Harmonic speed reducer and industrial robot

Abstract

The invention discloses a harmonic speed reducer and an industrial robot, and relates to the technical field of speed reducers, the harmonic speed reducer comprises a rigid gear, a flexible gear, a bearing device, a first oil seal and a second oil seal, and the bearing device is arranged around the outer side of a cylinder part of the flexible gear; a first oil storage space for storing a lubricant of the gear pair is formed between the bearing device and the cylinder part and the diaphragm part of the flexible gear, a second oil storage space for storing the lubricant of the raceway and the rolling body is formed in the bearing device, and the first oil seal is used for blocking exchange of the lubricant in the first oil storage space and the lubricant in the second oil storage space; the second oil seal is used for preventing the lubricant in the second oil storage space from overflowing outwards, the first oil seal can inhibit the lubricant after lubricating the gear pair from entering the second oil storage space, and abnormal damage to the bearing device is prevented; and the second oil storage space forms a sealed cavity, so that a lubricating agent can be selected according to the performance and working conditions of the harmonic speed reducer, and the lubricating effect in the bearing device is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed reducer, in particular to a harmonic reducer and an industrial robot. BACKGROUND

[0002] In the harmonic reducer of the related art, the rigid wheel and the flexible wheel are generally supported by bearings, such as cross roller bearings. However, during the meshing of the rigid wheel and the flexible wheel, iron powder and other foreign matters are generated, which enter the bearings along with the lubricant, thereby aggravating the wear of the raceway and greatly affecting the service life of the bearings, and thus significantly reducing the service life of the harmonic reducer. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a harmonic reducer, which can isolate the space where the gear pair of the rigid wheel and the flexible wheel is located and the internal space of the bearing device, thereby improving the lubricating effect of the lubricant in the bearing device and the service life of the harmonic reducer.

[0004] The present application also provides an industrial robot having the above harmonic reducer.

[0005] According to the harmonic reducer of the first aspect of the present application, the rigid wheel is provided with an inner tooth portion; the flexible wheel includes a barrel portion, a diaphragm portion and a flange portion, the barrel portion is provided with an outer tooth portion matched with the inner tooth portion, and the outer tooth portion and the inner tooth portion form an engagement gap therebetween; the diaphragm portion is connected to one end of the barrel portion away from the outer tooth portion and extends outwardly of the barrel portion; the flange portion is connected to the outer periphery of the diaphragm portion; the wave generator is coaxially installed in the inner hole of the flexible wheel and is configured to mesh the outer tooth portion with the inner tooth portion when rotating; the bearing device is used to support the rigid wheel and the flexible wheel to enable them to rotate relatively, and is arranged around the outer side of the barrel portion; the bearing device and the barrel portion and the diaphragm portion form a first oil storage space in communication with the engagement gap; the bearing device includes an inner bearing ring and an outer bearing ring, the inner bearing ring is fixedly connected with the rigid wheel, the outer bearing ring is arranged around the outer side of the inner bearing ring and is fixedly connected with the flange portion, a second oil storage space is formed between the outer bearing ring and the inner bearing ring, the outer bearing ring and the inner bearing ring are provided with a first gap on one side of the second oil storage space close to the first oil storage space, and the outer bearing ring and the rigid wheel are provided with a second gap on one side of the second oil storage space away from the first oil storage space; the first oil seal is installed in the first gap and is used to block the exchange of lubricant in the first oil storage space and lubricant in the second oil storage space; and the second oil seal is installed in the second gap and is used to block the outward overflow of the lubricant in the second oil storage space.

[0006] The harmonic reducer according to the embodiment of the present application has at least the following beneficial effects: By installing the first oil seal and the second oil seal in the gaps on both sides of the bearing device respectively, the bearing device is arranged around the outer side of the cylinder part of the flexspline, a first oil storage space for storing lubricant for lubricating the gear pair is formed between the bearing device and the cylinder part and the diaphragm part, the bearing device comprises an inner bearing ring and an outer bearing ring, a second oil storage space for storing lubricant for lubricating the raceway and the rolling elements is formed between the outer bearing ring and the inner bearing ring, the first oil seal is used to prevent the exchange of lubricant in the first oil storage space and the lubricant in the second oil storage space, and the second oil seal is used to prevent the lubricant in the second oil storage space from overflowing outward, the first oil seal can prevent the lubricant containing iron powder abrasive particles in the first oil storage space from entering the second oil storage space, effectively preventing the bearing device from being abnormally damaged, and improving the service life of the harmonic reducer; moreover, under the joint action of the first oil seal and the second oil seal, the second oil storage space is formed as a sealed cavity, so that the lubricant can be selected according to the performance and working condition of the harmonic reducer, thereby improving the lubricating effect in the bearing device and improving the overall performance.

[0007] According to some embodiments of the present application, the outer bearing ring is provided with a protruding portion extending towards the rotation axis of the wave generator near the inner wall of one end of the flange part, the inner bearing ring is provided with a stepped portion spaced from the protruding portion, and the first gap is formed between the protruding portion and the stepped portion.

[0008] According to some embodiments of the present application, the first oil seal comprises a mounting ring and a first lip, the mounting ring is fixedly connected to the protruding portion, and the first lip is connected to the mounting ring and extends in the first gap to seal the first gap.

[0009] According to some embodiments of the present application, the first oil seal further comprises a second lip, the mounting ring comprises a first ring body and a second ring body, the first ring body is connected to the end portion of the protruding portion towards the rotation axis, the first lip is connected to the first ring body, the second ring body is connected to the first ring body and extends towards the rotation axis, the second ring body is spaced from the inner bearing ring, and the second lip is connected to the second ring body and extends towards the inner bearing ring to seal the gap between the second ring body and the inner bearing ring.

[0010] According to some embodiments of the present application, the first ring body is provided with a stop shoulder located on the side wall of the protruding portion towards the inner bearing ring to limit the first oil seal from moving away from the inner bearing ring.

[0011] According to some embodiments of the present application, the first lip and the second lip are configured as sealing rings wrapped around at least part of the outer wall of the mounting ring.

[0012] According to some embodiments of the present application, the sealing ring is integrally formed from rubber material; and / or, the mounting ring is integrally formed from metal material.

[0013] According to some embodiments of the present application, the outer bearing ring is provided with a groove at an end away from the flange portion, and the second gap is formed between a bottom wall of the groove and an outer peripheral wall of the rigid wheel.

[0014] According to some embodiments of the present application, the inner bearing ring is provided with a first raceway and a second raceway at two ends away from the rotation axis of the wave generator, respectively, and the first raceway and the second raceway are annular and spaced apart; the outer bearing ring comprises a first outer bearing ring connected with the flange portion, and a second outer bearing ring connected with the first outer bearing ring, the first outer bearing ring is provided with a third raceway located outside the first raceway and opposite to the first raceway, and the second outer bearing ring is provided with a fourth raceway located outside the second raceway and opposite to the second raceway; a plurality of first rolling elements are installed in a first annular space formed between the first raceway and the third raceway, and a plurality of second rolling elements are installed in a second annular space formed between the second raceway and the fourth raceway.

[0015] According to some embodiments of the present application, a boss is formed between the first raceway and the second raceway, and a channel is formed between an inner wall of the first outer bearing ring, an inner wall of the second outer bearing ring, and the boss, and the channel is used for connecting the first annular space and the second annular space.

[0016] The industrial robot according to the second aspect of the embodiments of the present application comprises the harmonic reducer according to the above embodiments.

[0017] The industrial robot according to the embodiments of the present application has at least the following beneficial effects: The harmonic reducer of the first embodiment adopts the structure that the first oil seal and the second oil seal are respectively arranged in the gaps on both sides of the bearing device, the bearing device is arranged around the outer side of the cylinder part of the flexspline, the bearing device and the cylinder part and the diaphragm part form a first oil storage space for storing lubricant of the lubricated gear pair, the bearing device includes an inner bearing ring and an outer bearing ring, the second oil storage space for storing lubricant of the rolling track and the rolling element is formed between the outer bearing ring and the inner bearing ring, the first oil seal is used for blocking the exchange of the lubricant in the first oil storage space and the lubricant in the second oil storage space, the second oil seal is used for blocking the outward overflow of the lubricant in the second oil storage space, the first oil seal can inhibit the lubricant containing iron powder abrasive particles in the first oil storage space from entering the second oil storage space, effectively prevents the abnormal damage of the bearing device, and improves the service life of the harmonic reducer; and under the joint action of the first oil seal and the second oil seal, the second oil storage space is formed as a sealed cavity, so that the lubricant can be selected according to the performance and working condition of the harmonic reducer, thereby improving the lubricating effect in the bearing device and improving the overall performance.

[0018] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described below with reference to the drawings and embodiments, in which: Figure 1 Structure sectional view of the harmonic reducer of an embodiment of the application; Figure 2 Structure sectional view of the harmonic reducer of an embodiment of the application; Figure 1 Partial sectional view of the inner bearing ring and the outer bearing ring, in which the rolling elements are shown in a reduced size for showing the matching relationship of the rolling track and the rolling elements; Figure 3 Partial sectional view of the harmonic reducer of an embodiment of the application; Figure 1 Partial enlarged view of the harmonic reducer shown in the figure; Figure 4 Partial enlarged view of the harmonic reducer shown in the figure; Figure 3 Enlarged view of A in the figure, in which the first oil seal of an embodiment is shown; Figure 5 Enlarged view of A in the figure, in which the first oil seal of another embodiment is shown; Figure 3 Enlarged view of A in the figure, in which the first oil seal of another embodiment is shown; Figure 6 Enlarged view of A in the figure, in which the first oil seal of another embodiment is shown; Figure 5 Sectional view of the first oil seal of the embodiment shown in the figure.

[0020] Reference numerals: Flexspline 100; cylinder part 110; outer tooth part 111; diaphragm part 120; flange part 130; Rigid wheel 200; inner tooth part 210; Wave generator 300; flexible bearing 310; cam 320; Bearing device 400; inner bearing ring 410; first raceway 411; second raceway 412; boss 413; stepped portion 414; horizontal surface 4141; vertical surface 4142; outer bearing ring 420; first outer bearing ring 421; third raceway 4211; protrusion 4212; inner hole surface 4213; right end surface 4214; second outer bearing ring 422; fourth raceway 4221; groove 423; second oil storage space 430; first gap 440; second gap 450; first rolling element 460; second rolling element 470; First oil storage space 500; First oil seal 600; mounting ring 610; first ring body 611; second ring body 612; shoulder 613; first lip 620; second lip 630; third gap 640; Second oil seal 700; Rotation axis O. DETAILED DESCRIPTION

[0021] Embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or like reference numerals and characters refer to the same or like components throughout the drawings. The embodiments described below are exemplary only, and are not intended to limit the present application.

[0022] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0023] In the description of the present application, the plural refers to two or more. If there is a description of first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the sequence relationship of the technical features indicated.

[0024] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0025] As a kind of precision speed reducer, harmonic reducer has the advantages of compact structure, small volume, light weight, large transmission ratio and carrying capacity, high transmission precision, and is widely used in electronic, aerospace, robot, automation and other industries.

[0026] Referring to Figure 1 An embodiment of the harmonic reducer shown in the figure comprises a flexspline 100, a rigid spline 200 and a wave generator 300. The flexspline 100 comprises a cylinder portion 110, a diaphragm portion 120 and a flange portion 130, the cylinder portion 110 is located at one end of the flexspline 100 close to the rigid spline 200, the diaphragm portion 120 is connected to the cylinder portion 110 at an end away from the rigid spline 200 and extends outwardly of the cylinder portion 110, and the flange portion 130 is connected to the outer periphery of the diaphragm portion 120. The cylinder portion 110 of the flexspline 100 is provided with a flexible outer tooth portion 111, the rigid spline 200 is provided with a rigid inner tooth portion 210, the outer tooth portion 111 cooperates with the inner tooth portion 210, and a meshing gap is formed between the outer tooth portion 111 and the inner tooth portion 210.

[0027] In the embodiment, the wave generator 300 is coaxially installed in the inner hole of the flexspline 100, and the wave generator 300 is configured to mesh the outer tooth portion 111 with the inner tooth portion 210 when rotating. When the wave generator 300 is installed in the inner hole of the flexspline 100, the flexspline 100 is forced to be elastically deformed to be oval. In the working process of the harmonic reducer, the wave generator 300 rotates at high speed to drive the flexspline 100 to repeatedly deform, so that the outer tooth portion 111 of the flexspline 100 meshes with the inner tooth portion 210 of the rigid spline 200, the meshing positions of the outer tooth portion 111 and the inner tooth portion 210 move along the circumferential direction of the rotation axis O of the wave generator 300, and then the relative speed reduction movement between the flexspline 100 and the rigid spline 200 is realized. The wave generator 300 comprises a flexible bearing 310 and a cam 320, the flexible bearing 310 is sleeved on the outer side of the cam 320, and the cam 320 is provided with a mounting position connected to a driving device such as a motor.

[0028] Referring to Figure 1 and Figure 2 In an embodiment of the harmonic reducer shown in the figure, the harmonic reducer further comprises a bearing device 400 for supporting the rigid spline 200 and the flexspline 100 and enabling the rigid spline 200 and the flexspline 100 to realize relative rotation. The bearing device 400 is arranged around the outer side of the cylinder portion 110, the bearing device 400 comprises an inner bearing ring 410 and an outer bearing ring 420, the inner bearing ring 410 is fixedly connected with the rigid spline 200, the outer bearing ring 420 is arranged around the outer side of the inner bearing ring 410 and is fixedly connected with the flange portion 130, and the inner bearing ring 410 and the outer bearing ring 420 can realize relative rotation.

[0029] Referring to Figure 2 and Figure 3 As shown in the figure, the bearing device 400 and the cylinder portion 110 and the diaphragm portion 120 of the flexspline 100 form a first oil storage space 500, and the first oil storage space 500 is communicated with the meshing gap. In the movement process of the harmonic reducer, Figure 3The dashed arrow indicates the flow direction of the lubricant, specifically from the inner hole of the flexspline 100 to the meshing gap, to the first oil storage space 500. The lubricant lubricates the wave generator 300 at the inner hole of the flexspline 100, further lubricates the gear pair between the flexspline 100 and the rigid spline 200, and finally collects in the first oil storage space 500, which can continuously lubricate the gear pair.

[0030] The second oil storage space 430 is formed between the outer bearing ring 420 and the inner bearing ring 410, and is used to lubricate the raceway and rolling elements in the bearing device 400. In order to realize the assembly of the bearing device 400, there are gaps on both sides of the fitting position of the outer bearing ring 420 and the inner bearing ring 410, including the first gap 440 provided by the outer bearing ring 420 and the inner bearing ring 410 on one side of the second oil storage space 430 close to the first oil storage space 500, and the second gap 450 provided by the outer bearing ring 420 and the rigid spline 200 on the other side of the second oil storage space 430 away from the first oil storage space 500.

[0031] The harmonic reducer of one embodiment of the present application further comprises a first oil seal 600 and a second oil seal 700. The first oil seal 600 is installed in the first gap 440, and is used to prevent the exchange of lubricant in the first oil storage space 500 and the lubricant in the second oil storage space 430. The second oil seal 700 is installed in the second gap 450, and is used to prevent the lubricant in the second oil storage space 430 from overflowing to the outside of the harmonic reducer. The second oil seal 700 is generally a conventional skeleton oil seal.

[0032] Since foreign matter such as iron powder abrasive particles is easily generated when the outer tooth portion 111 and the inner tooth portion 210 mesh, the iron powder abrasive particles will mix into the lubricant and contaminate the lubricant. The contaminated lubricant has less impact on the flexure bearing 310, the inner tooth portion 210, and the outer tooth portion 111, but has greater impact on the bearing device 400 which is subjected to greater contact stress. Therefore, the first oil seal 600 is provided to prevent the lubricant containing iron powder abrasive particles in the first oil storage space 500 from entering the second oil storage space 430, effectively preventing abnormal damage to the bearing device 400 and thus premature failure, and improving the service life of the harmonic reducer.

[0033] Under the joint action of the first oil seal 600 and the second oil seal 700, the second oil storage space 430 is formed as a sealed cavity, which is isolated from the first oil storage space 500. Therefore, the first oil storage space 500 and the second oil storage space 430 can use different lubricants, especially the lubricant of the bearing device 400 is reasonably selected according to the performance and working condition requirements of the harmonic reducer, so as to improve the lubrication effect in the bearing device 400, and further improve the overall performance of the harmonic reducer.

[0034] In addition, under the sealing effect of the first oil seal 600, the lubricant in the first oil storage space 500 cannot enter the second oil storage space 430, so that the lubricating grease in the harmonic reducer cannot leak from the outer peripheral wall of the rigid wheel 200, and the sealing performance of the harmonic reducer is improved.

[0035] Referring to Figure 2 and Figure 3 It can be understood that the second outer bearing ring 422 is provided with a groove 423 at one end away from the first outer bearing ring 421, and a second gap 450 is formed between the bottom wall of the groove 423 and the outer peripheral wall of the rigid wheel 200. The second oil seal 700 is positioned and installed in the second gap 450 through the groove 423, and the assembly is simpler and more convenient.

[0036] Referring to Figure 2 and Figure 3 It can be understood that the second outer bearing ring 422 is provided with a groove 423 at one end away from the first outer bearing ring 421, and a second gap 450 is formed between the bottom wall of the groove 423 and the outer peripheral wall of the rigid wheel 200. The second oil seal 700 is positioned and installed in the second gap 450 through the groove 423, and the assembly is simpler and more convenient.

[0037] Continuing to refer to Figure 2 It can be understood that the second outer bearing ring 422 is provided with a groove 423 at one end away from the first outer bearing ring 421, and a second gap 450 is formed between the bottom wall of the groove 423 and the outer peripheral wall of the rigid wheel 200. The second oil seal 700 is positioned and installed in the second gap 450 through the groove 423, and the assembly is simpler and more convenient.

[0038] The first outer bearing ring 421 is provided with a third raceway 4211 located on the outer side of the first raceway 411 (i.e. the side away from the second raceway 412) and opposite the first raceway 411, and the second outer bearing ring 422 is provided with a fourth raceway 4221 located on the outer side of the second raceway 412 (i.e. the side away from the first raceway 411) and opposite the second raceway 412. The third raceway 4211 and the fourth raceway 4221 are annular.

[0039] The first annular space is formed between the first raceway 411 and the third raceway 4211, and a plurality of first rolling elements 460 are installed in the first annular space. The second annular space is formed between the second raceway 412 and the fourth raceway 4221, and a plurality of second rolling elements 470 are installed in the second annular space. The two groups of rolling elements of the first rolling elements 460 and the second rolling elements 470 can improve the load capacity of the bearing device 400, and the structures of the inner bearing ring 410, the first outer bearing ring 421, and the second outer bearing ring 422 are conducive to the assembly of the harmonic reducer and are easier to adapt to different loads. It can be understood that the first rolling elements 460 can be spheres or cylinders such as cylinders and cones, and the second rolling elements 470 can be spheres or cylinders such as cylinders and cones, which are not specifically limited here. In addition, in the present embodiment, the first rolling elements 460 and the second rolling elements 470 can be made of metal materials such as steel.

[0040] Referring to Figure 2 The inner bearing ring 410 forms a boss 413 between the first raceway 411 and the second raceway 412, which can improve the structural strength of the first raceway 411 and the second raceway 412. The inner wall of the first outer bearing ring 421, the inner wall of the second outer bearing ring 422, and the boss 413 form a passage for connecting the first annular space and the second annular space, so that the lubricant can flow between the first annular space and the second annular space, thereby effectively lubricating the rolling elements and the raceways.

[0041] In order to prevent the lubricant in the first oil storage space 500 from entering the second oil storage space 430, the first gap 440 includes at least two gaps at different angles. Referring to Figure 2 and Figure 3 The inner wall of the first outer bearing ring 421 extends towards the rotation axis O and is provided with a protruding portion 4212, the center of the protruding portion 4212 is formed as a through hole, the inner bearing ring 410 is provided with a stepped portion 414 spaced from the protruding portion 4212, and the first gap 440 is formed between the protruding portion 4212 and the stepped portion 414. The inner hole surface 4213 of the protruding portion 4212 and the horizontal surface 4141 of the stepped portion 414 form a first gap, the right end surface 4214 of the protruding portion 4212 and the vertical surface 4142 of the stepped portion 414 form a second gap, and the first gap and the second gap are arranged at different angles, for example, at a right angle. In one embodiment, the first oil seal 600 can be configured to seal the connection between the first gap and the second gap. In another embodiment, the first oil seal 600 can be configured to seal both the first gap and the second gap, achieving double sealing. In another embodiment, the first oil seal 600 can be configured to seal the second gap, and the first gap has a labyrinth sealing effect to prevent the lubricant from entering the second gap.

[0042] Reference Figure 4 As shown, in one embodiment of the present invention, the first oil seal 600 includes a mounting ring 610 and a first lip 620. The mounting ring 610 is fixedly connected to the protrusion 4212. The mounting ring 610 can be interference-fitted into the through hole of the protrusion 4212, or installed into the through hole by means of bonding, screwing, etc. As another embodiment, the mounting ring 610 can also be fixedly connected to the right end face 4214 (the end opposite to the flange portion 130) or the left end wall (the end facing the flange portion 130) of the protrusion 4212. The first lip 620 is connected to the mounting ring 610. The first lip 620 extends from the mounting ring 610 into the first gap 440 and seals the first gap 440, thereby achieving stable installation of the first oil seal 600 and effective sealing of the first gap 440.

[0043] To improve the stability of the first oil seal 600, the mounting ring 610 is integrally manufactured from metal material, for example, using a stamping process, making the overall structure of the first oil seal 600 more stable. The first lip 620 is configured as a sealing ring that wraps around at least a portion of the outer wall of the mounting ring 610, and is configured to seal the connection between the first and second segments of the first gap 440. The sealing ring is integrally manufactured from rubber material before being installed onto the mounting ring 610, or it is integrally injection molded with the mounting ring 610, which can achieve a better sealing effect.

[0044] Reference Figure 5 and Figure 6 As shown, in another embodiment of the present invention, the first oil seal 600 includes a first lip 620 and a second lip 630, and the mounting ring 610 includes a first ring body 611 and a second ring body 612. The first ring body 611 is snapped into the end of the protrusion 4212 facing the rotation axis O. The first lip 620 is fixedly connected to the first ring body 611 and is used to seal the first gap 440.

[0045] The second ring 612 is connected to the first ring 611 and extends toward the rotation axis O. A third gap 640, communicating with the first gap 440, is formed between the second ring 612 and the left end face of the inner bearing ring 410. The third gap 640 and the first section of the first gap 440 are set at an angle to each other, thus forming a labyrinth seal. The second lip 630 is fixedly connected to the second ring 612 and extends toward the inner bearing ring 410, thereby sealing the third gap 640 between the second ring 612 and the inner bearing ring 410, further inhibiting lubricant from entering the second oil storage space 430. This embodiment achieves a two-stage seal through the first lip 620 and the second lip 630, forming a labyrinth seal composed of the first gap 440 and the third gap 640. Therefore, it can better prevent the exchange of lubricant in the first oil storage space 500 and the second oil storage space 430, thus protecting the lifespan of the bearing assembly 400.

[0046] Continue to refer to Figure 5 and Figure 6 As shown, it can be understood that the first ring body 611 is provided with a shoulder 613. The shoulder 613 is located on the side wall (i.e., the right end face 4214) of the protrusion 4212 facing the inner bearing ring 410. The shoulder 613 can restrict the first oil seal 600 from coming off in a direction away from the inner bearing ring 410, thereby improving the installation stability of the first oil seal 600.

[0047] To improve the stability of the first oil seal 600, the first ring 611, the second ring 612, and the shoulder 613 are integrally manufactured from metal materials, for example, using stamping or bending processes, making the overall structure of the first oil seal 600 more stable. The first lip 620 and the second lip 630 are configured as sealing rings that wrap around at least part of the outer wall of the mounting ring 610. The sealing rings are integrally manufactured from rubber materials and then installed onto the mounting ring 610, or integrally injection molded with the mounting ring 610. Therefore, the sealing rings can achieve a better sealing effect on the first gap 440 and the third gap 640.

[0048] An embodiment of the present invention discloses an industrial robot, including a motor and a harmonic reducer as described in the above embodiments. It is understood that the motor can be a servo motor, and the servo motor drives the harmonic reducer for speed reduction control of the industrial robot's joints. The industrial robot can be a handling robot, welding robot, assembly robot, processing robot, painting robot, cleanroom robot, collaborative robot, etc.

[0049] The industrial robot of this embodiment adopts the harmonic reducer of the above embodiment. The harmonic reducer installs a first oil seal 600 and a second oil seal 700 in the gaps on both sides of the bearing device 400. The bearing device 400 is arranged around the outer side of the cylindrical portion 110 of the flexible wheel 100. A first oil storage space 500 for storing lubricant for lubricating the gear pair is formed between the bearing device 400, the cylindrical portion 110, and the diaphragm portion 120. The bearing device 400 includes an inner bearing ring 410 and an outer bearing ring 420. A second oil storage space 430 for storing lubricant for lubricating the raceway and rolling elements is formed between the outer bearing ring 420 and the inner bearing ring 410. The first oil seal 600 is used to block the first oil storage space. The lubricant in the first oil storage space 500 is exchanged with the lubricant in the second oil storage space 430. The second oil seal 700 is used to prevent the lubricant in the second oil storage space 430 from overflowing outwards. The first oil seal 600 can prevent the lubricant containing iron powder abrasive particles after lubricating the gear pair in the first oil storage space 500 from entering the second oil storage space 430, effectively preventing abnormal damage to the bearing device 400 and improving the service life of the harmonic reducer. Moreover, under the combined action of the first oil seal 600 and the second oil seal 700, the second oil storage space 430 forms a sealed cavity. Therefore, the lubricant can be selected according to the performance and operating conditions of the harmonic reducer, thereby improving the lubrication effect in the bearing device 400 and improving the overall performance of the machine.

[0050] The industrial robot of this invention adopts all the technical solutions of the harmonic reducer of the above embodiments, and therefore has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0051] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A harmonic reducer characterized by, The application relates to a wave generator, comprising: a rigid wheel provided with an inner tooth part; a flexible wheel comprising a barrel part, a diaphragm part and a flange part, the barrel part is provided with an outer tooth part matched with the inner tooth part, an engaging gap is formed between the outer tooth part and the inner tooth part, the diaphragm part is connected to one end of the barrel part away from the outer tooth part and is arranged to extend to the outside of the barrel part, and the flange part is connected to the outer circumferential edge of the diaphragm part; a wave generator coaxially installed in the inner hole of the flexible wheel, the wave generator is configured to engage the outer tooth part with the inner tooth part when rotating; a bearing device for supporting the rigid wheel and the flexible wheel to be relatively rotatable, the bearing device is arranged around the outside of the barrel part, and a first oil storage space communicated with the engaging gap is formed between the bearing device and the barrel part, the bearing device comprises an inner bearing ring and an outer bearing ring, the inner bearing ring is fixedly connected with the rigid wheel, the outer bearing ring is arranged around the outside of the inner bearing ring and is fixedly connected with the flange part, a second oil storage space is formed between the outer bearing ring and the inner bearing ring, and a first gap is formed between the outer bearing ring and the inner bearing ring on one side of the second oil storage space close to the first oil storage space, and a second gap is formed between the outer bearing ring and the rigid wheel on one side of the second oil storage space away from the first oil storage space; a first oil seal installed in the first gap and used for blocking the exchange of lubricants in the first oil storage space and the second oil storage space; a second oil seal installed in the second gap and used for blocking the outward overflow of the lubricants in the second oil storage space.

2. The harmonic reducer of claim 1, wherein: An inner wall of one end of the outer bearing ring close to the flange part extends towards the rotating axis of the wave generator and is provided with a protruding part, the inner bearing ring is provided with a stepped part spaced from the protruding part, and the first gap is formed between the protruding part and the stepped part.

3. The harmonic reducer of claim 2, wherein: The first oil seal comprises a mounting ring and a first lip, the mounting ring is fixedly connected with the protruding part, and the first lip is connected with the mounting ring and extends in the first gap to seal the first gap.

4. The harmonic reducer of claim 3, wherein: The first oil seal further comprises a second lip, the mounting ring comprises a first ring body and a second ring body, the first ring body is clamped to the end of the protruding part towards the rotating axis, the first lip is connected with the first ring body, the second ring body is connected with the first ring body and extends towards the rotating axis, the second ring body is arranged to be spaced from the inner bearing ring, and the second lip is connected with the second ring body and extends towards the inner bearing ring to seal the gap between the second ring body and the inner bearing ring.

5. The harmonic reducer of claim 4, wherein: The first ring body is provided with a stop shoulder located on the side wall of the protruding part towards the inner bearing ring to limit the first oil seal from moving away from the inner bearing ring.

6. The harmonic reducer of claim 4, wherein: The first lip and the second lip are configured as a sealing ring wrapped around at least part of the outer wall of the mounting ring.

7. The harmonic reducer of claim 6, wherein: The sealing ring is integrally formed by using rubber material; and / or The mounting ring is integrally formed by using metal material.

8. The harmonic reducer of claim 1, wherein: The outer bearing ring is provided with a groove at one end away from the flange part, and the second gap is formed between the bottom wall of the groove and the outer peripheral wall of the rigid wheel.

9. The harmonic reducer of claim 1, wherein: The inner bearing ring is provided with a first raceway and a second raceway at two ends away from the rotation axis of the wave generator respectively, and the first raceway and the second raceway are annular and arranged in intervals; the outer bearing ring comprises a first outer bearing ring connected with the flange part and a second outer bearing ring connected with the first outer bearing ring, the first outer bearing ring is provided with a third raceway located outside the first raceway and opposite to the first raceway, and the second outer bearing ring is provided with a fourth raceway located outside the second raceway and opposite to the second raceway; a plurality of first rolling elements are installed in a first annular space formed between the first raceway and the third raceway, and a plurality of second rolling elements are installed in a second annular space formed between the second raceway and the fourth raceway.

10. The harmonic reducer of claim 9, wherein: A boss is formed between the first raceway and the second raceway, and a channel is formed between the inner wall of the first outer bearing ring, the inner wall of the second outer bearing ring and the boss, and the channel is used for connecting the first annular space and the second annular space.

11. Industrial robot, characterized in that: The harmonic reducer comprises the harmonic reducer according to any one of claims 1 to 10.

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