel portion (24); the second mounting portion (23) is connected to the first mounting portion (106); the second flow channel portion (24) can be spliced ​​with the first flow channel portion (107) to form a flow channel (3) connected to the first flow port (101); a cooling medium flows inside the flow channel (3); and the flow channel (3) is connected to the blade cavity (103) through a flow channel branch (4).

2. The reducer according to claim 1, characterized in that The mounting cavity comprises a first mounting cavity (104) and a second mounting cavity (105) which are connected to each other. The first mounting cavity (104) is located between the blade cavity (103) and the second mounting cavity (105). The first mounting portion (106) and the first flow channel portion (107) are formed in the second mounting cavity (105). The diameter of the first mounting cavity (104) is smaller than the diameter of the second mounting cavity (105). The second mounting cavity (105) is provided with a first annular recessed groove (108) on the end surface facing the first mounting cavity (104).

3. The reducer according to claim 1, characterized in that The rigid wheel (2) comprises a first connecting member (21) and a first transmission member (22) connected to each other, the second mounting portion (23) and the second flow channel portion (24) are arranged on the first transmission member (22), and a second annular groove (25) communicating with the flow channel (3) is provided on a side of the first transmission member (22) away from the blade cavity (103).

4. The reducer according to any one of claims 1 to 3, characterized in that: One of the first mounting portion (106) and the second mounting portion (23) is an external thread structure, and the other is an internal thread structure; the first flow channel portion (107) and the second flow channel portion (24) are both spiral flow channel structures, and the lead of the spiral flow channel and the external thread is the same.

5. The reducer according to claim 2, characterized in that: A first annular connecting groove (109) is provided on the end surface of the second installation cavity (105) facing the first installation cavity (104); a second annular connecting groove (26) cooperating with the first annular connecting groove (109) is provided on the side of the rigid wheel (2) facing the blade cavity (103); the first annular connecting groove (109) and the second annular connecting groove (26) are spliced ​​together to form an end surface connecting channel; a first sealing member is provided in the end surface connecting channel.

6. The reducer according to claim 1, characterized in that Also includes: A rotating shaft (7) is eccentrically arranged with respect to the blade chamber (103); a wave generator (10) is sleeved on the rotating shaft (7) and rotates along with the rotating shaft (7); the rigid wheel (2) is sleeved on the rotating shaft (7) and is rotatably arranged relative to the rotating shaft (7); and The flexible wheel (8) comprises a second connecting member (81) and a second transmission member (82) connected to each other. The second transmission member (82) is sleeved on the wave generator (10) through a flexible bearing (12), and the outer ring gear (83) of the second transmission member (82) is meshedly connected with the inner ring gear (27) of the rigid wheel (2).

7. The reducer according to claim 6, characterized in that: The rotating shaft (7) is a stepped shaft. The rotating shaft (7) is provided with a plurality of sliding plate grooves (701) along its own radial direction. Slide plates are provided in the sliding plate grooves (701). The ends of the slide plates are provided with arc-shaped portions (111).

8. The reducer according to claim 6, characterized in that: The end of the rotating shaft (7) is connected to a driver (16), and the driver (16) is used to drive the rotating shaft (7) to rotate.

9. The reducer according to claim 6, characterized in that Also includes: a medium tank (17), wherein the medium tank (17) is selectively connected to the first circulation port (101) via a first switch (20), and the medium tank (17) is selectively connected to the second circulation port (102) via a second switch (201); an encoder (18) disposed on the housing (1) and used to detect the position of the rotating shaft (7); as well as A controller (19) is electrically connected to the encoder (18), the first switch (20) and the second switch (201).

10. A robot, characterized in that: include: The reducer according to any one of claims 1 to 9.

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