An industrial robot RV speed reducer

Abstract

The present invention belongs to the technical field of RV reducers, and particularly relates to an RV reducer for industrial robots, comprising: a reducer main body, a servo motor is fixedly connected inside the reducer main body, an output shaft of the servo motor is fixedly connected with a transmission shaft, a part of the transmission shaft extending outside the reducer main body is fixedly connected with an output shaft, a speed reduction mechanism is arranged inside the reducer main body for reducing the output of the servo motor, and a self-circulation mechanism is arranged inside the reducer main body for circulating and processing lubricating oil. By setting a magnetic adsorption mechanism, during the working process of the RV reducer, the first bevel gear can be driven to rotate through the transmission rod, and further drive the turntable to rotate, so that multiple magnetic filters on the turntable periodically enter the cleaning cavity to adsorb metal impurities in the lubricating oil, avoiding the wear of precision components inside the reducer caused by metal impurities suspended in the lubricating oil.

Description

Technical Field

[0001] The present invention belongs to the technical field of RV reducers, and particularly relates to an RV reducer for industrial robots. Background Art

[0002] An industrial robot refers to a robot used in industrial automation production, usually composed of a robotic arm, an actuator, a sensor, a control system, etc., and can perform various automated tasks, such as assembly, welding, spraying, handling, machining, etc. under the control of a specific program. Among them, the RV reducer is an indispensable and important component in industrial robots. It helps the robot complete various precise industrial tasks through advantages such as high torque output, high precision, compact design, durability, and low backlash, and can ensure the stability, precision, and long life of the power system of industrial robots through the RV reducer.

[0003] Existing RV reducers, such as an RV reducer for industrial robots disclosed in Chinese Patent Publication No. CN116066526B, still have the following technical problems during use:

[0004] During the use of the RV reducer, it is often necessary to lubricate it through circulating lubricating oil. During this process, internal mechanical components of the reducer, such as gears, bearings, shafts, etc., will cause metal particles to enter the lubricating oil due to reasons such as friction and wear during operation, and then cause metal impurities to suspend in the lubricating oil, and continuously wear the precision components inside the reducer, which will cause the surfaces of these components to be gradually damaged, affecting the transmission accuracy and normal operation of the reducer;

[0005] During the circulation of the lubricating oil, it is easy for the components of the lubricating oil to deposit in some parts due to poor flow of the lubricating oil, forming local stratification, which has an adverse effect on the lubrication effect of the RV reducer, resulting in unstable performance of the lubricating oil, increasing friction and wear, and even damaging the reducer components. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems raised in the above background art, and provide an RV reducer for industrial robots that can adsorb metal impurities in the lubricating oil through multiple magnetic filters.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] An RV reducer for industrial robots, comprising:

[0009] A reducer main body, a servo motor is fixedly connected inside the reducer main body, an output shaft of the servo motor is fixedly connected to a transmission shaft, and a part of the transmission shaft extending outside the reducer main body is fixedly connected to an output shaft;

[0010] A speed reduction mechanism is arranged inside the speed reducer main body and is used to reduce the output of the servo motor.

[0011] A self - circulating mechanism is arranged inside the speed reducer main body and is used to circulate and process the lubricating oil.

[0012] A magnetic adsorption mechanism is used to automatically remove metal impurities in the lubricating oil during the operation of the speed reducer. The magnetic adsorption mechanism includes a transmission rod rotatably connected inside the speed reducer main body. A first bevel gear is fixedly connected to the end of the transmission rod. A cleaning chamber is opened inside the speed reducer main body. A sleeve is rotatably connected inside the speed reducer main body. A second bevel gear meshing with the first bevel gear is fixedly connected to the upper side of the sleeve. A turntable hermetically and rotatably connected to the speed reducer main body is fixedly connected to the circumferential side wall of the sleeve. A plurality of magnetically - filtered meshes are arranged on the turntable in a circumferentially - arrayed manner. A cleaning component is also arranged inside the speed reducer main body and is used to periodically clean the magnetically - filtered meshes.

[0013] Preferably, the cleaning component includes a storage chamber opened inside the speed reducer main body. A plurality of first conductive sheets corresponding to the magnetically - filtered meshes one by one are fixedly connected to the sleeve. A second conductive sheet and a third conductive sheet are arranged inside the speed reducer main body. The second conductive sheet and the third conductive sheet are respectively close to the cleaning chamber and the storage chamber, and the length of the second conductive sheet is greater than that of the third conductive sheet. When the first conductive sheet contacts the second conductive sheet, the magnetically - filtered mesh at the corresponding position is electrified to generate magnetism. When the first conductive sheet contacts the third conductive sheet, the magnetically - filtered mesh at the corresponding position is grounded.

[0014] Preferably, the speed reduction mechanism includes a rotation groove opened inside the speed reducer main body. A driving gear coaxially and fixedly connected to the transmission shaft is arranged inside the rotation groove. A plurality of circumferentially - arrayed transmission gears are rotatably connected inside the rotation groove, and all the plurality of transmission gears are meshed with the driving gear.

[0015] Preferably, the transmission rod is coaxially and fixedly connected to one of the plurality of transmission gears.

[0016] Preferably, the self - circulation mechanism includes a guide rod fixedly connected to the transmission shaft. A circulation cavity is formed inside the main body of the speed reducer. A piston plate is hermetically and slidably connected to the inside of the circulation cavity in the vertical direction. There are two first springs between the piston plate and the top wall of the circulation cavity. One end of the guide rod away from the rotating rod is rotatably connected to a guide wheel, and the guide wheel is in rolling contact with the upper end of the piston plate. A circular groove is formed above the circulation cavity. A liquid inlet channel communicates between the circulation cavity and the rotating groove. A stirring cavity communicating with the cleaning cavity is formed inside the main body of the speed reducer. A liquid discharge channel is provided between the stirring cavity and the circulation cavity. An infusion channel communicates between the cleaning cavity and the rotating groove. First one - way valves are provided in both the liquid inlet channel and the liquid discharge channel.

[0017] Preferably, a counter - flushing mechanism is provided in the stirring cavity to make the internal components of the lubricating oil more uniform. The counter - flushing mechanism includes a rotating rod hermetically and rotatably connected to the sleeve. The bottom end of the rotating rod extends into the stirring cavity and is fixedly connected with a first stirring blade. The bottom end of the sleeve extends into the stirring cavity and is fixedly connected with a second stirring blade. The rotating rod extends through and above the sleeve and is fixedly connected with a third bevel gear meshing with the first bevel gear. The third bevel gear and the second bevel gear are respectively meshed with both sides of the first bevel gear.

[0018] Preferably, a degassing mechanism is provided in the circular groove to reduce the presence of bubbles or air during the operation of the speed reducer. The degassing mechanism includes an annular ventilation plate hermetically and rotatably connected to the inner wall of the stirring cavity. A small gear is coaxially and fixedly connected to the guide wheel. A toothed ring meshing with the small gear is rotatably connected inside the circular groove. An extension rod is fixedly connected to the outer wall of the toothed ring. An air extraction cavity is formed inside the main body of the speed reducer. The extension rod extends into the air extraction cavity and is fixedly connected with a piston block hermetically connected to the air extraction cavity. A second spring is provided between the piston block and the inner wall of the air extraction cavity. An exhaust channel communicating with the outside is formed on the inner wall of the air extraction cavity. An air extraction channel communicates between the air extraction cavity and the annular ventilation plate. Second one - way valves are provided between the exhaust channel and the air extraction channel.

[0019] 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.

[0020] Compared with the existing technology, the advantages of this industrial robot RV speed reducer are as follows:

[0021] 1. By setting the magnetic adsorption mechanism, during the operation of the RV speed reducer, the first bevel gear can be driven to rotate by the transmission rod, further driving the turntable to rotate, so that multiple magnetic filter meshes on the turntable periodically enter the cleaning cavity to adsorb metal impurities in the lubricating oil, avoiding the wear of precision components inside the speed reducer caused by suspended metal impurities in the lubricating oil and ensuring the accuracy of the speed reducer.

[0022] 2. In the present invention, by providing a cleaning component, during the rotation of the turntable, when the first conductive sheet corresponding to one of the magnetic filters comes into contact with the third conductive sheet, the magnetic filter is grounded, and the metal impurities adsorbed on its surface fall into the storage cavity, enabling the periodic cleaning of the magnetic filters that are not in the cleaning cavity for adsorption work, avoiding excessive metal impurities adsorbed on the surface of the magnetic filters, and further improving the cleaning effect on metal impurities.

[0023] 3. In the present invention, by providing a counterflush 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, causing the first stirring blade and the second stirring blade in the stirring cavity to rotate in opposite directions, making the flow of the lubricating oil present a "counterflush" effect. Each component in the lubricating oil is subjected to more shear force and perturbation, avoiding the phenomenon of local stratification of the lubricating oil, and improving the lubrication effect on the RV reducer.

[0024] 4. In the present invention, by providing a degassing mechanism, when the guide wheel moves to abut against the piston plate, it not only pushes the piston plate to displace downward, but also, under the action of friction, causes the guide wheel to roll along the upper surface of the piston plate, making the guide wheel drive the pinion to rotate in opposite directions, driving the toothed ring to rotate, and further driving the piston block to move in the air extraction cavity. When the guide wheel moves away from the piston plate, the piston block will automatically reset under the elastic force of the second spring, thereby enabling the periodic exhaust treatment of the hydraulic oil flowing through the stirring cavity, helping to reduce the mixing of air in the lubricating oil, improving the quality and fluidity of the lubricating oil, effectively reducing the presence of bubbles or air, and thus enhancing the lubrication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0026] Figure 2 is a sectional structural schematic diagram of the present invention;

[0027] Figure 3 is Figure 2 an enlarged view of part A in

[0028] Figure 4 is a sectional structural schematic diagram of the present invention from another angle;

[0029] Figure 5 is Figure 4 an enlarged view of part B in

[0030] Figure 6 is a partial structural schematic diagram of the counterflush mechanism in the present invention.

[0031] In the figure: 1. Reducer main body; 11. Servo motor; 12. Transmission shaft; 13. Output shaft; 2. Reduction mechanism; 21. Rotation groove; 22. Driving gear; 23. Transmission gear; 3. Self-circulation mechanism; 31. Guide rod; 32. Circulation cavity; 33. Piston plate; 34. First spring; 35. Guide wheel; 36. Circular groove; 37. Liquid inlet channel; 38. Stirring cavity; 39. Liquid discharge channel; 4. Magnetic adsorption mechanism; 41. Transmission rod; 42. First bevel gear; 43. Cleaning cavity; 44. Sleeve; 45. Second bevel gear; 46. Turntable; 47. Magnetic filter screen; 48. Cleaning assembly; 481. Storage cavity; 482. First conductive sheet; 483. Second conductive sheet; 484. Third conductive sheet; 5. Impact mechanism; 51. Rotating rod; 52. First stirring blade; 53. Second stirring blade; 54. Third bevel gear; 6. Degassing mechanism; 61. Annular ventilation plate; 62. Small gear; 63. Tooth ring; 64. Extension rod; 65. Air extraction cavity; 66. Piston block; 67. Second spring; 68. Exhaust channel; 69. Air extraction channel; 7. Friction plate. Specific embodiments

[0032] The following embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0033] Embodiment: Refer to Figures 1 to 6 , an RV reducer for an industrial robot, comprising:

[0034] The reducer main body 1, a servo motor 11 is fixedly connected inside the reducer main body 1, an output end of the servo motor 11 is fixedly connected with a transmission shaft 12, a part of the transmission shaft 12 extending outside the reducer main body 1 is fixedly connected with an output shaft 13, a reduction mechanism 2 is arranged inside the reducer main body 1 for reducing the output of the servo motor 11, and a self-circulation mechanism 3 is arranged inside the reducer main body 1 for circulating and processing lubricating oil;

[0035] Specifically, the reduction mechanism 2 includes a rotation groove 21 opened inside the reducer main body 1, a driving gear 22 coaxially and fixedly connected with the transmission shaft 12 is arranged 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. When the RV reducer works, the transmission shaft 12 is driven to rotate by the servo motor 11, further driving 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, helping the industrial robot to complete various precise industrial tasks. Decelerating the output of the servo motor 11 and the output shaft 13 here is a mature technology and will not be elaborated here.

[0036] The magnetic adsorption mechanism 4 is used to automatically remove metal impurities in the lubricating oil during the operation of the speed reducer. The magnetic adsorption mechanism 4 includes a transmission rod 41 rotatably connected inside the speed reducer main body 1. One end of the transmission rod 41 is fixedly connected with a first bevel gear 42. A cleaning chamber 43 is opened inside the speed reducer main body 1. A sleeve 44 is rotatably connected inside the speed reducer main body 1. A second bevel gear 45 meshing with the first bevel gear 42 is fixedly connected to the upper side of the sleeve 44. A turntable 46 hermetically and rotatably connected to the speed reducer main body 1 is fixedly connected to the circumferential side wall of the sleeve 44. A plurality of magnetic filter meshes 47 distributed in a circumferential array are arranged on the turntable 46. A cleaning component 48 is further arranged inside the speed reducer main body 1 for periodically cleaning the magnetic filter meshes 47.

[0037] Specifically, the transmission rod 41 is coaxially and fixedly connected with one of the transmission gears 23. Therefore, during the operation of the speed reducer main body 1, the transmission rod 41 can be automatically driven to rotate, so that the magnetic adsorption mechanism 4 can work automatically without setting an additional driving source.

[0038] For the internal mechanical components of the speed reducer in the prior art, such as gears, bearings, shafts, etc., during the operation, due to reasons such as friction and wear, metal particles will enter the lubricating oil. These metal particles have a certain ferromagnetic property, which will cause the metal impurities to suspend in the lubricating oil and cause continuous wear to the precision components inside the speed reducer, affecting the transmission accuracy and normal operation of the speed reducer. Through the setting of the magnetic adsorption mechanism 4, during the operation of the RV speed reducer, the first bevel gear 42 can be driven to rotate by the transmission rod 41, and further the sleeve 44 and the turntable 46 can be driven to rotate by the second bevel gear 45, so that a plurality of magnetic filter meshes 47 on the turntable 46 periodically enter the cleaning chamber 43. When the lubricating oil passes through the cleaning chamber 43, the ferromagnetic metal impurities therein are adsorbed on the surface of the magnetic filter meshes 47, so as to clean the metal impurities in the lubricating oil, avoid the metal impurities suspended in the lubricating oil from causing wear to the precision components inside the speed reducer, and ensure the accuracy of the speed reducer.

[0039] The cleaning component 48 includes a storage chamber 481 opened inside the speed reducer main body 1. A plurality of first conductive sheets 482 corresponding to the magnetic filter meshes 47 one by one are fixedly connected to the sleeve 44. A second conductive sheet 483 and a third conductive sheet 484 are arranged inside the speed reducer main 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 mesh 47 at the corresponding position is electrified to generate magnetism. When the first conductive sheet 482 contacts the third conductive sheet 484, the magnetic filter mesh 47 at the corresponding position is grounded.

[0040] Considering that excessive metal impurities are adsorbed on the surface of the magnetic filter screen 47 after long-term operation, resulting in a reduction in the adsorption effect on metal impurities, the present invention sets up a cleaning component 48. During the rotation of the turntable 46, when the first conductive sheet 482 corresponding to one of the magnetic filter screens 47 contacts the second conductive sheet 483, the magnetic filter screen 47 is electrified to generate magnetism, so that the magnetic filter screen 47 is electrified to generate magnetism when it enters the inside of the cleaning chamber 43 until it completely leaves the inside of the cleaning chamber 43. When the first conductive sheet 482 corresponding to one of the magnetic filter screens 47 contacts the third conductive sheet 484, the magnetic filter screen 47 is grounded, and the metal impurities adsorbed on its surface fall into the storage chamber 481, which can periodically clean the magnetic filter screen 47 that is not performing adsorption work inside the cleaning chamber 43, avoiding excessive metal impurities adsorbed on the surface of the magnetic filter screen 47, resulting in a reduction in its adsorption effect on metal impurities, and further improving the cleaning effect on metal impurities.

[0041] 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 main body 1. A piston plate 33 is hermetically and slidably connected to the inside of the circulation chamber 32 in the vertical direction. Two first springs 34 are provided between the piston plate 33 and the inner top wall of the circulation chamber 32. One end of the guide rod 31 away from the rotating rod 51 is rotatably connected to a guide wheel 35, and 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 communicated between the circulation chamber 32 and the rotating groove 21. A stirring chamber 38 communicated with the cleaning chamber 43 is provided inside the reducer main body 1. A liquid discharge channel 39 is provided between the stirring chamber 38 and the circulation chamber 32. A liquid infusion channel is communicated between the cleaning chamber 43 and the rotating groove 21. First one-way valves are provided in both the liquid inlet channel 37 and the liquid discharge channel 39.

[0042] By setting the first one-way valve, when the piston plate 33 makes a reciprocating vertical displacement in the circulation chamber 32 in 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 into the stirring chamber 38 through the liquid discharge channel 39, ensuring the circulation of the lubricating oil.

[0043] It is worth mentioning that, by setting up the self-circulation mechanism 3, during the operation of the RV reducer, the servo motor 11 drives the rotation of the transmission shaft 12, which will simultaneously drive the rotation of the guide rod 31, so that the guide wheel 35 at the end of the guide rod 31 can perform circular motion and periodically push against the piston plate 33 to displace downward in the circulation cavity 32. Further, under the elastic force of the first spring 34, the piston plate 33 is displaced upward, enabling the piston plate 33 to perform reciprocating vertical displacement, thereby continuously pumping the lubricating oil in the rotating groove into the stirring cavity. Since the lubricating oil fills the rotating groove 21, the liquid inlet channel 37, the circulation cavity 32, the liquid discharge channel 39, the stirring cavity 38, the cleaning cavity 43 and the liquid infusion channel, the lubricating oil can circulate, automatically circulating and processing the lubricating oil during the operation process without setting up an additional circulation system, saving the manufacturing cost.

[0044] A counter-flushing mechanism 5 is arranged in the stirring cavity 38 for making the internal components of the lubricating oil more uniform. The counter-flushing mechanism 5 includes a rotating rod 51 that is hermetically and rotationally connected to the sleeve 44. The bottom end of the rotating rod 51 extends into the stirring cavity 38 and is fixedly connected with a first stirring blade 52. The bottom end of the sleeve 44 extends into the stirring cavity 38 and is fixedly connected with a second stirring blade 53. The rotating rod 51 penetrates and extends above the sleeve 44 and is fixedly connected with a third bevel gear 54 that meshes with the first bevel gear 42. The third bevel gear 54 and the second bevel gear 45 are respectively meshed with both sides of the first bevel gear 42.

[0045] Aiming at the problem in the prior art that due to the poor flow of the lubricating oil, the components of the lubricating oil will deposit in some parts, forming local stratification, which has an adverse effect on the lubrication effect of the RV reducer and leads to unstable performance of the lubricating oil, the present invention sets up the counter-flushing mechanism 5. During the rotation of the first bevel gear 42, it can drive the second bevel gear 45 and the third bevel gear 54 to rotate in opposite directions, so that the rotating rod 51 and the sleeve 44 rotate in opposite directions, and further makes the first stirring blade 52 and the second stirring blade 53 in the stirring cavity 38 rotate in opposite directions, making the flow of the lubricating oil present a "counter-flushing" effect. Each component in the lubricating oil is subjected to more shear force and disturbance, making the internal components of the lubricating oil more uniform, avoiding the phenomenon of local stratification of the lubricating oil, improving the lubrication effect on the RV reducer. At the same time, the distribution of metal impurities in the lubricating oil is made more uniform, avoiding overloading of some areas of the magnetic filter screen 47 during cleaning, resulting in a reduction in the subsequent cleaning effect of metal impurities.

[0046] An air removal mechanism 6 is provided in the circular groove 36 for reducing the presence of bubbles or air during the operation of the speed reducer. The air removal mechanism 6 includes an annular ventilation plate 61 that is hermetically and rotatably connected to the inner wall of the stirring chamber 38. A small gear 62 is coaxially and fixedly connected to the guide wheel 35. A toothed ring 63 that meshes with the small 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. An air extraction chamber 65 is formed inside the speed reducer main body 1. The extension rod 64 extends into the air extraction chamber 65 and is fixedly connected to a piston block 66 that is hermetically connected to the air extraction chamber 65. A second spring 67 is provided between the piston block 66 and the inner wall of the air extraction chamber 65. An exhaust passage 68 that communicates with the outside is formed on the inner wall of the air extraction chamber 65. An air extraction passage 69 that communicates the air extraction chamber 65 with the annular ventilation plate 61 is provided. Second one-way valves are provided between the exhaust passage 68 and the air extraction passage 69.

[0047] Specifically, the annular ventilation plate 61 is made of polytetrafluoroethylene, which is a plastic material with extremely high chemical stability and corrosion resistance. Its surface is smooth, facilitating the flow of gas, and at the same time, it can effectively isolate other substances (such as liquids or particulate matters).

[0048] Specifically, a friction plate 7 that contacts the guide wheel 35 is fixedly connected to the upper end of the piston plate 33. 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 frictional force when it contacts the friction plate 7.

[0049] Specifically, the function of the second one-way valve is similar to that of the first one-way valve, both are to prevent backflow, so no more details will be elaborated here.

[0050] Considering that air is likely to be mixed into the lubricating oil during the lubrication of the RV reducer, the present invention provides a degassing mechanism 6. When the guide rod 31 drives the guide wheel 35 to perform circular motion, the pinion gear 62 will perform circular motion along the toothed ring 63 and rotate under the action of the toothed ring 63. During this process, the toothed 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 gear 62 to rotate in the opposite direction. At this time, the toothed ring 63 can be driven to rotate, and further drive the piston block 66 to move in the air extraction chamber 65 through the extension rod 64. When the guide wheel 35 moves away from the piston plate, the piston block 66 will automatically reset under the elastic force of the second spring 67, so as to periodically exhaust the hydraulic oil flowing through the stirring chamber 38, so that the air in the hydraulic oil in the stirring chamber 38 can enter the air extraction channel 69 through the annular ventilation plate 61, and further be discharged to the outside through the air extraction chamber 65 and the exhaust channel 68, helping to reduce the mixing of air in the lubricating oil, improve the quality and fluidity of the lubricating oil, effectively reduce the existence of bubbles or air, thereby improving the lubrication effect, avoiding the adverse effects of cavitation or oil foam on the RV reducer. When the air volume in the lubricating oil is small, at this time, due to the negative pressure, the piston block 66 cannot move in the air extraction chamber 65, so that the guide wheel 35 can overcome the friction when contacting the piston plate 33 and will not rotate, thus avoiding motion interference.

[0051] The functional principle of the present invention can be elaborated through the following operation methods:

[0052] The servo motor 11 drives the transmission shaft 12 to rotate, further driving the driving gear 22 to rotate. The driving gear 22 is decelerated by a plurality of transmission gears 23, so that the rotation speed of the output shaft 13 is reduced, helping the industrial robot to complete various precision industrial tasks;

[0053] 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 circular motion and periodically contact and push the piston plate 33 to move downward in the circulation chamber 32. Further, under the elastic force of the first spring 34, the piston plate 33 moves upward, so that the piston plate 33 can perform reciprocating vertical displacement. Since the lubricating oil fills the inside of 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 liquid infusion channel, the lubricating oil can circulate;

[0054] One of the transmission gears 23 drives the transmission rod 41 to rotate, driving the first bevel gear 42 to rotate, and further driving the sleeve 44 and the turntable 46 to rotate through the second bevel gear 45, so that a plurality of magnetic filters 47 on the turntable 46 periodically enter the cleaning chamber 43. When the lubricating oil passes through the cleaning chamber 43, the metal impurities therein are adsorbed on the surface of the magnetic filter 47;

[0055] 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 electrified to generate magnetism, so that the magnetic filter 47 is electrified to generate magnetism when it enters the cleaning chamber 43 until it completely leaves the inside of 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, and the magnetic filters 47 that are not performing the adsorption work in the cleaning chamber 43 can be cleaned periodically;

[0056] During the rotation of the first bevel gear 42, it can drive the second bevel gear 45 and the third bevel gear 54 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, making the flow of the lubricating oil present a "hedge" effect;

[0057] When the guide wheel 35 moves to abut against the piston plate 33, it not only pushes the piston plate 33 to move downward, but also makes the guide wheel 35 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, the toothed ring 63 can be driven to rotate, and further the piston block 66 is driven to move in the air extraction chamber 65 through the extension rod 64. When the guide wheel 35 moves away 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 air extraction channel 69 through the annular ventilation plate 61, and further be discharged to the outside through the air extraction chamber 65 and the exhaust channel 68, helping 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.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall 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); The self-circulating mechanism (3) is arranged inside the reducer body (1) and is used for circulating the lubricating oil. 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 top wall of the circulation chamber (32). The 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 liquid discharge channel (39) is provided between the stirring chamber (38) and the circulation chamber (32); a liquid infusion channel is connected between the cleaning chamber (43) and the rotating groove (21); and first one-way valves are provided in both the liquid inlet channel (37) and the liquid discharge channel (39); A magnetic adsorption mechanism (4) for automatically removing 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 the 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); 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.

2. 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).

3. The industrial robot RV reducer according to claim 2, characterized in that: The transmission rod (41) is coaxially and fixedly connected to one of the plurality of transmission gears (23).

4. The industrial robot RV reducer according to claim 1, 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).

5. The industrial robot RV reducer according to claim 4, 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).

6. The industrial robot RV reducer according to claim 5, 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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