A robot internal meshing reducer

Abstract

This invention relates to the field of speed reducer technology, specifically to a robot internal meshing speed reducer, comprising: a speed reducer housing; and a 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 fixedly connected to the top of the mounting shell, and a distribution box fixedly connected to the outer peripheral wall of the speed reducer housing. The first oil pump draws lubricating oil from the lubricating oil chamber and discharges it to the distribution box. The distribution box then transmits the lubricating oil through a first oil collection pipe and a second oil collection pipe to a first booster nozzle and a second booster nozzle, respectively. Multiple first booster nozzles and one second booster nozzle spray the lubricating oil onto the contact points between the reduction gear set, the reduction housing, and the speed reducer housing. As the reduction housing and the reduction gear set rotate, the lubricating oil flows on their surfaces, ensuring lubrication. After lubrication, the second oil pump recovers and filters the lubricating oil for reuse.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and more specifically to a robot internal meshing speed reducer. Background Technology

[0002] An internal meshing reducer is a type of gear transmission device. Taking a planetary internal meshing reducer as an example, it has a sun gear (central gear), multiple planet gears, and an internal gear ring. The sun gear serves as the input component, driving the planet gears to rotate after power is input. The planet gears rotate on their own axes and also revolve along the inner wall of the internal gear ring. The meshing transmission between the planet gears and the internal gear ring reduces the speed output from the planet carrier (output component) and increases the torque. Since the wheel drive of new energy vehicles requires precise power transmission and speed control, the internal meshing reducer can provide a suitable reduction ratio for the drive system of new energy vehicles, converting the high-speed operation of the motor into the low-speed, high-torque motion required by the wheels, thereby meeting the driving needs of new energy vehicles under various road conditions.

[0003] Existing planetary gear reducers, as a type of internal meshing reducer, experience high friction between gears during operation. Although lubricating oil is used to reduce friction, it still exists and causes heat generation. Continuous heat causes thermal expansion of the planetary gears, sun gear, and internal ring gear, altering the gear meshing clearance and center distance, thus reducing the precision of the transmission. Simultaneously, wear particles generated during operation mix with the lubricating oil, and external dust, metal shavings, and other impurities can enter the reducer due to poor sealing, contaminating the lubricating oil. When these impurities accumulate to a certain level, they act like abrasives, accelerating wear on the gear surfaces. To address these problems, existing planetary gear reducers not only require regular lubricating oil changes, which are cumbersome, but also necessitate real-time monitoring of the internal temperature to cool the reducer and lubricating oil accordingly, increasing operating costs and maintenance difficulty. Summary of the Invention

[0004] To address the aforementioned shortcomings of existing technologies, this invention provides a robot internal meshing reducer that effectively solves the problems of requiring regular lubrication oil replacement and cooling of the reducer and lubrication oil based on real-time conditions.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This invention provides a robot internal meshing reducer, comprising:

[0007] Gearbox housing;

[0008] A self-circulating lubricating oil mechanism includes a mounting shell fixedly connected to the outer peripheral wall of a reducer housing, a first oil pump fixedly connected to the top of the mounting shell, a flow divider fixedly connected to the outer peripheral wall of the reducer housing, the output end of the first oil pump being fixedly connected to the flow divider, and multiple telescopic grooves arranged in a ring array on the inner peripheral wall of the reducer housing. An electric telescopic rod is fixedly connected to the inner wall of the telescopic groove on the side away from the axis of the reducer housing, and a first pressurizing nozzle is provided at the telescopic end of the electric telescopic rod.

[0009] The cooling mechanism includes two cooling chambers inside the reducer housing. Each cooling chamber has two compression rings slidably connected to its inner wall. A flexible water bladder is fixedly connected to the opposite side of the two compression rings, and the flexible water bladder is filled with cooling water.

[0010] Preferably, a drive motor is fixedly connected to the outer wall of the reducer housing, and two reduction housings are rotatably connected to the inner peripheral wall of the reducer housing. Each reduction housing is provided with a set of meshing reduction gears, which includes a sun gear, planet gears, and an internal gear ring. The planet gears are multiple and arranged in a circular array, and the planet gears mesh with the sun gear and the internal gear ring.

[0011] Preferably, the lubricating oil self-circulation mechanism further includes multiple oil outlets opened on the inner peripheral wall at the lowest part of the reducer housing. A second oil pump is fixedly connected to the inner bottom wall of the mounting housing. The oil pumping end is fixedly connected to a manifold. Multiple oil suction pipes are fixedly connected inside the manifold, and the other end of each oil suction pipe is fixedly connected to an oil outlet. Two symmetrical partitions are fixedly connected to the inner bottom wall of the mounting housing. The two partitions sequentially divide the mounting housing into a lubricating oil chamber, an oil suction chamber, and a cooling chamber. The lubricating oil chamber is filled with lubricating oil, and the cooling chamber is filled with cooling water.

[0012] Preferably, the plurality of telescopic grooves are evenly separated by two deceleration housings. A connecting block is fixedly connected to the bottom end of the first boosting nozzle located between the two deceleration housings. A second boosting nozzle is fixedly connected to the bottom end of the connecting block. The nozzle directions of the first boosting nozzle and the second boosting nozzle located between the two deceleration housings are opposite. The input end of the first boosting nozzle located outside the two deceleration housings is fixedly connected to a first oil receiving pipe, and the oil inlet of the first oil receiving pipe is connected to the inside of the diverter box. The input end of the second boosting nozzle located between the two deceleration housings is fixedly connected to a second oil receiving pipe connected to the first oil receiving pipe. The oil sucking end of the first oil pump is connected to the inside of the lubricating oil chamber. A first sealing plate of the same size as the bottom of the telescopic groove is fixedly connected to the bottom end of the first boosting nozzle located on the opposite side of the two deceleration housings. A second sealing plate of the same size as the bottom of the telescopic groove is fixedly connected to the bottom end of the second boosting nozzle located between the two deceleration housings.

[0013] Preferably, the discharge end of the second oil pump is fixedly connected to a conversion box. A temperature-conducting rod is fixedly connected inside the conversion box, and the other end of the temperature-conducting rod passes through the outer wall of the conversion box and extends to its outside. A negative temperature coefficient thermistor is fixedly connected to the inner wall of the mounting shell. The negative temperature coefficient thermistor is in contact with the part of the temperature-conducting 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 cooling chamber and extends into the lubricating oil chamber. A filter plate is fixedly connected to the inner wall of the lubricating oil chamber. 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.

[0014] Preferably, a first fixing block is fixedly connected to the outer wall of one of the two reduction housings near the drive motor. 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 contacts the inner peripheral wall of the reduction housing. The long rod of the L-shaped cleaning plate near the drive motor contacts one side of the inner wall of the reduction housing. The long rod of the L-shaped cleaning plate away from the drive motor contacts the outer wall of the reduction housing near the drive motor. A second fixing block is fixedly connected to the other reduction housing on the side away from the drive motor. 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 fixed perpendicularly to the two second long rods. The short rod of the inverted U-shaped cleaning plate contacts the inner peripheral wall of the reduction housing. The two long rods of the inverted U-shaped cleaning plate contact one side of the inner wall of the reduction housing and the outer wall of the reduction housing away from the drive motor, respectively.

[0015] Preferably, the cooling mechanism further includes two sets of movable slots arranged in a circumferential array on the inner wall of the cooling cavity, and the two sets of movable slots are symmetrically arranged. Each set of movable slots has four movable slots. An electromagnet is fixedly connected to the inner wall of the movable slot. A plastic elastic telescopic rod is fixedly connected to the outer wall of the electromagnet. A permanent magnet attracted to the electromagnet is fixedly connected to the telescopic end of the plastic elastic telescopic rod. The outer wall of the permanent magnet on the same side is fixedly connected to the compression ring. The negative temperature coefficient thermistor is electrically connected to the electromagnet to form a cooling circuit. A cooling plate is embedded in the inner wall of the mounting shell, and the cooling end of the cooling plate faces the cooling cavity and the heat dissipation end faces the outside of the mounting shell.

[0016] Preferably, a first water pump is fixedly connected to the top of the mounting shell, and a second water pump is fixedly connected to the inner top wall of the mounting shell. The first and second water pumps are on the same side. The pumping end of the first water pump is fixedly connected to a water collection pipe. The other end of the water collection pipe passes through the reducer housing and communicates with the flexible water bag. The drain end of the water collection pipe is located inside the cooling chamber. The drain end of the second water pump is fixedly connected to a water distribution pipe. The other end of the water distribution pipe passes through the reducer housing and communicates with the flexible water bag. The pumping end of the water distribution pipe extends into the cooling chamber.

[0017] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0018] 1. The first oil pump extracts the lubricating oil from the lubricating oil chamber and discharges it to the distribution box. The distribution box then transmits the lubricating oil through the first and second oil collection pipes to the first and second booster nozzles, respectively. Multiple first booster nozzles and one second booster nozzle spray the lubricating oil onto the contact points of the reduction gear set, the reduction housing, and the reducer housing. As the reduction housing and the reduction gear set rotate, the lubricating oil flows on their surfaces to ensure lubrication. After lubrication, the second oil pump recovers and filters the lubricating oil for reuse. By using two L-shaped cleaning plates and an inverted U-shaped cleaning plate to clean the inner circumferential and inner side walls 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 guaranteed. The inner circumferential and inner side walls of the reducer housing can also be cleaned to prevent the lubricating oil from sticking.

[0019] 2. After the lubricating oil flows out through the oil outlet, it is drawn out by the second oil pump and transported back to the bottom of the lubricating oil chamber through the transmission pipe. Since the transmission pipe passes through the cooling chamber, the cooling water can cool the lubricating oil in the transmission pipe to prevent it from being too hot and thus causing poor lubrication.

[0020] 3. The second water pump first transfers the cooled water through a distribution pipe to two flexible water bags. The flexible water bags cool the contact area between the reduction gear housing and the gearbox housing, thereby cooling the reduction gear set. When the negative temperature coefficient thermistor detects that the lubricating oil temperature is gradually rising, its resistance value gradually decreases, the current flowing into the electromagnet gradually increases, and the attraction force of the electromagnet on the permanent magnet gradually increases, thereby pulling the flexible water bag and increasing its contact area with the reduction gear housing and the gearbox housing to enhance the cooling effect. In addition, the first water pump will extract the cooled water and discharge it back into the cooling chamber to realize the cooling water circulation, maintain the temperature stability of the entire system, and automatically adjust the cooling effect according to temperature changes to ensure the normal operation of the reducer and reduce the impact of temperature changes on the precision transmission accuracy. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a cross-sectional three-dimensional structural diagram of the present invention;

[0024] Figure 3 This is a partial cross-sectional three-dimensional structural schematic diagram of the present invention;

[0025] Figure 4 For the present invention Figure 3 Enlarged 3D view of part A;

[0026] Figure 5 This is a schematic diagram of the three-dimensional cross-sectional structure of the reducer housing of the present invention. Figure 1 ;

[0027] Figure 6 For the present invention Figure 5 Enlarged 3D view of Part B;

[0028] Figure 7 This is a schematic cross-sectional three-dimensional structure of the reducer housing of the present invention. Figure 1 ;

[0029] Figure 8 This is a schematic diagram of the three-dimensional cross-sectional structure of the reducer housing of the present invention. Figure 2 ;

[0030] Figure 9 For the present invention Figure 8 Enlarged 3D view of part A;

[0031] Figure 10 This is a schematic diagram of the three-dimensional cross-sectional structure of the reducer housing of the present invention. Figure 3 ;

[0032] Figure 11 This is a schematic cross-sectional three-dimensional structure of the reducer housing of the present invention. Figure 2 .

[0033] Reference numerals: 1. Gearbox housing; 2. Drive motor; 3. Gearbox housing; 4. Gear reduction gear set; 5. Lubricating oil self-circulation mechanism; 51. Mounting housing; 52. First oil pump; 53. Diverter 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. Baffle plate; 513. Lubricating oil chamber; 514. Oil suction chamber; 515. Cooling chamber; 516. Connecting block; 517. First oil collection pipe; 518. Second oil collection pipe; 519. 5110. First sealing plate; 5111. 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. Squeezing 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 collection pipe; 611. Water distribution pipe. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] The present invention will be further described below with reference to embodiments.

[0036] Example: Refer to Figures 1 to 11 A robot internal meshing reducer includes a reducer housing 1. A drive motor 2 is fixedly connected to the outer wall of the reducer housing 1. Two reducer housings 3 are rotatably connected to the inner peripheral wall of the reducer housing 1. A set of reduction gears 4 that meshes with each other is provided inside the reducer housing 3. The set of reduction gears 4 includes a sun gear, planet gears and an internal gear ring. There are multiple planet gears arranged in a ring array, and the planet gears mesh with the sun gear and the internal gear ring. The above is a prior art planetary reducer, so it will not be described in detail.

[0037] 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 fixedly connected to the top of the mounting shell 51, a flow divider box 53 fixedly connected to the outer peripheral wall of the reducer housing 1, the output end of the first oil pump 52 being fixedly connected to the flow divider box 53, and a plurality of telescopic grooves 54 being opened in an annular array on the inner peripheral wall of the reducer housing 1. An electric telescopic rod 55 is fixedly connected to the inner wall of the telescopic groove 54 away from the axis of the reducer housing 1, and a first pressurizing nozzle 56 is provided at the telescopic end of the electric telescopic rod 55.

[0038] The lubricating oil self-circulation mechanism 5 also includes multiple oil outlets 58 opened on the inner peripheral wall at the bottom of the reducer housing 1. A second oil pump 59 is fixedly connected to the inner bottom wall of the mounting housing 51. The oil pump end of the second oil pump 59 is fixedly connected to a manifold 510. Multiple oil suction pipes 511 are fixedly connected inside the manifold 510, and the other end of the oil suction pipe 511 is fixedly connected to the oil outlets 58 one by one. Two symmetrical partitions 512 are fixedly connected to the inner bottom wall of the mounting housing 51. The mounting housing 51 is divided into a lubricating oil chamber 513, an oil suction chamber 514, and a cooling chamber 515 by the two partitions 512. The lubricating oil chamber 513 is filled with lubricating oil, and the cooling chamber 515 is filled with cooling water. The mounting housing 51 has a filling port at the top of the lubricating oil chamber 513.

[0039] Multiple telescopic slots 54 are evenly separated by two reduction housings 3. A connecting block 516 is fixedly connected to the bottom end of a first booster nozzle 56 located between the two reduction housings 3. A second booster nozzle 57 is fixedly connected to the bottom end of the connecting block 516. The nozzle directions of the first booster nozzle 56 and the second booster nozzle 57 located between the two reduction housings 3 are opposite. The input end of the first booster nozzle 56 located outside the two reduction housings 3 is fixedly connected to a first oil receiving pipe 517, and the oil inlet of the first oil receiving pipe 517 is connected to the inside of the diverter box 53. The second booster nozzle 57 located between the two reduction housings 3... The input end of 7 is fixedly connected to a second oil receiving pipe 518 that communicates with the first oil receiving pipe 517. The oil sucking end of the first oil pump 52 is connected to the inside of the lubricating oil chamber 513. The bottom end of the first booster nozzle 56, which is located on the opposite side of the two deceleration housings 3, is fixedly connected to a first sealing plate 519 that is the same size as the bottom of the telescopic groove 54. The bottom end of the second booster nozzle 57, which is located between the two deceleration housings 3, is fixedly connected to a second sealing plate 5110 that is the same size as the bottom of the telescopic groove 54. Through the second sealing plate 5110 and the first sealing plate 519, lubricating oil can be prevented from entering the telescopic groove 54.

[0040] The second oil pump 59 is fixedly connected to a conversion box 5111 at its discharge end. A temperature-conducting rod 5112 is fixedly connected inside the conversion box 5111, and the other end of the temperature-conducting rod 5112 passes through the outer wall of the conversion box 5111 and extends to its outside. A negative temperature coefficient thermistor 5113 is fixedly connected to the inner wall of the mounting shell 51. The negative temperature coefficient thermistor 5113 is in contact with the part of the temperature-conducting 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 cooling chamber 515 and extends into the lubricating oil chamber 513. A filter plate is fixedly connected to the inner wall of the lubricating oil chamber 513. The negative temperature coefficient thermistor 5113 is electrically connected to a PLC controller to form a detection circuit. 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.

[0041] Among them, a first fixing block 5115 is fixedly connected to the outer wall of the two reduction housings 3 near the drive motor 2. 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 to each other perpendicularly. The short rod contacts the inner peripheral wall of the reduction housing 1. The long rod of the L-shaped cleaning plate 5116 near the drive motor 2 contacts one side of the inner wall of the reduction housing 1. The long rod of the L-shaped cleaning plate 5116 away from the drive motor 2 contacts the outer wall of the reduction housing 3 near the drive motor 2. In contact with the drive motor 2, a second fixing block 5117 is fixedly connected to the side of another reduction housing 3 away from the drive motor 2. 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 fixed perpendicular to the two second long rods. The short rod of the inverted U-shaped cleaning plate 5118 is in contact with the inner peripheral wall of the reduction housing 1. The two long rods of the inverted U-shaped cleaning plate 5118 are in contact with the inner wall of one side of the reduction housing 1 and the outer wall of the reduction housing 3 away from the drive motor 2, respectively.

[0042] The cooling mechanism cools the lubricating oil and the inside of the reducer housing through six cooling pairs, referring to... Figure 1 , Figure 2 , Figure 7 The cooling mechanism 6 includes two cooling chambers 61 opened inside the reducer housing 1. Each cooling chamber 61 has two compression rings 62 slidably connected to its inner wall. The two compression rings 62 are fixedly connected to a flexible water bag 63 on their opposite sides. The flexible water bag 63 is filled with cooling water.

[0043] The cooling mechanism 6 also includes two sets of movable slots 64 arranged in a circumferential array on the inner wall of the cooling cavity 61, with the two sets of movable slots 64 symmetrically arranged. Each set of movable slots 64 has four movable slots 64. An electromagnet 65 is fixedly connected to the inner wall of the movable slot 64, and a plastic elastic telescopic rod 66 is fixedly connected to the outer wall of the electromagnet 65. A permanent magnet 67 that is magnetically attracted to the electromagnet 65 is fixedly connected to the telescopic end of the plastic elastic telescopic rod 66. The outer wall of the permanent magnet 67 on the same side is fixedly connected to the compression ring 62. (Negative temperature coefficient) The thermistor 5113 is electrically connected to the electromagnet 65 to form a cooling circuit. A cooling plate is embedded in the inner wall of the mounting shell 51, with the cooling end of the cooling plate facing the cooling cavity 515 and the heat dissipation end facing the outside of the mounting shell 51. The thermistor 5113, whose resistance decreases when heated, is usually made of a mixture of metal oxides such as manganese, nickel, and cobalt. When the temperature rises, the internal carrier concentration increases, resulting in a decrease in resistivity. According to the resistance calculation formula, the resistance value decreases accordingly.

[0044] A first water pump 68 is fixedly connected to the top of the mounting housing 51, and a second water pump 69 is fixedly connected to the inner top wall of the mounting housing 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 connected to a water collection pipe 610. The other end of the water collection pipe 610 passes through the reducer housing 1 and communicates with the flexible water bag 63. The drain end of the water collection pipe 610 is located inside the cooling chamber 515. The drain end of the second water pump 69 is fixedly connected to a water distribution pipe 611. The other end of the water distribution pipe 611 passes through the reducer housing 1 and communicates with the flexible water bag 63. The water pumping end of the water distribution pipe 611 extends into the cooling chamber 515.

[0045] The working principle of this invention is as follows:

[0046] When this reducer is needed, first start the drive motor 2 and reduce the speed through the reduction gear set 4, then start the first oil pump 52, the second oil pump 59, the first water pump 68, and the second water pump 69 at the same time.

[0047] The first oil pump 52 extracts the lubricating oil from the lubricating oil chamber 513 and discharges it into the distribution box 53. The distribution box 53 then transmits the lubricating oil through the first oil collection pipe 517 and the second oil collection pipe 518 to the first booster nozzle 56 and the second booster nozzle 57, respectively. At the same time, the electric telescopic rod 55 is activated to extend (the extension and retraction times of the electric telescopic rod 55 are calculated based on the speed of the reducer, and the start and stop times of the first booster nozzle 56 and the second booster nozzle 57 are consistent with the extension / retraction time of the electric telescopic rod 55, and are all controlled by the PLC controller, because the inner wall of the reducer housing 1 needs to be cleaned by the L-shaped cleaning plate 5116 and the inverted U-shaped cleaning plate 5118).

[0048] Assuming the effective diameter of the transmission component that converts rotational motion into linear motion is known, when the reducer output shaft rotates, the rotational motion is converted into linear motion of the electric telescopic rod 55 through a gear transmission mechanism (transmission ratio i). Assuming the reducer output shaft speed is n revolutions per minute 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. Let the extension or retraction stroke length of the electric telescopic rod 55 be L. According to the above formula for uniform linear motion, the extension time t and retraction time t are equal to the stroke length / linear motion speed of the electric telescopic rod 55.

[0049] Lubricating oil is sprayed onto the contact points of the reduction gear set 4, the reduction housing 3 and the reducer housing 1 by multiple first pressurizing nozzles 56 and one second pressurizing nozzle 57. The rotation of the reduction housing 3 and the reduction gear set 4 causes the lubricating oil to flow inside the reduction gear set 4 and the reduction housing 3, thereby ensuring the lubrication of the reduction gear set 4 and the reduction housing 3.

[0050] At the same time, the reduction housing 3 drives two L-shaped cleaning plates 5116 and inverted U-shaped cleaning plates 5118 to clean the inner peripheral wall and 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 second oil pump 59 is started to draw out the lubricating oil flowing out of the oil outlet 58 and transmit it to the bottom of the lubricating oil chamber 513 through the transmission pipe 5114. Then the impurities in the lubricating oil are separated by the filter plate.

[0051] In this process, the recovered lubricating oil enters the transmission pipe 5114 after passing through the conversion box 5111. The temperature of the lubricating oil is transferred 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 rises, the resistance value of the negative temperature coefficient thermistor 5113 will change. The resistance value of the negative temperature coefficient thermistor 5113 will decrease after being heated, and the current through the negative temperature coefficient thermistor 5113 will increase.

[0052] At the same time, the cooling plate is activated to cool the cooling water in the cooling chamber 515. 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 becoming too hot and its viscosity from decreasing, resulting in poor lubrication. Since there is a lot of lubricating oil in the lubricating oil chamber 513, the cooled lubricating oil will mix with the lubricating oil that has been stored for a period of time, so the lubricating oil temperature will not be too low.

[0053] By activating the second water pump 69, the cooled water is transferred to two flexible water bladders 63 via the water distribution pipe 611. The flexible water bladders 63 cool the contact area between the reduction housing 3 and the reduction gear housing 1, and then cool the reduction gear set 4 through temperature conduction. However, when the lubricating oil temperature is detected to rise, the temperature of the contact area between the reduction housing 3 and the reduction gear housing 1 and the reduction gear set 4 also rises. At this time, the resistance value of the negative temperature coefficient thermistor 5113 decreases, so the current flowing into the electromagnet 65 will increase. Therefore, the attraction force of the electromagnet 65 to the permanent magnet 67 will increase, which will gradually pull the flexible water bladder 63, so that the flexible water bladder 63 has a larger contact area with the reduction housing 3 and the reduction gear housing 1, thereby gradually increasing the cooling effect. The reason for not increasing the contact area initially is to prevent the lubricating oil temperature from being too low, which would lead to poor fluidity and ineffective lubrication.

[0054] The first water pump 68 extracts the cooled water and then discharges it back into the cooling chamber 515, thereby achieving cooling water circulation.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 reducer, characterized in that, include: The reducer housing (1) has two reducer housings (3) rotatably connected to its inner peripheral wall. 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) fixedly connected to the top of the mounting shell (51), a flow divider box (53) fixedly connected to the outer peripheral wall of the reducer housing (1), the output end of the first oil pump (52) is fixedly connected to the flow divider box (53), and a plurality of telescopic grooves (54) are opened in an annular array on the inner peripheral wall of the reducer housing (1). An electric telescopic rod (55) is fixedly connected to the inner wall of the telescopic groove (54) away from the axis of the reducer housing (1), and a first booster nozzle (56) is provided at the telescopic end of the electric telescopic rod (55). Cooling mechanism (6) includes two cooling chambers (61) opened inside the reducer housing (1). The inner wall of each cooling chamber (61) is slidably connected to two extrusion rings (62). A flexible water bag (63) is fixedly connected to the opposite side of the two extrusion rings (62). The flexible water bag (63) is filled with cooling water. The inner wall of the mounting shell (51) is fixedly connected with a negative temperature coefficient thermistor (5113), and the inner bottom wall of the mounting shell (51) is fixedly connected with two symmetrical partitions (512). The mounting shell (51) is divided into a lubricating oil chamber (513), an oil extraction chamber (514), and a cooling chamber (515) in sequence by the two partitions (512). Two reduction housings (3) are fixedly connected to a first fixing block (5115) on the outer wall of the side near the drive motor (2). 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 to each other perpendicularly. The short rod is in contact with the inner peripheral wall of the reduction housing (1). The long rod of the L-shaped cleaning plate (5116) near the drive motor (2) is in contact with one side of the inner wall of the reduction housing (1). The long rod of the L-shaped cleaning plate (5116) away from the drive motor (2) is in contact with the inner wall of the reduction housing (3) near the drive motor (2). The outer wall is in contact with the other reduction housing (3), and a second fixing block (5117) is fixedly connected to the side away from the drive motor (2). 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 fixed perpendicular to the two second long rods. The short rod of the inverted U-shaped cleaning plate (5118) is in contact with the inner peripheral wall of the reduction housing (1). The two long rods of the inverted U-shaped cleaning plate (5118) are in contact with the inner wall of one side of the reduction housing (1) and the outer wall of the reduction housing (3) away from the drive motor (2), respectively. The cooling mechanism (6) further includes two sets of moving slots (64) arranged in a circular array on the inner wall of the cooling cavity (61), and the two sets of moving slots (64) are symmetrically arranged. Each set of moving slots (64) has four moving slots (64). An electromagnet (65) is fixedly connected to the inner wall of the moving slot (64). A plastic elastic telescopic rod (66) is fixedly connected to the outer wall of the electromagnet (65). A permanent magnet (67) that is magnetically attracted to the electromagnet (65) is fixedly connected to the telescopic end of the plastic elastic telescopic rod (66). The outer wall of the permanent magnet (67) on the same side is fixedly connected to the extrusion ring (62). The negative temperature coefficient thermistor (5113) is electrically connected to the electromagnet (65) to form a cooling circuit. A cooling plate is embedded in the inner wall of the mounting shell (51), and the cooling end of the cooling plate faces the cooling cavity (515) and the heat dissipation end faces the outside of the mounting shell (51). A first water pump (68) is fixedly connected to the top of the mounting shell (51), and a second water pump (69) is fixedly connected to the inner top wall of the mounting 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 connected to a water collection pipe (610). The other end of the water collection pipe (610) passes through the reducer housing (1) and communicates with the flexible water bag (63). The drain end of the water collection pipe (610) is located in the refrigeration chamber (515). The drain end of the second water pump (69) is fixedly connected to a water distribution pipe (611). The other end of the water distribution pipe (611) passes through the reducer housing (1) and communicates with the flexible water bag (63). The water pumping end of the water distribution pipe (611) extends into the refrigeration chamber (515).

2. The robot internal meshing reducer according to claim 1, characterized in that, The outer wall of the reducer housing (1) is fixedly connected to a drive motor (2), and a reduction gear set (4) is provided inside the reducer housing (3). The reduction gear set (4) includes a sun gear, planet gears and an internal gear ring. The planet gears are multiple and arranged in a ring array, and the planet gears mesh with the sun gear and the internal gear ring.

3. The robot internal meshing reducer according to claim 2, characterized in that, The lubricating oil self-circulation mechanism (5) also includes multiple oil outlets (58) opened on the inner peripheral wall at the bottom of the reducer housing (1). The inner bottom wall of the mounting housing (51) is fixedly connected to a second oil pump (59). The oil pump end of the second oil pump (59) is fixedly connected to a manifold (510). Multiple oil pumping pipes (511) are fixedly connected inside the manifold (510), and the other end of the oil pumping pipe (511) is fixedly connected to the oil outlet (58) one by one. The lubricating oil chamber (513) is filled with lubricating oil, and the cooling chamber (515) is filled with cooling water.

4. A robot internal meshing reducer according to claim 3, characterized in that, Multiple telescopic slots (54) are evenly separated by two deceleration housings (3). The bottom end of the first booster nozzle (56) located between the two deceleration housings (3) is fixedly connected to a connecting block (516). The bottom end of the connecting block (516) is fixedly connected to a second booster nozzle (57). The nozzle directions of the first booster nozzle (56) and the second booster nozzle (57) located between the two deceleration housings (3) are opposite. The input end of the first booster nozzle (56) located outside the two deceleration housings (3) is fixedly connected to a first oil receiving pipe (517), and the oil inlet of the first oil receiving pipe (517) is connected to the inside of the diverter box (53). The input end of the second booster nozzle (57) located between the two deceleration housings (3) is fixedly connected to a second oil receiving pipe (518) that is connected to the first oil receiving pipe (517). The oil sucking end of the first oil pump (52) is connected to the inside of the lubricating oil chamber (513). The bottom end of the first booster nozzle (56) located on the opposite side of the two deceleration housings (3) is fixedly connected to a first sealing plate (519) of the same size as the bottom of the telescopic groove (54). The bottom end of the second booster nozzle (57) located between the two deceleration housings (3) is fixedly connected to a second sealing plate (5110) of the same size as the bottom of the telescopic groove (54).

5. A robot internal meshing reducer according to claim 4, characterized in that, The second oil pump (59) has a fixed connection to a conversion box (5111) at its discharge end. A temperature-conducting rod (5112) is fixedly connected inside the conversion box (5111), and the other end of the temperature-conducting rod (5112) passes through the outer wall of the conversion box (5111) and extends to its outside. The negative temperature coefficient thermistor (5113) is in contact with the part of the temperature-conducting rod (5112) outside the conversion box (5111). A transmission pipe (51) is fixedly connected to the inner wall of the conversion box (5111). 14), and the other end of the transmission pipe (5114) passes through the cooling chamber (515) and extends into the lubricating oil chamber (513). The inner wall of the lubricating oil chamber (513) is fixedly connected to a filter plate. The negative temperature coefficient thermistor (5113) is electrically connected to a PLC controller and forms a detection circuit. 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) and forms a circulation circuit.

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