Harmonic joint module for body-aware robots

Abstract

The application discloses a harmonic joint module for a body intelligent robot and belongs to the field of joint modules. The harmonic joint module comprises a shell assembly, a harmonic reducer, a driving motor and an oil circulation system. The oil circulation system comprises multiple groups of oil channels. The oil channels are arranged in the shell and communicate with the harmonic reducer and the driving motor. Lubricating oil flows in the oil channels. The lubricating oil lubricates and cools the transmission components of the harmonic reducer and the driving motor during circulation. The multiple groups of oil channels are arranged in a ring array around the axis of the shell assembly and are not connected with each other. The harmonic joint module can form comprehensive and efficient lubrication coverage at the key positions of the harmonic reducer and the driving motor through the multiple groups of independently circulating oil channels. The ring array arrangement improves the overall heat dissipation capacity and avoids local overheating, thereby effectively prolonging the service life of the joint module.

Description

Technical Field

[0001] This invention relates to the field of joint modules, and more particularly to a harmonic joint module for an embodied intelligent robot. Background Technology

[0002] Embossed robots are an important branch of the rapidly developing field of robotics technology in recent years. In the design and manufacturing process of embodied intelligent robots, the joint module is undoubtedly one of the core components. It directly relates to whether the robot can achieve flexible and varied movement and precise control, and therefore occupies a pivotal position in the entire robot system.

[0003] However, the traditional joint modules widely used in the market have certain design shortcomings, the most significant being the lack of an oil circulation system. This design flaw results in insufficient and ineffective lubrication between moving parts during prolonged continuous robot operation. Consequently, these parts are prone to wear due to friction, and the overheating problem worsens with extended operation. This situation not only significantly shortens the robot's lifespan but may also affect its operational stability and safety. Summary of the Invention

[0004] The technical problem this invention aims to solve is: to address the insufficient lubrication and poor heat dissipation caused by the lack of an oil circulation structure in existing joint modules, this invention provides a harmonic joint module for embodied intelligent robots with a built-in oil circulation system. This system continuously provides lubrication to the transmission components during module operation. Furthermore, the oil circulation structure accelerates cooling, thereby improving the module's stability and lifespan under high load conditions.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a harmonic joint module for an embodied intelligent robot, including a housing assembly, a harmonic reducer, a drive motor, and an oil circulation system. The housing assembly has an internal mounting cavity, and the harmonic reducer and the drive motor are fixedly installed in the mounting cavity. The oil circulation system includes an oil passage, which is located inside the housing and communicates with the harmonic reducer and the drive motor. Lubricating oil flows in the oil passage, and the lubricating oil lubricates and cools the transmission components of the harmonic reducer and the drive motor during the circulation process.

[0006] The oil channels are arranged in multiple sets, forming a circular array centered on the axis of the housing assembly. Each oil channel is independent, ensuring independent circulation of lubricating oil within each channel, thereby improving lubrication uniformity and cooling efficiency. Thus, by employing multiple independently circulating oil channel structures, the lubricating oil can achieve comprehensive and efficient lubrication coverage in key areas of the harmonic reducer and drive motor. Simultaneously, the circular array layout not only enhances overall heat dissipation but also prevents localized overheating, effectively extending the service life of the joint module.

[0007] Furthermore, the housing assembly includes an inner housing and a hollow shaft. The inner housing is cylindrical, and one end of the inner housing extends inward to form a connecting portion. The hollow shaft is disposed inside the inner housing, and one end of the hollow shaft is fixedly connected to the connecting portion. The axis of the hollow shaft and the axis of the inner housing are on the same straight line. The oil passage is disposed inside the inner housing and the hollow shaft.

[0008] The hollow shaft's internal cavity is used to carry signal or power lines. The harmonic reducer and drive motor are respectively fixedly installed within the mounting cavity formed by the inner shell and the hollow shaft. This allows for efficient circulation of lubricating oil in the core area of ​​the joint module through a continuous path, providing continuous lubrication and cooling to the transmission components of the harmonic reducer and drive motor. Simultaneously, this structural design effectively reduces the use of external oil pipes, improving the overall structural compactness and sealing performance, and avoiding the risk of lubricating oil leakage. Furthermore, since the hollow shaft's internal cavity can be used to carry signal or power lines, it further optimizes the space utilization and integration of the joint module, improving the overall operational reliability and maintenance convenience of the embodied intelligent robot.

[0009] Furthermore, the oil circuit includes a receiving cavity, a first flow channel, and a second flow channel. The receiving cavity is located inside the connecting part, the first flow channel is located inside the side wall of the inner shell, and the second flow channel is located inside the side wall of the hollow shaft. The first and second flow channels extend axially along the inner shell and the hollow shaft, respectively. One end of the receiving cavity is connected to the first flow channel, and the other end is connected to the second flow channel, thus forming a complete circulation path. Each of the first and second flow channels has a branch port on one side. The branch port is correspondingly arranged with the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor, so that the lubricating oil can enter each independent oil passage through the branch port for circulation. That is, the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor are arranged in parallel, so that the lubrication of the harmonic reducer and the drive motor is still in an independent circulation state, thereby ensuring that each transmission component is always in a good lubrication and cooling state during operation.

[0010] Furthermore, the width of the receiving cavity is greater than the channel diameters of flow channel one and flow channel two to ensure that the lubricating oil can achieve pressure buffering and flow stability after entering the receiving cavity, avoiding the problem of unstable lubrication due to sudden changes in flow rate; at the same time, by increasing the lateral cross-sectional area of ​​the receiving cavity, more lubricating oil can come into contact with the inner wall of the connecting part for heat exchange, thereby improving the heat dissipation effect of the lubricating oil.

[0011] Furthermore, the receiving cavity has an elliptical cavity structure, and the long axis end of the receiving cavity is designed with a V-shape, resulting in a relatively narrow gap at the long axis end. This guides the flow direction of the lubricating oil through capillary effect, thereby achieving precise control of the lubricating oil flow path. In addition, the V-shaped structure design can effectively reduce the resistance of the lubricating oil during the flow process and improve its smoothness. When the connecting part rotates about the axis of the hollow shaft, the lubricating oil preferentially flows to the outer area of ​​the receiving cavity under the action of centrifugal force, and enters the first flow channel under the guidance of the V-shaped structure. After passing through the harmonic reducer and the drive motor, it enters the second flow channel and finally flows back to the receiving cavity. During this cycle, the lubricating oil can continuously carry away the heat generated by the harmonic reducer and the drive motor, thereby maintaining the stability of the internal temperature of the system and avoiding material fatigue and performance degradation caused by temperature rise. In addition, this oil circuit circulation structure can achieve self-circulation of lubricating oil without an oil pump, which greatly simplifies the structure of the lubrication system and reduces energy consumption and maintenance costs.

[0012] Furthermore, the hollow shaft body has an oil inlet connected to an external oil pump at one end away from the connecting part, and an oil outlet connected to an external oil pump at one end of the flow channel one away from the connecting part. This allows lubricating oil to enter the flow channel one from the external oil pump through the oil inlet, then pass through the receiving cavity and the flow channel two in sequence, and finally return to the oil pump through the oil outlet. Thus, when the external oil pump is started, lubricating oil can flow from the external oil pump into the flow channel one, pass through each oil passage and the receiving cavity, enter the flow channel two, and finally flow back to the external oil pump, forming a forced circulation cleaning path. Through continuous replacement of lubricating oil, the dust generated by wear is carried away, ensuring the cleanliness and stability of the system operation, reducing the difficulty of cleaning and maintenance and the frequency of major cleaning, and extending the service life of the equipment.

[0013] Furthermore, a first seal is provided at the oil inlet, and a second seal is provided at the oil outlet. Both the first and second seals are made of high-temperature resistant and wear-resistant elastic materials to ensure good sealing performance under high temperature and high pressure environments. By setting the first and second seals, leakage of lubricating oil at the oil inlet and outlet is effectively prevented, thereby improving the reliability and safety of the lubrication system.

[0014] Furthermore, the flow channel is provided with a flow control component, which can automatically adjust the flow area of ​​the flow channel according to the dynamic changes of the inner shell in space, thereby maintaining the flow rate and pressure of the lubricating oil during the circulation process.

[0015] The flow control assembly includes a support frame and multiple guide plates. These guide plates are arranged axially along the support frame, with one end fixedly connected to the support frame and the other end extending radially along the support frame. The support frame has a fan-shaped cross-section, with its larger curved side tangent to the inner wall of flow channel one. The guide plates are located on the smaller curved side of the support frame and are positioned opposite the branching port at flow channel two. Thus, when lubricating oil enters flow channel one, it first contacts the guide plates. Through the branching and guiding action of the guide plates, part of the lubricating oil enters the branching port, while the other part continues to flow along the extending direction of the guide plates, thereby achieving precise control of the lubricating oil flow path. By rationally designing the number and tilt angle of the guide plates, liquid resistance at the branching port can be effectively avoided, ensuring smooth flow of lubricating oil into the designated area, improving lubrication efficiency and system stability.

[0016] Furthermore, the guide plate extends radially along the support frame to form an arc-shaped structure. The arc-shaped guide plate can better conform to the flow direction of the lubricating oil, reduce flow resistance, and improve flow efficiency. At the same time, the arc design can also evenly disperse oil pressure during the diversion process, prevent local pressure concentration from causing flow turbulence, and thus further ensure the stable delivery of lubricating oil.

[0017] Furthermore, the support frame and the guide plate are made of high-strength, lightweight materials, and the surface is treated with anti-corrosion and anti-wear properties to adapt to complex working environments and extend service life.

[0018] Furthermore, one end of the support frame is located at the connection between the flow channel and the receiving cavity, and the end has a beveled structure. The beveled surface forms a gradual transition with the inner wall of the flow channel, so that the lubricating oil can smoothly transition when entering the flow channel, reducing flow resistance and eddy currents.

[0019] Furthermore, the other end of the support frame is provided with a T-shaped slider, and the end face of the first seal is provided with a T-shaped groove that matches the T-shaped slider. The T-shaped slider and the T-shaped groove slide in a sliding fit. Thus, the first seal ensures that the support frame will not fall into the cavity, while allowing the support frame to move freely within a certain range.

[0020] Furthermore, one end of the seal within the flow channel is an inclined surface, which gives the seal a longest edge line and a shortest edge line. The longest edge line and the shortest edge line are located in the same radial direction. The longest edge line is located on the side of the flow channel away from the hollow shaft, and the shortest edge line is located on the side of the flow channel closer to the hollow shaft. The T-shaped groove is provided on the inclined surface, and the extension direction of the T-shaped groove is consistent with the inclination direction of the inclined surface.

[0021] Furthermore, the housing assembly also includes an outer shell, which is coaxially arranged with the inner shell and fitted over the outer shell. The outer shell has a groove on its outer side, extending along the axis of the inner shell and penetrating it. The inner side of the outer shell has a protrusion that engages with the groove. The end face of the protrusion has a through hole, extending along the axis of the outer shell and penetrating it. Thus, the engaging structure between the outer shell and the inner shell achieves a stable connection and alignment, ensuring the coaxiality and sealing performance of the overall structure. Simultaneously, as air passes through the through hole, it carries away heat from the protrusion, indirectly accelerating the heat dissipation rate of the contact area between the protrusion and the groove.

[0022] Furthermore, multiple grooves are provided and are evenly distributed along the circumference of the inner shell; the grooves are located on one side of the flow channel and correspond one-to-one with the flow channel; thus, each groove works in conjunction with the corresponding flow channel to ensure that the lubricating oil can be cooled at one point in the flow channel.

[0023] Furthermore, the harmonic reducer includes an outer bearing ring, a rigid wheel integrally formed with the outer bearing ring, a cup-shaped flexible wheel, and an inner bearing ring fixedly connected to the cup-shaped flexible wheel. The outer teeth of the cup-shaped flexible wheel mesh with the inner teeth of the rigid wheel. The inner bearing ring is positioned outside the outer cup-shaped flexible wheel. Rolling elements are provided between the outer bearing ring and the inner bearing ring, and the rolling elements are evenly distributed between the outer bearing ring and the inner bearing ring. A wave generator is provided on the inner side of the cup-shaped flexible wheel. The wave generator includes a flexible bearing and an elliptical cam. The flexible bearing is sleeved on the outside of the elliptical cam and fits against the inner wall of the cup-shaped flexible wheel. A bearing seat is rotatably sleeved on the hollow shaft. The end of the bearing seat is fixedly connected to the inner wall of the cup-shaped flexible wheel to form a stable support structure. There is a gap between the side wall of the bearing seat and the inner wall of the cup-shaped flexible wheel to accommodate the elastic deformation of the cup-shaped flexible wheel during operation. Therefore, by integrating the outer ring of the bearing with the rigid wheel, and placing rolling elements between the inner and outer rings of the bearing, and positioning the rolling elements on the outside of the cup-shaped flexible wheel cylinder, the axial length and outer diameter are effectively shortened, thereby improving the integration and ease of installation of the harmonic reducer.

[0024] Furthermore, an oil passage is provided between the outer ring and the inner ring of the bearing. The oil passage passes through the connection between the outer ring and the inner ring and is connected to the branch port of the first flow channel, so that the lubricating oil can be branched from the first flow channel into the channel and then delivered to the key friction pair area between the outer ring and the inner ring of the bearing to achieve effective lubrication of the rolling elements and contact surfaces. The rigid wheel is also provided with a channel, which is connected to another branch port of the first flow channel, so that the lubricating oil can be delivered to the meshing area of ​​the rigid wheel and the cup-shaped flexible wheel at the same time.

[0025] Furthermore, the drive motor includes a positioning frame, a stator assembly fixed on the positioning frame, and a rotor assembly that cooperates with the stator assembly. The side wall of the positioning frame is fixedly connected to the inner shell. The rotor assembly is rotatably sleeved on the outside of the hollow shaft and rotatably connected to the positioning frame. The rotating shaft of the rotor assembly passes through the positioning frame. The elliptical cam is disposed on the outside of the positioning frame and is fixedly sleeved on the rotating shaft of the rotor assembly, so that the rotation of the rotor assembly drives the elliptical cam to rotate synchronously. There is a gap between one end of the cup-shaped flexure and the end of the positioning frame. The end face of the rigid wheel slides in contact with the end face of the positioning frame. Thus, the lubricating oil entering the harmonic reducer passes through the rolling elements and the meshing area between the rigid wheel and the cup-shaped flexure before entering the gap between the cup-shaped flexure and the positioning frame, and then enters the internal space of the cup-shaped flexure. This lubricates the connection between the flexure and the wave generator, and between the wave generator and the input shaft, and removes the heat generated by the components during operation. In addition, the lubricating oil fills the gap between the cup-shaped flexure and the bearing seat, improving the operational stability and durability of the structure.

[0026] Furthermore, the side wall of the positioning frame is provided with at least one through-flow hole, which is connected to the first flow channel through a diversion port. The through-flow hole is used to guide lubricating oil from the first flow channel to the interior of the positioning frame. The rotor assembly is provided with a lubrication channel inside, one end of which is connected to the inner cavity of the positioning frame, and the other end of which is connected to the second flow channel through a diversion port. This allows lubricating oil to enter the second flow channel from the inner cavity of the positioning frame through the lubrication channel, thereby achieving lubrication of the mating area between the rotor assembly and the positioning frame, and further improving the running stability and durability of the moving parts inside the drive motor.

[0027] Furthermore, the stator assembly is formed into a complete and continuous annular structure by vacuum pressure impregnation with fluorinated epoxy resin, which can significantly improve the overall sealing and insulation performance of the stator assembly, while enhancing its mechanical strength and corrosion resistance, thereby extending the service life of the motor under complex operating conditions.

[0028] The beneficial effects of this invention are that the harmonic joint module for the embodied intelligent robot of this invention is equipped with multiple sets of oil channels, which are arranged in a ring array around the housing axis to ensure that the lubricating oil circulates independently in each oil channel, thereby improving lubrication uniformity and cooling efficiency. At the same time, the oil channels are interconnected through the branch ports to form a complete lubrication circulation network, which enables the lubricating oil to be dynamically balanced between different oil channels, avoiding problems such as local overheating or insufficient lubrication.

[0029] The harmonic joint module for embodied intelligent robots of the present invention has a V-shaped structure at the end of the long axis of the receiving cavity, which uses capillary effect to guide the flow direction of lubricating oil and reduce flow resistance.

[0030] The harmonic joint module for embodied intelligent robots of the present invention has a flow control component in the flow channel, which can automatically adjust the flow area according to the dynamic changes of the inner shell to maintain stable lubricating oil flow and pressure. Attached Figure Description

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] Figure 1 This is a structural schematic diagram of a harmonic joint module used in an embodied intelligent robot (partially cut open of the outer shell).

[0033] Figure 2 This is an axial cross-sectional schematic diagram of a harmonic joint module used in an embodied intelligent robot.

[0034] Figure 3 This is a schematic diagram of the oil circuit.

[0035] Figure 4 This is a schematic diagram showing the distribution of the receiving cavity at the connecting part.

[0036] Figure 5 yes Figure 3 A schematic diagram of the structure of the central cavity.

[0037] Figure 6 This is a three-dimensional schematic diagram of the flow control component in state one of the flow channel one.

[0038] Figure 7 This is a three-dimensional schematic diagram of the flow control component in state two within flow channel one.

[0039] Figure 8 This is a partial schematic diagram of the support frame within the flow channel.

[0040] Figure 9 This is a structural schematic diagram of seal element one.

[0041] Figure 10 This is a schematic diagram of the flow control component.

[0042] Figure 11 This is a radial cross-sectional diagram of the outer shell and the inner shell.

[0043] In the diagram: 11. Outer shell; 12. Inner shell; 13. Hollow shaft; 21. Bearing outer ring; 22. Bearing inner ring; 23. Cup-shaped flexible wheel; 24. Bearing housing; 25. Wave generator; 31. Positioning frame; 32. Stator assembly; 33. Rotor assembly; 41. Receiving cavity; 42. Flow channel one; 43. Flow channel two; 441. Support frame; 442. Guide plate; 443. T-shaped slider; 45. Seal one; 451. T-shaped groove; 5. Joint module. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0045] Example 1:

[0046] like Figures 1-4 As shown, a harmonic joint module for an embodied intelligent robot includes a housing assembly, a harmonic reducer, a drive motor, and an oil circulation system; (Refer to...) Figure 1 The housing assembly includes an outer shell 11 and a cylindrical inner shell 12. The inner shell 12 is coaxially embedded inside the outer shell 11. One end of the outer shell 11 is fixedly connected to other joint modules. (Refer to...) Figure 1 , Figure 2 One end of the inner housing 12 extends inward to form an annular connecting part. The end of the connecting part facing the inside of the inner housing 12 is provided with a hollow shaft 13. The hollow shaft 13 is coaxially arranged with the inner housing 12. The annular connecting part and the hollow shaft 13 are connected to form a through channel. A mounting cavity for installing a harmonic reducer and a drive motor is formed between the hollow shaft 13 and the inner housing 12.

[0047] Reference Figure 2 The harmonic reducer includes an outer bearing ring 21, a rigid wheel integrated with the outer bearing ring 21, a cup-shaped flexible wheel 23, and an inner bearing ring 22 fixedly connected to the cup-shaped flexible wheel 23. A bearing seat 24 is rotatably sleeved on the hollow shaft 13. The end of the bearing seat 24 is fixedly connected to the inner wall of the cup-shaped flexible wheel 23 to form a stable support structure. There is a gap between the side wall of the bearing seat 24 and the inner wall of the cup-shaped flexible wheel 23 to accommodate the elastic deformation of the cup-shaped flexible wheel 23 during operation. The outer teeth of the cup-shaped flexible wheel 23 mesh with the inner teeth of the rigid wheel. The inner bearing ring 22 is located outside the outer cup-shaped flexible wheel 23. Rolling elements are provided between the outer bearing ring 21 and the inner bearing ring 22, and the rolling elements are evenly distributed between the outer bearing ring 21 and the inner bearing ring 22. As a result, the axial length and outer diameter are effectively shortened, and the integration and installation convenience of the harmonic reducer are improved.

[0048] The drive motor includes a positioning frame 31, a stator assembly 32 fixed on the positioning frame 31, and a rotor assembly 33 that cooperates with the stator assembly 32. The side wall of the positioning frame 31 is fixedly connected to the inner shell 12. The rotor assembly 33 includes a rotating shaft and a rotor core disposed on the rotating shaft. The rotating shaft is rotatably sleeved on the outside of the hollow shaft body 13 and rotatably connected to the positioning frame 31. The rotating shaft of the rotor assembly 33 passes through the positioning frame 31.

[0049] An elliptical cam is fixedly sleeved on the shaft of the rotor assembly 33, and the elliptical cam is located on the outside of the positioning frame 31. The rotation of the rotor assembly 33 drives the elliptical cam to rotate synchronously. A flexible bearing is sleeved on the outside of the elliptical cam, and the outside of the flexible bearing is in contact with the inner wall of the cup-shaped flexure 23. The flexible bearing and the elliptical cam constitute a wave generator 25. The wave generator 25 realizes the periodic deformation drive of the cup-shaped flexure 23 through the cooperation of the elliptical cam and the flexible bearing, thereby transmitting the rotational motion of the drive motor to the harmonic reducer.

[0050] Reference Figure 2 The harmonic joint module is equipped with an oil circulation system, which includes oil channels, lubrication channels for the harmonic reducer and lubrication channels for the drive motor. The oil channels are connected to the lubrication channels for the harmonic reducer and the drive motor respectively. The oil circulation system delivers lubricating oil evenly to the key friction parts of the harmonic reducer and the drive motor through the built-in oil channels, effectively reducing operating temperature rise and mechanical wear.

[0051] Reference Figure 3 The oil circuit includes a flow channel 42 along the inner wall of the inner shell 12, a flow channel 43 along the inner wall of the hollow shaft 13, and a receiving cavity 41 located in the connecting part. The flow channel 42, the receiving cavity 41, and the flow channel 43 are connected in sequence to form an oil circuit. Each side of the flow channel 42 and the flow channel 43 is provided with a branch port, which is correspondingly set with the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor, so that the lubricating oil can enter each independent oil circuit through the branch port for circulation. That is, the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor are set in parallel, so that the lubrication of the harmonic reducer and the drive motor is still in an independent circulation state, thereby ensuring that each transmission component is always in a good lubrication and cooling state during operation. Compared with the existing technical solution of connecting the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor in series, this solution effectively avoids the problem of uneven lubrication and reduced heat dissipation efficiency caused by the series connection of oil circuits, and significantly improves the stability and reliability of the system operation.

[0052] Reference Figure 4The system features multiple sets of oil channels arranged in a ring array around the axis of the housing assembly. These channels are independent of each other, ensuring independent circulation of lubricating oil within each channel, thus improving lubrication uniformity and cooling efficiency. This multi-set, independently circulating oil channel structure allows for comprehensive and efficient lubrication coverage of the lubricating oil in key areas of the harmonic reducer and drive motor. Furthermore, the ring array layout not only enhances overall heat dissipation but also prevents localized overheating, effectively extending the service life of the joint module.

[0053] in:

[0054] Reference Figure 2 The lubrication channels of the harmonic reducer include an oil passage through the connection between the outer ring 21 and the inner ring 22 of the bearing, an oil passage inside the rigid wheel, a lubrication channel in the meshing area between the cup-shaped flexible wheel 23 and the rigid wheel, and an oil passage at the bearing housing 24. One end of the oil passage through the connection between the outer ring 21 and the inner ring 22 of the bearing and one end of the oil passage inside the rigid wheel are respectively connected to the branch port of the first flow channel 42, and the other end of both are connected to the lubrication channel in the meshing area between the cup-shaped flexible wheel 23 and the rigid wheel; one end of the oil passage at the bearing housing 24 is connected to the inner cavity of the cup-shaped flexible wheel 23, and the other end is connected to the branch port of the second flow channel 43; the cup-shaped flexible wheel 23... There is a gap between one end of the wheel 23 and the end of the positioning frame 31, and the end face of the rigid wheel slides into contact with the end face of the positioning frame 31. Thus, the lubricating oil that enters the lubrication channel of the cup-shaped flexible wheel 23 and the rigid wheel meshing area enters the gap between the cup-shaped flexible wheel 23 and the positioning frame 31 after passing through the meshing area of ​​the rigid wheel and the cup-shaped flexible wheel 23, and then enters the internal space of the cup-shaped flexible wheel 23. This lubricates the connection between the cup-shaped flexible wheel 23 and the wave generator 25, and between the wave generator 25 and the input shaft, and removes the heat generated by the components during operation. In addition, the lubricating oil fills the gap between the cup-shaped flexible wheel 23 and the bearing seat 24, improving the operational stability and durability of the structure.

[0055] Reference Figure 2 The drive motor is an oil-cooled motor, and its oil circuit includes a radial oil passage that passes through the rotating shaft, a rotor oil passage that extends from the center of the rotor core to both ends and the outside, an arc-shaped oil groove on the inner wall of the positioning frame 31, an annular oil passage on the outer wall of the stator assembly 32, an axial oil passage on the outer wall of the stator assembly 32 that connects to the annular oil passage, and a flow hole on the side wall of the positioning frame 31; the other end of the radial oil passage that passes through the rotating shaft is connected to the branch port of the second flow channel 43, and the other end of the flow hole is connected to the branch port of the first flow channel 42.

[0056] In summary, this oil circuit system, through the synergistic effect of flow channel one 42 and flow channel two 43, achieves parallel oil supply to the lubrication channels of the harmonic reducer and the drive motor, effectively improving lubrication and cooling efficiency. Lubricating oil is distributed from flow channel one 42 to the rigid wheel and meshing area, then enters the inner cavity of the cup-shaped flexible wheel 23, and flows back through the bearing housing 24. Simultaneously, flow channel two 43 guides the oil into the radial oil passage of the rotor shaft, extending through the internal oil passage of the rotor to the annular oil passage of the stator, completing comprehensive thermal management of the motor's core components. When the shaft rotates, centrifugal force causes the lubricating oil to be thrown outward along the radial oil passage, accelerating the flow of oil inside the rotor core and improving cooling efficiency. At the same time, the arc-shaped oil groove and the annular oil passage work together to guide the flow, ensuring stable pressure in the oil circuit under high-speed operation, effectively preventing cavitation and oil supply interruption, and ensuring the thermal stability and operational reliability of the motor under continuous high load conditions. Compared to existing traditional oil circuit designs, this solution optimizes the flow channel layout and dynamic pressure control, eliminates the oil pump, and relies on the pressure difference and centrifugal force within the system to achieve automatic circulation of lubricating oil, significantly reducing energy consumption and failure rate. At the same time, it reduces the weight and volume of the harmonic joint module, improving overall integration and ease of installation.

[0057] Example 2: The oil circulation system in Example 1 requires the shaft to rotate to generate effective centrifugal force to drive the lubricating oil circulation. When stationary, it is in a stagnant state with no pre-cooling effect, causing the motor to overheat excessively at startup, affecting system stability. Therefore, based on Example 1, the following is added:

[0058] Reference Figures 3-5 The width of the receiving cavity 41 is greater than the diameter of the flow channel 42 and the flow channel 43 to ensure that the lubricating oil can achieve pressure buffering and flow stability after entering the receiving cavity 41, avoiding the problem of lubrication instability caused by sudden changes in flow rate. At the same time, by increasing the lateral cross-sectional area of ​​the receiving cavity 41, more lubricating oil can come into contact with the inner wall of the connecting part for heat exchange, thereby improving the heat dissipation effect of the lubricating oil. A cavity is formed between the outer shell 11 and the connecting part, and the cavity is filled with thermally conductive material to enhance the heat conduction efficiency between the outer shell 11 and the connecting part.

[0059] Reference Figure 4 , Figure 5 The receiving cavity 41 has an elliptical cavity structure, and the long axis end of the receiving cavity 41 is designed with a V-shape, which makes the long axis end of the receiving cavity 41 have a relatively narrow gap. Through capillary effect, it guides the flow direction of the lubricating oil, thereby achieving precise control of the lubricating oil flow path. In addition, the V-shaped structure design can effectively reduce the resistance of the lubricating oil during the flow process and improve its flow smoothness.

[0060] When the outer casing 11 is rotated by the connected joint module 5, the lubricating oil in the receiving cavity 41 moves outward along the major axis of the ellipse under centrifugal force. Guided by the V-shaped structure at the end of the major axis, the lubricating oil flows into the first flow channel 42, passes through the harmonic reducer and the drive motor, and then enters the second flow channel 43, finally flowing back to the receiving cavity 41. During this cycle, the lubricating oil can continuously remove the heat generated by the harmonic reducer and the drive motor. In this embodiment, combined with the joint module 5, the structure of the receiving cavity 41 is optimized based on the first embodiment to achieve the effect of pre-lubrication and cooling. The pre-filling and pre-cooling of the lubrication system can be completed before startup, significantly improving the temperature rise problem at the moment of motor startup, thereby improving the overall stability and response speed of the system. At the same time, the optimized design of the receiving cavity and the flow channel allows the lubricating oil to maintain stable flow at low speed or in a stationary state, further enhancing the adaptability and reliability of the system.

[0061] Example 3: To reduce the frequency of disassembly and cleaning, the following is added based on Examples 1 and 2:

[0062] Reference Figure 2 The hollow shaft 13 has an oil inlet at the end furthest from the connecting part, which is connected to an external oil pump. The flow channel 42 has an oil outlet at the end furthest from the connecting part, which is connected to an external oil pump. This allows lubricating oil to enter the flow channel 42 from the external oil pump through the oil inlet, and then pass through the receiving cavity 41 and the flow channel 43 in sequence before returning to the oil pump through the oil outlet. Thus, when the external oil pump is started, lubricating oil can flow from the external oil pump into the flow channel 42, pass through each oil passage and the receiving cavity 41, and then enter the flow channel 43, finally returning to the external oil pump. This forms a forced circulation cleaning path, which removes the dust generated by wear through continuous lubricating oil replacement, ensuring the cleanliness and stability of the system operation, reducing the difficulty of cleaning and maintenance and the frequency of major cleaning, and extending the service life of the equipment.

[0063] Among them: a sealing element 1 (45) is provided at the oil inlet, and a sealing element 2 is provided at the oil outlet (see reference). Figure 2 The black components (in the middle) and seals 45 and 2 are both made of high-temperature resistant and wear-resistant elastic materials to ensure good sealing performance under high temperature and high pressure environments. By setting seals 45 and 2, leakage of lubricating oil at the inlet and outlet is effectively prevented, thereby improving the reliability and safety of the lubrication system.

[0064] Example 4: Refer to Figure 1 Under the control of the joint module 5, the outer shell 11 undergoes circumferential dynamic changes in the vertical plane, for example, the end away from the joint module 5 is oriented upwards, downwards, to the left or right, or at an angle; to ensure stable delivery of lubricating oil under different postures, the following is added based on embodiment three:

[0065] Reference Figure 2 , Figure 6 , Figure 7 The flow channel 42 is equipped with a flow control component, which can automatically adjust the flow area of ​​the flow channel 42 according to the dynamic changes of the inner shell 12 in space, thereby maintaining the flow rate and pressure of the lubricating oil during the circulation process.

[0066] Reference Figures 6-10 The flow control assembly includes a support frame 441 and guide plates 442. Multiple guide plates 442 are arranged axially along the support frame 441. One end of each guide plate 442 is fixedly connected to the support frame 441, and the other end extends radially along the support frame 441. The support frame 441 has a fan-shaped cross-section, with its larger curved side tangent to the inner wall of flow channel one. The guide plates 442 are located on the smaller curved side of the support frame 441 and are positioned at the flow channel two 43. The flow dividers are positioned opposite each other; thus, when the lubricating oil enters the flow channel 42, it comes into contact with the guide plate 442. Through the diversion and guiding effect of the guide plate 442, part of the lubricating oil enters the flow divider, while the other part continues to flow along the extension direction of the support frame 441, thereby achieving precise control of the lubricating oil flow path. By reasonably designing the number and tilt angle of the guide plates 442, the phenomenon of liquid resistance at the flow divider can be effectively avoided, ensuring that the lubricating oil flows smoothly into the designated area, improving lubrication efficiency and system stability.

[0067] in:

[0068] Reference Figures 6-8 The guide plate 442 extends radially along the support frame 441 to form an arc-shaped structure. The arc-shaped guide plate 442 can better conform to the flow direction of lubricating oil, reduce flow resistance, and improve flow guiding efficiency. At the same time, the arc design can also evenly distribute oil pressure during the flow distribution process, preventing local pressure concentration from causing flow turbulence, thereby further ensuring stable delivery of lubricating oil. The support frame 441 and the guide plate 442 are made of high-strength lightweight materials, and the surface is treated with anti-corrosion and anti-wear treatment to adapt to complex working environments and extend service life.

[0069] Reference Figure 8 One end of the support frame 441 is located at the connection between the flow channel 42 and the receiving cavity 41, and the end is a beveled structure. The beveled surface forms a gradual transition with the inner wall of the flow channel 42, so that the lubricating oil can smoothly transition when entering the flow channel 42, reducing flow resistance and eddy phenomenon.

[0070] Reference Figures 6-10The other end of the support frame 441 is provided with a T-shaped slider 443, and the end face of the sealing member 45 is provided with a T-shaped groove 451 that is adapted to the T-shaped slider 443. The T-shaped slider 443 and the T-shaped groove 451 slide in cooperation. Thus, the sealing member 45 ensures that the support frame 441 will not fall into the cavity 41, while allowing the support frame 441 to move freely within a certain range.

[0071] Reference Figure 2 , Figure 6 , Figure 7 One end of the seal 45 located within the flow channel 42 is inclined, giving the seal 45 a longest edge line and a shortest edge line. The longest edge line and the shortest edge line are located in the same radial direction. The longest edge line is located on the side of the flow channel 42 away from the hollow shaft 13, and the shortest edge line is located on the side of the flow channel 42 closer to the hollow shaft 13. A T-shaped groove 451 is provided on the inclined surface, and the extension direction of the T-shaped groove 451 is consistent with the inclination direction of the inclined surface. When the inner shell 12 is in a vertical state and the connecting part is located above the oil inlet, the inclined surface of the seal 45 allows the support frame 441 to slide outward along the inclined surface, thereby indirectly expanding the flow guide plate 442 and the flow channel 42, thus achieving a larger flow area under high flow conditions and avoiding local turbulence or sudden pressure drop caused by excessive flow velocity.

[0072] Its working process is as follows:

[0073] Reference Figure 6 When the end of the inner shell 12 furthest from the connection is set downward (state one), the support frame 441 slides inward along the inclined surface of the seal 45 under its own weight and the flow of lubricating oil, thereby driving the guide plate 442 to move closer to the diversion port, reducing the effective flow area of ​​the diversion port. At this time, if it is in the pre-cooling state, the lubricating oil flows from the receiving cavity 41 to the flow channel 42. The lubricating oil in the flow channel 42 has a faster flow rate due to gravity. The support frame 441 moves closer to the diversion port, so that the guide plate 442 decelerates the lubricating oil passing through the diversion port, thereby avoiding the occurrence of liquid resistance. If it is in the internal circulation state, the lubricating oil flows from the receiving cavity 41 to the flow channel 43, and enters the flow channel 42 after passing through the drive motor and harmonic reducer. At this time, the support frame 441 moves closer to the diversion port, so that the support frame 441 and the adjacent inner wall form a narrow route, which makes it easier for the lubricating oil to overcome gravity and flow back to the receiving cavity 41.

[0074] Reference Figure 7When the end of the inner shell 12 furthest from the connecting part is set upward (state two), the support frame 441 slides outward along the inclined plane under the action of gravity, causing the guide plate 442 to gradually move away from the diversion port, thus expanding the flow area of ​​the diversion port. At this time, if it is in the pre-cooling state, the lubricating oil flows from the receiving cavity 41 to the flow channel 1 42. The lubricating oil in the flow channel 1 42 slows down due to gravity. The support frame 441 moves away from the diversion port, which indirectly expands the guide plate 442 and the diversion port, reducing the influence of the guide plate 442 on the flow rate of the lubricating oil, thereby reducing the flow deviation of the independent oil circuit. If it is in the internal circulation state, the lubricating oil flows from the receiving cavity 41 to the flow channel 2 43, and enters the flow channel 1 42 after passing through the drive motor and harmonic reducer. Similarly, the influence of the guide plate 442 on the flow rate of the lubricating oil is reduced, thereby ensuring the return speed of the lubricating oil.

[0075] When the inner shell 12 is in a horizontal state, the support frame 441 located in the upper half of the horizontal surface slides inward along the inclined surface of the seal 45, thereby driving the guide plate 442 to move closer to the diversion port and reduce the effective flow area of ​​the diversion port; the support frame 441 located in the lower half of the horizontal surface slides outward along the inclined surface, driving the guide plate 442 to gradually move away from the diversion port and expand the flow area of ​​the diversion port; if in a pre-cooling state, the lubricating oil entering the upper half of the flow channel 42 will preferentially enter the guide formed by the support frame 441 and the side wall where the diversion port is located, and quickly enter the diversion port when the flow rate is slow, while the lubricating oil entering the lower half of the flow channel 42 is slowed down, thereby achieving the balance of the overall flow rate.

[0076] This structure automatically adjusts the flow cross-section through the combined effect of gravity and hydrodynamics, adapting to the lubrication requirements under different installation postures, reducing the flow deviation of independent oil circuits, and effectively improving the reliability and adaptability of system operation.

[0077] It is important to note that in this oil circulation system, the lubricating oil is filled to completely fill the entire system. This means the lubricating oil is thoroughly injected into every part of the system, ensuring that every corner is covered to achieve optimal lubrication and system efficiency. This full-fill lubrication method not only effectively reduces wear on mechanical parts but also extends the equipment's lifespan and ensures stable operation of the entire system.

[0078] Example 5: Based on Example 4, the heat dissipation effect is optimized as follows:

[0079] Reference Figure 11The inner shell 12 has a groove on its outer side, which extends along the axis of the inner shell 12 and penetrates the inner shell 12. The outer shell 11 has a protrusion on its inner side, which fits into the groove. The end face of the protrusion has a through hole, which extends along the axis of the outer shell 11 and penetrates the outer shell 11. The inner wall of the through hole has a graphene coating to improve heat dissipation efficiency. Thus, through the fitting structure between the outer shell 11 and the inner shell 12, a stable connection and centering fit between the inner and outer shells 11 are achieved, ensuring the coaxiality and sealing performance of the overall structure. At the same time, when air passes through the through hole, it carries away the heat of the protrusion, indirectly accelerating the heat dissipation speed of the contact area between the protrusion and the groove.

[0080] The grooves are provided in multiple ways and are evenly distributed along the circumference of the inner shell 12. The grooves are located on one side of the flow channel 42 and correspond one-to-one with the flow channel 42. Thus, each groove works in conjunction with the corresponding flow channel 42 to ensure that the lubricating oil can be cooled at the flow channel 42.

[0081] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A harmonic joint module for an embodied intelligent robot, characterized in that: The device includes a housing assembly, a harmonic reducer, a drive motor, and an oil circulation system. The housing assembly has an internal mounting cavity, in which the harmonic reducer and the drive motor are fixedly mounted. The oil circulation system includes an oil passage located inside the housing and communicating with the harmonic reducer and the drive motor. Lubricating oil flows in the oil passage, and the lubricating oil lubricates and cools the transmission components of the harmonic reducer and the drive motor during circulation. The housing assembly includes an inner housing (12) and a hollow shaft (13). The inner housing (12) is cylindrical, and one end of the inner housing (12) extends inward to form a connecting part. The hollow shaft (13) is disposed inside the inner housing (12), and one end of the hollow shaft (13) is fixedly connected to the connecting part. The axis of the hollow shaft (13) and the axis of the inner housing (12) are on the same straight line. The oil passage is disposed inside the inner housing (12) and the hollow shaft (13). Multiple sets of oil passages are provided, and the multiple sets of oil passages are arranged in a ring array with the axis of the housing assembly as the center, and the oil passages are not interconnected. The oil circuit includes a receiving cavity (41), a first flow channel (42), and a second flow channel (43). The receiving cavity (41) is located inside the connecting part. The first flow channel (42) is located inside the side wall of the inner shell (12). The second flow channel (43) is located inside the side wall of the hollow shaft (13). The first flow channel (42) and the second flow channel (43) extend along the axial direction of the inner shell (12) and the hollow shaft (13), respectively. One end of the receiving cavity (41) is connected to the first flow channel (42), and the other end is connected to the second flow channel (43). A diversion port is provided on one side of the first flow channel (42) and the second flow channel (43). The diversion port is correspondingly set with the lubrication channel of the harmonic reducer and the lubrication channel of the drive motor, so that the lubricating oil can enter each independent oil passage through the diversion port. The width of the receiving cavity (41) is greater than the channel diameter of the first flow channel (42) and the second flow channel (43); the receiving cavity (41) has an elliptical cavity structure, and the long axis end of the receiving cavity (41) is set as a V-shaped structure, so that the long axis end of the receiving cavity (41) has a relatively narrow gap; the hollow shaft (13) has an oil inlet connected to an external oil pump at the end away from the connecting part, and the first flow channel (42) has an oil outlet connected to an external oil pump at the end away from the connecting part; the oil inlet is provided with a sealing element (45), and the oil outlet is provided with a sealing element (2), and both the sealing element (45) and the sealing element (2) are made of high temperature resistant and wear resistant elastic material.

2. The harmonic joint module for an embodied intelligent robot as described in claim 1, characterized in that: A flow control component is movably provided in the flow channel (42). The flow control component slides radially in the flow channel (42) to adjust its flow area with the diversion port.

3. The harmonic joint module for an embodied intelligent robot as described in claim 2, characterized in that: The flow control assembly includes a support frame (441) and multiple guide plates (442). The guide plates (442) are distributed along the axial direction of the support frame (441). One end of the guide plate (442) is fixedly connected to the support frame (441). The guide plate (442) extends radially along the support frame (441) to form an arc-shaped structure. The support frame (441) and the guide plates (442) are made of high-strength and lightweight materials. The support frame (441) has a fan-shaped cross-section. The larger curved side of the support frame (441) is tangent to the inner wall of the first flow channel. The guide plate (442) is located on the smaller curved side of the support frame (441) and is positioned opposite to the diversion port at the second flow channel (43).

4. The harmonic joint module for an embodied intelligent robot as described in claim 3, characterized in that: One end of the support frame (441) is located at the connection between the flow channel (42) and the receiving cavity (41), and the end is a beveled structure; The other end of the support frame (441) is provided with a T-shaped slider (443), and the end face of the sealing element (45) is provided with a T-shaped groove (451) that is adapted to the T-shaped slider (443). The T-shaped slider (443) and the T-shaped groove (451) slide in cooperation.

5. The harmonic joint module for an embodied intelligent robot as described in claim 4, characterized in that: The sealing element (45) is located on a slope at one end within the flow channel (42). The slope gives the sealing element (45) a longest edge line and a shortest edge line. The longest edge line and the shortest edge line are located in the same radial direction. The longest edge line is located on the side of the flow channel (42) away from the hollow shaft (13), and the shortest edge line is located on the side of the flow channel (42) close to the hollow shaft (13). The T-shaped groove (451) is provided on the slope, and the extension direction of the T-shaped groove (451) is consistent with the inclination direction of the slope.

6. The harmonic joint module for an embodied intelligent robot as described in claim 1, characterized in that: The housing assembly further includes an outer shell (11), which is coaxially arranged with the inner shell (12) and is fitted over the outer shell (12); the outer shell (11) has a groove on its outer side, one end of which extends through the inner shell (12) along the axis of the inner shell (12); the inner side of the outer shell (11) has a protrusion that fits into the groove; the end face of the protrusion has a through hole, one end of which extends through the outer shell (11) along the axis of the outer shell (11); The grooves are provided in multiple ways and are evenly distributed around the circumference; the grooves are located on one side of the flow channel (42) and correspond one-to-one with the flow channel (42).

7. The harmonic joint module for an embodied intelligent robot as described in claim 1, characterized in that: The harmonic reducer includes an outer bearing ring (21) and an inner bearing ring (22) that mates with the outer bearing ring (21). One end of the outer bearing ring (21) is a rigid wheel and is an integral structure with the rigid wheel. A cup-shaped flexible wheel (23) is provided on the inner side of the inner bearing ring (22). The outer side of the open end of the cup-shaped flexible wheel (23) meshes with the rigid wheel. A bearing seat (24) is rotatably sleeved on the hollow shaft (13). The end of the bearing seat (24) is fixedly connected to the inner wall of the cup-shaped flexible wheel (23).

8. The harmonic joint module for an embodied intelligent robot as described in claim 7, characterized in that: The drive motor includes a positioning frame (31), a stator assembly (32) fixed on the positioning frame (31), and a rotor assembly (33) cooperating with the stator assembly (32). The side wall of the positioning frame (31) is fixedly connected to the inner shell (12). The rotating shaft of the rotor assembly (33) is rotatably sleeved on the outside of the hollow shaft (13) and rotatably connected to the positioning frame (31). The rotating shaft of the rotor assembly (33) passes through the positioning frame (31). A wave generator (25) is fixedly sleeved on the rotating shaft of the rotor assembly (33). The wave generator (25) is located on the outside of the positioning frame (31) and its outside is in contact with the inner wall of the cup-shaped flexible wheel (23).

9. The harmonic joint module for an embodied intelligent robot as described in claim 8, characterized in that: The harmonic reducer and the drive motor are both provided with lubrication channels. One end of the lubrication channel is connected to flow channel one (42), and the other end is connected to flow channel two (43).

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