Rotary joint integrated module with hollow cycloid speed reducer

Abstract

The invention discloses a rotary joint integrated module with a hollow cycloid speed reducer, which comprises a rotary joint module shell, a mounting shell, a pinwheel shell and a hollow cycloid speed reduction assembly mounted in the mounting shell and the pinwheel shell, and gear pins which are uniformly distributed are arranged in the pinwheel shell. The hollow cycloid speed reduction assembly comprises an input shaft and an eccentric wheel which are connected in a welded mode, a deflection bearing and a cycloid wheel which are connected in a rotating mode, and an output shaft and a rotating plate which are vertically connected, and a rotating shaft is vertically arranged on the rotating plate. The lubricating assembly comprises an oil storage ring arranged on the outer side of the mounting shell in a sleeving manner; according to the cycloid rotary joint module, the oil storage design for auxiliary lubrication is added, liquid lubricating oil is added into the oil storage ring, the air pressure in the oil storage ring is increased, and the lubricating oil flows along the path of the oil conveying pipeline and the contact block and finally flows out of the oil outlet to the surfaces of the eccentric wheel and the cycloid wheel; and lubrication under the condition that the cycloid rotating joint module is not disassembled is achieved.

Description

Technical Field

[0001] This invention belongs to the field of robot joint module technology, specifically relating to a rotary joint integrated module with a hollow cycloidal reducer. Background Technology

[0002] The cycloidal rotary joint module is a robot joint module based on the principle of cycloidal pin-tooth meshing. It boasts advantages such as high precision and high torque density, and mainly consists of a cycloidal wheel, a pin wheel, an eccentric shaft, bearings, and an output mechanism. The cycloidal wheel uses the equidistant curves on the inner side of a short-amplitude epicycloid as its transmission tooth profile; the pin wheel comprises a pin tooth housing, pin tooth pins, and pin tooth sleeves; the eccentric shaft is connected to the input shaft, driving the cycloidal wheel's motion; and the output mechanism transmits the cycloidal wheel's rotational motion. Specifically, under the drive of a motor, the eccentric shaft rotates, causing the cycloidal wheel to revolve around the center of the pin wheel. Because the cycloidal wheel has 1-2 fewer teeth than the pin wheel, it is pushed in the opposite direction by the pin wheel during its revolution, thus achieving its own rotation. Finally, the output mechanism transmits this rotational motion, achieving a decelerated rotational motion.

[0003] When the cycloidal rotary joint module is running, the eccentric input shaft drives the bearing and cycloidal wheel to rotate. The cycloidal wheel drives the output mechanism to rotate. Under long-term use, because the cycloidal wheel and the pin wheel are multi-tooth meshing transmissions, the cycloidal wheel is in direct contact with other metals, which will cause frictional resistance and tooth surface wear. When the surface of the cycloidal wheel is worn, it will affect the deflection effect of the cycloidal wheel and requires lubrication. The cycloidal rotary joint module does not have an oil reservoir design for auxiliary lubrication, which needs to be improved.

[0004] Existing cycloidal rotary joint modules suffer from the problem of lacking an auxiliary lubrication oil reservoir design under long-term use. To address this, this application proposes a rotary joint integrated module with a hollow cycloidal reducer. Summary of the Invention

[0005] The purpose of this invention is to provide a rotary joint integrated module with a hollow cycloidal reducer, so as to solve the problem of the lack of auxiliary lubrication oil storage design on the cycloidal rotary joint module mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a rotary joint integrated module with a hollow cycloidal reducer, comprising a rotary joint module housing, including a mounting housing and a pin wheel housing, and a hollow cycloidal reducer assembly installed inside the mounting housing and the pin wheel housing. The pin wheel housing is provided with uniformly distributed pin teeth. The hollow cycloidal reducer assembly includes an input shaft and an eccentric wheel welded together, an eccentric bearing and a cycloidal wheel rotatably connected together, and an output shaft and a rotating plate vertically connected together. The rotating plate has a vertically mounted rotating shaft. It also includes a lubrication assembly, comprising an oil reservoir ring sleeved on the outside of the mounting housing, an oil reservoir block combined with the oil reservoir ring, an internally connected oil delivery pipe, and a contact block. One end of the oil delivery pipe penetrates the mounting housing and communicates with the inside of the oil reservoir ring. An air inlet is fixed on the oil reservoir block. It also includes an outer ring sleeved on the outside of the oil reservoir ring and the oil reservoir block.

[0007] Preferably, an arc-shaped clamping block is fixed on the inner surface of the outer ring, and the inner surface of the clamping block matches the outer surface of the oil storage ring and the oil storage block.

[0008] Preferably, the oil storage block is arc-shaped, the inside of the oil storage ring forms an annular storage cavity, and the cross-section of the fan-shaped contact block is a right-angled trapezoid.

[0009] Preferably, the contact block has a tapered oil outlet with one end wide and one end narrow. The surface of the oil outlet with the wide end of the contact block matches the surface of the eccentric wheel and the cycloidal wheel. The contact block is connected to the oil storage ring through an oil delivery pipe.

[0010] Preferably, a squeegee plate is fixed to one end of the contact block in an inclined state, and the squeegee plate is in contact with the surfaces of the eccentric wheel and the cycloidal wheel.

[0011] Preferably, the distance between the inner diameter of the outer ring and the oil storage block is 5 mm.

[0012] Preferably, the outer ring is fixed to the oil reservoir ring by screws, the oil reservoir ring is fixed to the mounting housing by screws, and the outer diameter of the pinwheel housing is 3 mm larger than the outer diameter of the outer ring.

[0013] Compared with the prior art, the beneficial effects of the present invention are: By adding liquid lubricating oil into the oil reservoir ring through the designed lubrication components, the air pressure inside the oil reservoir ring is increased. The lubricating oil flows along the path of the oil delivery pipe and the contact block, and finally flows out from the oil outlet to the surface of the eccentric wheel and the cycloidal wheel, achieving lubrication without disassembling the cycloidal rotation joint module. Through the designed smearing plate, the smearing plate can smooth the lubricating oil on the surface of the cycloidal wheel when the cycloidal wheel is rotating, so that the lubricating oil forms a uniform oil film. Attached Figure Description

[0014] Figure 1This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of the mounting housing and the pinwheel housing of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the cycloidal wheel along the AA direction; Figure 4 This is a three-dimensional structural diagram of the contact block of the present invention; Figure 5 This is a schematic diagram of the main structure of the outer ring and the oil storage ring of the present invention. Figure 6 This is a three-dimensional structural diagram of the outer ring of the present invention.

[0015] In the diagram: 1. Rotary joint module housing; 3. Oil reservoir ring; 4. Outer ring; 5. Oil reservoir block; 6. Oil delivery pipe; 7. Contact block; 8. Smoothing plate; 11. Mounting housing; 12. Pinwheel housing; 21. Input shaft; 22. Output shaft; 23. Eccentric wheel; 24. Skew bearing; 25. Cycloidal wheel; 26. Rotating plate; 41. Clamping block; 51. Air inlet; 71. Oil outlet; 121. Needle pin; 261. Rotating shaft. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figures 1 to 6This invention provides a technical solution: a rotary joint integrated module with a hollow cycloidal reducer, comprising a rotary joint module housing 1, including a mounting housing 11 and a pin wheel housing 12, and a hollow cycloidal reducer assembly installed inside the mounting housing 11 and the pin wheel housing 12. The mounting housing 11 and the pin wheel housing 12 form the outer shell of the entire rotary joint integrated module, protecting the internal components. The pin wheel housing 12 is provided with evenly distributed pin teeth 121, which limit the eccentric wheel 23. The speed-reducing assembly includes a welded input shaft 21 and an eccentric wheel 23, a rotatably connected eccentric bearing 24 and a cycloidal wheel 25, and a vertically connected output shaft 22 and a rotating plate 26. A rotating shaft 261 is vertically mounted on the rotating plate 26. A motor drives the input shaft 21 to rotate, which in turn drives the eccentric wheel 23, the eccentric bearing 24, and the cycloidal wheel 25 to rotate. The cycloidal wheel 25 meshes with a pin 121. The rotating cycloidal wheel 25 drives the rotating shaft 261, the rotating plate 26, and the output shaft 22 to rotate, thus increasing the speed of the rotating output shaft 22. The system reduces speed to achieve a deceleration effect; it also includes a lubrication assembly, comprising an oil reservoir ring 3 sleeved on the outside of the mounting housing 11, an oil reservoir block 5 connected to the oil reservoir ring 3, an internally connected oil delivery pipe 6, and a contact block 7. Under manual operation, liquid lubricating oil can be added to the inside of the oil reservoir ring 3. With the oil reservoir block 5 and the oil reservoir ring 3 sealed, the liquid lubricating oil is stored inside the oil reservoir ring 3. One end of the oil delivery pipe 6 penetrates the mounting housing 11 and connects to the inside of the oil reservoir ring 3. An air inlet 51 is fixed on the oil reservoir block 5, and the air inlet 51 is connected to an air filling device. The system includes a connection such as an air pump, which increases the air pressure inside the oil storage ring 3 when the air pump is manually started. Under the action of the air pressure, the lubricating oil stored in the oil storage ring 3 flows along the path of the oil delivery pipe 6 and the contact block 7. Finally, the lubricating oil flows out from the oil outlet 71 to the surface of the eccentric wheel 23 and the cycloidal wheel 25, thereby lubricating the surface of the eccentric wheel 23 and the cycloidal wheel 25. The system also includes an outer ring 4 that is sleeved on the outside of the oil storage ring 3 and the oil storage block 5. The outer ring 4 is fixed to the outside of the oil storage ring 3 and the oil storage block 5 to prevent collisions.

[0018] In this embodiment, an arc-shaped clamping block 41 is fixed on the inner surface of the outer ring 4. The inner surface of the clamping block 41 matches the outer surface of the oil storage ring 3 and the oil storage block 5. The outer ring 4 is finely adjusted and its position is adjusted during installation. The clamping blocks 41 are distributed on both sides of the air inlet 51 to prevent the air inlet 51 from being bumped.

[0019] In this embodiment, the oil storage block 5 is arc-shaped, and the inside of the oil storage ring 3 forms an annular storage cavity. The fan-shaped contact block 7 has a right-angled trapezoidal cross-section. The contact block 7 has a conical oil outlet 71 with one end wide and one end narrow. The surface of the oil outlet 71 with the wide end of the contact block 7 matches the surface of the eccentric wheel 23 and the cycloidal wheel 25. The contact block 7 is connected to the oil storage ring 3 through the oil supply pipe 6, which increases the air pressure inside the oil storage ring 3. Under the action of air pressure, the lubricating oil stored in the oil storage ring 3 flows along the path of the oil supply pipe 6 and the contact block 7. Finally, the lubricating oil flows out from the oil outlet 71 to the surface of the eccentric wheel 23 and the cycloidal wheel 25, thereby lubricating the eccentric wheel 23 and the cycloidal wheel 25.

[0020] In this embodiment, a smearing plate 8 is fixed on one end of the contact block 7 in an inclined state. The smearing plate 8 matches the surface of the eccentric wheel 23 and the cycloidal wheel 25. When the cycloidal wheel 25 rotates, the smearing plate 8 can smooth the lubricating oil on the surface of the cycloidal wheel 25, so that the lubricating oil forms a uniform oil film.

[0021] In this embodiment, the distance between the inner diameter of the outer ring 4 and the oil storage block 5 is 5 mm. The distance between the outer ring 4 and the oil storage block 5 does not affect the movement and fine adjustment of the position of the outer ring 4.

[0022] In this embodiment, the outer ring 4 is fixed to the oil reservoir ring 3 by screws, and the oil reservoir ring 3 is fixed to the mounting housing 11 by screws. The outer diameter of the pin wheel housing 12 is 3 mm larger than the outer diameter of the outer ring 4, and the diameter of the outer ring 4 is smaller than that of the pin wheel housing 12, which does not affect the overall installation of the rotary joint integrated module.

[0023] Working principle and usage process of this invention: The motor drives the input shaft 21 to rotate, which in turn drives the eccentric wheel 23, the skew bearing 24, and the cycloidal wheel 25 to rotate. The cycloidal wheel 25 meshes with the pin 121. The rotating cycloidal wheel 25 drives the rotating shaft 261, the rotating plate 26, and the output shaft 22 to rotate, thus reducing the speed of the rotating output shaft 22 and achieving a deceleration effect. Under manual operation, liquid lubricating oil is added to the inside of the oil storage ring 3. With the oil storage block 5 and the oil storage ring 3 sealed, the liquid lubricating oil is stored in the oil storage ring 3. The air inlet 51 is manually connected to the inflation device, such as an air pump; When the inflation device is manually activated, the air pressure inside the oil storage ring 3 is increased; Under the action of air pressure, the lubricating oil stored in the oil storage ring 3 flows along the path of the oil pipeline 6 and the contact block 7. Finally, the lubricating oil flows out from the oil outlet 71 to the surface of the eccentric wheel 23 and the cycloidal wheel 25, thereby achieving lubrication of the surface of the eccentric wheel 23 and the cycloidal wheel 25. The outer ring 4 is fixed to the outside of the oil storage ring 3 and the oil storage block 5 to prevent collisions and avoid the air intake 51 from being bumped. In summary, the cycloidal rotary joint module of this application incorporates an auxiliary lubrication oil storage design. Liquid lubricating oil is added to the inside of the oil storage ring 3 to increase the air pressure inside the oil storage ring 3. The lubricating oil flows along the path of the oil delivery pipe 6 and the contact block 7, and finally flows out from the oil outlet 71 to the surface of the eccentric wheel 23 and the cycloidal wheel 25, thus achieving lubrication without disassembling the cycloidal rotary joint module.

[0024] Although embodiments of the invention have been shown and described (see the detailed description above), it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rotary joint integrated module with a hollow cycloid reducer, characterized in that: The application relates to a rotating joint module shell (1) which comprises a mounting shell (11) and a pin wheel shell (12), a hollow cycloid reduction assembly mounted in the mounting shell (11) and the pin wheel shell (12), pin tooth pins (121) uniformly distributed in the pin wheel shell (12), the hollow cycloid reduction assembly comprising a welded input shaft (21) and eccentric wheel (23), a rotating eccentric bearing (24) and cycloid wheel (25), a vertically connected output shaft (22) and rotating plate (26), the rotating plate (26) vertically having a rotating shaft (261), a lubricating assembly comprising an oil storage ring (3) sleeved outside the mounting shell (11), an oil storage block (5) combinedly connected with the oil storage ring (3), an internal oil pipeline (6) and a contact block (7), one end of the oil pipeline (6) penetrating through the mounting shell (11) and being connected with the inside of the oil storage ring (3), the oil storage block (5) being fixed with an air inlet nozzle (51), and a peripheral ring (4) sleeved outside the oil storage ring (3) and the oil storage block (5).

2. The rotary joint integrated module with a hollow cycloid speed reducer according to claim 1, characterized in that: The inner surface of the peripheral ring (4) is fixed with a circular-arc-shaped pressing block (41), and the inner surface of the pressing block (41) is consistent with the outer surfaces of the oil storage ring (3) and the oil storage block (5).

3. The rotary joint integrated module with a hollow cycloid speed reducer according to claim 1, characterized in that: The oil storage block (5) is circular-arc-shaped, the inside of the oil storage ring (3) forms a circular annular storage cavity, and the cross section of the fan-shaped contact block (7) is a right-angled trapezoidal shape.

4. The rotary joint integrated module with a hollow cycloid speed reducer according to claim 1, characterized in that: The contact block (7) is provided with a tapered oil outlet (71) with one wide end and one narrow end, the surface of the contact block (7) with the wide-end oil outlet (71) is consistent with the surfaces of the eccentric wheel (23) and the cycloid wheel (25), and the contact block (7) is communicated with the oil storage ring (3) through the oil pipeline (6).

5. The integrated module of a rotary joint with a hollow cycloid speed reducer according to claim 1, characterized in that: One end of the contact block (7) is fixed with an inclined wiping plate (8), and the wiping plate (8) is consistent with the surfaces of the eccentric wheel (23) and the cycloid wheel (25).

6. The rotary joint integrated module with a hollow cycloid speed reducer according to claim 1, characterized in that: The spacing between the inner diameter of the peripheral ring (4) and the oil storage block (5) is 5mm.

7. The rotary joint integrated module with a hollow cycloid speed reducer according to claim 1, characterized in that: The peripheral ring (4) and the oil storage ring (3) are fixed by screws, the oil storage ring (3) and the mounting shell (11) are fixed by screws, and the outer diameter of the pin wheel shell (12) is 3mm larger than the outer diameter of the peripheral ring (4).

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