Driving module and robot

Abstract

The invention relates to a driving module and a robot. The driving module comprises a speed reducer, a flange, a rotary driving mechanism, a transmission shaft, an oil seal ring and an oil seal, the speed reducer comprises a speed reducer shell, a speed reducing mechanism and a speed reducing shaft, the speed reducing mechanism is arranged in the speed reducer shell, and the speed reducing shaft is connected to the speed reducing mechanism. The flange is fixedly connected to the speed reducer shell and provided with a shaft hole, the rotation driving mechanism is connected to the flange and provided with a driving shaft, and the transmission shaft penetrates through the shaft hole and is connected between the speed reducing shaft and the driving shaft. The oil seal ring is located in the shaft hole, the transmission shaft is sleeved with the oil seal ring, the oil seal ring is connected with the transmission shaft in a rotation stopping mode, and the oil seal is arranged between the oil seal ring and the hole wall of the shaft hole. According to the driving module, a more stable sealing effect can be achieved, the risk of oil leakage of the driving module and possible incidental loss are reduced through part characteristics, and then the fault rate of the speed reducer and the rotary driving mechanism in the use process of the robot is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a drive module and a robot. Background Art

[0002] With the rapid development of the robotics industry, robots are being used more and more widely in all walks of life. In the internal structure of the robot, the drive mechanism is composed of a motor and a reducer. In order to improve the performance and service life of the drive mechanism, a large amount of lubricating oil is usually injected into the motor and the reducer. However, when the drive mechanism runs at high speed, the internal pressure of the reducer and motor connection increases, which will force the lubricating oil leaking from the reducer to the motor end, causing a short circuit in the internal structure of the motor and affecting the operation of the motor. Summary of the invention

[0003] The present application provides a driving module and a robot.

[0004] According to the first aspect of the present application, the present application provides a driving module, including a reducer, a flange, a rotary drive mechanism, a transmission shaft, an oil seal ring and an oil seal, wherein the reducer includes a reducer housing, a reduction mechanism and a reduction shaft, wherein the reduction mechanism is arranged in the reducer housing, and the reduction shaft is connected to the reduction mechanism. The flange is fixedly connected to the reducer housing, the flange is provided with an axial hole, the rotary drive mechanism is connected to the flange, the rotary drive mechanism is provided with a drive shaft, the transmission shaft is passed through the axial hole, and is connected between the reduction shaft and the drive shaft. The oil seal ring is located in the axial hole, the oil seal ring is sleeved outside the transmission shaft and is connected to the transmission shaft to stop rotation, and the oil seal is arranged between the oil seal ring and the hole wall of the axial hole.

[0005] According to a second aspect of the present application, the present application provides a robot, comprising a body and the above-mentioned drive module, wherein a reducer housing is connected to the body.

[0006] In the drive module provided in the optional example of the present application, the flange is connected between the reducer and the rotary drive housing, which can isolate the reducer from the rotary drive mechanism. The reducer and the rotary drive mechanism are connected by a transmission shaft, and the transmission shaft is passed through the flange, and an oil seal and an oil seal ring are arranged between the reducer and the rotary drive mechanism to achieve relative sealing between the reducer and the rotary drive mechanism, thereby achieving a more stable sealing effect, reducing the risk of oil leakage in the drive module and possible incidental losses, thereby reducing the failure rate of the reducer and the rotary drive mechanism during the use of the robot, and reducing the design, manufacturing and maintenance costs of the robot sealing system. Furthermore, the flange can be adapted to structures such as reducers and rotary drive mechanisms of different forms, greatly improving the level of design standardization and serialization. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0008] Figure 1 A schematic structural diagram of a robot provided in an embodiment of the present application is shown.

[0009] Figure 2 A schematic diagram of the structure of a drive module provided in an embodiment of the present application is shown.

[0010] Figure 3 Shows Figure 2 The cross-sectional structural diagram of the drive module shown.

[0011] Figure 4 Shows Figure 3 The schematic diagram of the cross-sectional structure of the reducer and flange of the drive module shown.

[0012] Figure 5 Shows Figure 2 The schematic diagram of the structure of the rotating drive mechanism and the transmission shaft of the driving module is shown.

[0013] Figure 6 Shows Figure 3 The cross-sectional structural diagram of the rotary drive mechanism of the drive module shown.

[0014] Figure 7 Shows Figure 3 Schematic diagram of the cross-sectional results of the transmission shaft, oil seal ring and oil seal shown.

[0015] Figure 8 Shows Figure 7 Schematic diagram of the cross-sectional structure of the oil seal ring shown.

[0016] Fig. 9 Shows Figure 8 A schematic diagram of the partial cross-sectional structure of the oil seal ring is shown.

[0017] Fig.10 Shows Figure 7 Schematic diagram of the structure of the oil seal ring shown.

[0018] Fig.11 Shows Figure 7 Another structural schematic diagram of the oil seal ring is shown.

[0019] Fig.12 Shows Figure 7 Another structural schematic diagram of the oil seal ring is shown. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0021] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0022] The drive module and robot proposed in this application will be further explained below in conjunction with specific implementation methods and drawings.

[0023] See also Figure 1 The embodiment of the present application provides a driving module 100 and a robot 200 equipped with the driving module 100. The driving module 100 can be applied to the robot 200, and the driving module 100 can drive a part of the structure of the robot 200 to move. The present specification does not limit the specific type of the robot 200. For example, the robot 200 can be an industrial robot arm robot or a driving robot, or a collaborative robot.

[0024] The robot 300 includes a body 201 and a driving module 100. The housing of the driving module 200 is connected to the body 201. Specifically in this embodiment, the robot 200 may further include an execution end 203, and the driving module 100 is connected between the execution end 203 and the body 201, and is used to drive the execution end 203 to move relative to the robot body 201.

[0025] Furthermore, the robot 200 may include a plurality of execution ends 203 , and accordingly, the robot 200 also includes a driving module 100 corresponding to the plurality of execution ends 203 , and each execution end 203 is connected to the robot body 201 via the corresponding driving module 100 .

[0026] See also Figures 2 to 3In this embodiment, the driving module 100 includes a reducer 10, a flange 20, a rotary drive mechanism 30, a transmission shaft 40, an oil seal ring 50 and an oil seal 60. The reducer 10 includes a reducer housing 12, a reduction mechanism 14 and a reduction shaft 16. The reduction mechanism 14 is arranged in the reducer housing 12. The reduction shaft 16 is connected to the reduction mechanism 12 and is used to connect with the rotary drive mechanism 30. The flange 20 is fixedly connected to the reducer housing 12. The flange 20 is provided with an axial hole 22 for the transmission shaft 40 to pass through. The rotary drive mechanism 30 is connected to the flange 20. The rotary drive mechanism 30 is provided with a drive shaft 32. The transmission shaft 40 is passed through the axial hole 22 and connected between the reduction shaft 16 and the drive shaft 32. The transmission shaft 40 can drive the reduction shaft 16 to rotate under the drive of the drive shaft 32. The oil seal ring 50 is located in the axial hole 22. The oil seal ring 50 is sleeved outside the transmission shaft 40 and is connected to the transmission shaft 40 to stop rotation. The oil seal 60 is disposed between the oil seal ring 50 and the wall of the shaft hole 22 so that the transmission shaft 40 and the shaft hole 22 are sealed and matched.

[0027] The flange 20 of the driving module 100 is connected between the reducer 10 and the rotary drive housing 30, and the reducer 10 can be isolated from the rotary drive mechanism 30. The reducer 10 and the rotary drive mechanism 30 are connected by a transmission shaft 40, and the transmission shaft 40 is arranged in the flange 20, and an oil seal 60 and an oil seal ring 50 are arranged between the reducer 10 and the rotary drive mechanism 30 to achieve relative sealing between the reducer 10 and the rotary drive mechanism 30, so as to achieve a more stable sealing effect, reduce the risk of oil leakage of the driving module 100 and the possible incidental losses, thereby reducing the failure rate of the reducer 10 and the rotary drive mechanism 30 during the use of the robot 200, and reducing the design, manufacturing and maintenance costs of the sealing system of the robot 200. Furthermore, the flange 20 can be adapted to structures such as reducers 10 and rotary drive mechanisms 30 of different forms, which greatly improves the level of design standardization and serialization.

[0028] See also Figure 4In this embodiment, the reducer 10 includes a reducer housing 12, a reduction mechanism 14 and a reduction shaft 16. The reducer housing 12 provides a closed space for the reduction mechanism 14, so that the reduction mechanism 14 is isolated from the external environment, plays a role of waterproof and dustproof, and improves the service life and reliability of the reducer 10. The reduction mechanism 14 is arranged in the reducer housing 12. Specifically, a bearing 13 can be arranged between the reduction mechanism 14 and the reducer housing 12, and the bearing 13 can enable the reduction mechanism 14 to rotate relative to the reducer housing 12. The present application does not limit the specific type of the reduction mechanism 14. For example, the reduction mechanism 14 can be a worm gear transmission reduction mechanism, a gear transmission reduction mechanism, a planetary gear transmission reduction mechanism, etc., to achieve the purpose of speed reduction. In this embodiment, the reduction mechanism 14 can adopt an RV-N series reducer. The transmission of the reducer drives the internal cycloid wheel to rotate through the three planetary gears of the first stage to achieve speed reduction and distance increase. The three planetary gears of the first stage are driven by the gears on the input shaft of the reducer.

[0029] Furthermore, in this embodiment, since the interior of the reducer 10 is filled with lubricant, a sealing structure (not shown in the figure) may be provided on the outside of the reduction shaft 16. For example, an oil seal structure may be provided on the outside of the reduction shaft 16. The oil seal structure is used to prevent the lubricant inside the reducer 10 from flowing out through the installation gap of the reduction shaft 16.

[0030] In this embodiment, the flange 20 is fixedly connected to the reducer housing 12, and the flange 20 is used to connect the reducer 10 and the rotary drive mechanism 30. Specifically in this embodiment, the flange 20 includes a flange body 24, a connecting portion 26 and a mounting portion 28, and the connecting portion 26 and the mounting portion 28 are respectively located on opposite sides of 24. In this embodiment, the flange body 24, the connecting portion 26 and the mounting portion 28 can be an integrally formed structure, for example, the flange 20 is formed as a whole by casting or die casting.

[0031] The flange body 24 is roughly plate-shaped, and the shaft hole 22 is located at the roughly middle position of the flange body 24 and penetrates both sides of the flange body 24. The flange body 24 is arranged on one side of the reducer 10 close to the rotary drive mechanism 30. The connecting portion 26 is roughly annular, and the connecting portion 26 surrounds the flange body 24 and is connected to the flange body 24. The connecting portion 26 is connected to the reducer housing 12, and the connecting portion 26 and the reducer housing 12 can be connected through a connecting member 101. For example, the connecting portion 26 and the reducer housing 12 are both provided with a connecting hole, and the connecting member 101 is at least partially embedded in the connecting hole, so that the flange 20 and the reducer 10 are more firmly connected. In some embodiments, the connecting member 101 can be a threaded connecting member, and the connecting hole can be a threaded hole. The connecting member 101 and the connecting hole are screwed together to connect the connecting portion 26 and the reducer housing 12. In other embodiments, the connecting member 101 can be a snap-fit ​​structure, and the connecting hole is directly buckled to connect the connecting portion 26 and the reducer housing 12. In this embodiment, the mounting portion 28 is substantially annular, one end of the mounting portion 28 is connected to the flange body 24 , and the other end protrudes toward a side close to the rotation drive mechanism 30 . The mounting portion 28 is used to connect to the rotation drive mechanism 30 .

[0032] See also Figures 5 and 6 In this embodiment, the rotary drive mechanism 30 is connected to the flange 20, and the rotary drive mechanism 30 is used to provide driving force to the driving module 100. The rotary drive mechanism 30 is located on the side of the flange 20 away from the reducer 10, so that the flange 20 isolates the rotary drive mechanism 30 from the reducer 10, thereby preventing the lubricant in the reducer 100 from directly flowing into the rotary drive mechanism 30.

[0033] The rotary drive mechanism 30 includes a drive housing 34, which is provided with a housing chamber 341, and the housing chamber 341 is used to accommodate other structures of the rotary drive mechanism 30. The drive housing 34 includes a first outer wall 343 and at least one second outer wall 345 connected to the first outer wall 343, and the first outer wall 343 and the second outer wall 345 jointly define the housing chamber 341. Specifically in this embodiment, the drive housing 34 is roughly prismatic, and the number of the second outer walls 345 is three, and the three second outer walls 345 are respectively a first sub-outer wall 3451, a second sub-outer wall 3453 and a third sub-outer wall 3555, and the first outer wall 343, the first sub-outer wall 3451, the second sub-outer wall 3453 and the third sub-outer wall 3455 are connected end to end in sequence to jointly define the housing chamber 341. Further, an opening 347 is also provided at one end of the drive housing 34 close to the flange 20, and the opening 347 is connected to the housing chamber 341.

[0034] In this embodiment, the rotary drive mechanism 30 further includes an end cover 38, which is disposed at one end of the drive housing 34 facing the flange 20 and is disposed opposite to the flange 20. The end cover 38 and the drive housing 36 together define a substantially closed space to achieve sealing of the rotary drive mechanism 30. As an example, the end cover 38 can be fixedly connected to the flange 20 so that the reducer 10 and the rotary drive mechanism 30 form a whole. In this embodiment, the end cover 38 includes a cover body 381 and a boss 383, the cover body 381 is substantially plate-shaped, the cover body 381 is disposed opposite to the flange 20 and covers the opening 347, and the cover body 381 can be used to support the output rotor of the rotary drive mechanism 30 and place structures such as bearings. The cover body 381 may be provided with a middle hole 3811 , which is approximately located in the middle of the cover body 381 . The middle hole 3811 is connected to the opening 347 , and the transmission shaft 40 passes through the middle hole 3811 and the shaft hole 22 in sequence.

[0035] In this embodiment, the outer peripheral wall of the end cover 38 includes a first side wall 387 and at least one second side wall 389 connected to the first side wall 387, and the first outer wall 343 is connected to the first side wall 387 in parallel along the axis direction of the drive shaft 32. Specifically, in this embodiment, there are three second side walls 389, and the three second side walls 389 are respectively a first sub-side wall 3891, a second sub-side wall 3893 and a third sub-side wall 3555. The first side wall 387, the first sub-side wall 3891, the second sub-side wall 3893 and the third sub-side wall 3895 are connected end to end in sequence, the first sub-outer wall 3451 is connected to the first sub-side wall 3891 in parallel along the axis direction of the drive shaft 32, the second sub-outer wall 3453 is connected to the second sub-side wall 3893 in parallel along the axis direction of the drive shaft 32, and the third sub-outer wall 3455 is connected to the third sub-side wall 3895 in parallel along the axis direction of the drive shaft 32.

[0036] In this embodiment, the boss portion 383 is disposed on the side of the cover portion 381 facing the flange 20 and surrounds the transmission shaft 40. The boss portion 383 is generally annular and is used to reduce the possibility of lubricant on the reducer 10 side entering the interior of the rotary drive mechanism 30.

[0037] In this embodiment, the end cover 38 further includes a protrusion 385, which is arranged on the side of the cover body 381 facing the flange 20 and is arranged around the outer periphery of the boss portion 383. The protrusion 385 is used to connect the flange 20 and is connected to the reducer 10 through the flange 20. Specifically, in this embodiment, the protrusion 385 is roughly annular, and the mounting portion 28 of the flange 20 is sleeved on the outer periphery of the protrusion 385 and overlapped on the end surface of the cover body 381, so that the connection between the flange 20 and the rotary drive mechanism 30 is more stable. Further, the protrusion 385 and the boss portion 383 are spaced apart to form an oil-containing groove 384, which is used to accommodate the lubricant on the reducer 10 side.

[0038] In this embodiment, the surface of the end cover 38 facing the flange 20 is provided with an oil drain groove 388, and the oil drain groove 388 is used to allow the lubricant on the surface of the end cover 38 to leak to the outside of the drive housing 34. Specifically in this embodiment, the side of the flange 20 facing the cover body 381 is arranged relative to the oil drain groove 388, so that the lubricant of the reducer 10 can flow into the oil drain groove 388 and flow to the outside of the rotary drive mechanism 30 through the oil drain groove 388. The oil drain groove 388 is a generally strip-shaped groove, and the oil drain groove 388 is arranged on the surface of the cover body 381. The oil drain groove 388 passes through the protrusion 385 and the outer peripheral wall of the end cover 38 to form an oil drain port 3881. The oil drain port 3811 is arranged on the second side wall 353 and communicates with the outside of the rotary drive mechanism 30. In this embodiment, the number of the oil drain grooves 388 can be three, and accordingly, the number of the oil drain ports 3881 is also three, and the three oil drain ports 3881 are respectively arranged on the first sub-side wall 3551, the second sub-side wall 3553 and the third sub-side wall 3555, which can improve the oil drain efficiency of the oil drain grooves 388, thereby ensuring the stable operation of the drive module 100. Specifically in this embodiment, each oil drain groove 388 can have multiple extension directions, for example, each oil drain groove 388 extends along the radial direction of the flange body 32, and multiple oil drain grooves 388 can be radially distributed in sequence. In some embodiments, each oil drain groove 388 can extend along a straight line, and in other embodiments, each oil drain groove 388 can be bent and extended.

[0039] In the present embodiment, the rotary drive mechanism 30 further includes a rotary drive member 36, which is disposed in the accommodating chamber 341, and the drive shaft 32 is connected to the rotary drive member 36 and connected to the reduction shaft 12, so as to output the power of the rotary drive mechanism 30 to the reducer 10. In the present embodiment, the drive shaft 32 may be an output shaft of the rotary drive member 36, or may be a shaft connected to the output shaft of the rotary drive member 36. The present application does not limit the specific type of the rotary drive mechanism 30, for example, the rotary drive mechanism 30 may be a driving component for rotary motion such as a rotary motor, a rotary cylinder, or a rotary hydraulic cylinder. In the present embodiment, the rotary drive mechanism 30 may be a rotary motor, which may include a stator and an output rotor, wherein the stator is fixedly connected to the drive housing 32, and the output rotor is rotatably matched with the stator and connected to the drive shaft 32. Further, the stator and the output rotor are both electromagnets, and the output rotor can be rotated relative to the stator by controlling the magnitude and direction of the current input to the electromagnet.

[0040] In the present embodiment, the reduction shaft 16, the drive shaft 32 and the transmission shaft 40 are all independent shaft-shaped structures, and the transmission shaft 40 is connected between the reduction shaft 16 and the drive shaft 32. Specifically, the reduction shaft 16, the transmission shaft 40 and the drive shaft 32 are coaxially connected in sequence. For example, one end of the transmission shaft 40 can be sleeved on the reduction shaft 16 and the two can be connected by splines or bolts, and the other end of the transmission shaft 40 can be sleeved on the drive shaft 32 and the two can be connected by splines or bolts. The transmission shaft 40 can drive the reduction shaft 16 to rotate under the drive of the drive shaft 32. It should be understood that in some other embodiments, the transmission shaft 40 can be integrally formed with the drive shaft 32, that is, the transmission shaft 40 and the drive shaft 32 can be different parts on the same shaft, for example, the transmission shaft 40 and the drive shaft 32 can be the output shaft of the rotating drive member 36. In other embodiments, the transmission shaft 40 can be integrally formed with the reduction shaft 16, that is, the transmission shaft 40 and the reduction shaft 16 can be different parts on the same shaft, for example, the transmission shaft 40 and the reduction shaft 16 can be the input shaft of the reducer.

[0041] See also Figures 8 to 12 In this embodiment, the oil seal ring 50 is located in the shaft hole 33 of the flange 20, and the oil seal ring 50 is sleeved outside the transmission shaft 40 and is non-rotatably connected to the transmission shaft 40. It should be understood that the "non-rotatably connected" between the oil seal ring 50 and the transmission shaft 40 should be understood as that the oil seal ring 50 and the transmission shaft 40 are relatively fixed, and the oil seal ring 50 can rotate with the rotation of the transmission shaft 40. Further, the outer diameter of the boss portion 383 is less than or equal to the outer diameter of the oil seal ring 50, so that the lubricant can flow into the oil drain groove 388.

[0042] Specifically in this embodiment, the oil seal ring 50 may be cylindrical, and may be provided with a center hole 56, which is located approximately in the middle of the oil seal ring 50, and passes through opposite ends of the oil seal ring 50, and the oil seal ring 50 is sleeved outside the transmission shaft 40 through the center hole 56. The oil seal ring 50 also has a first end face 52 and a second end face 54 that are separated from each other, the first end face 52 is arranged toward the rotary drive mechanism 30, and the center hole 56 passes through the first end face 52 and the second end face 54. The center portion of the first end face 52 is recessed relative to the outer edge portion, so that the outer edge of the second end face 54 of the oil seal ring 50 forms a sharp angle structure. Under normal use, the rotating shaft of the driving module 100 is usually arranged in the vertical direction, and the reducer 10 is above the rotating drive mechanism 30. Therefore, when the driving module 100 runs at high speed, the lubricant in the reducer 10 may flow out along the reduction shaft 16 to the surface of the transmission shaft 40 due to gravity, and flow out through the gap between the transmission shaft 40 and the oil seal ring 50. Therefore, when the lubricant flows out from the center hole 56 of the oil seal ring 50 to the second end face 54, the pointed angle structure can make the lubricant flow down along the pointed angle, thereby preventing the leaked lubricant from flowing into the interior of the rotating drive mechanism 30 along the transmission shaft 40 from the connection between the oil seal ring 50 and the transmission shaft 40 under high-speed conditions.

[0043] In the embodiment of the present application, the distance between the center portion of the first end surface 52 and the second end surface 54 is smaller than the distance between the outer edge portion and the second end surface 54. As an example, see Fig. 9 and Fig.11 The first end face 52 has an inner peripheral edge 521 and an outer peripheral edge 523, the inner peripheral edge 521 is formed by the central hole 56 penetrating the first end face 52, the outer peripheral edge 52 is the outer edge of the first end face 52, and the distance D1 between the inner peripheral edge 521 and the second end face 54 is smaller than the distance between the outer peripheral edge 523 and the second end face 54. Along the direction from the inner peripheral edge 521 to the outer peripheral edge 523, the distance between the first end face 52 and the second end face 54 can be gradually reduced, so as to form a suitable inclination so that the leaked lubricant can slowly flow out along the second end face 54 to the outer peripheral edge 523.

[0044] Furthermore, in the first end surface 52, the position of the center hole 56 is the lowest point of the entire surface. In other words, the distance between the hole edge (inner circumference 521) formed by the center hole 56 on the first end surface 52 and the second end surface 52 is smaller than the distance between other parts of the first end surface 52 and the second end surface 52, thereby preventing the lubricant from flowing into the center hole 56 or flowing along the transmission shaft 40 to the rotary drive mechanism 30. Specifically, the concave structure presented by the first end surface 52 can be a curved surface, a spherical surface (such as Fig.12 As shown), conical surface (as Fig.11For example, in this embodiment, the first end face 52 is a conical surface. Further, the first end face 52 can be directly formed during die casting, or can be cut and formed after forming the cylindrical base to form a chamfered structure.

[0045] In this example, please refer again to Figure 8 and Fig. 9 When the oil seal ring 50 is cut by a section along its own central axis O, the cross-sectional contour line of the first end face 52 is a straight line, and the angle a between the cross-sectional contour line and the central axis O is an acute angle. For example, the angle a between the cross-sectional contour line of the first end face 52 and the central axis O is greater than or equal to 45 degrees and less than or equal to 87 degrees. In this embodiment, the angle a between the cross-sectional contour line of the first end face 52 and the central axis O can be 85 degrees. The oil seal ring 50 used in this embodiment is a matching component of the high-speed oil seal. The component has a simple structure and low manufacturing cost. When the size of the transmission shaft 40 is different from the size of the reduction shaft 16, the same sealing component and design method can be used, which reduces the cost of design and manufacturing, and can make the seal at this position more universal.

[0046] In this embodiment, the oil seal 60 can be a skeleton oil seal. It should be understood that in some other embodiments, the oil seal 60 can also be a dynamic seal or static seal component such as a star seal ring, an O-ring, and the oil seal 60 is not limited to one and is not limited to one. When applied, in the design of industrial robots, the reducer 10 and the sealing device are often on the top, and the rotary drive mechanism 30 and other components are on the bottom. Taking the first axis of the SCARA robot as an example, according to the traditional way of sealing on the drive component, if the seal component of the reducer 10 fails after long-term use or in an accident, the lubricant in the reducer 10 will directly enter the inside of the drive components such as the rotary drive mechanism 30, causing damage and failure of the drive components. Therefore, in this embodiment, the oil seal 60 is arranged outside the transmission shaft 40, that is, the oil seal 60 is arranged between the reducer 10 and the rotary drive mechanism 30, which can prevent the lubricating oil in the reducer 10 from leaking into the rotary drive mechanism 30 when the drive module 100 is installed upright, inverted or sideways.

[0047] In this embodiment, the driving module 100 further includes a sealing ring 70, which is sleeved on the transmission shaft 40 and disposed between the transmission shaft 40 and the oil seal ring 50, so that the oil seal ring 50 is sealed and connected to the transmission shaft 40. Further, the outer peripheral wall of the transmission shaft 40 may be provided with a sealing groove 42, and the sealing ring 70 is at least partially embedded in the sealing groove 42. This specification does not limit the type of the sealing ring 70. For example, in this embodiment, the sealing ring 70 may be an O-type sealing ring. In some other embodiments, the sealing ring 70 may be a V-type sealing ring, a U-type sealing ring, etc.

[0048] Please refer again Figures 5 and 6 In this embodiment, the drive module 100 further includes a harness connector 80, which is disposed on one side of the drive housing 34 and is used to connect an external harness. When projected along the axial direction of the drive shaft 32, the projection of the harness connector 80 and the oil drain port 3881 do not overlap, so that the lubricant leaked through the oil drain port 3881 can avoid the harness connector 80 and electrical components such as the harness, thereby ensuring the normal operation of the drive module 100. Specifically, in this embodiment, the harness connector 80 is disposed on the first outer wall 343, and the oil drain groove 388 is disposed on the second side wall 389, so that when projected along the axial direction of the drive shaft 32, the projection of the harness connector 80 and the oil drain port 3881 do not overlap, so that the lubricant can avoid the harness connector 80 and electrical components such as the harness, thereby ensuring the normal operation of the drive module 100. In other embodiments, an oil drain groove 388 may also be provided on the first side wall 387, and the oil drain port 3881 of the first side wall 387 does not overlap with the projection of the wiring harness connector 80 on the first outer wall 343 (for example, they are staggered on the same surface), so that the lubricant flowing out of the oil drain port 3881 can avoid electrical components such as the wiring harness connector 80 and the wiring harness, thereby ensuring the normal operation of the drive module 100.

[0049] Furthermore, in some embodiments, a fence (not shown in the figure) can be provided around the wiring harness connector 80 to better protect the wiring harness connector 80 from being contacted by the lubricant. For example, a rib is provided on the first outer wall 343, and the rib is provided at least on the side of the wiring harness connector 80 facing the end cover, and is located between the oil drain port 3881 and the wiring harness connector 80. The rib can act as a fence to block the lubricant from flowing to the wiring harness connector to a certain extent. Of course, the rib can also surround the wiring harness connector 80. In other embodiments, an oil guide groove (not shown in the figure) may be provided around the wiring harness connector 80 to guide the lubricant to flow in a direction away from the wiring harness connector 80 to better protect the wiring harness connector 80 from being contacted by the lubricant. For example, an oil guide groove is provided on the first outer wall 343, and the oil guide groove extends on the first outer wall 343 along the rotation axis direction of the rotating drive mechanism 30 and is spaced from the wiring harness connector 80; the oil guide groove is provided on one side of the wiring harness connector 80, and one end of the oil guide groove can be connected to the oil drain port 3881, and the other end passes through the first outer wall 343 to be connected to the outside of the drive housing 34, thereby guiding the lubricant to remain outside the drive housing 34 to a certain extent, thereby blocking the lubricant from flowing to the wiring harness connector.

[0050] In the drive module provided by the optional example of the present application, the flange is connected between the reducer and the rotary drive housing, and the reducer can be isolated from the rotary drive mechanism. The reducer and the rotary drive mechanism are connected by a transmission shaft, and the transmission shaft is passed through the flange, and an oil seal and an oil seal ring are arranged between the reducer and the rotary drive mechanism to achieve relative sealing between the reducer and the rotary drive mechanism, so as to achieve a more stable sealing effect, reduce the risk of oil leakage of the drive module and the possible incidental losses, thereby reducing the failure rate of the reducer and the rotary drive mechanism during the use of the robot, and reducing the design, manufacturing and maintenance costs of the robot sealing system. Further, the flange can be adapted to structures such as reducers and rotary drive mechanisms of different forms, which greatly improves the level of design standardization and serialization. In the description of this specification, the description of the reference term "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without contradicting each other.

[0051] 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 it. 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 of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A drive module, It is characterized in that include: The reducer comprises a reducer housing, a reduction mechanism and a reduction shaft; the reduction mechanism is arranged in the reducer housing, and the reduction shaft is connected to the reduction mechanism; A flange is fixedly connected to the reducer housing, and the flange is provided with an axial hole; A rotary drive mechanism connected to the flange, wherein the rotary drive mechanism is provided with a drive shaft; A transmission shaft, passing through the shaft hole and connected between the reduction shaft and the driving shaft; An oil seal ring is located in the shaft hole, the oil seal ring is sleeved outside the transmission shaft and is connected to the transmission shaft to prevent rotation; as well as The oil seal is arranged between the oil seal ring and the hole wall of the shaft hole.

2. The drive module according to claim 1, It is characterized in that The oil seal ring has a first end face and a second end face which are opposite to each other. The first end face is arranged toward the rotary drive mechanism. The transmission shaft passes through the first end face and the second end face. The center portion of the first end face is recessed relative to the outer edge portion.

3. The drive module according to claim 2, It is characterized in that When the oil seal ring is cut along the center axis of the oil seal ring, the angle between the cross-sectional contour line of the first end face and the center axis is an acute angle.

4. The driving module according to claim 3, It is characterized in that An angle between a cross-sectional contour line of the first end surface and the central axis is greater than or equal to 45 degrees and less than or equal to 87 degrees.

5. The driving module according to claim 1, It is characterized in that The driving module also includes a sealing ring, which is sleeved on the transmission shaft and arranged between the transmission shaft and the oil sealing ring, so that the oil sealing ring is sealed and connected to the transmission shaft.

6. The drive module according to any one of claims 1 to 5, It is characterized in that The rotary drive mechanism includes a rotary drive member and an end cover, the drive shaft is the output shaft of the rotary drive member; the end cover is arranged opposite to the flange, and an oil drain groove is provided on the surface of the end cover facing the flange, and the end of the oil drain groove passes through the outer peripheral wall of the end cover.

7. The driving module according to claim 6, It is characterized in that The end cover includes a cover body and a boss portion, the cover body is arranged opposite to the flange, and the oil drain groove is arranged on the surface of the cover body; the transmission shaft passes through the cover body; the boss portion is arranged on the side of the cover body facing the flange and surrounds the outside of the transmission shaft, and the outer diameter of the boss portion is less than or equal to the outer diameter of the oil seal ring.

8. The driving module according to claim 7, It is characterized in that The end cover also includes a raised portion, which is arranged on the side of the cover body facing the flange and is arranged around the outer periphery of the boss portion; the raised portion and the boss are spaced apart to jointly define an oil-containing groove; the oil drain groove passes through the raised portion and passes through the outer peripheral wall of the cover body.

9. The driving module according to claim 8, It is characterized in that The flange is sleeved on the outer periphery of the protruding portion and overlapped on the cover body. The flange is spaced apart from the bottom wall of the oil drain groove at one side facing the cover body.

10. The driving module according to claim 6, It is characterized in that The rotary drive mechanism also includes a wiring harness connector and a drive housing, the drive housing is connected to the end cover, and the oil drain groove penetrates the outer peripheral wall of the end cover to form an oil drain port; the wiring harness connector is arranged on one side of the drive housing; when projected along the axial direction of the drive shaft, the projection of the wiring harness connector and the oil drain port do not overlap.

11. The driving module according to claim 10, It is characterized in that The outer peripheral wall of the end cover includes a first side wall and at least one second side wall connected to the first side wall, and the oil drain port is arranged on the second side wall; the drive housing includes a first outer wall and at least one second outer wall connected to the first outer wall, and the first outer wall and the first side wall are connected in parallel along the axial direction of the drive shaft; the wiring harness connector is arranged on the first outer wall.

12. A robot, It is characterized in that include: Body; as well as According to any one of claims 1 to 10, the reducer housing is connected to the machine body.

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