Right-angle planetary reducer for industrial robot

Abstract

The right-angle planetary reducer for the industrial robot comprises a shell composed of an upper machine shell and a lower machine shell and a transmission part composed of a power input part, a transmission part and a power output part, and the lower machine shell is provided with a heat dissipation part. The power input part drives the power output part through the transmission part to achieve right-angle transmission and speed reduction, and the connecting cylinder synchronously drives the air cooling part and the shifting piece to work when rotating. The shifting piece stirs lubricating oil in the oil storage cavity to form circulation, heat generated by the internal transmission part is guided out through the heat dissipation liquid guide pipe and the heat dissipation fins after being absorbed, heat dissipation is accelerated through the air cooling part, and the cooled lubricating oil flows back to form a closed-loop heat dissipation process. High-efficiency heat dissipation is achieved through self running power, extra power input is not needed, the structure is simplified, the manufacturing cost and energy consumption are reduced, the heat dissipation performance and transmission precision are effectively improved, the service life of equipment is effectively prolonged, and the operation requirements of high loads, high precision and long service life of the industrial robot can be met.

Description

Technical Field

[0001] This invention relates to the field of speed reducers, and more specifically, to a right-angle planetary speed reducer for industrial robots. Background Technology

[0002] Right-angle planetary reducers are used as core transmission components in industrial robots, primarily for power transmission and speed regulation. Their operational stability, transmission accuracy, and service life directly affect the robot's performance. During actual operation, right-angle planetary reducers operate under high load and high speed conditions for extended periods. The meshing friction between transmission components and the rotational friction of bearings continuously generate significant heat. If this heat cannot be dissipated efficiently and promptly, the internal temperature of the reducer will rise rapidly, leading to a series of adverse consequences.

[0003] The most significant technical problem with existing right-angle planetary gearboxes used in industrial robots is insufficient heat dissipation efficiency. Specifically, existing gearboxes suffer from inefficient heat dissipation structures, often employing single heat sink fins or a single air-cooling / liquid-cooling structure. This results in a single heat dissipation path and low flow efficiency of the heat dissipation medium. Furthermore, the lubrication and heat dissipation systems are not organically coordinated, and the thermal conductivity of the lubricating oil is not effectively utilized to help dissipate internally generated heat. This heat dissipation deficiency leads to excessively high internal temperatures, easily causing thermal deformation of transmission components (such as gears and bearings), compromising the meshing accuracy and coaxiality of these components, and consequently reducing the gearbox's transmission precision, thus affecting the operational accuracy of the industrial robot. Simultaneously, high temperatures accelerate the aging and wear of components, reducing the gearbox's operational stability and shortening its overall lifespan. Ultimately, this fails to meet the high-load, high-precision, and long-life operational requirements of industrial robots. Therefore, it is urgent to solve this core technical problem of insufficient heat dissipation efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides a right-angle planetary reducer for industrial robots, which can realize power transmission and reduce speed at the same time, and simultaneously drive the air-cooling components and the deflector to operate synchronously to achieve heat dissipation and cooling.

[0005] To achieve this objective, the present invention adopts the following technical solution: This invention discloses a right-angle planetary reducer for industrial robots, comprising a housing and a transmission component. The housing includes an upper housing and a lower housing, which are interconnected. The transmission component includes a power input component, a transmission component, and a power output component. The power input component and the transmission component are both disposed within the lower housing, and the power output component is disposed within the upper housing. The power input component is connected to the power output component via the transmission component. A heat dissipation component is provided on the lower housing for heat dissipation.

[0006] In a preferred embodiment of the present invention, the power output component includes a connecting cylinder and a main gear. The connecting cylinder is rotatably connected to the lower housing. A power input groove is provided at the bottom of the connecting cylinder, and the main gear is fixed to the top of the connecting cylinder.

[0007] In a preferred embodiment of the present invention, the transmission component includes a first planetary gear, a mounting base, a central shaft, and a first helical gear. The mounting base has multiple mounting positions, and each mounting position is connected to the first planetary gear via a rotating shaft. The multiple first planetary gears are arranged around the main gear, and the first planetary gears mesh with the main gear. The central shaft is fixed to the mounting base, and the first helical gear is fixed to the central shaft. The central shaft is coaxially arranged with the connecting cylinder.

[0008] In a preferred embodiment of the present invention, the power output component includes a second helical gear and a power output cylinder. The power output cylinder is rotatably connected to the upper housing, and the power output cylinder and the central rotating shaft are arranged perpendicular to each other. The second helical gear is sleeved on the outside of the power output cylinder, and the first helical gear meshes with the second helical gear.

[0009] In a preferred embodiment of the present invention, a lower lubrication chamber is provided at the top of the lower housing, an oil storage chamber is provided at the bottom of the lower housing, an upper lubrication chamber is provided in the upper housing, the lower lubrication chamber is connected to the oil storage chamber and the upper lubrication chamber respectively, the power output cylinder is located in the upper lubrication chamber, the main gear, the first planetary gear and the mounting base are all located in the lower lubrication chamber, and the connecting cylinder is located in the oil storage chamber.

[0010] In a preferred embodiment of the present invention, the heat dissipation component includes heat dissipation fluid guide pipes, heat dissipation fins, and a fluid inlet ring. The fluid inlet ring is disposed within the oil storage cavity and sleeved outside the connecting cylinder. Multiple heat dissipation fluid guide pipes are disposed on the outer casing. One end of each heat dissipation fluid guide pipe passes through the lower housing and connects to the outside of the fluid inlet ring. The upper end of each heat dissipation fluid guide pipe extends above the upper housing and communicates with the top of the upper housing. A fluid inlet groove is formed on the inner side of the fluid inlet ring. A first rotating ring is connected to the connecting cylinder, and a lever is disposed on the first rotating ring. Multiple heat dissipation fins are fixed to the heat dissipation fluid guide pipes.

[0011] In a preferred embodiment of the present invention, the heat dissipation component further includes an air guide tube, which is sleeved outside the lower housing, and the heat dissipation fins extend through the air guide tube to the outside of the air guide tube.

[0012] In a preferred embodiment of the present invention, the heat dissipation component further includes an air-cooling component, which includes a second rotating ring, a second planetary gear, a drive ring, and a fan blade. The lower end of the connecting cylinder passes through the lower housing, the drive ring is sleeved on the lower end of the side wall of the connecting cylinder, a plurality of second planetary gears are rotatably connected to the bottom of the lower housing via a rotating shaft, the second rotating ring is rotatably connected to the bottom of the lower housing, the drive ring has a first serration on its outer side, the second rotating ring has a second serration on its inner side, the second planetary gear is disposed between the second rotating ring and the drive ring, and the second planetary gear meshes with the first serration and the second serration.

[0013] In a preferred embodiment of the present invention, the fan blade is located inside the air guide shroud, the lower part of the air guide shroud is an air inlet, the upper part of the air guide shroud is an air outlet, and the heat dissipation fins are inclined.

[0014] In a preferred embodiment of the present invention, a bearing is provided between the connecting cylinder and the inner wall of the lower housing, and a bearing is provided between the power output cylinder and the inner wall of the upper housing.

[0015] The beneficial effects of this invention are as follows: This invention provides a right-angle planetary reducer for industrial robots. By optimizing the heat dissipation structure design and achieving organic synergy between the lubrication and heat dissipation systems, and combining the reducer's own operating power, efficient heat dissipation is achieved without the need for additional power input. This effectively solves the problem of insufficient heat dissipation efficiency in existing reducers, significantly improving the reducer's heat dissipation performance and operational economy. During normal deceleration operation, external power is output to the connecting cylinder. While transmitting power and completing the deceleration function, the connecting cylinder simultaneously drives the air-cooling components and the decelerator plates. The power for the entire heat dissipation process comes entirely from the reducer's own operation, eliminating the need for additional power components such as motors and pumps. This not only simplifies the structural layout and reduces equipment manufacturing costs but also reduces additional energy consumption, improving the equipment's energy efficiency and operational reliability.

[0016] As the paddle rotates with the connecting cylinder, it continuously agitates the lubricating oil in the oil reservoir, promoting a stable circulation of the lubricating oil. This ensures the lubricating oil fully contacts all transmission components inside the reducer, including the main gear, the first planetary gear, and bearings. This achieves comprehensive lubrication of all transmission components, reducing meshing and rotational friction and lowering heat generation. Furthermore, the flowing lubricating oil quickly absorbs the heat generated during the operation of these components, achieving efficient heat collection. The lubricating oil, having absorbed heat, is then transported to the heat dissipation pipe via the connecting path between the lower and upper lubrication chambers. The heat dissipation pipe conducts the heated lubricating oil to the outside of the reducer. Combined with the heat dissipation fins fixed to the heat dissipation pipe, the contact area between the lubricating oil and the outside air is increased, initially achieving heat dissipation.

[0017] The air-cooled components, which operate synchronously with the connecting cylinder, continuously blow air onto the heat dissipation pipes and fins, accelerating the airflow speed on their surfaces and further improving heat exchange efficiency, thus speeding up the cooling process of the lubricating oil. After cooling, the lubricating oil is transported from the upper end of the heat dissipation pipes to the upper housing, then slowly flows back to the lower housing, and finally returns to the oil reservoir, forming a complete closed-loop cooling process of "lubricating oil heat absorption - heat dissipation - circulation return." This ensures that the lubricating oil can continuously and stably perform both cooling and lubrication functions, significantly improving the overall cooling efficiency of the reducer, effectively controlling the internal temperature rise of the reducer, and preventing thermal deformation of transmission components due to high temperatures.

[0018] This heat dissipation design requires no additional power input, relying solely on the operation of the reducer itself to achieve continuous heat dissipation. This not only reduces the number of parts and simplifies assembly and maintenance, but also avoids the impact of additional power component failures on heat dissipation, improving the stability and durability of the heat dissipation system. Ultimately, through this synergistic heat dissipation design, the meshing accuracy and rotational coaxiality of the transmission components are effectively guaranteed, improving the transmission accuracy of the reducer and ensuring the operational accuracy of the industrial robot. Simultaneously, it mitigates the aging and wear effects of high temperatures on components, enhances the operational stability of the reducer, and extends its overall service life, fully meeting the high-load, high-precision, and long-life operational requirements of industrial robots. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of a right-angle planetary reducer for industrial robots provided in a specific embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of the bottom structure; Figure 3 yes Figure 1 A schematic diagram of the cross-sectional structure; Figure 4This is a schematic diagram of the internal structure of a right-angle planetary reducer for industrial robots provided in a specific embodiment of the present invention; Figure 5 yes Figure 4 Enlarged structural diagram at point A in the middle.

[0020] In the picture: 11. Upper housing; 12. Lower housing; 13. Upper lubrication chamber; 14. Lower lubrication chamber; 15. Oil reservoir; 21. Connecting cylinder; 22. Main gear; 23. First planetary gear; 24. Mounting base; 25. Central shaft; 26. First helical gear; 27. Second helical gear; 28. Power output cylinder; 20. Power input slot; 31. Cooling liquid guide pipe; 32. Liquid inlet ring; 33. First rotating ring; 34. Paddle; 35. Cooling fins; 36. Air guide tube; 41. Drive ring; 42. Second planetary gear; 43. Second rotating ring; 44. Fan blade. Detailed Implementation

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-5 As shown, this embodiment provides a right-angle planetary reducer for industrial robots, including a housing and transmission components. The housing includes an upper housing 11 and a lower housing 12, which are detachably and fixedly connected. The internal cavities of the upper housing 11 and the lower housing 12 are interconnected, and a seal is provided at the connection to prevent lubricating oil leakage. The transmission components include a power input component, a transmission component, and a power output component. The power input component and the transmission component are both located within the lower housing 12, and the power output component is located within the upper housing 11. The power input component is connected to the power output component via the transmission component. A heat dissipation component is provided on the lower housing 12 for heat dissipation.

[0023] The power input component includes a connecting cylinder 21 and a main gear 22. The connecting cylinder 21 is rotatably connected to the lower housing 12. A power input groove 20 is provided at the bottom of the connecting cylinder 21. The power input groove 20 is used to cooperate with the output shaft of an external drive motor to realize power input. The main gear 22 is coaxially fixed to the top of the connecting cylinder 21 and can rotate synchronously with the connecting cylinder 21.

[0024] The transmission components include a first planetary gear 23, a mounting base 24, a central shaft 25, and a first helical gear 26. The mounting base 24 has multiple mounting positions evenly distributed circumferentially. Each mounting position is rotatably connected to a first planetary gear 23 via a rotating shaft. The multiple first planetary gears 23 are arranged circumferentially around the main gear 22, and all first planetary gears 23 mesh with and transmit power to the main gear 22, which is the sun gear of this stage of planetary transmission. The central shaft 25 is coaxially fixed at the center of the mounting base 24, and the first helical gear 26 is coaxially fixed at the top of the central shaft 25. The central shaft 25 and the connecting cylinder 21 are coaxially arranged. When the main gear 22 rotates with the connecting cylinder 21, it drives the first planetary gear 23, which meshes with it, to rotate around its own pin shaft. A fixed internal gear ring can be set on the outer side of the first planetary gear 23. The fixed internal gear ring meshes with the first planetary gear 23. At the same time, the first planetary gear 23 revolves along the tooth profile of the fixed internal gear ring, thereby driving the mounting base 24 to rotate at low speed around its own central axis, realizing first-stage speed reduction and torque increase, and converting the high-speed low-torque power of the drive motor into low-speed high-torque power.

[0025] The power output component includes a second helical gear 27 and a power output cylinder 28. The power output cylinder 28 is rotatably connected inside the upper housing 11, and the axis of the power output cylinder 28 is perpendicular to the axis of the central rotating shaft 25 to achieve right-angle reversing transmission. The second helical gear 27 is coaxially fixedly sleeved on the outer wall of the power output cylinder 28. The first helical gear 26 meshes with the second helical gear 27 to convert the rotation of the central rotating shaft 25 around the vertical axis into the rotation of the power output cylinder 28 around the horizontal axis, thus completing the power output.

[0026] Furthermore, a lower lubrication chamber 14 is provided in the top area of ​​the lower housing 12, and an oil storage chamber 15 is provided in the bottom area of ​​the lower housing 12. An upper lubrication chamber 13 is provided in the upper housing 11. The bottom of the lower lubrication chamber 14 is connected to the oil storage chamber 15 through a preset oil passage, and the top of the lower lubrication chamber 14 is connected to the upper lubrication chamber 13 through a preset vertical oil passage. Among them, the power output cylinder 28 and the second helical gear 27 are located in the upper lubrication chamber 13, the main gear 22, the first planetary gear 23 and the mounting base 24 are located in the lower lubrication chamber 14, and the main body of the connecting cylinder 21 is located in the oil storage chamber 15. The oil storage chamber 15 is used to store lubricating oil and provide a circulating medium for the lubrication and heat dissipation system of the entire reducer.

[0027] Preferably, a bearing is provided between the outer wall of the connecting cylinder 21 and the inner wall of the lower housing 12. Specifically, bearings are fitted at both the upper and lower ends of the connecting cylinder 21. The outer ring of the bearing is interference-fitted with the inner wall of the lower housing 12, and the inner ring of the bearing is interference-fitted with the outer wall of the connecting cylinder 21, ensuring the coaxiality and stability of the rotation of the connecting cylinder 21. Bearings are provided between both ends of the power output cylinder 28 and the inner wall of the upper housing 11. The outer ring of the bearing is interference-fitted with the mounting hole of the upper housing 11, and the inner ring of the bearing is interference-fitted with the outer wall of the power output cylinder 28, reducing rotational friction and improving transmission smoothness.

[0028] The heat dissipation components include heat dissipation pipes 31, heat dissipation fins 35, and a liquid inlet ring 32. The liquid inlet ring 32 is fixedly disposed within the oil storage chamber 15 and coaxially sleeved on the outside of the connecting cylinder 21. A gap for lubricating oil flow is reserved between the inner wall of the liquid inlet ring 32 and the outer wall of the connecting cylinder 21. Multiple heat dissipation pipes 31 are evenly distributed along the circumference of the outer casing. The lower end of each heat dissipation pipe 31 passes through the side wall of the lower casing 12 and is fixedly connected to the outside of the liquid inlet ring 32. The inner cavity of the heat dissipation pipe 31 communicates with the inner cavity of the liquid inlet ring 32. The upper end of each heat dissipation pipe 31 extends to the top of the upper casing 11, and its upper port communicates with the top inner cavity of the upper casing 11, facilitating heat dissipation. The inner cavity of the liquid guide tube 31 forms a passage with the upper lubrication cavity 13; the inner wall of the liquid inlet ring 32 is provided with a plurality of liquid inlet grooves evenly distributed in the circumferential direction, and the liquid inlet grooves connect the oil storage cavity 15 and the inner cavity of the liquid inlet ring 32; a first rotating ring 33 is fixedly connected to the outer wall of the connecting cylinder 21, the first rotating ring 33 is located in the oil storage cavity 15, and a plurality of paddles 34 are fixedly provided on the outer wall of the first rotating ring 33, the ends of the paddles 34 extending to the vicinity of the liquid inlet groove of the liquid inlet ring 32; a plurality of heat dissipation fins 35 are fixed at equal intervals on the outer wall of the heat dissipation liquid guide tube 31 to increase the contact area between the heat dissipation liquid guide tube 31 and the outside air and improve the heat exchange efficiency.

[0029] Furthermore, the heat dissipation component also includes an air duct 36, which is coaxially sleeved on the outside of the lower housing 12. The upper and lower ends of the air duct 36 are fixedly connected to the bottom of the upper housing 11 and the bottom of the lower housing 12, respectively. The ends of the heat dissipation fins 35 extend through the side wall of the air duct 36 to the outside of the air duct 36, so that the heat dissipation fins 35 are in contact with the air duct inside the air duct 36 and the outside air at the same time, thereby further improving the heat dissipation effect.

[0030] Preferably, the heat dissipation component further includes an air-cooling component, which includes a second rotating ring 43, a second planetary gear 42, a drive ring 41, and a fan blade 44. The lower end of the connecting cylinder 21 extends through the bottom wall of the lower housing 12 to the outside of the housing. The drive ring 41 is coaxially fixedly sleeved on the lower end side wall of the connecting cylinder 21 and can rotate synchronously with the connecting cylinder 21. Multiple second planetary gears 42 are rotatably connected to the bottom outer wall of the lower housing 12 through a rotating shaft, and the multiple second planetary gears 42 are evenly distributed along the circumference of the drive ring 41. The second rotating ring 43 is rotatably connected to the bottom outer wall of the lower housing 12 through a bearing, and the second rotating ring 43 is coaxially arranged with the connecting cylinder 21. The outer side wall of the drive ring 41 is provided with a first serration, and the inner side wall of the second rotating ring 43 is provided with a second serration. The second planetary gear 42 is disposed between the second rotating ring 43 and the drive ring 41, and the second planetary gear 42 meshes with the first sawtooth and the second sawtooth to form a planetary reduction transmission structure, so that the second rotating ring 43 rotates stably at a speed lower than that of the connecting cylinder 21; the fan blade 44 is fixed to the outer wall of the second rotating ring 43 and is located inside the air guide duct 36. The lower part of the air guide duct 36 is the air inlet and the upper part of the air guide duct 36 is the air outlet. The heat dissipation fins 35 are inclined along the axial direction of the air guide duct 36, and the inclination direction matches the air outlet direction of the fan blade 44, thereby optimizing the air cooling flow channel and improving the heat exchange efficiency.

[0031] Working principle of the invention The output shaft of the external drive motor is inserted into the power input slot 20 at the bottom of the connecting cylinder 21, causing the connecting cylinder 21 to rotate around the vertical axis. The main gear 22, which is coaxially fixed to the top of the connecting cylinder 21, rotates synchronously at high speed with the connecting cylinder 21. The main gear 22, as the sun gear of the planetary reduction mechanism, meshes with multiple first planetary gears 23 evenly arranged in the circumference, causing the first planetary gears 23 to rotate around their own pins while revolving around the tooth profile of the fixed internal gear ring. This, in turn, causes the mounting base 24 to rotate at low speed around the axis of the central shaft 25, completing the first-stage planetary reduction torque amplification transmission and converting the high-speed, low-torque power input by the drive motor into low-speed, high-torque power.

[0032] Mounting base 24 drives the coaxially fixed central shaft 25 to rotate synchronously. The first helical gear 26 fixed at the top of the central shaft 25 rotates synchronously with the central shaft 25. The first helical gear 26 and the second helical gear 27 form an orthogonal bevel gear transmission pair. During the meshing transmission, the rotation of the central shaft 25 around the vertical axis is converted into the rotation of the second helical gear 27 around the horizontal axis, which in turn drives the power output cylinder 28, which is coaxially fixed with the second helical gear 27, to rotate synchronously. This completes the 90-degree right-angle reversal and the two-stage reduction and torque increase transmission. Finally, through the power output cylinder 28, a stable high torque power is output to the actuator of the industrial robot.

[0033] While the speed reducer is running normally, the lubrication and cooling systems work synchronously and collaboratively, relying on the speed reducer's own power, without requiring any additional power input. The specific process is as follows: When the connecting cylinder 21 rotates, it synchronously drives the first rotating ring 33 and the paddle 34 fixed on its outer wall to rotate synchronously. The paddle 34 continuously makes a circular motion in the oil storage chamber 15. On the one hand, it stirs the lubricating oil in the oil storage chamber 15 to prevent the lubricating oil from settling and local high temperature. On the other hand, the rotation of the paddle 34 generates a continuous pumping pressure, which pushes the lubricating oil in the oil storage chamber 15 through the inlet groove on the inner side of the inlet ring 32 and continuously presses it into the hollow inner cavity of the inlet ring 32. The lubricating oil entering the inlet ring 32 is distributed into the lower end of each heat dissipation liquid guide pipe 31 through the circumferentially evenly distributed interface. It flows from bottom to top along the heat dissipation liquid guide pipe 31 and is finally transported from the upper end port of the heat dissipation liquid guide pipe 31 to the inner cavity of the top of the upper housing 11 and enters the upper lubrication chamber 13 to complete the forced circulation and transportation of the lubricating oil.

[0034] After the low-temperature lubricating oil, having completed its heat dissipation and cooling process, enters the upper lubrication chamber 13, it first fills the internal space of the upper lubrication chamber 13, fully enveloping and contacting the second helical gear 27, the power output cylinder 28, and the support bearings at both ends located within the upper lubrication chamber 13. A stable lubricating oil film is formed on the gear meshing tooth surface, the bearing raceway, and the surface of the rolling elements, achieving comprehensive lubrication of the right-angle reversing transmission pair and the rotating support components, effectively reducing meshing friction and rotational friction, and reducing heat generation from the source. At the same time, the low-temperature lubricating oil fully absorbs the heat generated during the meshing transmission of the second helical gear 27 and the rotation of the bearings, completing the first stage of heat collection.

[0035] After the lubrication and heat absorption of the upper lubrication chamber 13 are completed, the lubricating oil flows down from the upper lubrication chamber 13 into the lower lubrication chamber 14 inside the lower housing 12 through the pre-set vertical oil passage between the upper housing 11 and the lower housing 12. After entering the lower lubrication chamber 14, the lubricating oil fully wraps around and contacts the main gear 22, the first planetary gear 23, the mounting base 24, the fixed internal gear ring, and the bearings located in the lower lubrication chamber 14, providing comprehensive lubrication to all meshing tooth surfaces of the planetary reduction transmission pair, the planetary gear rotating pair, and the support bearings, further reducing friction loss and heat generation. At the same time, the lubricating oil fully absorbs the large amount of core heat generated during the high-speed operation of the planetary reduction mechanism, completing the second stage of full heat collection and achieving full coverage lubrication and full heat absorption of all transmission components inside the reducer.

[0036] After completing the lubrication and heat absorption of the entire cavity, the high-temperature lubricating oil falls into the oil storage cavity 15 through the preset oil passage at the bottom of the lower lubrication cavity 14, completing one round of lubrication and heat absorption cycle.

[0037] As the lubricating oil flows from bottom to top within the heat dissipation pipe 31, the heat from the high-temperature lubricating oil inside the pipe is rapidly conducted through the high thermal conductivity pipe wall of the heat dissipation pipe 31 to the heat dissipation fins 35 fixed on the outer wall. Through the significantly increased heat exchange area of ​​the heat dissipation fins 35, the heat is initially dissipated to the outside air, achieving initial passive heat dissipation and cooling of the lubricating oil.

[0038] Meanwhile, as the connecting cylinder 21 rotates, it synchronously drives the drive ring 41, which is coaxially fixed at its lower end, to rotate. The drive ring 41, as the sun gear of the planetary reduction mechanism of the air-cooled component, drives the second rotating ring 43 to rotate at a low speed and stably through the meshing transmission of the second planetary gear 42. This, in turn, drives the fan blade 44, which is fixed to the outer wall of the second rotating ring 43, to rotate synchronously. When the fan blade 44 rotates, it continuously draws in low-temperature cold air from the outside through the air inlet at the lower part of the air guide duct 36. The cold air flows at high speed from bottom to top along the axial air duct inside the air guide duct 36, which is consistent with the flow direction of the lubricating oil in the heat dissipation liquid pipe 31. This continuously washes the outer wall of the heat dissipation liquid pipe 31 and the surface of the heat dissipation fins 35 in the air duct, greatly accelerating the air flow speed on the surface of the heat dissipation liquid pipe 31 and the heat dissipation fins 35. This enhances the convective heat transfer efficiency between the high-temperature lubricating oil in the pipe and the cold air in the outside, accelerates the cooling process of the lubricating oil, and achieves forced air cooling to enhance heat dissipation. The hot air after heat exchange is continuously discharged from the air outlet at the upper part of the air guide duct 36, forming a stable air cooling cycle.

[0039] After completing the cooling process, the low-temperature lubricating oil enters the upper lubrication chamber 13. After completing the above-mentioned lubrication and heat absorption process, it finally flows back to the oil storage chamber 15. Then, through the continuous pumping of the pawl 34, it re-enters the inlet ring 32 and the heat dissipation guide pipe 31 for cooling. This forms a complete closed-loop lubrication and heat dissipation process: low-temperature lubricating oil pumping - heat dissipation guide pipe 31 co-cooling - upper lubrication chamber 13 lubrication and heat absorption - lower lubrication chamber 14 lubrication and heat absorption - high-temperature lubricating oil returning to the oil storage chamber 15 - re-pumping for cooling. This allows the lubricating oil to circulate continuously and stably inside the reducer, simultaneously playing the dual roles of lubrication and friction reduction as well as heat conduction and heat dissipation.

[0040] It should be noted that in this invention, the power of the entire lubrication and heat dissipation system comes entirely from the operation of the reducer itself, without the need to add additional power components such as motors and pumps. This not only simplifies the overall structural layout of the reducer and reduces the manufacturing cost and assembly and maintenance difficulty of the equipment, but also avoids the impact of failure of additional power components on the heat dissipation effect, improves the stability and durability of the heat dissipation system, and reduces additional energy consumption, thereby improving the energy efficiency of the equipment.

[0041] Through the synergistic design of lubrication and heat dissipation described above, the reducer of the present invention can effectively control the internal temperature rise, avoid thermal deformation of transmission components due to high temperature, ensure the meshing accuracy and rotational coaxiality of transmission components, improve the transmission accuracy of the reducer, and ensure the operating accuracy of industrial robots; at the same time, it alleviates the aging and wear effects of high temperature on parts, enhances the operating stability of the reducer, extends its overall service life, and fully meets the high load, high precision, and long life operation requirements of industrial robots.

[0042] Other techniques in this embodiment are based on existing technologies.

[0043] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. A right-angle planetary reducer for industrial robots, characterized in that: The device includes an outer casing and a transmission component. The outer casing includes an upper casing (11) and a lower casing (12), which are interconnected. The transmission component includes a power input component, a transmission component, and a power output component. The power input component and the transmission component are both located inside the lower casing (12), and the power output component is located inside the upper casing (11). The power input component is connected to the power output component via the transmission component. The lower casing (12) is provided with a heat dissipation component for heat dissipation.

2. The right-angle planetary reducer for industrial robots according to claim 1, characterized in that: The power output component includes a connecting cylinder (21) and a main gear (22). The connecting cylinder (21) is rotatably connected to the lower housing. A power input groove (20) is provided at the bottom of the connecting cylinder (21). The main gear (22) is fixed to the top of the connecting cylinder (21).

3. The right-angle planetary reducer for industrial robots according to claim 2, characterized in that: The transmission component includes a first planetary gear (23), a mounting base (24), a central shaft (25), and a first helical gear (26). The mounting base (24) has multiple mounting positions, and each mounting position is connected to the first planetary gear (23) via a rotating shaft. The multiple first planetary gears (23) are arranged around the main gear (22), and the first planetary gears (23) mesh with the main gear (22). The central shaft (25) is fixed on the mounting base (24), and the first helical gear (26) is fixed on the central shaft (25). The central shaft (25) and the connecting cylinder (21) are coaxially arranged.

4. The right-angle planetary reducer for industrial robots according to claim 3, characterized in that: The power output component includes a second helical gear (27) and a power output cylinder (28). The power output cylinder (28) is rotatably connected to the upper housing (11), and the power output cylinder (28) and the central shaft (25) are arranged perpendicular to each other. The second helical gear (27) is sleeved on the outside of the power output cylinder (28), and the first helical gear (26) meshes with the second helical gear (27).

5. A right-angle planetary reducer for industrial robots according to claim 4, characterized in that: The lower housing (12) has a lower lubrication chamber (14) at the top and an oil storage chamber (15) at the bottom. The upper housing has an upper lubrication chamber (13). The lower lubrication chamber (14) is connected to the oil storage chamber (15) and the upper lubrication chamber (13) respectively. The power output cylinder (28) is located in the upper lubrication chamber (13). The main gear (22), the first planetary gear (23) and the mounting base (24) are all located in the lower lubrication chamber (14). The connecting cylinder (21) is located in the oil storage chamber (15).

6. A right-angle planetary reducer for industrial robots according to claim 5, characterized in that: The heat dissipation components include a heat dissipation liquid guide pipe (31), heat dissipation fins (35), and a liquid inlet ring (32). The liquid inlet ring (32) is disposed inside the oil storage chamber (15) and is sleeved on the outside of the connecting cylinder (21). Multiple heat dissipation liquid guide pipes (31) are disposed on the outer shell. One end of the heat dissipation liquid guide pipe (31) passes through the lower housing (12) and is connected to the outside of the liquid inlet ring (32). The upper end of the heat dissipation liquid guide pipe (31) extends to the upper housing (11) and communicates with the top of the upper housing (11). A liquid inlet groove is provided on the inner side of the liquid inlet ring (32). A first rotating ring (33) is connected to the connecting cylinder (21). A paddle (34) is provided on the first rotating ring (33). Multiple heat dissipation fins (35) are fixed to the heat dissipation liquid guide pipe (31).

7. A right-angle planetary reducer for industrial robots according to claim 6, characterized in that: The heat dissipation component also includes an air duct (36), which is sleeved on the lower housing (12), and the heat dissipation fins (35) extend through the air duct (36) to the outside of the air duct (36).

8. A right-angle planetary reducer for industrial robots according to claim 7, characterized in that: The heat dissipation component also includes an air-cooling component, which includes a second rotating ring (43), a second planetary gear (42), a drive ring (41), and a fan blade (44). The lower end of the connecting cylinder (21) passes through the lower housing. The drive ring (41) is sleeved on the lower end of the side wall of the connecting cylinder (21). A plurality of second planetary gears (42) are rotatably connected to the bottom of the lower housing (12) through a rotating shaft. The second rotating ring (43) is rotatably connected to the bottom of the lower housing (12). The drive ring (41) is provided with a first sawtooth on its outer side. The second rotating ring (43) is provided with a second sawtooth on its inner side. The second planetary gear (42) is disposed between the second rotating ring (43) and the drive ring (41). The second planetary gear (42) meshes with the first sawtooth and the second sawtooth.

9. A right-angle planetary reducer for industrial robots according to claim 8, characterized in that: The fan blade (44) is located inside the air guide shroud. The lower part of the air guide shroud is the air inlet, and the upper part of the air guide shroud is the air outlet. The heat dissipation fins (35) are inclined and the heat dissipation fins (35) are inclined.

10. A right-angle planetary reducer for industrial robots according to claim 5, characterized in that: A bearing is provided between the connecting cylinder (21) and the inner wall of the lower housing (12), and a bearing is provided between the power output cylinder (28) and the inner wall of the upper housing (11).

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