A reducer applied to a robot joint

Abstract

The application provides a reducer applied to a robot joint, a primary sun gear is fixedly connected to an input shaft, a plurality of first planet gears are in meshing connection with the primary sun gear, the first planet gears are in meshing connection with an inner toothed box, a first needle roller shaft is rotatably connected to the inner wall of the first planet gear, a primary planet carrier is rotatably connected to the first needle roller shaft, a first bearing is arranged between the input shaft and the primary planet carrier, a second bearing is arranged between the primary planet carrier and the inner toothed box, the first bearing is located inside the second bearing, a secondary sun gear is fixedly connected to the end of the primary planet carrier, a second planet gear is in meshing connection with the tooth portion of the secondary sun gear, a second needle roller shaft is fixedly connected to the inner wall of the second planet gear, a secondary planet carrier is rotatably connected to the second needle roller shaft, the second planet gear is in meshing connection with the inner toothed box, and the secondary planet carrier is connected with an output shaft, so that the overall length is shortened, the structure is more compact, and the robot miniaturization and light weight trend requirements are met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot accessories, in particular, to a reducer applied to a robot joint. BACKGROUND

[0002] Robots are the focus of future development in the mechanical field.

[0003] The joint of a robot is usually driven to rotate by a motor cooperating with a reducer, so that the joint has a large rotational torque and the rotation angle of the joint is easy to adjust.

[0004] At present, a Chinese patent with the authorization announcement No. CN203779520U discloses an industrial robot joint reducer, which comprises a fixed seat, a bearing seat, a first A-shaped key, a transmission shaft, a harmonic reducer and a cross roller bearing. The harmonic reducer comprises a wave generator, a flexible gear and a steel gear. The first A-shaped key is arranged at the first end of the transmission shaft. The rotary power is transmitted to the wave generator through the second A-shaped key at the end of the transmission shaft. The wave generator rotates while the flexible gear and the steel gear are engaged. The flexible gear is connected to the inner ring of the cross roller bearing through the bearing outer pressure plate arranged on the bearing seat. The outer ring of the cross roller bearing is fixed on the fixed seat through the front bearing pressure sleeve.

[0005] This industrial robot joint reducer combines the harmonic reducer and the cross roller bearing organically. Through the optimization of the external installation size, it can directly replace the imported reducer for the end joint of the industrial robot. It has the advantages of large speed ratio, high transmission efficiency, good rigidity, small back difference, small volume and low cost.

[0006] However, the overall length of this industrial robot joint reducer is relatively long, which cannot meet the requirements of the miniaturization trend of robots, especially the arm joint of humanoid robots. SUMMARY

[0007] Therefore, the present application aims to provide a reducer applied to a robot joint, which shortens the overall length and has a more compact structure to meet the requirements of the miniaturization and light weight trend of robots.

[0008] In order to solve the above technical problems, the technical scheme of the present application is: a reducer applied to a robot joint, comprising an inner tooth box, an output shaft, an input coupling flange and an input shaft, the input shaft is fixed to the inner wall of the input coupling flange, a first sun gear is fixedly connected to the input shaft, a plurality of first planetary gears are meshingly connected to the first sun gear, the first planetary gears are meshed with the inner tooth box, a first needle roller shaft is rotatably connected to the inner wall of the first planetary gear, a first planetary carrier is rotatably connected to the first needle roller shaft, a first bearing is arranged between the input shaft and the first planetary carrier, a second bearing is arranged between the first planetary carrier and the inner tooth box, the first bearing is located inside the second bearing, an end of the first planetary carrier is fixedly connected with a second sun gear, the second sun gear is meshingly connected with a second planetary gear, a second needle roller shaft is fixedly connected to the inner wall of the second planetary gear, a second planetary carrier is rotatably connected to the second needle roller shaft, the second planetary gear is meshed with the inner tooth box, and the second planetary carrier is connected with the output shaft.

[0009] The input shaft and the input coupling flange rotate synchronously, the input shaft drives the first sun gear to rotate, the first sun gear drives the first planetary gear to rotate while moving the first planetary gear and the first needle roller shaft along the axis of the first planetary carrier, the first planetary carrier rotates, the first planetary carrier drives the second sun gear to rotate, the first planetary carrier is fixedly connected with the second sun gear, so the length is further shortened, the second sun gear drives the second planetary gear to rotate and rotate along the axis of the second sun gear, the second planetary carrier rotates synchronously with the second planetary gear, so that the output shaft rotates with the second planetary carrier, at this time the output shaft rotates more slowly and has greater torque, the first bearing is located inside the second bearing, so the overall length can be greatly shortened, the structure is more compact, and the trend of miniaturization of robots is met.

[0010] As a preferred scheme of the present application, the outer wall of the inner tooth box is fixedly connected with a mounting disc, the mounting disc is provided with a cross roller bearing, the outer wall of the second planetary carrier is connected with an output flange, the output flange is connected with the cross roller bearing, and the second sun gear and the second planetary gear are located inside the cross roller bearing.

[0011] The mounting disc is used to be fixed to the robot, the cross roller bearing enables the second planetary carrier to rotate stably while having lower noise, and the structure is more compact because the second sun gear is located inside.

[0012] As a preferred scheme of the present application, the end of the mounting disc is fixedly connected with an outer pressing plate, and the outer pressing plate is used to abut against the side wall of the cross roller bearing.

[0013] The cross roller bearing is placed more stably.

[0014] As a preferred scheme of the present application, the outer wall of the mounting disc is provided with a limiting sleeve, the inner wall of the limiting sleeve is provided with a limiting slot for placing the cable, the length direction of the limiting slot is parallel to the axial direction of the limiting sleeve, and the limiting sleeve is connected with the outer wall of the output shaft through a connecting rod.

[0015] The above technical scheme is realized by opening the limiting slot on the inner wall of the limiting sleeve, inserting the cable into the limiting slot, and synchronously rotating the limiting sleeve with the output shaft during the rotation of the output shaft, so that the cable is not easy to be knotted, the cable torsion and bending are minimized, and the service life and reliability of the cable are improved.

[0016] As a preferred scheme of the present application, the inner wall of the limiting slot is provided with a sliding groove, the sliding groove is close to the end of the limiting slot, a supporting shaft is slidingly connected in the sliding groove, a limiting wheel is rotatably connected on the supporting shaft, an annular groove for abutting against the outer wall of the cable is opened on the outer cylindrical surface of the limiting wheel, and a first elastic member is connected between the supporting shaft and the inner wall of the sliding groove.

[0017] The above technical scheme is realized by inserting the cable into the limiting slot from the limiting sleeve, abutting the outer wall of the cable against the annular groove on the limiting wheel, moving the cable along the length direction of the limiting slot, reducing the abrasion of the cable, and separating the limiting wheel from the cable by the elastic force of the first elastic member.

[0018] As a preferred scheme of the present application, the inner wall of the limiting sleeve is provided with a storage slot for placing the cable, the storage slot is communicated with the middle part of the limiting slot, a baffle is fixedly connected to the side of the mounting disc towards the storage slot, an installation cavity is opened on the inner wall of the limiting slot opposite to the storage slot, a sliding rod for pushing the cable into the storage slot is slidingly connected to the inner wall of the installation cavity, a second elastic member is connected between the sliding rod and the inner wall of the installation cavity, and a linkage assembly for abutting against the sliding rod is arranged on the outer wall of the mounting disc.

[0019] The above technical scheme is realized by relatively rotating the limiting sleeve and the mounting disc during the stretching of the joint, abutting the linkage assembly against the sliding rod, moving the sliding rod along the length direction of the sliding rod, and pushing part of the excess cable into the storage slot by the sliding rod, so that more cables are in the limiting sleeve, the cables are more compact on the robot, and the protection of the cables is improved; during the folding of the joint, the limiting sleeve and the mounting disc are relatively rotated, the linkage assembly is separated from the sliding rod, the sliding rod is reset by the elastic force of the second elastic member, and the excess cable can be moved out of the limiting sleeve, so that the cable is prevented from being pulled off.

[0020] As a preferred scheme of the present application, the linkage assembly comprises a telescopic rod, a pressing wheel, a straight groove, an anti-dropping rod, a first inclined surface and a second inclined surface, the telescopic rod is fixed to the outer wall of the mounting disc, the pressing wheel is rotationally connected to the telescopic rod, the straight groove is formed in the inner wall of the limiting sleeve and communicates with the mounting cavity, the anti-dropping rod is slidingly connected in the straight groove, the first inclined surface is formed in the end of the sliding rod, the second inclined surface is formed in the end of the anti-dropping rod, the first inclined surface and the second inclined surface are in abutment, and the pressing wheel is rollingly connected to the inner wall of the limiting sleeve or rollingly connected to the end of the anti-dropping rod away from the second inclined surface.

[0021] The above technical scheme is implemented, the limiting sleeve rotates with the output shaft, the limiting sleeve and the mounting disc rotate relative to each other, the pressing wheel presses on the anti-dropping rod, the anti-dropping rod moves along the length direction of the straight groove, the sliding rod moves along the length direction thereof under the guidance of the first inclined surface and the second inclined surface, so that the sliding rod pushes the cable to move, and the excess cable can be moved into the storage groove; after the pressing wheel is separated from the anti-dropping rod, the sliding rod is reset under the elastic force of the second elastic member, the anti-dropping rod is reset under the guidance of the first inclined surface and the second inclined surface, at this time, the sliding rod cannot exert pressure on the cable, and the excess cable can be moved out of the limiting sleeve.

[0022] As a preferred scheme of the present application, the side wall of the limiting wheel has an oil storage cavity for storing lubricating oil, the side wall of the oil storage cavity is provided with an oil outlet hole communicating with the annular groove, the oil outlet hole is provided with a plunger, the plunger blocks the oil outlet hole through a tension spring, and the lubricating oil is guided out of the oil outlet hole and coated on the outer wall of the cable under the action of centrifugal force when the limiting wheel rotates.

[0023] The above technical scheme is implemented, when the cable drives the limiting wheel to roll under the action of friction force, the plunger is separated from the oil outlet hole and a small amount of lubricating oil is guided out of the oil outlet hole and coated on the outer wall of the cable under the action of centrifugal force, so that the wear of the cable is reduced and the protection of the cable is improved, when the cable stops driving the limiting wheel to rotate or the rotating speed of the limiting wheel is low, the plunger blocks the oil outlet hole through the elastic force of the tension spring, so that the use amount of lubricating oil is saved.

[0024] In summary, the present application has the following beneficial effects:

[0025] 1. The bearing seat is combined with the inner tooth box, so that the structure is more compact and reasonable, and the demand is met;

[0026] 2. The cable is inserted into the limiting groove, the limiting sleeve rotates synchronously with the joint during the rotation of the joint, so that the plurality of cables move synchronously, so that the plurality of cables are not easy to be knotted and entangled, and the protection of the cable is improved;

[0027] 3. During joint extension, the output shaft rotates, causing relative rotation between the limiting sleeve and the mounting plate. Excess cables are pressed into the storage slot by the slide bar, shortening the cable length outside the limiting sleeve. During joint folding, when the joint folds, the pressure roller disengages from the anti-detachment rod, and the second elastic element pushes the slide bar to reset, releasing excess cables from the storage slot. This prevents cables from accumulating near the joint or becoming entangled with other cables or the robot structure, causing chaos. Loose cables may swing during joint movement, colliding or interfering with the robot itself or other objects, affecting the robot's normal movement. Cable retraction effectively avoids this problem, making the structure more compact and rational.

[0028] 4. During the process of pushing the cable into and pulling it out of the storage tank, the friction force causes the cable to drive the limit wheel to rotate. The centrifugal force causes the plunger to separate from the oil outlet, and the lubricating oil is discharged from the oil outlet and coated on the outer wall of the cable to further reduce the wear on the cable. When the limit wheel rotates slowly or stops, the elastic force of the tension spring causes the plunger to block the oil outlet to save the amount of lubricating oil used. Attached Figure Description

[0029] Figure 1 This is a cross-sectional schematic diagram of the internal gearbox;

[0030] Figure 2 A schematic diagram of the front structure of the input connection flange;

[0031] Figure 3 This is a schematic diagram of the front structure of the output shaft;

[0032] Figure 4 This is a schematic diagram of the limiting sleeve.

[0033] Figure 5 for Figure 4 Enlarged view of A;

[0034] Figure 6 This is a schematic diagram showing the location of the storage slots;

[0035] Figure 7 This diagram illustrates the location of the anti-slip bar;

[0036] Figure 8 A cross-sectional diagram illustrating the anti-slip bar;

[0037] Figure 9 A cross-sectional diagram of the telescopic pole;

[0038] Figure 10 This is a schematic diagram of the slide bar structure;

[0039] Figure 11 This is a schematic diagram of the cross-section of the limit wheel;

[0040] Figure 12 This is a schematic diagram of the longitudinal section of the limit wheel.

[0041] Reference numerals: 10. Internal gearbox; 11. Input connection flange; 13. First-stage sun gear; 14. First bearing; 15. First-stage planetary carrier; 16. Second bearing; 17. First planetary gear; 18. First needle roller shaft; 2. Second-stage reduction assembly; 21. Second-stage planetary carrier; 22. Second-stage sun gear; 23. Second planetary gear; 24. Output shaft; 25. Second needle roller shaft; 3. Mounting plate; 31. Crossed roller bearing; 32. Outer pressure plate; 33. Output flange; 34. Inner pressure plate; 4. Limit sleeve; 41. Connecting rod; 5. Limit groove; 51. Slide groove; 52. Slider; 53. Support shaft; 54. 55. Limiting wheel; 56. Annular groove; 6. Elastic plate; 7. Storage slot; 71. Baffle; 8. Mounting cavity; 81. Slide rod; 811. Arc groove; 82. Second elastic element; 83. T-shaped rod; 9. Linkage assembly; 91. Telescopic rod; 911. Sleeve; 912. Inner rod; 913. Third elastic element; 92. Pressure roller; 93. Straight groove; 94. Anti-detachment rod; 95. First inclined surface; 96. Second inclined surface; 100. Cable; 200. Oil storage cavity; 201. Cover plate; 202. Oil outlet; 203. Plunger; 204. Support rod; 205. Anti-detachment plate; 206. Tension spring. Detailed Implementation

[0042] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, so that the technical solution of the present invention can be more easily understood and mastered.

[0043] A reducer for use in robot joints includes an internal gearbox 10, an output shaft 24, an input connection flange 11, and an input shaft. The input shaft is fixed to the inner wall of the input connection flange 11, thus fixing the input shaft to the input connection flange 11.

[0044] A primary sun gear 13 is fixedly connected to the outer wall of the input shaft, extending into the interior of the internal gearbox 10. The primary sun gear 13 is meshed with three first planet gears 17, which are evenly distributed along the axis of the primary sun gear 13. The first planet gears 17 mesh with the internal gear ring of the internal gearbox 10.

[0045] A first needle roller shaft 18 is rotatably connected to the inner wall of the first planetary gear 17, and the first needle roller shaft 18 is coaxially arranged with the first planetary gear 17. A first-stage planetary carrier 15 is rotatably connected to the first needle roller shaft 18, and the first-stage planetary carrier 15 is connected to the output shaft 24 through the second-stage reduction assembly 2. The output shaft 24 is located outside the internal gearbox 10.

[0046] A first bearing 14 is connected between the input shaft and the first-stage planetary carrier 15, and a second bearing 16 is connected between the first-stage planetary carrier 15 and the internal gearbox 10. The first bearing 14 is located inside the second bearing 16. Both the first bearing 14 and the second bearing 16 are deep groove ball bearings.

[0047] The secondary reduction gear 2 includes a secondary planetary carrier 21, a secondary sun gear 22, and three second planetary gears 23. The end of the primary planetary carrier 15 is fixedly connected to the end of the secondary sun gear 22, and the primary planetary carrier 15 and the secondary sun gear 22 are coaxially arranged. The teeth of the secondary sun gear 22 mesh with the second planetary gears 23. A second needle roller shaft 25 is fixedly connected to the inner wall of the second planetary gears 23, and the secondary planetary carrier 21 is rotatably connected to the second needle roller shaft 25. The second planetary gears 23 mesh with the internal gear ring of the internal gearbox 10. The secondary planetary carrier 21 is fixedly connected to the output shaft 24, and the secondary planetary carrier 21 and the output shaft 24 are coaxially arranged.

[0048] A mounting plate 3 is bolted to the outer wall of the internal gearbox 10. A crossed roller bearing 31 is mounted on the inner wall of the mounting plate 3. An output flange 33 is fixedly connected to the outer wall of the secondary planetary carrier 21, and the output flange 33 is connected to the crossed roller bearing 31. To make the crossed roller bearing 31 more stable, an inner pressure plate 34 is bolted to the output flange 33, and the inner pressure plate 34 is connected to the crossed roller bearing 31. The inner pressure plate 34 is located inside the mounting plate 3.

[0049] An outer pressure plate 32 is fixedly connected to the end of the mounting plate 3. The outer pressure plate 32 is used to abut against the side wall of the crossed roller bearing 31 to completely fix the crossed roller bearing 31. An oil seal is provided between the outer pressure plate 32, the crossed roller bearing 31 and the output flange 33.

[0050] A limiting sleeve 4 is provided on the outer wall of the mounting plate 3, and a cavity exists between the limiting sleeve 4 and the mounting plate 3. A limiting groove 5 for placing the cable 100 is formed on the inner wall of the limiting sleeve 4. The length direction of the limiting groove 5 is parallel to the axial direction of the limiting sleeve 4. The limiting sleeve 4 is connected to the outer wall of the output shaft 24 through a connecting rod 41. During the rotation of the output shaft 24, the limiting sleeve 4 rotates synchronously with the output shaft 24 through the connecting rod 41.

[0051] A sliding groove 51 is formed on the inner wall of the limiting groove 5, near the end of the limiting groove 5. A slider 52 is slidably connected in the sliding groove 51. A cylindrical straight rod is fixedly connected to the inner wall of the sliding groove 51, and the straight rod is slidably connected to the slider 52 to allow the slider 52 to slide along the length of the sliding groove 51. A support shaft 53 is fixedly connected to the slider 52, and a limiting wheel 55 is rotatably connected to the support shaft 53. An annular groove 56 is formed on the outer circumference of the limiting wheel 55 for contacting the outer wall of the cable 100.

[0052] Heat dissipation grooves are provided on both sides of the slide 51.

[0053] A first elastic element 54 is connected between the slider 52 and the inner wall of the groove 51. The first elastic element 54 is a spring.

[0054] The cable 100 is passed through the limiting sleeve 4 and then along the limiting groove 5 between the two limiting wheels 55. The limiting wheels 55 move towards the sliding groove 51. The cable 100 corresponds to the annular groove 56. The elastic force of the first elastic element 54 causes the outer wall of the cable 100 to abut against the inner wall of the annular groove 56, thereby reducing the wear of the cable 100 in the limiting groove 5, improving the protection of the cable 100, and making it less likely for the cable 100 to come out of the limiting groove 5.

[0055] The end of the limiting groove 5 is fixedly connected to an elastic plate 6 made of rubber. The elastic plate 6 is used to abut against the cable 100 to enhance the protection of the cable 100.

[0056] At robot joints, cables 100 often become excessively long, especially when the joint needs to be folded to the required length. When the joint extends from its folded state, the cables 100, originally designed for the folded length, become too long. Improper handling of this excess cable 100 can lead to several problems: 1. The excessively long cable 100 becomes loose, easily piling up near the joint, or even tangling with other cables 100 or the robot structure, causing chaos. 2. The loose cable 100 may swing during joint movement, colliding with or interfering with the robot itself or other objects, affecting the robot's normal movement.

[0057] Therefore, it is necessary to organize excessively long cables. Cable 100 is a highly flexible cable to prevent it from breaking easily during bending.

[0058] A storage slot 7 for placing the cable 100 is provided on the inner wall of the limiting sleeve 4. The storage slot 7 is connected to the middle of the limiting slot 5, and both ends of the storage slot 7 are close to the two limiting wheels 55. A baffle 71 is fixedly connected to the side of the storage slot 7 facing the mounting plate 3 to prevent the cable 100 from coming out of the storage slot 7. A sponge layer (not shown in the figure) is fixedly connected to both the inner wall of the storage slot 7 and the inner wall of the baffle 71. The inner wall of the storage slot 7 near the end of the limiting wheel 55 has a protective arc surface to ensure that the bending radius of the cable 100 is greater than the minimum bending radius specified by the cable 100 manufacturer.

[0059] An installation cavity 8 is formed on the inner wall of the limiting groove 5, and the installation cavity 8 is positioned opposite to the storage groove 7, communicating with the storage groove 7 through the limiting groove 5. A slide rod 81 for pushing the cable 100 into the storage groove 7 is slidably connected within the installation cavity 8. A second elastic element 82, which is a spring, is connected between the slide rod 81 and the inner wall of the installation cavity 8. To allow the slide rod 81 to move along its length, a T-shaped rod 83 is fixedly connected to the outer wall of the slide rod 81, with the length direction of the T-shaped rod 83 parallel to the length direction of the slide rod 81. A T-shaped groove is formed on the inner wall of the installation cavity 8, and the T-shaped rod 83 is slidably connected within the T-shaped groove. The end of the slide rod 81 has an arc-shaped groove 811, the inner wall of which is always in contact with the outer wall of the cable 100, maintaining a certain tension in the cable 100.

[0060] The outer wall of the mounting plate 3 is provided with a linkage component 9 for contacting the slide bar 81. The limiting sleeve 4 and the mounting plate 3 rotate relative to each other, and the slide bar 81 moves along its own length direction through the linkage component 9. The slide bar 81 pushes the cable 100, so that the excess cable 100 is located in the storage slot 7.

[0061] The linkage assembly 9 includes a telescopic rod 91, a pressure roller 92, a straight groove 93, an anti-detachment rod 94, a first inclined surface 95, and a second inclined surface 96. The telescopic rod 91 is fixed to the outer wall of the mounting plate 3, and the length direction of the telescopic rod 91 is parallel to the radial direction of the mounting plate 3. The pressure roller 92 is rotatably connected to the end of the telescopic rod 91 away from the mounting plate 3. The telescopic rod 91 includes a sleeve 911, an inner rod 912, and a third elastic element 913. The third elastic element 913 is a spring. The sleeve 911 is fixed to the outer wall of the mounting plate 3, and the inner rod 912 is slidably connected in the sleeve 911. The side wall of the inner rod 912 has a step, and a fixing piece is welded to the end of the sleeve 911 to prevent the inner rod 912 from detaching from the sleeve 911. The inner rod 912 is rotatably connected to the pressure roller 92.

[0062] A straight groove 93 is formed on the inner wall of the limiting sleeve 4, and the straight groove 93 is connected to the storage groove 7 through the mounting cavity 8 and the limiting groove 5. An anti-detachment rod 94 is slidably connected in the straight groove 93. A first inclined surface 95 is formed at the end of the sliding rod 81, and a second inclined surface 96 is formed at the end of the anti-detachment rod 94. The first inclined surface 95 and the second inclined surface 96 are adapted to each other, guiding the sliding rod 81 to slide when the anti-detachment rod 94 moves. The anti-detachment rod 94 is L-shaped and is formed by gluing two parts together. The anti-detachment rod 94 is located within the mounting cavity 8.

[0063] The pressure roller 92 is rolled onto the inner wall of the limiting sleeve 4 or rolled onto the end of the anti-detachment rod 94 away from the second inclined surface 96.

[0064] The end of the anti-slip bar 94 furthest from the second ramp 96 is hemispherical.

[0065] During the robot's joint extension, the limiting sleeve 4 rotates with the output shaft 24, causing relative rotation between the limiting sleeve 4 and the mounting plate 3. This causes the pressure roller 92 to press against the anti-detachment rod 94. The anti-detachment rod 94 moves along the length of the straight groove 93. Guided by the first inclined surface 95 and the second inclined surface 96, the sliding rod 81 moves along its own length, allowing it to traverse the limiting groove 5 and push the cable 100 to move, enabling excess cable 100 to be moved into the storage slot 7. The limit of joint extension is reached when the pressure roller 92 presses against the anti-detachment rod 94.

[0066] During the folding process of the joint, the pressure roller 92 separates from the anti-detachment rod 94. The elastic force of the second elastic element 82 causes the slide rod 81 to quickly return to its original position. The anti-detachment rod 94 is returned to its original position by the guiding action of the first inclined surface 95 and the second inclined surface 96. At this time, the slide rod 81 can no longer apply pressure to the cable 100, so the excess cable 100 can be removed from the limiting sleeve 4.

[0067] The robot's joints have a rotation angle of less than 180 degrees, which means that the output shaft 24 has a rotation angle of less than 180 degrees.

[0068] The side wall of the limiting wheel 55 has an oil reservoir 200 for storing lubricating oil, and the opening of the oil reservoir 200 is fixed by a cover plate 201 with threads. An oil outlet hole 202 communicating with an annular groove 56 is provided on the side wall of the oil reservoir 200. A rubber plunger 203 is provided on the oil outlet hole 202, and the plunger 203 is sealed to the oil outlet hole 202 by a tension spring 206. A T-shaped support rod 204 is fixedly connected to the inner wall of the oil outlet hole 202, and the plunger 203 is slidably connected to the support rod 204. An anti-detachment plate 205 is fixedly connected to the support rod 204 to prevent the plunger 203 from detaching from the support rod 204.

[0069] When the limit wheel 55 rotates, the centrifugal force causes the lubricating oil to be discharged from the oil outlet 202 and then coated on the outer wall of the cable 100.

[0070] Of course, the above are just typical examples of the present invention. In addition, the present invention may have many other specific embodiments. All technical solutions formed by equivalent substitution or equivalent transformation fall within the scope of protection claimed by the present invention.

Claims

1. A reducer for use in robot joints, comprising an internal gearbox, an output shaft, an input connection flange, and an input shaft, wherein the input shaft is fixed to the inner wall of the input connection flange, characterized in that: the input shaft... A primary sun gear is fixedly connected to the upper part of the gearbox. The primary sun gear meshes with multiple first planetary gears, which mesh with the internal gearbox. A first needle roller shaft is rotatably connected to the inner wall of each first planetary gear, and a primary planetary carrier is rotatably connected to the first needle roller shaft. A first bearing is positioned between the input shaft and the primary planetary carrier. A second bearing is positioned between the primary planetary carrier and the internal gearbox, with the first bearing located inside the second bearing. A secondary sun gear is fixedly connected to the end of the primary planetary carrier, and its teeth mesh with second planetary gears. A second needle roller shaft is fixedly connected to the inner wall of the second planetary gear, and a secondary planetary carrier is rotatably connected to the second needle roller shaft. The second planetary gear meshes with the internal gearbox. The secondary planetary carrier is connected to the output shaft. A mounting plate is fixedly connected to the outer wall of the internal gearbox, and a crossed roller bearing is located within the mounting plate. An output flange is connected to the outer wall of the secondary planetary carrier, and the output flange is connected to the crossed roller bearing. Both the secondary sun gear and the second planetary gear are located within the crossed roller bearing. Inside, a limiting sleeve is provided on the outer wall of the mounting plate. A limiting groove for placing cables is formed on the inner wall of the limiting sleeve. The length direction of the limiting groove is parallel to the axial direction of the limiting sleeve. The limiting sleeve is connected to the outer wall of the output shaft through a connecting rod. A sliding groove is formed on the inner wall of the limiting groove. A support shaft is slidably connected in the sliding groove. A limiting wheel is rotatably connected on the support shaft. An annular groove for abutting against the outer wall of the cable is formed on the outer circumference of the limiting wheel. A first elastic element is connected between the support shaft and the inner wall of the sliding groove. A storage groove for placing cables is formed on the inner wall of the limiting sleeve. The storage groove is connected to the middle of the limiting groove. A baffle is fixedly connected to the side of the storage groove facing the mounting plate. An installation cavity is formed on the inner wall of the limiting groove opposite to the storage groove. A sliding rod for pushing cables into the storage groove is slidably connected to the inner wall of the installation cavity. A second elastic element is connected between the sliding rod and the inner wall of the installation cavity. A linkage component for abutting against the sliding rod is provided on the outer wall of the mounting plate.

2. The reducer applied to a robot joint according to claim 1, characterized in that: An external pressure plate is fixedly connected to the end of the mounting plate, and the external pressure plate is used to abut against the side wall of the crossed roller bearing.

3. A reducer applied to a robot joint according to claim 1, characterized in that: The linkage assembly includes a telescopic rod, a pressure roller, a straight groove, an anti-detachment rod, a first inclined surface, and a second inclined surface. The telescopic rod is fixed to the outer wall of the mounting plate. The pressure roller is rotatably connected to the telescopic rod. The straight groove is opened on the inner wall of the limiting sleeve and communicates with the mounting cavity. The anti-detachment rod is slidably connected in the straight groove. The first inclined surface is opened at the end of the sliding rod, and the second inclined surface is opened at the end of the anti-detachment rod. The first inclined surface and the second inclined surface keep in contact. The pressure roller is rotatably connected to the inner wall of the limiting sleeve or rotatably connected to the end of the anti-detachment rod away from the second inclined surface.

4. A reducer applied to a robot joint according to claim 3, characterized in that: The limiting wheel has an oil storage cavity on its side wall for storing lubricating oil. The side wall of the oil storage cavity has an oil outlet hole that communicates with the annular groove. A plunger is installed on the oil outlet hole. The plunger is sealed by a tension spring. When the limiting wheel rotates, the lubricating oil is discharged from the oil outlet hole and coated on the outer wall of the cable by the action of centrifugal force.

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