Industrial robot RV speed reducer

Abstract

The invention belongs to the technical field of RV speed reducers, and particularly relates to an industrial robot RV speed reducer which comprises a speed reducer body, a servo motor is fixedly connected into the speed reducer body, the output end of the servo motor is fixedly connected with a transmission shaft, and the part, extending out of the speed reducer body, of the transmission shaft is fixedly connected with an output shaft. A speed reducing mechanism is arranged in the speed reducer body and used for reducing the output speed of the servo motor, and a self-circulation mechanism is arranged in the speed reducer body and used for conducting circulation treatment on lubricating oil. By arranging the magnetic adsorption mechanism, in the working process of the RV speed reducer, a first bevel gear can be driven to rotate through a transmission rod, a rotary disc is further driven to rotate, and a plurality of magnetic filter screens on the rotary disc periodically enter a cleaning cavity to adsorb metal impurities in lubricating oil; and metal impurities suspended in the lubricating oil are prevented from abrading precise parts in the speed reducer.

Description

Technical Field

[0001] The invention belongs to the technical field of RV reducers, and in particular relates to an RV reducer for an industrial robot. Background Art

[0002] Industrial robots refer to robots used in industrial automation production, usually composed of mechanical arms, actuators, sensors, control systems, etc., and can perform various automated tasks under specific program control, such as assembly, welding, spraying, handling, processing, etc. Among them, RV reducers are an indispensable and important component of industrial robots. They help robots complete various precise industrial tasks through their advantages such as high torque output, high precision, compact design, durability and low backlash. RV reducers can ensure the stability, precision and long life of the industrial robot power system.

[0003] Existing RV reducers, such as an RV reducer for industrial robots disclosed in China Publication No. CN116066526B, still have the following technical problems during use: During the use of RV reducers, they often need to be lubricated by circulating lubricating oil. During this process, the internal mechanical parts of the reducer, such as gears, bearings, shafts, etc., will cause metal particles to enter the lubricating oil due to friction and wear during operation, which will cause metal impurities to be suspended in the lubricating oil and cause continuous wear on the precision parts inside the reducer, which will cause the surface of these parts to be gradually damaged, affecting the transmission accuracy and normal operation of the reducer; During the circulation of lubricating oil, the poor flow of lubricating oil may cause the components of lubricating oil to deposit in certain parts, forming local stratification, which will have an adverse effect on the lubrication effect of the RV reducer, resulting in unstable lubricating oil performance, increased friction and wear, and even damage to the reducer components. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot RV reducer capable of adsorbing metal impurities in lubricating oil through multiple magnetic filters in response to the problems raised in the above background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An industrial robot RV reducer, comprising: A reducer body, wherein a servo motor is fixedly connected to the interior of the reducer body, a transmission shaft is fixedly connected to the output end of the servo motor, and an output shaft is fixedly connected to the portion of the transmission shaft extending outside the reducer body; The speed reduction mechanism is arranged inside the speed reducer body and is used to reduce the output of the servo motor; A self-circulating mechanism is arranged inside the reducer body to circulate the lubricating oil; A magnetic adsorption mechanism is used to automatically remove metal impurities in the lubricating oil during the operation of the reducer. The magnetic adsorption mechanism includes a transmission rod rotatably connected to the inside of the reducer body, the end of the transmission rod is fixedly connected to the first bevel gear, a cleaning chamber is opened inside the reducer body, a sleeve is rotatably connected to the inside of the reducer body, a second bevel gear meshing with the first bevel gear is fixedly connected to the upper side of the sleeve, a turntable airtightly rotatably connected to the reducer body is fixedly connected to the circumferential side wall of the sleeve, a plurality of magnetic filters distributed in a circumferential array are provided on the turntable, and a cleaning component is also provided inside the reducer body for periodically cleaning the magnetic filter.

[0006] Preferably, the cleaning component includes a storage cavity opened inside the reducer body, and a plurality of first conductive sheets corresponding to the magnetic filter screens are fixedly connected to the sleeve. A second conductive sheet and a third conductive sheet are provided inside the reducer body, and the second conductive sheet and the third conductive sheet are respectively close to the cleaning cavity and the storage cavity, and the length of the second conductive sheet is greater than the length of the third conductive sheet. When the first conductive sheet contacts the second conductive sheet, the magnetic filter screen at the corresponding position is energized and magnetized, and when the first conductive sheet contacts the third conductive sheet, the magnetic filter screen at the corresponding position is grounded.

[0007] Preferably, the reduction mechanism includes a rotating groove opened inside the reducer body, a driving gear coaxially fixedly connected to the transmission shaft is provided inside the rotating groove, a plurality of transmission gears distributed in a circular array are rotatably connected inside the rotating groove, and the plurality of transmission gears are all meshed with the driving gear.

[0008] Preferably, the transmission rod is coaxially fixedly connected to one of the plurality of transmission gears.

[0009] Preferably, the self-circulation mechanism includes a guide rod fixedly connected to the transmission shaft, a circulation chamber is provided inside the reducer body, a piston plate is airtightly and slidably connected inside the circulation chamber in a vertical direction, two first springs are provided between the piston plate and the top wall of the circulation chamber, the guide rod is rotatably connected to a guide wheel at one end away from the rotating rod, the guide wheel is in rolling contact with the upper end of the piston plate, a circular groove is provided above the circulation chamber, a liquid inlet channel is connected between the circulation chamber and the rotating groove, a stirring chamber connected to the cleaning chamber is provided in the reducer body, a discharge channel is provided between the stirring chamber and the circulation chamber, an infusion channel is connected between the cleaning chamber and the rotating groove, and first one-way valves are provided in both the liquid inlet channel and the liquid discharge channel.

[0010] Preferably, a hedging mechanism is provided in the stirring chamber to make the internal components of the lubricating oil more uniform. The hedging mechanism includes a rotating rod connected to the sleeve in an airtight rotation manner, the bottom end of the rotating rod extends into the stirring chamber and is fixedly connected to a first stirring blade, the bottom end of the sleeve extends into the stirring chamber and is fixedly connected to a second stirring blade, the rotating rod extends through and extends to the top of the sleeve and is fixedly connected to a third bevel gear meshing with the first bevel gear, and the third bevel gear and the second bevel gear are respectively meshed with two sides of the first bevel gear.

[0011] Preferably, a degassing mechanism is provided in the circular groove to reduce the presence of bubbles or air during the operation of the reducer, the degassing mechanism includes an annular ventilation plate which is airtightly rotatably connected to the inner wall of the stirring chamber, a pinion is coaxially fixedly connected to the guide wheel, the inner part of the circular groove is rotatably connected to a gear ring which meshes with the pinion, an extension rod is fixedly connected to the outer wall of the gear ring, an air pumping chamber is provided inside the reducer body, the extension rod extends into the air pumping chamber and is fixedly connected to a piston block which is airtightly connected to the air pumping chamber, a second spring is provided between the piston block and the inner wall of the air pumping chamber, an exhaust channel connected to the outside is provided on the inner wall of the air pumping chamber, an exhaust channel is connected between the exhaust chamber and the annular ventilation plate, and a second one-way valve is provided between the exhaust channel and the exhaust channel.

[0012] Preferably, a friction plate in contact with the guide wheel is fixedly connected to the upper end of the piston plate, and the friction plate is made of rubber material.

[0013] Compared with existing technologies, the advantages of this industrial robot RV reducer are: 1. The present invention provides a magnetic adsorption mechanism. During the working process of the RV reducer, the transmission rod can drive the first bevel gear to rotate, and further drive the turntable to rotate, so that the multiple magnetic filters on the turntable periodically enter the cleaning chamber to adsorb metal impurities in the lubricating oil, thereby preventing the metal impurities suspended in the lubricating oil from causing wear to the precision parts inside the reducer, thereby ensuring the accuracy of the reducer.

[0014] 2. The present invention provides a cleaning component. During the rotation of the turntable, when the first conductive sheet corresponding to one of the magnetic filters contacts the third conductive sheet, the magnetic filter is grounded, and the metal impurities adsorbed on its surface fall into the storage cavity. The magnetic filter that is not in the cleaning cavity for adsorption can be cleaned periodically to avoid excessive adsorption of metal impurities on the surface of the magnetic filter, thereby further improving the cleaning effect of the metal impurities.

[0015] 3. The present invention sets a hedging mechanism. During the rotation of the first bevel gear, the second bevel gear and the third bevel gear are driven to rotate in opposite directions, so that the first stirring blade and the second stirring blade in the stirring chamber rotate in opposite directions, so that the flow of the lubricating oil presents a "hedging" effect, and each component in the lubricating oil is subjected to more shear force and disturbance, thereby avoiding local stratification of the lubricating oil and improving the lubrication effect of the RV reducer.

[0016] 4. The present invention provides a degassing mechanism. When the guide wheel moves to contact the piston plate, it not only pushes the piston plate to move downward, but also causes the guide wheel to roll along the upper surface of the piston plate under the action of friction, so that the guide wheel drives the pinion to rotate in the opposite direction, drives the gear ring to rotate, and further drives the piston block to move in the vacuum chamber. When the guide wheel moves to disengage from the piston plate, the piston block will automatically reset under the elastic force of the second spring, so that the hydraulic oil flowing through the stirring chamber can be periodically exhausted, which helps reduce the mixing of air in the lubricating oil, improves the quality and fluidity of the lubricating oil, and effectively reduces the presence of bubbles or air, thereby enhancing the lubrication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a cross-sectional structural schematic diagram of the present invention; Figure 3 yes Figure 2 The enlarged view of point A in the middle; Figure 4 It is a cross-sectional structural schematic diagram of another angle in the present invention; Figure 5 yes Figure 4 The enlarged view of point B in the middle; Figure 6 It is a schematic diagram of the local structure of the hedging mechanism in the present invention.

[0018] In the figure: 1. reducer body; 11. servo motor; 12. transmission shaft; 13. output shaft; 2. reduction mechanism; 21. rotating groove; 22. driving gear; 23. transmission gear; 3. self-circulation mechanism; 31. guide rod; 32. circulation chamber; 33. piston plate; 34. first spring; 35. guide wheel; 36. circular groove; 37. liquid inlet channel; 38. stirring chamber; 39. liquid discharge channel; 4. magnetic adsorption mechanism; 41. transmission rod; 42. first bevel gear; 43. cleaning chamber; 44. sleeve; 45. second bevel gear ;46. Turntable;47. Magnetic filter;48. Cleaning assembly;481. Storage chamber;482. First conductive sheet;483. Second conductive sheet;484. Third conductive sheet;5. Counteracting mechanism;51. Turntable;52. First stirring blade;53. Second stirring blade;54. Third bevel gear;6. Degassing mechanism;61. Annular ventilation plate;62. Pinion;63. Gear ring;64. Extension rod;65. Pumping chamber;66. Piston block;67. Second spring;68. Exhaust channel;69. Pumping channel;7. Friction plate. DETAILED DESCRIPTION

[0019] The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0020] Example: Refer to Figures 1 to 6 , an industrial robot RV reducer, comprising: A reducer body 1, a servo motor 11 is fixedly connected inside the reducer body 1, a transmission shaft 12 is fixedly connected to the output end of the servo motor 11, and an output shaft 13 is fixedly connected to the portion of the transmission shaft 12 extending outside the reducer body 1, a reduction mechanism 2 is provided inside the reducer body 1 for reducing the output of the servo motor 11, and a self-circulation mechanism 3 is provided inside the reducer body 1 for circulating the lubricating oil; Specifically, the reduction mechanism 2 includes a rotating groove 21 opened inside the reducer body 1, and a driving gear 22 is provided inside the rotating groove 21 and is coaxially fixedly connected to the transmission shaft 12. A plurality of transmission gears 23 distributed in a circular array are rotatably connected inside the rotating groove 21, and the plurality of transmission gears 23 are all engaged with the driving gear 22. When the RV reducer is working, the transmission shaft 12 is driven to rotate by the servo motor 11, which further drives the driving gear 22 to rotate. The driving gear 22 is decelerated by the plurality of transmission gears 23, so that the rotation speed of the output shaft 13 is reduced, thereby helping the industrial robot to complete various precise industrial tasks. Here, decelerating the output of the servo motor 11 and the output shaft 13 is an existing mature technology and will not be repeated here.

[0021] The magnetic adsorption mechanism 4 is used to automatically remove metal impurities in the lubricating oil during the operation of the reducer. The magnetic adsorption mechanism 4 includes a transmission rod 41 rotatably connected to the inside of the reducer body 1, and the end of the transmission rod 41 is fixedly connected to the first bevel gear 42. A cleaning chamber 43 is opened inside the reducer body 1, and a sleeve 44 is rotatably connected inside the reducer body 1. The upper side of the sleeve 44 is fixedly connected to a second bevel gear 45 meshing with the first bevel gear 42. A turntable 46 that is airtightly rotatably connected to the reducer body 1 is fixedly connected to the circumferential side wall of the sleeve 44, and a plurality of magnetic filters 47 distributed in a circular array are provided on the turntable 46. A cleaning component 48 is also provided inside the reducer body 1 for periodically cleaning the magnetic filter 47.

[0022] Specifically, the transmission rod 41 is coaxially fixedly connected to one of the transmission gears 23, so that the reducer body 1 can automatically drive the transmission rod 41 to rotate during operation, so that the magnetic adsorption mechanism 4 can work automatically without setting an additional driving source.

[0023] In view of the internal mechanical parts of the reducer in the prior art, such as gears, bearings, shafts, etc., metal particles may enter the lubricating oil due to friction, wear and other reasons during operation. These metal particles have certain ferromagnetism, which may cause metal impurities to be suspended in the lubricating oil and cause continuous wear to the precision parts inside the reducer, affecting the transmission accuracy and normal operation of the reducer. In the present invention, a magnetic adsorption mechanism 4 is provided. During the operation of the RV reducer, the first bevel gear 42 can be driven to rotate through the transmission rod 41, and the sleeve 44 and the turntable 46 can be driven to rotate through the second bevel gear 45, so that the multiple magnetic filters 47 on the turntable 46 periodically enter the cleaning chamber 43, so that when the lubricating oil passes through the cleaning chamber 43, the ferromagnetic metal impurities therein are adsorbed on the surface of the magnetic filter 47, thereby cleaning the metal impurities in the lubricating oil, avoiding the metal impurities suspended in the lubricating oil from causing wear to the precision parts inside the reducer, and ensuring the accuracy of the reducer.

[0024] The cleaning component 48 includes a storage chamber 481 opened inside the reducer body 1, and a plurality of first conductive sheets 482 corresponding to the magnetic filter screen 47 are fixedly connected to the sleeve 44. A second conductive sheet 483 and a third conductive sheet 484 are provided inside the reducer body 1. The second conductive sheet 483 and the third conductive sheet 484 are respectively close to the cleaning chamber 43 and the storage chamber 481, and the length of the second conductive sheet 483 is greater than the length of the third conductive sheet 484. When the first conductive sheet 482 contacts the second conductive sheet 483, the magnetic filter screen 47 at the corresponding position is energized and magnetized. When the first conductive sheet 482 contacts the third conductive sheet 484, the magnetic filter screen 47 at the corresponding position is grounded.

[0025] Taking into account that the magnetic filter 47 adsorbs too much metal impurities on its surface after working for a long time, resulting in a reduction in the adsorption effect on the metal impurities, the present invention sets a cleaning component 48. During the rotation of the turntable 46, when the first conductive sheet 482 corresponding to one of the magnetic filters 47 contacts the second conductive sheet 483, the magnetic filter 47 is energized to generate magnetism, so that the magnetic filter 47 is energized to generate magnetism when entering the cleaning chamber 43 until it completely leaves the cleaning chamber 43. When the first conductive sheet 482 corresponding to one of the magnetic filters 47 contacts the third conductive sheet 484, the magnetic filter 47 is grounded, and the metal impurities adsorbed on its surface fall into the storage chamber 481. The magnetic filter 47 that is not in the cleaning chamber 43 for adsorption can be periodically cleaned to avoid excessive metal impurities adsorbed on the surface of the magnetic filter 47, resulting in a reduction in its adsorption effect on the metal impurities, thereby further improving the cleaning effect on the metal impurities.

[0026] The self-circulation mechanism 3 includes a guide rod 31 fixedly connected to the transmission shaft 12, a circulation chamber 32 is provided inside the reducer body 1, a piston plate 33 is airtightly slidably connected inside the circulation chamber 32 in the vertical direction, two first springs 34 are provided between the piston plate 33 and the top wall of the circulation chamber 32, an end of the guide rod 31 away from the rotating rod 51 is rotatably connected to a guide wheel 35, the guide wheel 35 is in rolling contact with the upper end of the piston plate 33, a circular groove 36 is provided above the circulation chamber 32, a liquid inlet channel 37 is connected between the circulation chamber 32 and the rotating groove 21, a stirring chamber 38 connected to the cleaning chamber 43 is provided in the reducer body 1, a discharge channel 39 is provided between the stirring chamber 38 and the circulation chamber 32, an infusion channel is connected between the cleaning chamber 43 and the rotating groove 21, and first one-way valves are provided in the liquid inlet channel 37 and the discharge channel 39.

[0027] By setting the first one-way valve, when the piston plate 33 performs reciprocating vertical displacement in the circulation chamber 32 along the vertical direction, the lubricating oil in the rotating groove 21 can only be pumped into the circulation chamber 32 through the liquid inlet channel 37, and the lubricating oil in the circulation chamber 32 can only be pumped out to the stirring chamber 38 through the liquid discharge channel 39, thereby ensuring the circulation of the lubricating oil.

[0028] It is worth mentioning that the present invention sets a self-circulation mechanism 3. During the operation of the RV reducer, the servo motor 11 drives the transmission shaft 12 to rotate, and at the same time drives the guide rod 31 to rotate, so that the guide wheel 35 at the end of the guide rod 31 can perform a circular motion, and periodically resist and push the piston plate 33 to move downward in the circulation chamber 32, and further, under the elastic force of the first spring 34, the piston plate 33 is displaced upward, so that the piston plate 33 can perform a reciprocating vertical displacement, thereby continuously pumping the lubricating oil in the rotating groove into the stirring chamber. Since the lubricating oil is filled in the rotating groove 21, the liquid inlet channel 37, the circulation chamber 32, the discharge channel 39, the stirring chamber 38, the cleaning chamber 43 and the infusion channel, the lubricating oil can circulate, and the lubricating oil is automatically circulated during the operation, without the need to set up an additional circulation system, thereby saving manufacturing costs.

[0029] A hedging mechanism 5 is provided in the stirring chamber 38 for making the internal components of the lubricating oil more uniform. The hedging mechanism 5 includes a rotating rod 51 which is airtightly rotatably connected to the sleeve 44. The bottom end of the rotating rod 51 extends into the stirring chamber 38 and is fixedly connected to a first stirring blade 52. The bottom end of the sleeve 44 extends into the stirring chamber 38 and is fixedly connected to a second stirring blade 53. The rotating rod 51 extends through and extends to the top of the sleeve 44 and is fixedly connected to a third bevel gear 54 which is meshed with the first bevel gear 42. The third bevel gear 54 and the second bevel gear 45 are respectively meshed with the two sides of the first bevel gear 42.

[0030] In view of the problem in the prior art that the components of the lubricating oil are deposited in certain parts due to the poor flow of the lubricating oil, forming local stratification, which has an adverse effect on the lubrication effect of the RV reducer and causes unstable lubricating oil performance, the present invention sets a hedging mechanism 5. During the rotation of the first bevel gear 42, the second bevel gear 45 and the third bevel gear 54 can be driven to rotate in opposite directions, so that the rotating rod 51 and the sleeve 44 rotate in opposite directions, and further the first stirring blade 52 and the second stirring blade 53 in the stirring chamber 38 rotate in opposite directions, so that the flow of the lubricating oil presents a "hedging" effect, and each component in the lubricating oil is subjected to more shear force and disturbance, so that the components inside the lubricating oil are more uniform, and the phenomenon of local stratification of the lubricating oil is avoided, thereby improving the lubrication effect of the RV reducer. At the same time, the metal impurities in the lubricating oil are distributed more evenly, avoiding overload on a part of the magnetic filter 47 during cleaning, resulting in a subsequent reduction in the cleaning effect of the metal impurities.

[0031] A degassing mechanism 6 is provided in the circular groove 36 for reducing the presence of bubbles or air during the operation of the reducer. The degassing mechanism 6 includes an annular ventilation plate 61 which is airtightly rotatably connected to the inner wall of the stirring chamber 38. A pinion 62 is coaxially fixedly connected to the guide wheel 35. A gear ring 63 which meshes with the pinion 62 is rotatably connected inside the circular groove 36. An extension rod 64 is fixedly connected to the outer wall of the gear ring 63. An exhaust chamber 65 is provided inside the reducer body 1. The extension rod 64 extends into the exhaust chamber 65 and is fixedly connected to a piston block 66 which is airtightly connected to the exhaust chamber 65. A second spring 67 is provided between the piston block 66 and the inner wall of the exhaust chamber 65. An exhaust channel 68 which is connected to the outside is provided on the inner wall of the exhaust chamber 65. An exhaust channel 69 is connected between the exhaust chamber 65 and the annular ventilation plate 61. A second one-way valve is provided between the exhaust channel 68 and the exhaust channel 69.

[0032] Specifically, the annular ventilation plate 61 is made of polytetrafluoroethylene, which is a plastic material with extremely high chemical stability and corrosion resistance. Polytetrafluoroethylene has a smooth surface, which allows gas to flow easily and can effectively isolate other substances (such as liquids or particulate matter).

[0033] Specifically, the upper end of the piston plate 33 is fixedly connected with a friction plate 7 in contact with the guide wheel 35. The friction plate 7 is made of rubber material and has a large friction coefficient, ensuring that the guide wheel 35 can rotate in the opposite direction under the action of a large friction force when contacting the friction plate 7.

[0034] Specifically, the function of the second one-way valve is similar to that of the first one-way valve, both of which are for preventing backflow, so they will not be described in detail here.

[0035] Taking into account that the lubricating oil is easy to mix with air during the process of lubricating the RV reducer, the present invention sets a degassing mechanism 6. When the guide rod 31 drives the guide wheel 35 to perform a circular motion, the pinion 62 will perform a circular motion along the gear ring 63 and rotate under the action of the gear ring 63. During this process, the gear ring 63 will not rotate. When the guide wheel 35 moves to contact the piston plate 33, it not only pushes the piston plate 33 to move downward, but also causes the guide wheel 35 to roll along the upper surface of the piston plate 33 under the action of friction, so that the guide wheel 35 drives the pinion 62 to rotate in the opposite direction. At this time, it can drive the gear ring 63 to rotate, thereby further driving the piston block 66 to move in the air extraction chamber 65 through the extension rod 64. When the guide wheel 35 moves to disengage from the piston plate, the piston block 66 will automatically reset under the elastic force of the second spring 67, so that the hydraulic oil flowing through the stirring chamber 38 can be periodically exhausted, so that the air in the hydraulic oil in the stirring chamber 38 can enter the exhaust channel 69 through the annular vent plate 61, and further be discharged to the outside through the exhaust chamber 65 and the exhaust channel 68, which helps to reduce the mixing of air in the lubricating oil, improve the quality and fluidity of the lubricating oil, and effectively reduce the presence of bubbles or air, thereby improving the lubrication effect and avoiding cavitation or oil foam from causing adverse effects on the RV reducer. When the amount of air in the lubricating oil is small, the negative pressure will cause the piston block 66 to be unable to move in the exhaust chamber 65, so that the guide wheel 35 can overcome the friction when contacting the piston plate 33 and will not rotate, thereby avoiding motion interference.

[0036] The present invention can be explained by the following operation mode: The servo motor 11 drives the transmission shaft 12 to rotate, which further drives the driving gear 22 to rotate. The driving gear 22 is decelerated by multiple transmission gears 23, so that the speed of the output shaft 13 is reduced, helping the industrial robot to complete various precise industrial tasks; The rotation of the transmission shaft 12 will simultaneously drive the guide rod 31 to rotate, so that the guide wheel 35 at the end of the guide rod 31 can perform a circular motion, and periodically push the piston plate 33 to move downward in the circulation chamber 32, and further move the piston plate 33 upward under the elastic force of the first spring 34, so that the piston plate 33 can perform a reciprocating vertical displacement. Since the lubricating oil is filled in the rotating groove 21, the liquid inlet channel 37, the circulation chamber 32, the liquid discharge channel 39, the stirring chamber 38, the cleaning chamber 43 and the infusion channel, the lubricating oil can circulate; One of the transmission gears 23 drives the transmission rod 41 to rotate, drives the first bevel gear 42 to rotate, and further drives the sleeve 44 and the rotating disk 46 to rotate through the second bevel gear 45, so that the multiple magnetic filters 47 on the rotating disk 46 periodically enter the cleaning chamber 43, so that when the lubricating oil passes through the cleaning chamber 43, the metal impurities in the lubricating oil are adsorbed on the surface of the magnetic filter 47; When the first conductive sheet 482 corresponding to one of the magnetic screens 47 contacts the second conductive sheet 483, the magnetic screen 47 is electrified to generate magnetism, so that the magnetic screen 47 is electrified to generate magnetism when entering the cleaning chamber 43 until it completely leaves the cleaning chamber 43. When the first conductive sheet 482 corresponding to one of the magnetic screens 47 contacts the third conductive sheet 484, the magnetic screen 47 is grounded, and the metal impurities adsorbed on its surface fall into the storage chamber 481, so that the magnetic screen 47 that is not in the cleaning chamber 43 for adsorption can be periodically cleaned. During the rotation of the first bevel gear 42, the second bevel gear 45 and the third bevel gear 54 can be driven to rotate in opposite directions, so that the rotating rod 51 and the sleeve 44 rotate in opposite directions, and further the first stirring blade 52 and the second stirring blade 53 in the stirring chamber 38 rotate in opposite directions, so that the flow of the lubricating oil presents a "counterattack" effect; When the guide wheel 35 moves to contact the piston plate 33, it not only pushes the piston plate 33 to move downward, but also rolls along the upper surface of the piston plate 33 under the action of friction, so that the guide wheel 35 drives the pinion 62 to rotate in the opposite direction, and at this time it can drive the gear ring 63 to rotate, thereby further driving the piston block 66 to move in the suction chamber 65 through the extension rod 64. When the guide wheel 35 moves to disengage from the piston plate, the piston block 66 will automatically reset under the elastic force of the second spring 67, so that the air in the hydraulic oil in the stirring chamber 38 can enter the suction channel 69 through the annular vent plate 61, and is further discharged to the outside through the suction chamber 65 and the exhaust channel 68, which helps to reduce the mixing of air in the lubricating oil, improve the quality and fluidity of the lubricating oil, and effectively reduce the presence of bubbles or air.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot RV reducer, characterized in that: include: A reducer body (1), wherein a servo motor (11) is fixedly connected to the interior of the reducer body (1), an output end of the servo motor (11) is fixedly connected to a transmission shaft (12), and a portion of the transmission shaft (12) extending outside the reducer body (1) is fixedly connected to an output shaft (13); A speed reduction mechanism (2) is arranged inside the speed reducer body (1) and is used to reduce the output of the servo motor (11); A self-circulating mechanism (3) is arranged inside the reducer body (1) and is used to circulate the lubricating oil; A magnetic adsorption mechanism (4) is used to automatically remove metal impurities in lubricating oil during the operation of the reducer, the magnetic adsorption mechanism (4) comprising a transmission rod (41) rotatably connected to the interior of a reducer body (1), the end of the transmission rod (41) being fixedly connected to a first bevel gear (42), a cleaning chamber (43) being provided inside the reducer body (1), a sleeve (44) being rotatably connected to the interior of the reducer body (1), a second bevel gear (45) meshing with the first bevel gear (42) being fixedly connected to the upper side of the sleeve (44), a rotating disk (46) being airtightly rotatably connected to the reducer body (1) being fixedly connected to the circumferential side wall of the sleeve (44), a plurality of magnetic filter screens (47) distributed in a circumferential array being provided on the rotating disk (46), and a cleaning assembly (48) being provided inside the reducer body (1) for periodically cleaning the magnetic filter screen (47).

2. The industrial robot RV reducer according to claim 1, characterized in that: The cleaning assembly (48) comprises a storage chamber (481) opened inside the reducer body (1); a plurality of first conductive sheets (482) corresponding to the magnetic filter screens (47) are fixedly connected to the sleeve (44); a second conductive sheet (483) and a third conductive sheet (484) are arranged inside the reducer body (1); the second conductive sheet (483) and the third conductive sheet (484) are respectively close to the cleaning chamber (43) and the storage chamber (481); the length of the second conductive sheet (483) is greater than the length of the third conductive sheet (484); when the first conductive sheet (482) contacts the second conductive sheet (483), the magnetic filter screen (47) at the corresponding position is energized and magnetized; when the first conductive sheet (482) contacts the third conductive sheet (484), the magnetic filter screen (47) at the corresponding position is grounded.

3. The industrial robot RV reducer according to claim 1, characterized in that: The reduction mechanism (2) comprises a rotation groove (21) provided inside the reducer body (1); a driving gear (22) coaxially fixedly connected to the transmission shaft (12) is provided inside the rotation groove (21); a plurality of transmission gears (23) distributed in a circumferential array are rotatably connected inside the rotation groove (21); and the plurality of transmission gears (23) are all meshed with the driving gear (22).

4. The industrial robot RV reducer according to claim 3, characterized in that: The transmission rod (41) is coaxially and fixedly connected to one of the plurality of transmission gears (23).

5. The industrial robot RV reducer according to claim 4, characterized in that: The self-circulating mechanism (3) comprises a guide rod (31) fixedly connected to the transmission shaft (12); a circulation chamber (32) is provided inside the reducer body (1); a piston plate (33) is airtightly slidably connected to the inside of the circulation chamber (32) in a vertical direction; two first springs (34) are provided between the piston plate (33) and the inner top wall of the circulation chamber (32); an end of the guide rod (31) away from the rotating rod (51) is rotatably connected to a guide wheel (35); the guide wheel (35) is rotatably connected to the upper surface of the piston plate (33); The reducer body (1) is provided with a stirring chamber (38) which is connected to the cleaning chamber (43); a liquid discharge channel (39) is provided between the stirring chamber (38) and the circulation chamber (32); a liquid infusion channel is provided between the cleaning chamber (43) and the rotating groove (21); and first one-way valves are provided in the liquid inlet channel (37) and the liquid discharge channel (39).

6. The industrial robot RV reducer according to claim 5, characterized in that: The stirring chamber (38) is provided with a hedging mechanism (5) for making the internal components of the lubricating oil more uniform. The hedging mechanism (5) comprises a rotating rod (51) which is airtightly rotatably connected to the sleeve (44). The bottom end of the rotating rod (51) extends into the stirring chamber (38) and is fixedly connected to a first stirring blade (52). The bottom end of the sleeve (44) extends into the stirring chamber (38) and is fixedly connected to a second stirring blade (53). The rotating rod (51) extends through and extends to the top of the sleeve (44) and is fixedly connected to a third bevel gear (54) which meshes with the first bevel gear (42). The third bevel gear (54) and the second bevel gear (45) are respectively meshed with two sides of the first bevel gear (42).

7. The industrial robot RV reducer according to claim 5, characterized in that: A degassing mechanism (6) is provided in the circular groove (36) for reducing the presence of bubbles or air during the operation of the reducer. The degassing mechanism (6) comprises an annular vent plate (61) rotatably connected to the inner wall of the stirring chamber (38) in an airtight manner. A pinion gear (62) is coaxially fixedly connected to the guide wheel (35). A toothed ring (63) meshing with the pinion gear (62) is rotatably connected inside the circular groove (36). An extension rod (64) is fixedly connected to the outer wall of the toothed ring (63). A pump is provided inside the reducer body (1). The extension rod (64) extends into the air pumping chamber (65) and is fixedly connected to a piston block (66) which is airtightly connected to the air pumping chamber (65); a second spring (67) is provided between the piston block (66) and the inner wall of the air pumping chamber (65); an exhaust passage (68) communicating with the outside is provided on the inner wall of the air pumping chamber (65); an exhaust passage (69) is connected between the air pumping chamber (65) and the annular ventilation plate (61); and a second one-way valve is provided between the exhaust passage (68) and the air pumping passage (69).

8. The industrial robot RV reducer according to claim 7, characterized in that: The upper end of the piston plate (33) is fixedly connected to a friction plate (7) in contact with the guide wheel (35), and the friction plate (7) is made of rubber material.

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