Robot internal gearing speed reducer

Abstract

The invention relates to the technical field of speed reducers, in particular to a robot internal meshing speed reducer which comprises a speed reducer shell. The lubricating oil self-circulation mechanism comprises a mounting shell fixedly connected to the peripheral wall of the speed reducer shell, a first oil well pump is fixedly connected to the top end of the mounting shell, and a flow dividing box is fixedly connected to the peripheral wall of the speed reducer shell. Lubricating oil in a lubricating oil cavity is pumped out through a first oil well pump and discharged into a flow dividing box, and then the lubricating oil is conveyed to a first pressurizing spray head and a second pressurizing spray head through a first oil collecting pipe and a second oil collecting pipe correspondingly through the flow dividing box. Lubricating oil is sprayed to the contact positions of the speed reduction gear set, the speed reduction shell and the speed reduction shell through the multiple first pressurizing spray heads and the second pressurizing spray head, the lubricating oil flows on the surfaces of the speed reduction gear set, the speed reduction shell and the speed reduction gear set along with rotation of the speed reduction shell and the speed reduction gear set, lubrication is guaranteed, and the lubricating oil is recycled and filtered through the second oil well pump after lubrication and then recycled.

Description

Technical Field

[0001] The present invention relates to the technical field of speed reducers, and particularly relates to an internal meshing speed reducer for a robot. Background Art

[0002] An internal meshing speed reducer is a gear transmission device. Taking a planetary internal meshing speed reducer as an example, it has a sun gear (central gear), multiple planetary gears, and an internal gear ring. The sun gear serves as the input component. After power is input, it drives the planetary gears to rotate. The planetary gears rotate around their own axes and revolve along the inner wall of the internal gear ring. The meshing transmission between the planetary gears and the internal gear ring reduces the rotational speed and increases the torque output from the planet carrier (output component). The joint movement of a robot requires precise power transmission and speed control. The internal meshing speed reducer can provide a suitable reduction ratio for the robot joints, converting the high-speed rotation of the motor into the low-speed, high-torque movement required by the joints to meet the movement needs of the robot. For example, a robot internal meshing speed reducer disclosed in Application No. 202111215167.6 is an internal meshing speed reducer for robots.

[0003] For an existing planetary speed reducer, which is a type of internal meshing speed reducer, the friction between gears is large during operation. Although it relies on lubricating oil to reduce friction, the friction still exists and causes heat generation. Continuous heat generation causes thermal expansion of the planetary gears, sun gear, and internal gear ring, changing the gear meshing clearance and center distance, and thus the precision of precise transmission decreases accordingly. At the same time, wear particles generated during operation mix into the lubricating oil, and external dust, metal chips, and other impurities will also enter the speed reducer due to poor sealing, contaminating the lubricating oil. When the impurities accumulate to a certain extent, they act like abrasive agents, exacerbating the surface wear of the gears. To address these problems, the existing planetary speed reducer not only needs to regularly replace the lubricating oil, but the operation of replacing the lubricating oil is cumbersome; it also needs to continuously monitor the internal temperature to cool the speed reducer and the lubricating oil according to the real-time situation, increasing the operating cost and maintenance difficulty. Summary of the Invention

[0004] Aiming at the above-mentioned drawbacks of the existing technology, the present invention provides an internal meshing speed reducer for a robot, which can effectively solve the problems of the existing technology that require regular replacement of lubricating oil and cooling the speed reducer and the lubricating oil according to real-time situations.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: The present invention provides an internal meshing speed reducer for a robot, including: A speed reducer housing; Lubricating oil self - circulation mechanism, the lubricating oil self - circulation mechanism includes a mounting shell fixedly connected to the outer peripheral wall of the speed reducer housing. A first oil pump is fixedly connected to the top end of the mounting shell. A shunt box is fixedly connected to the outer peripheral wall of the speed reducer housing. The output end of the first oil pump is fixedly communicated with the shunt box. A plurality of telescopic grooves are annularly arranged on the inner peripheral wall of the speed reducer housing. An electric telescopic rod is fixedly connected to the inner wall of one side of the telescopic groove away from the axis of the speed reducer housing. The telescopic end of the electric telescopic rod is provided with a first booster nozzle; Cooling mechanism, the cooling mechanism includes two cooling chambers opened inside the speed reducer housing. Two extrusion rings are slidably connected to the inner walls of each cooling chamber. A flexible water bag is fixedly connected to the opposite sides of the two extrusion rings. The flexible water bag is filled with refrigerated water.

[0006] Preferably, a driving motor is fixedly connected to the outer wall of the speed reducer housing. Two speed reducer shells are rotatably connected to the inner peripheral wall of the speed reducer housing. A speed reduction gear set is arranged inside the speed reducer shell. The speed reduction gear set includes a sun gear, a planet gear and an internal gear ring. There are multiple planet gears and they are annularly arranged. The planet gears are meshed with the sun gear and the internal gear ring.

[0007] Preferably, the lubricating oil self - circulation mechanism further includes a plurality of oil outlets opened on the inner peripheral wall at the bottommost part of the speed reducer housing. A second oil pump is fixedly connected to the inner bottom wall of the mounting shell. The oil suction end of the second oil pump is fixedly communicated with a manifold pipe. A plurality of oil suction pipes are fixedly communicated inside the manifold pipe. The other ends of the oil suction pipes are fixedly communicated with the oil outlets one by one. Two symmetrically arranged partition plates are fixedly connected to the inner bottom wall of the mounting shell. The mounting shell is sequentially divided into a lubricating oil chamber, an oil suction chamber and a refrigeration chamber by the two partition plates. Lubricating oil is filled in the lubricating oil chamber, and refrigerated water is filled in the refrigeration chamber.

[0008] Preferably, the plurality of telescopic grooves are evenly separated by the two speed reducer shells. A connecting block is fixedly connected to the bottom end of the first booster nozzle between the two speed reducer shells. A second booster nozzle is fixedly connected to the bottom end of the connecting block. The spray ports of the first booster nozzle and the second booster nozzle between the two speed reducer shells are in opposite directions. The input end of the first booster nozzle outside the two speed reducer shells is fixedly communicated with a first oil collecting pipe, and the oil inlet of the first oil collecting pipe is connected to the inside of the shunt box. The input end of the second booster nozzle between the two speed reducer shells is fixedly communicated with a second oil collecting pipe communicated with the first oil collecting pipe. The oil suction end of the first oil pump is connected to the inside of the lubricating oil chamber. A first sealing plate with the same size as the bottom of the telescopic groove is fixedly connected to the bottom end of the first booster nozzle on the opposite sides of the two speed reducer shells. A second sealing plate with the same size as the bottom of the telescopic groove is fixedly connected to the bottom end of the second booster nozzle between the two speed reducer shells.

[0009] Preferably, the oil discharge end of the second oil pump is fixedly communicated with a conversion box. A temperature guiding rod is fixedly connected inside the conversion box, and the other end of the temperature guiding rod passes through the outer wall of the conversion box and extends to the outside thereof. A negative temperature coefficient thermistor is fixedly connected to the inner wall of the installation shell. The negative temperature coefficient thermistor is in contact with the part of the temperature guiding rod outside the conversion box. A transmission pipe is fixedly connected to the inner wall of the conversion box, and the other end of the transmission pipe passes through the refrigeration cavity and extends into the lubricating oil cavity. A filter plate is fixedly connected to the inner wall of the lubricating oil cavity. The negative temperature coefficient thermistor is electrically connected to a PLC controller to form a detection circuit. The PLC controller is electrically connected to the first oil pump, the second oil pump, the first booster nozzle, and the second booster nozzle to form a circulation circuit.

[0010] Preferably, on one side of the two reduction cases close to the drive motor, a first fixing block is fixedly connected to the outer wall. An L-shaped cleaning plate is fixedly connected to the outer wall of the first fixing block. The L-shaped cleaning plate has a first short rod and a first long rod fixedly connected perpendicularly to each other. The short rod is in contact with the inner peripheral wall of the reduction case. The long rod of the L-shaped cleaning plate close to the drive motor is in contact with one side inner wall of the reduction case. The long rod of the L-shaped cleaning plate far from the drive motor is in contact with the outer wall of the reduction case close to the drive motor. On the side of the other reduction case far from the drive motor, a second fixing block is fixedly connected. An inverted U-shaped cleaning plate is fixedly connected to the outer wall of the second fixing block. The inverted U-shaped cleaning plate has two parallel second long rods and a second short rod fixedly connected perpendicularly to the two second long rods. The short rod of the inverted U-shaped cleaning plate is in contact with the inner peripheral wall of the reduction case. The two long rods of the inverted U-shaped cleaning plate are respectively in contact with one side inner wall of the reduction case and the outer wall of the reduction case far from the drive motor.

[0011] Preferably, the temperature reduction mechanism further includes two groups of moving grooves circumferentially arrayed on the inner peripheral wall of the temperature reduction cavity, and the two groups of moving grooves are symmetrically arranged. One group of moving grooves has four moving grooves. An electromagnet is fixedly connected to the inner wall of the moving groove. A plastic elastic telescopic rod is fixedly connected to the outer wall of the electromagnet. A permanent magnet magnetically attracted to the electromagnet is fixedly connected to the telescopic end of the plastic elastic telescopic rod. The outer walls of the permanent magnets on the same side are all fixedly connected to the extrusion ring. The negative temperature coefficient thermistor is electrically connected to the electromagnet to form a temperature reduction circuit. A refrigeration plate is embedded in the inner wall of the installation shell, and the refrigeration end of the refrigeration plate faces the refrigeration cavity and the heat dissipation end faces the outside of the installation shell.

[0012] Preferably, a first water pump is fixedly connected to the top of the installation shell, and a second water pump is fixedly connected to the inner top wall of the installation shell. The first water pump and the second water pump are on the same side. The water pumping end of the first water pump is fixedly communicated with a water collecting pipe. The other end of the water collecting pipe passes through the reducer housing and communicates with the flexible water bag. The water discharging end of the water collecting pipe is in the refrigeration cavity. The water discharging end of the second water pump is fixedly communicated with a water distributing pipe. The other end of the water distributing pipe passes through the reducer housing and communicates with the flexible water bag. The water pumping end of the water distributing pipe extends into the refrigeration cavity.

[0013] The technical solution provided by the present invention has the following beneficial effects compared with the known prior art: 1. The lubricating oil in the lubricating oil cavity is pumped out by the first oil pump and discharged into the shunt box. Then, the lubricating oil is respectively transmitted to the first boosting nozzle and the second boosting nozzle through the first oil collecting pipe and the second oil collecting pipe by the shunt box. The lubricating oil is sprayed on the contact positions of the reduction gear set, the reduction housing and the reducer housing through multiple first boosting nozzles and one second boosting nozzle. As the reduction housing and the reduction gear set rotate, the lubricating oil flows on their surfaces to ensure lubrication. And after lubrication, the lubricating oil is recovered and filtered by the second oil pump and then recycled. By using two L-shaped cleaning plates and an inverted U-shaped cleaning plate to clean the inner peripheral wall and the inner side wall of the reducer housing during the use of the reducer, the lubrication effect of the reduction gear set and the reduction housing can be better ensured, and the inner peripheral wall and the inner side wall of the reducer housing can be cleaned to prevent the adhesion of the lubricating oil.

[0014] 2. When the lubricating oil flows out through the oil outlet, it is pumped out by the second oil pump and transmitted back to the bottom of the lubricating oil cavity through the transmission pipe. Since the transmission pipe passes through the refrigeration cavity, the refrigerating water can cool the lubricating oil in the transmission pipe to prevent its temperature from being too high and resulting in poor lubrication effect.

[0015] 3. The second water pump first transmits the refrigerated refrigerating water to the two flexible water bags through the water distributing pipe. The flexible water bags can cool the contact positions of the reduction housing and the reducer housing, and then cool the reduction gear set. When the negative temperature coefficient thermistor detects that the lubricating oil temperature gradually rises, its resistance value gradually decreases, the current flowing into the electromagnet gradually increases, and the adsorption force of the electromagnet on the permanent magnet gradually increases, thereby pulling the flexible water bag to increase the contact area with the reduction housing and the reducer housing to enhance the cooling effect. In addition, the first water pump will pump out the refrigerated refrigerating water and re-discharge it into the refrigeration cavity to realize the refrigeration water circulation and maintain the temperature stability of the whole system. It can automatically adjust the cooling effect according to the temperature change, ensure the normal operation of the reducer, and reduce the influence of temperature change on the precision of precise transmission. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0017] Figure 1 Schematic diagram of the three-dimensional structure of the present invention; Figure 2 Schematic diagram of the sectional three-dimensional structure of the present invention; Figure 3 Schematic diagram of the partial sectional three-dimensional structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged three-dimensional view of part A in; Figure 5 Schematic diagram of the sectional three-dimensional structure of the reducer housing of the present invention Figure 1 ; Figure 6 For the present invention Figure 5 Enlarged three-dimensional view of part B in; Figure 7 Schematic diagram of the partial sectional three-dimensional structure of the reducer housing of the present invention Figure 1 ; Figure 8 Schematic diagram of the sectional three-dimensional structure of the reducer housing of the present invention Figure 2 ; Figure 9 For the present invention Figure 8 Enlarged three-dimensional view of part A in; Figure 10 Schematic diagram of the sectional three-dimensional structure of the reducer housing of the present invention Figure 3 Figure 11 Schematic diagram of the partial sectional three-dimensional structure of the reducer housing of the present invention Figure 2 .

[0018] Reference Numerals: 1, reducer housing; 2, drive motor; 3, reduction housing; 4, reduction gear set; 5, lubricating oil self-circulation mechanism; 51, mounting housing; 52, first oil pump; 53, shunt box; 54, telescopic groove; 55, electric telescopic rod; 56, first booster nozzle; 57, second booster nozzle; 58, oil outlet; 59, second oil pump; 510, manifold; 511, oil suction pipe; 512, partition; 513, lubricating oil chamber; 514, oil suction chamber; 515, refrigeration chamber; 516, connecting block; 517, first oil collecting pipe; 518, second oil collecting pipe; 519, first sealing plate; 5110, second sealing plate; 5111, conversion box; 5112, temperature conducting rod; 5113, negative temperature coefficient thermistor; 5114, transmission pipe; 5115, first fixing block; 5116, L-shaped cleaning plate; 5117, second fixing block; 5118, inverted U-shaped cleaning plate; 6, cooling mechanism; 61, cooling chamber; 62, extrusion ring; 63, flexible water bag; 64, moving groove; 65, electromagnet; 66, elastic telescopic rod; 67, permanent magnet; 68, first water pump; 69, second water pump; 610, water collecting pipe; 611, water distribution pipe. Detailed Implementation Manner

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] The present invention will be further described below with reference to the embodiments.

[0021] Embodiment: Refer to Figures 1 to 11 , an internal meshing reducer for a robot, including a reducer housing 1, an outer wall of the reducer housing 1 is fixedly connected with a drive motor 2, an inner peripheral wall of the reducer housing 1 is rotatably connected with two reduction housings 3, a reduction gear set 4 meshing with each other is arranged in the reduction housing 3, the reduction gear set 4 includes a sun gear, planet gears, and an internal gear ring, there are multiple planet gears and they are distributed in a circular array, and the planet gears mesh with the sun gear and the internal gear ring. The above is a prior art planetary reducer, so no further elaboration will be made.

[0022] The lubricating oil self-circulation mechanism 5, the lubricating oil self-circulation mechanism 5 includes a mounting shell 51 fixedly connected to the outer peripheral wall of the reducer housing 1, a first oil pump 52 is fixedly connected to the top end of the mounting shell 51, a flow distribution box 53 is fixedly connected to the outer peripheral wall of the reducer housing 1, the output end of the first oil pump 52 is fixedly communicated with the flow distribution box 53, a plurality of telescopic grooves 54 are annularly arrayed on the inner peripheral wall of the reducer housing 1, an electric telescopic rod 55 is fixedly connected to the inner wall of one side of the telescopic groove 54 away from the axis of the reducer housing 1, and a first pressure-increasing nozzle 56 is arranged at the telescopic end of the electric telescopic rod 55; Among them, the lubricating oil self-circulation mechanism 5 further includes a plurality of oil outlets 58 opened on the inner peripheral wall at the bottommost part of the reducer housing 1, a second oil pump 59 is fixedly connected to the inner bottom wall of the mounting shell 51, a collecting pipe 510 is fixedly communicated with the oil pumping end of the second oil pump 59, a plurality of oil suction pipes 511 are fixedly communicated inside the collecting pipe 510, and the other ends of the oil suction pipes 511 are fixedly communicated with the oil outlets 58 in one-to-one correspondence. Two symmetrically arranged partition plates 512 are fixedly connected to the inner bottom wall of the mounting shell 51. The mounting shell 51 is sequentially divided into a lubricating oil chamber 513, an oil pumping chamber 514, and a refrigerating chamber 515 by the two partition plates 512. Lubricating oil is filled in the lubricating oil chamber 513, and refrigerating water is filled in the refrigerating chamber 515. Among them, a filling port is opened at the top of the mounting shell 51 in the lubricating oil chamber 513.

[0023] Among them, the plurality of telescopic grooves 54 are evenly separated by two reducer housings 3. A connecting block 516 is fixedly connected to the bottom end of the first pressure-increasing nozzle 56 between the two reducer housings 3. A second pressure-increasing nozzle 57 is fixedly connected to the bottom end of the connecting block 516. The spray nozzle directions of the first pressure-increasing nozzle 56 and the second pressure-increasing nozzle 57 between the two reducer housings 3 are opposite. The input end of the first pressure-increasing nozzle 56 outside the two reducer housings 3 is fixedly communicated with a first oil collecting pipe 517, and the oil inlet of the first oil collecting pipe 517 is connected to the inside of the flow distribution box 53. The input end of the second pressure-increasing nozzle 57 between the two reducer housings 3 is fixedly communicated with a second oil collecting pipe 518 communicated with the first oil collecting pipe 517. The oil pumping end of the first oil pump 52 is connected to the inside of the lubricating oil chamber 513. A first sealing plate 519 having the same size as the bottom of the telescopic groove 54 is fixedly connected to the bottom end of the first pressure-increasing nozzle 56 on the opposite sides of the two reducer housings 3. A second sealing plate 5110 having the same size as the bottom of the telescopic groove 54 is fixedly connected to the bottom end of the second pressure-increasing nozzle 57 between the two reducer housings 3. Through the second sealing plate 5110 and the first sealing plate 519, lubricating oil can be prevented from entering the telescopic groove 54.

[0024] Among them, the oil discharge end of the second oil pump 59 is fixedly communicated with a conversion box 5111. A temperature conduction rod 5112 is fixedly connected inside the conversion box 5111, and the other end of the temperature conduction rod 5112 passes through the outer wall of the conversion box 5111 and extends to the outside thereof. The inner wall of the installation shell 51 is fixedly connected with a negative temperature coefficient thermistor 5113. The negative temperature coefficient thermistor 5113 is in contact with the part of the temperature conduction rod 5112 outside the conversion box 5111. The inner wall of the conversion box 5111 is fixedly connected with a transmission pipe 5114, and the other end of the transmission pipe 5114 passes through the refrigeration cavity 515 and extends into the lubricating oil cavity 513. The inner wall of the lubricating oil cavity 513 is fixedly connected with a filter plate. The negative temperature coefficient thermistor 5113 is electrically connected to a PLC controller to form a detection circuit, and the PLC controller is electrically connected to the first oil pump 52, the second oil pump 59, the first boosting nozzle 56, and the second boosting nozzle 57 to form a circulation circuit.

[0025] Among them, on the outer wall of one side of the two reduction boxes 3 close to the driving motor 2, a first fixing block 5115 is fixedly connected. An L-shaped cleaning plate 5116 is fixedly connected to the outer wall of the first fixing block 5115. The L-shaped cleaning plate 5116 has a first short rod and a first long rod fixedly connected perpendicular to each other, and the short rod is in contact with the inner peripheral wall of the reduction box 1. The long rod of the L-shaped cleaning plate 5116 close to the driving motor 2 is in contact with one inner wall of the reduction box 1, and the long rod of the L-shaped cleaning plate 5116 far from the driving motor 2 is in contact with the outer wall of the reduction box 3 close to the driving motor 2. On the side of the other reduction box 3 far from the driving motor 2, a second fixing block 5117 is fixedly connected. An inverted U-shaped cleaning plate 5118 is fixedly connected to the outer wall of the second fixing block 5117. The inverted U-shaped cleaning plate 5118 has two parallel second long rods and a second short rod fixedly connected perpendicular to the two second long rods, and the short rod of the inverted U-shaped cleaning plate 5118 is in contact with the inner peripheral wall of the reduction box 1. The two long rods of the inverted U-shaped cleaning plate 5118 are respectively in contact with one inner wall of the reduction box 1 and the outer wall of the reduction box 3 far from the driving motor 2.

[0026] Cool the lubricating oil and the inside of the reduction box through the cooling mechanism 6. Refer to Figure 1 , Figure 2 , Figure 7 , the cooling mechanism 6 includes two cooling cavities 61 opened inside the reduction box 1. Two extrusion rings 62 are slidably connected to the inner walls of the respective cooling cavities 61. A flexible water bag 63 is fixedly connected to the opposite sides of the two extrusion rings 62. Refrigerated water is filled in the flexible water bag 63.

[0027] The temperature reduction mechanism 6 further includes two groups of moving grooves 64 arranged in a circumferential array on the inner peripheral wall of the temperature reduction cavity 61, and the two groups of moving grooves 64 are symmetrically arranged. One group of moving grooves 64 has four moving grooves 64. An electromagnet 65 is fixedly connected to the inner wall of the moving groove 64. A plastic elastic telescopic rod 66 is fixedly connected to the outer wall of the electromagnet 65. A permanent magnet 67 magnetically attracted to the electromagnet 65 is fixedly connected to the telescopic end of the plastic elastic telescopic rod 66. The outer walls of the permanent magnets 67 on the same side are all fixedly connected to the extrusion ring 62. The negative temperature coefficient thermistor 5113 is electrically connected to the electromagnet 65 to form a temperature reduction circuit. A refrigeration plate is embedded in the inner wall of the installation shell 51, and the refrigerating end of the refrigeration plate faces the refrigeration cavity 515, and the heat dissipation end faces the outside of the installation shell 51. The negative temperature coefficient thermistor 5113 has a reduced resistance value when heated. The negative temperature coefficient thermistor 5113 is usually made by mixing and sintering metal oxides such as manganese, nickel, and cobalt. When the temperature rises, the concentration of carriers inside it increases, resulting in a decrease in resistivity. According to the resistance calculation formula, the resistance value decreases accordingly.

[0028] A first water pump 68 is fixedly connected to the top end of the installation shell 51, and a second water pump 69 is fixedly connected to the inner top wall of the installation shell 51. The first water pump 68 and the second water pump 69 are on the same side. The water pumping end of the first water pump 68 is fixedly communicated with a water collecting pipe 610. The other end of the water collecting pipe 610 passes through the speed reducer housing 1 and communicates with the flexible water bag 63. The water discharging end of the water collecting pipe 610 is inside the refrigeration cavity 515. The water discharging end of the second water pump 69 is fixedly communicated with a water distributing pipe 611. The other end of the water distributing pipe 611 passes through the speed reducer housing 1 and communicates with the flexible water bag 63. The water pumping end of the water distributing pipe 611 extends into the refrigeration cavity 515.

[0029] The working principle of the present invention is as follows: When the speed reducer needs to be used, first start the driving motor 2 and decelerate through the reduction gear set 4, and then start the first oil pump 52, the second oil pump 59, the first water pump 68, and the second water pump 69 simultaneously; The lubricating oil in the lubricating oil cavity 513 is pumped out by the first oil pump 52 and discharged into the shunt box 53. The lubricating oil is transmitted to the first boosting nozzle 56 and the second boosting nozzle 57 through the shunt box 53 via the first oil collecting pipe 517 and the second oil collecting pipe 518 respectively. At the same time, start the electric telescopic rod 55 to extend (the extension time and retraction time of the electric telescopic rod 55 are calculated according to the rotation speed of the speed reducer, and the start and stop times of the first boosting nozzle 56 and the second boosting nozzle 57 are the same as the extension time / retraction time of the electric telescopic rod 55, and are all controlled by the PLC controller because the inner wall of the speed reducer housing 1 needs to be cleaned by the L-shaped cleaning plate 5116 and the inverted U-shaped cleaning plate 5118); Assuming that the effective diameter of the transmission component that converts rotary motion into linear motion is known, when the output shaft of the reducer rotates, the rotary motion is converted into the linear motion of the electric telescopic rod 55 through the gear transmission mechanism (transmission ratio is i), assuming that the output shaft speed of the reducer is n rpm, and the effective diameter of the transmission component is d, then the linear motion speed of the electric telescopic rod 55 is v=πdn / i. The stroke length of the extension or retraction of the electric telescopic rod 55 is set to L. According to the above uniform linear motion formula, the extension time t and the retraction time t are equal to the stroke length / linear motion speed of the electric telescopic rod 55; The lubricating oil is sprayed on the contact position between the reduction gear set 4, the reduction housing 3 and the reduction gear housing 1 through a plurality of first boosting nozzles 56 and a second boosting nozzle 57. The lubricating oil flows in the reduction gear set 4 and the reduction housing 3 through the rotation of the reduction housing 3 and the reduction gear set 4, thereby ensuring the lubrication of the reduction gear set 4 and the reduction housing 3. At the same time, the two L-shaped cleaning plates 5116 and the inverted U-shaped cleaning plates 5118 are driven by the reduction housing 3 to clean the inner peripheral wall and the inner side wall of the reduction housing 1 to prevent the lubricating oil from sticking. Then the lubricating oil will be discharged from the oil outlet 58. At the same time, the lubricating oil flowing out of the oil outlet 58 will be pumped out by starting the second oil pump 59, and transmitted to the bottom of the lubricating oil chamber 513 through the transmission pipe 5114, and then the impurities in the lubricating oil will be separated by the filter plate; In this process, the recovered lubricating oil will enter the transmission pipe 5114 only after passing through the conversion box 5111, and the temperature of the lubricating oil will be transmitted to the negative temperature coefficient thermistor 5113 through the temperature conducting rod 5112 in the transmission pipe 5114. Therefore, when the temperature of the lubricating oil increases, the resistance value of the negative temperature coefficient thermistor 5113 will change, and the resistance value of the negative temperature coefficient thermistor 5113 will decrease after being heated, and the current passing through the negative temperature coefficient thermistor 5113 will increase.

[0030] At the same time, the cooling water in the cooling chamber 515 is cooled by the started cooling plate, and then the transmission pipe 5114 passes through the cooling chamber 515. Therefore, the cooling water in the transmission pipe 5114 is cooled by the cooling water, which can prevent the lubricating oil from being too hot and its viscosity from being reduced, resulting in poor lubrication effect. Since there is more lubricating oil in the lubricating oil chamber 513, the cooled lubricating oil will be mixed with the lubricating oil that has been placed for a period of time, so the lubricating oil temperature will not be low.

[0031] By starting the second water pump 69, the second water pump 69 transmits the cooled chilled water to the two flexible water bags 63 respectively through the water distribution pipe 611, cools the position where the reduction gear housing 3 contacts the reducer housing 1 through the flexible water bag 63, and then cools the reduction gear set 4 through heat conduction. However, when it is detected that the lubricating oil temperature rises, it means that the temperature of the position where the reduction gear housing 3 contacts the reducer housing 1 and the reduction gear set 4 rises. At this time, the resistance value of the negative temperature coefficient thermistor 5113 decreases. Therefore, the current flowing into the electromagnet 65 will increase. Therefore, the adsorption force of the electromagnet 65 on the permanent magnet 67 will increase, and then gradually pull the flexible water bag 63, so that the flexible water bag 63 has a larger area in contact with the reduction gear housing 3 and the reducer housing 1, and then gradually increases the cooling effect. The reason for not increasing the contact area initially is to prevent the lubricating oil temperature from being too low, resulting in poor fluidity and unable to lubricate better.

[0032] And through the first water pump 68, the cooled chilled water is pumped out and then re-discharged into the refrigeration chamber 515, so as to achieve the refrigeration water circulation.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot internal meshing speed reducer, characterized in that, Comprising: Reducer housing (1); Lubricating oil self-circulation mechanism (5), the lubricating oil self-circulation mechanism (5) includes a mounting shell (51) fixedly connected to the outer peripheral wall of the reducer housing (1), a first oil pump (52) is fixedly connected to the top end of the mounting shell (51), a shunt box (53) is fixedly connected to the outer peripheral wall of the reducer housing (1), the output end of the first oil pump (52) is fixedly communicated with the shunt box (53), a plurality of telescopic grooves (54) are annularly arranged on the inner peripheral wall of the reducer housing (1), an electric telescopic rod (55) is fixedly connected to the inner wall of one side of the telescopic groove (54) away from the axis of the reducer housing (1), and a first booster spray head (56) is arranged at the telescopic end of the electric telescopic rod (55); Cooling mechanism (6), the cooling mechanism (6) includes two cooling chambers (61) opened inside the reducer housing (1), two extrusion rings (62) are slidably connected to the inner walls of the respective cooling chambers (61), a flexible water bag (63) is fixedly connected to the opposite sides of the two extrusion rings (62), and a refrigerated water is filled in the flexible water bag (63).

2. The internal meshing speed reducer for a robot according to claim 1, wherein, A driving motor (2) is fixedly connected to the outer wall of the reducer housing (1), two reduction housings (3) are rotatably connected to the inner peripheral wall of the reducer housing (1), a reduction gear set (4) is arranged inside the reduction housing (3), the reduction gear set (4) includes a sun gear, a planetary gear and an internal gear ring, there are a plurality of planetary gears and they are annularly arranged, and the planetary gears are meshed with the sun gear and the internal gear ring.

3. The internal meshing speed reducer for a robot according to claim 2, wherein, The lubricating oil self-circulation mechanism (5) further includes a plurality of oil outlets (58) opened on the inner peripheral wall at the bottommost part of the reducer housing (1), a second oil pump (59) is fixedly connected to the inner bottom wall of the mounting shell (51), the oil pumping end of the second oil pump (59) is fixedly communicated with a manifold pipe (510), a plurality of oil suction pipes (511) are fixedly communicated inside the manifold pipe (510), and the other ends of the oil suction pipes (511) are fixedly communicated with the oil outlets (58) in one-to-one correspondence. Two symmetrically arranged partition plates (512) are fixedly connected to the inner bottom wall of the mounting shell (51), and the mounting shell (51) is sequentially partitioned into a lubricating oil chamber (513), an oil pumping chamber (514), and a refrigerating chamber (515) by the two partition plates (512). Lubricating oil is filled in the lubricating oil chamber (513), and refrigerated water is filled in the refrigerating chamber (515).

4. The internal meshing speed reducer for a robot according to claim 3, characterized in that, A plurality of the telescopic grooves (54) are evenly separated by two speed reduction cases (3). A connecting block (516) is fixedly connected to the bottom end of the first booster nozzle (56) between the two speed reduction cases (3). A second booster nozzle (57) is fixedly connected to the bottom end of the connecting block (516). The spray ports of the first booster nozzle (56) and the second booster nozzle (57) between the two speed reduction cases (3) are in opposite directions. The input end of the first booster nozzle (56) outside the two speed reduction cases (3) is fixedly communicated with a first oil collecting pipe (517), and the oil inlet of the first oil collecting pipe (517) is communicated with the inside of the shunt box (53). The input end of the second booster nozzle (57) between the two speed reduction cases (3) is fixedly communicated with a second oil collecting pipe (518) communicated with the first oil collecting pipe (517). The oil pumping end of the first oil pump (52) is communicated with the inside of the lubricating oil cavity (513). A first sealing plate (519) having the same size as the bottom of the telescopic groove (54) is fixedly connected to the bottom end of the first booster nozzle (56) on the opposite sides of the two speed reduction cases (3). A second sealing plate (5110) having the same size as the bottom of the telescopic groove (54) is fixedly connected to the bottom end of the second booster nozzle (57) between the two speed reduction cases (3).

5. A kind of internal meshing reducer for a robot according to claim 4, characterized in that, The oil discharging end of the second oil pump (59) is fixedly communicated with a conversion box (5111). A temperature guiding rod (5112) is fixedly connected to the inside of the conversion box (5111), and the other end of the temperature guiding rod (5112) passes through the outer wall of the conversion box (5111) and extends to the outside thereof. A negative temperature coefficient thermistor (5113) is fixedly connected to the inner wall of the mounting case (51). The negative temperature coefficient thermistor (5113) is in contact with the part of the temperature guiding rod (5112) outside the conversion box (5111). A transmission pipe (5114) is fixedly connected to the inner wall of the conversion box (5111), and the other end of the transmission pipe (5114) passes through the refrigerating cavity (515) and extends into the lubricating oil cavity (513). A filter plate is fixedly connected to the inner wall of the lubricating oil cavity (513). The negative temperature coefficient thermistor (5113) is electrically connected to a PLC controller to form a detection circuit, and the PLC controller is electrically connected to the first oil pump (52), the second oil pump (59), the first booster nozzle (56), and the second booster nozzle (57) to form a circulation circuit.

6. The internal meshing speed reducer for a robot according to claim 5, wherein On one outer wall of each of the two speed reduction cases (3) close to the drive motor (2), a first fixing block (5115) is fixedly connected. On the outer wall of the first fixing block (5115), an L-shaped cleaning plate (5116) is fixedly connected. The L-shaped cleaning plate (5116) has a first short rod and a first long rod fixedly connected perpendicular to each other, and the short rod is in contact with the inner peripheral wall of the speed reducer case (1). The long rod of the L-shaped cleaning plate (5116) close to the drive motor (2) is in contact with one inner wall of the speed reducer case (1), and the long rod of the L-shaped cleaning plate (5116) away from the drive motor (2) is in contact with the outer wall of the speed reduction case (3) close to the drive motor (2). On one side of the other speed reduction case (3) away from the drive motor (2), a second fixing block (5117) is fixedly connected. On the outer wall of the second fixing block (5117), an inverted U-shaped cleaning plate (5118) is fixedly connected. The inverted U-shaped cleaning plate (5118) has two parallel second long rods and a second short rod fixedly connected perpendicular to the two second long rods, and the short rod of the inverted U-shaped cleaning plate (5118) is in contact with the inner peripheral wall of the speed reducer case (1). The two long rods of the inverted U-shaped cleaning plate (5118) are respectively in contact with one inner wall of the speed reducer case (1) and the outer wall of the speed reduction case (3) away from the drive motor (2).

7. A kind of internal meshing speed reducer for robots according to claim 5, characterized in that, The temperature reduction mechanism (6) further includes two groups of moving grooves (64) circumferentially arrayed on the inner peripheral wall of the temperature reduction cavity (61), and the two groups of moving grooves (64) are symmetrically arranged. One group of the moving grooves (64) has four moving grooves (64). An electromagnet (65) is fixedly connected to the inner wall of the moving groove (64). A plastic elastic telescopic rod (66) is fixedly connected to the outer wall of the electromagnet (65). A permanent magnet (67) magnetically attracted to the electromagnet (65) is fixedly connected to the telescopic end of the plastic elastic telescopic rod (66). On the outer walls of the permanent magnets (67) on the same side, an extrusion ring (62) is fixedly connected. The negative temperature coefficient thermistor (5113) is electrically connected to the electromagnet (65) to form a temperature reduction circuit. A refrigeration plate is embedded in the inner wall of the installation shell (51), and the refrigerating end of the refrigeration plate faces the refrigeration cavity (515), and the heat dissipation end faces the outside of the installation shell (51).

8. A kind of internal meshing speed reducer for a robot according to claim 7, characterized in that, A first water pump (68) is fixedly connected to the top end of the installation shell (51). A second water pump (69) is fixedly connected to the inner top wall of the installation shell (51). The first water pump (68) and the second water pump (69) are on the same side. The water pumping end of the first water pump (68) is fixedly communicated with a water collecting pipe (610). The other end of the water collecting pipe (610) passes through the speed reducer case (1) and communicates with a flexible water bag (63). The water discharging end of the water collecting pipe (610) is inside the refrigeration cavity (515). The water discharging end of the second water pump (69) is fixedly communicated with a water distribution pipe (611). The other end of the water distribution pipe (611) passes through the speed reducer case (1) and communicates with the flexible water bag (63). The water pumping end of the water distribution pipe (611) extends into the refrigeration cavity (515).

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