A robot joint reducer device

Abstract

This invention discloses a robot joint reducer device, belonging to the field of reducer technology. It includes a lower housing, a middle housing, and an upper housing. An input shaft and an output shaft are rotatably connected to opposite sides of the inner cavities of the middle and upper housings, respectively. A high-speed pinion is fitted onto the outer ring of the input shaft, and a low-speed large gear is fitted onto the outer ring of the output shaft. This invention achieves two-stage reduction through a gear set and intermediate shaft, resulting in smooth transmission and adapting to the low-speed, high-torque output requirements of robot joints. It can automatically eliminate gear meshing backlash in real time, quickly unload excessive torque, protect the drive motor from damage, and simultaneously implement forced damping locking of the intermediate shaft to prevent accidental load drop at the output end, improving joint operation safety. The entire device integrates reduction, backlash elimination, overload protection, and forced braking, with a reliable purely mechanical structure that balances transmission and equipment safety, meeting the high stability and safe operation requirements of robot joints.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and in particular to a robot joint speed reducer device. Background Technology

[0002] Robot joint reducers are core components in the joint actuators of industrial and collaborative robots, enabling power reduction and torque amplification, and precise motion transmission. Their overload protection capability (integrated overload unloading and synchronous damping lock shaft) is the most critical core requirement for ensuring robot operation safety and avoiding equipment damage and personal injury. It directly determines the safety and reliability of robot joint operation and is the prerequisite for high-performance robots to achieve heavy-duty operations and human-robot collaboration.

[0003] Currently, when a robot joint jams or the load torque exceeds the safety threshold, the traditional robot joint reducer can only achieve simple transmission clutch unloading. The robot joint components connected to the output shaft may fall freely due to gravity, which can easily cause damage to the robot equipment, scrap of processed workpieces, or even personal injury accidents. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing robot joint reducer devices, the present invention is proposed.

[0006] Therefore, the problem that this invention aims to solve is that traditional reducers can only achieve simple transmission clutch unloading, and the robot joint components connected to the output shaft may fall freely due to gravity.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a robot joint reducer device, comprising a lower housing, a middle housing, and an upper housing. An input shaft and an output shaft are rotatably connected to the two sides of the inner cavity between the middle housing and the upper housing, respectively. A high-speed pinion is sleeved on the outer ring of the input shaft, a low-speed large gear is sleeved on the outer ring of the output shaft, an intermediate shaft is rotatably connected between the inner cavities of the lower housing, and a medium-speed pinion and a medium-speed large gear are sleeved on the two sides of its surface, respectively. A backlash elimination gear is rotatably connected to one side of the medium-speed large gear, and a backlash elimination component is disposed on one side of the medium-speed large gear. The backlash elimination component includes a buffer meshing component, a fixed meshing component, a backlash elimination drive component, and a damping component. The backlash elimination component achieves high torque threshold protection by meshing with the fixed meshing component through the buffer meshing component. When the torque exceeds the threshold, the damping component synchronously locks the intermediate shaft. The backlash elimination drive component synchronously eliminates gear backlash during operation.

[0008] In a preferred embodiment of the robot joint reducer device of the present invention, a support base is fixedly welded at the center of the inner cavity of the upper housing. One end of the output shaft is rotatably connected to one side of the support base via a bearing, and one end of the input shaft is rotatably connected to the other side of the support base via a bearing. The outer rings of the input shaft and the output shaft are rotatably connected to the middle housing and the upper housing via bearings. The high-speed pinion and the low-speed gear are respectively disposed on both sides of the support base, and the contact surface between the backlash-free gear and the medium-speed gear is in sliding contact.

[0009] In a preferred embodiment of the robot joint reducer device of the present invention, the surface of the medium-speed pinion meshes with the surface of the low-speed large gear, and the medium-speed large gear meshes with the surface of the high-speed pinion.

[0010] As a preferred embodiment of the robot joint reducer device of the present invention, the buffer engagement component includes: a fixed ring plate, an outer ring fixedly sleeved on the intermediate shaft, a disc spring, an outer ring fixed on one side of the fixed ring plate, a buffer engagement ring, fixed on one side of the fixed ring plate, a buffer engagement protrusion, integrally formed on one side of the buffer engagement ring, and a damping push plate, fixed on the other side of the buffer engagement ring.

[0011] As a preferred embodiment of the robot joint reducer device of the present invention, the fixed meshing component includes: a fixed meshing ring fixed to one side of the medium-speed large gear, a fixed meshing groove formed on one side of the fixed meshing ring, a mounting cavity formed inside the fixed meshing ring, a return spring fixed to one side of the inner cavity of the mounting cavity, a pressing block fixed to one end of the return spring, the surface of which is slidably connected to the inner wall of the mounting cavity, and a push plate fixed to the surface of the pressing block, one end of which slides through to the outer ring of the fixed meshing ring.

[0012] As a preferred embodiment of the robot joint reducer device of the present invention, wherein: a limiting frame is fixed on one side of the medium-speed large gear, and the backlash elimination drive is disposed in the inner cavity of the limiting frame, which includes: a fixing plate fixed to one side of the medium-speed large gear, a spring piece fixed to one side of the fixing plate, and a drive plate slidably connected to the inner cavity of the limiting frame, the surface of which is provided with a cavity for accommodating the spring piece and the fixing plate.

[0013] As a preferred embodiment of the robot joint reducer device of the present invention, wherein: a support plate is fixed in the inner cavity of the lower housing, the support plate is rotatably connected to the outer ring of the intermediate shaft, and the damping element is disposed on one side of the support plate, comprising: a mounting bracket, an outer ring fixed to one side of the support plate; a damping plate, movably sleeved on the surface of the mounting bracket; a second torsion spring sleeved on the surface of the mounting bracket and located at the axis of the damping plate, one end of which is fixed to the surface of the damping plate and the other end of which is fixed to the surface of the mounting bracket; and a damping pad is fixed to one end of the damping plate.

[0014] In a preferred embodiment of the robot joint reducer device of the present invention, a first torsion spring is fixed to one side of the backlash-eliminating gear, one end of the first torsion spring is fixed to the surface of the medium-speed large gear, a sliding column is fixed to one side of the backlash-eliminating gear, and the backlash-eliminating gear and the medium-speed large gear have the same size.

[0015] In a preferred embodiment of the robot joint reducer device of the present invention, the outer ring of the medium-speed large gear is provided with a sliding cavity, and the sliding column is slidably connected to the inner wall of the sliding cavity.

[0016] In a preferred embodiment of the robot joint reducer device of the present invention, the inner ring of the buffer engagement ring is slidably connected to the outer ring of the intermediate shaft, the number of damping push plates is three, one end of which is provided with a smooth inclined surface, the inclined end of the damping push plate passes through the fixed ring plate and is dampedly connected to it at the connection point, and the outer ring of the intermediate shaft is provided with an anti-slip groove.

[0017] The beneficial effects of this invention are as follows: Two-stage reduction is achieved through the intermediate shaft and gear set, resulting in smooth transmission and adapting to the low-speed, high-torque output requirements of robot joints. During normal transmission, it can automatically eliminate gear meshing backlash in real time, avoiding transmission impact and return backlash, thus improving the motion accuracy of robot joints. When the output end is overloaded and jammed, or the input end continues to operate, causing the torque to exceed the threshold, the medium-speed large gear intermittently idles, quickly releasing excessive torque and protecting the drive motor from damage. Simultaneously, it implements forced damping locking on the intermediate shaft to prevent the output load from accidentally falling, improving joint operation safety. The entire system integrates reduction, backlash elimination, overload protection, and forced braking, with a reliable purely mechanical structure that balances transmission and equipment safety, meeting the high stability and safe use requirements of robot joints. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of a robot joint reducer device.

[0020] Figure 2 This is a cross-sectional view of the robot joint reducer device.

[0021] Figure 3 This is a front sectional view of the robot joint reducer device.

[0022] Figure 4 This is a structural diagram of the intermediate shaft and its outer ring components of a robot joint reducer.

[0023] Figure 5 Another structural view of the intermediate shaft and its outer ring components of the robot joint reducer.

[0024] Figure 6 This is an exploded view of the intermediate shaft and its outer ring components of the robot joint reducer.

[0025] Figure 7 Another exploded view of the intermediate shaft and its outer ring components of the robot joint reducer.

[0026] Figure 8 This is a partial sectional view of the surface component of the medium-speed large gear in a robot joint reducer.

[0027] Figure 9 Robot joint reducer device Figure 8 A magnified view of A in the middle.

[0028] Figure 10 This is a front view structural diagram of the intermediate shaft and its outer ring components of a robot joint reducer.

[0029] Figure 11 This is a structural diagram showing the installation of the support plate and damping components for the robot joint reducer device.

[0030] Figure 12 This is a structural diagram showing the working state of the push plate and drive plate of the robot joint reducer device.

[0031] In the diagram: 1. Lower housing; 2. Middle housing; 3. Upper housing; 4. Input shaft; 5. Output shaft; 6. Backlash elimination assembly; 61. Buffer engagement component; 611. Fixed ring plate; 612. Disc spring; 613. Buffer engagement ring; 614. Buffer engagement protrusion; 615. Damping push plate; 62. Fixed engagement component; 621. Fixed engagement ring; 622. Fixed engagement groove; 623. Mounting cavity; 624. Return spring; 625. Pressing block; 626. Push plate; 63. Limiting frame; 64. Backlash elimination assembly. 641. Backlash drive component; 642. Fixed plate; 643. Cavity; 644. Drive plate; 645. Spring; 65. Damping component; 651. Mounting bracket; 652. Damping plate; 653. Second torsion spring; 654. Damping pad; 7. High-speed pinion; 8. Low-speed large gear; 9. Support plate; 10. Medium-speed pinion; 11. Intermediate shaft; 111. Anti-slip groove; 12. Medium-speed large gear; 121. Sliding cavity; 13. Backlash-eliminating gear; 131. First torsion spring; 132. Sliding column; 14. Support seat. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0035] Example 1, referring to Figure 1 and Figure 2 This is the first embodiment of the present invention. This embodiment provides a robot joint reducer device, which includes a lower housing 1, a middle housing 2, an upper housing 3, and a backlash elimination component 6.

[0036] Specifically, an input shaft 4 and an output shaft 5 are rotatably connected on both sides between the inner cavities of the middle shell 2 and the upper shell 3, respectively. A high-speed pinion 7 is sleeved on the outer ring of the input shaft 4. The input shaft 4 is made of alloy tempered steel, which is wear-resistant and has high torsional strength. It is connected to an external drive motor to drive the high-speed pinion 7 to achieve power input. A low-speed large gear 8 is sleeved on the outer ring of the output shaft 5. The output shaft 5 is made of high-strength alloy steel, which can bear large torque and output decelerated power to directly drive the robot joints to perform actions. An intermediate shaft 11 is rotatably connected between the inner cavities of the lower shell 1. A medium-speed pinion 10 and a medium-speed large gear 12 are sleeved on both sides of its surface, respectively. The intermediate shaft 11 is made of high-strength tempered steel. The medium-speed pinion 10, the medium-speed large gear 12 and the backlash elimination component 6 are coaxially installed to transmit the secondary reduction torque. The high-speed pinion 7 is made of carburized and quenched steel gear with high wear resistance and precision. It meshes with the medium-speed large gear 12 to complete the first-stage reduction.

[0037] The backlash-free gear 13 is rotatably connected to one side of the medium-speed large gear 12. The lower housing 1 is made of high-strength cast steel, which is rigid and has good shock resistance. It provides a stable mounting base for the intermediate shaft 11 and forms the bottom protective housing of the reducer. The middle housing 2 is made of precision cast aluminum, which is lightweight and has good heat dissipation. It is sealed and assembled with the upper and lower housings, providing rotational support space for the input shaft 4 and output shaft 5. The upper housing 3 is made of cast aluminum sealing housing, which, together with the middle housing 2, forms a sealed transmission cavity, isolating dust and impurities and ensuring clean and stable gear transmission. The low-speed large gear 8 is made of heavy-duty alloy steel gear with good tooth surface toughness. It meshes with the medium-speed small gear 10 to complete the two-stage reduction.

[0038] The connections between the input shaft 4, output shaft 5 and the middle housing 2 and upper housing 3 are all made of high-precision angular contact ball bearings, model 7208AC. These bearings can withstand both radial and axial forces, adapting to the high-frequency forward and reverse rotation characteristics of robot joints. The outer ring of the bearing is interference-fitted with the housing (fit tolerance H7 / k6), and the inner ring is transition-fitted with the shaft (fit tolerance k6 / h5) to ensure no axial movement during transmission. The connection between the intermediate shaft 11 and the support plate 9 and lower housing 1 is made of cylindrical roller bearings (model N206 recommended), which are designed to withstand radial loads and meet the high torque requirements of the intermediate shaft 11. Dustproof retaining rings are installed at both ends of the bearings to prevent lubricating oil leakage and impurities from entering.

[0039] Specifically, the backlash elimination component 6 is located on one side of the medium-speed large gear 12. The backlash elimination component 6 includes a buffer meshing component 61, a fixed meshing component 62, a backlash elimination drive component 64, and a damping component 65. The backlash elimination component 6 achieves high torque threshold protection by meshing the buffer meshing component 61 with the fixed meshing component 62. When the torque exceeds the threshold, the damping component 65 is used to lock the intermediate shaft 11 simultaneously. The backlash elimination drive component 64 eliminates gear backlash synchronously during operation.

[0040] Example 2, refer to Figures 2-12This is the second embodiment of the present invention, which is based on the previous embodiment.

[0041] Specifically, it also includes a support base 14 fixedly welded at the center of the inner cavity of the upper housing 3. One end of the output shaft 5 is rotatably connected to one side of the support base 14 via a bearing, and one end of the input shaft 4 is rotatably connected to the other side of the support base 14 via a bearing. The outer rings of the input shaft 4 and the output shaft 5 are rotatably connected to the middle housing 2 and the upper housing 3 via bearings. The high-speed pinion 7 and the low-speed gear 8 are respectively set on both sides of the support base 14. The contact surface between the backlash-free gear 13 and the medium-speed gear 12 is in sliding contact. The support base 14 is made of cast aluminum and is integrally formed with the middle housing 2. A bearing mounting chamber is opened inside, and a grease filling hole is provided on the cavity wall for regular lubrication. A sealing ring (model TC40×60×8) is set at the mating point of the support base 14 with the input shaft 4 and the output shaft 5 to achieve dynamic sealing and prevent dust and moisture from entering the transmission cavity.

[0042] Specifically, the surface of the medium-speed pinion 10 meshes with the surface of the low-speed large gear 8, and the medium-speed large gear 12 meshes with the surface of the high-speed pinion 7.

[0043] Specifically, the buffer engagement component 61 includes: a fixed ring plate 611, which is fixedly sleeved on the outer ring of the intermediate shaft 11. The fixed ring plate 611 is made of hard steel ring and provides an installation base for the disc spring 612 and the buffer engagement ring 613. The disc spring 612 is fixed on the outer ring of one side of the fixed ring plate 611. The disc spring 612 is a high-pressure disc spring with stable elastic stiffness, providing axial buffer force. It is compressed to achieve engagement and disengagement when overloaded. The buffer engagement ring 613 is fixed on one side of the fixed ring plate 611. The buffer engagement protrusion 614 is integrally formed on one side of the buffer engagement ring 613. The damping push plate 615 is fixed on the other side of the buffer engagement ring 613. The buffer engagement protrusion 614 is made of precision-formed toothed blocks with a corrugated distribution. It precisely engages with the fixed engagement groove 622 to transmit normal torque. It pushes out of engagement when overloaded.

[0044] At the sliding connection between the inner ring of the buffer engagement ring 613 and the intermediate shaft 11, a wear-resistant copper sleeve (made of ZCuSn10Pb1) is provided. The copper sleeve and the intermediate shaft 11 are clearance-fitted to reduce sliding friction and prevent long-term axial movement from causing wear on the surface of the intermediate shaft 11. An annular oil groove is opened on the surface of the copper sleeve to store grease and further reduce friction loss. On the side of the fixed ring plate 611 away from the buffer engagement ring 613, an adjusting nut (threaded to the intermediate shaft 11, thread specification M30×1.5) is provided. An adjusting shim (thickness 0.5~2mm) is provided between the adjusting nut and the fixed ring plate 611. By increasing or decreasing the number of adjusting shims or rotating the adjusting nut, the preload of the disc spring 612 is changed, thereby adjusting the torque threshold of overload protection (adjustment range 50~200N·m) to adapt to robot joints with different load requirements (such as light collaborative robots and heavy industrial robots).

[0045] Specifically, the fixed meshing component 62 includes: a fixed meshing ring 621, fixed to one side of the medium-speed large gear 12; a fixed meshing groove 622, formed on one side of the fixed meshing ring 621; a mounting cavity 623, formed inside the fixed meshing ring 621; and a return spring 624, fixed to one side of the inner cavity of the mounting cavity 623. The return spring 624 is a stainless steel compression spring with stable elasticity, which drives the pressing block 625 and the push plate 626 to automatically return to their original positions. The pressing block 625 is fixed to one end of the return spring 624, and its surface is slidably connected to the inner wall of the mounting cavity 623. The push plate 626 is fixed to the surface of the pressing block 625, and one end of its surface slides through to the outer ring of the fixed meshing ring 621. The pressing block 625 is made of wear-resistant steel and is pushed by the buffer meshing protrusion 614, which drives the push plate 626 to move radially outward. The push plate 626 is made of steel with a smooth arc surface. When it moves outward, it squeezes the drive plate 643, triggering the backlash elimination drive action.

[0046] Specifically, a limit frame 63 is fixed to one side of the medium-speed large gear 12. The limit frame 63 is made of steel and provides sliding limit for the drive plate 643 to ensure backlash-free transmission. The backlash-free drive component 64 is set in the inner cavity of the limit frame 63 and includes: a fixed plate 641, fixed to one side of the medium-speed large gear 12. The fixed plate 641 is made of steel and provides fixed support for the spring piece 644. The spring piece 644 is fixed to one side of the fixed plate 641 and is made of 65Mn elastic steel sheet. The spring piece 644 has a stable reset force and drives the drive plate 643 back to its original position to maintain the backlash-free state. The drive plate 643 is slidably connected to the inner cavity of the limit frame 63. Its surface has a cavity 642 for accommodating the spring piece 644 and the fixed plate 641. The drive plate 643 is made of arc-shaped steel slider and is pushed by the push plate 626 to drive the sliding column 132 to move.

[0047] Specifically, a support plate 9 is fixed in the inner cavity of the lower housing 1. The support plate 9 is rotatably connected to the outer ring of the intermediate shaft 11. The damping element 65 is disposed on one side of the support plate 9 and includes: a mounting bracket 651, which is fixed to the outer ring of one side of the support plate 9. The support plate 9 is made of hard steel plate and provides radial rotation support for the intermediate shaft 11 to reduce transmission sway. The mounting bracket 651 is made of steel bracket and provides a rotating mounting base for the damping plate 652. The damping plate 652 is movably sleeved on the surface of the mounting bracket 651. The damping plate 652 is made of wear-resistant steel plate and is pressed towards the intermediate shaft 11 by the damping push plate 615.

[0048] The second torsion spring 653 is sleeved on the surface of the mounting bracket 651 and located at the axis of the damping plate 652. One end of the spring is fixed to the surface of the damping plate 652, and the other end is fixed to the surface of the mounting bracket 651. The second torsion spring 653 is a 65Mn torsion spring with stable torque, which drives the damping plate 652 to automatically reset and unlock. One end of the damping plate 652 is fixed with a damping pad 654. The damping pad 654 is a high-friction wear-resistant rubber pad that is inserted into the anti-slip groove 111 to generate strong frictional damping and achieve forced locking of the intermediate shaft 11.

[0049] Specifically, a first torsion spring 131 is fixed to one side of the backlash-eliminating gear 13. One end of the first torsion spring 131 is fixed to the surface of the medium-speed large gear 12. The first torsion spring 131 is made of 65Mn spring steel, with stable torque, which drives the backlash-eliminating gear 13 to deflect and closely adhere to the backlash of the high-speed small gear 7, continuously eliminating backlash. A sliding column 132 is fixed to one side of the backlash-eliminating gear 13. The backlash-eliminating gear 13 and the medium-speed large gear 12 have the same dimensions. The sliding column 132 is made of wear-resistant cylindrical pin, which slides in the sliding cavity 121 to transmit backlash-eliminating driving power and control the deflection angle of the backlash-eliminating gear 13.

[0050] A locating pin (4mm in diameter) is provided on the contact surface between the backlash-eliminating gear 13 and the medium-speed large gear 12. The locating pin adopts an transition fit with the backlash-eliminating gear 13 and a clearance fit with the sliding cavity 121 of the medium-speed large gear 12 to prevent radial displacement when the backlash-eliminating gear 13 deflects, thus ensuring the meshing accuracy between the backlash-eliminating gear 13 and the high-speed small gear 7. The tooth surface of the backlash-eliminating gear 13 is nitrided (nitriding layer depth 0.3~0.5mm) to improve the hardness and wear resistance of the tooth surface. The meshing clearance with the high-speed small gear 7 is controlled at 0.02~0.03mm to ensure the backlash elimination effect while avoiding meshing jamming.

[0051] Specifically, the outer ring of the medium-speed large gear 12 has a sliding cavity 121, and the sliding column 132 is slidably connected to the inner wall of the sliding cavity 121. The sliding cavity 121 adopts a precision arc-shaped groove to provide deflection guidance for the sliding column 132, thereby realizing the backlash adjustment of the backlash-free gear 13.

[0052] Specifically, the inner ring of the buffer engagement ring 613 is slidably connected to the outer ring of the intermediate shaft 11. There are three damping push plates 615, one end of which is provided with a smooth inclined surface. The inclined end of the damping push plate 615 passes through the fixed ring plate 611 and is dampedly connected to it at the connection point. The outer ring of the intermediate shaft 11 is provided with an anti-slip groove 111. The three damping push plates 615 are evenly distributed at 120° on the other side of the buffer engagement ring 613. The inclined surface angle is set to 30°. A wear-resistant coating (the coating material is TiN, and the thickness is 5~8μm) is provided at the contact point with the damping plate 652 to improve wear resistance and avoid long-term compression causing wear on the inclined surface, which would affect the damping locking effect. The damping connection between the damping push plate 615 and the fixed ring plate 611 is achieved by using a disc-shaped damping plate (the material is 65Mn, and the thickness is 1.5mm) to achieve damping buffering and ensure that the movement of the damping push plate 615 is smooth when the fixed ring plate 611 rebounds, avoiding impact.

[0053] Example 3, referring to Figures 2-12 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0054] Specifically, the disc spring 612 is sleeved on the outer ring of the intermediate shaft 11, the spring piece 644 is fixed to one side of the inner wall of the cavity 642, the fixing plate 641 is slidably connected to the inner wall of the cavity 642, and the position of the damping plate 652 corresponds to the position of the damping push plate 615.

[0055] Specifically, the smooth inclined surface of the damping push plate 615 is slidably connected to the surface of the damping plate 652, one end of the push plate 626 has a smooth arc surface, the side of the drive plate 643 near the push plate 626 has an arc surface structure, and the smooth arc surface of the push plate 626 is slidably connected to the arc surface structure of the push plate 626.

[0056] Specifically, the shape of the buffer engagement protrusion 614 is matched with that of the fixed engagement ring 621.

[0057] This device is compatible with rotary joints in robots, with an input speed range of 1500~3000 r / min, an output speed range of 93.75~187.5 r / min, a rated output torque of 50~200 N·m, a maximum instantaneous overload torque of 300 N·m, axial runout ≤0.01 mm, radial runout ≤0.02 mm, and a backlash error ≤3′, meeting the joint transmission requirements of industrial robots and collaborative robots.

[0058] At the connection of the lower housing 1, middle housing 2, and upper housing 3, a sealing strip (made of fluororubber, with a cross-sectional size of 8×5mm) is installed and fastened with bolts (bolt specification M8×25, spacing 50mm) to achieve static sealing. The protruding ends of the input shaft 4 and output shaft 5 adopt a double-seal structure (the first is a TC type sealing ring, and the second is a labyrinth seal). The labyrinth seal and the sealing ring are filled with grease, providing double protection and preventing dust, water vapor, cutting fluid and other impurities from entering the transmission cavity, making it suitable for harsh working environments (such as machining workshops and outdoor operation scenarios). A drain hole (diameter 8mm) is opened at the bottom of the lower housing 1. A one-way valve is installed in the drain hole to prevent external water vapor from entering, and at the same time facilitates the drainage of condensate in the transmission cavity to avoid corrosion of internal components.

[0059] The outer wall of the middle shell 2 can be equipped with ring-shaped heat dissipation fins (fin thickness 2mm, spacing 8mm, height 15mm), made of aluminum alloy, to increase the heat dissipation area. The top of the upper shell 3 has heat dissipation holes (5mm in diameter, evenly distributed, 12 in number), and dustproof mesh (100 mesh) is installed inside the heat dissipation holes to achieve natural ventilation and heat dissipation. For high-load and long-term working scenarios, a miniature cooling fan (5W power, speed 3000r / min) can be installed on the outside of the middle shell 2 for forced heat dissipation to ensure that the device's operating temperature is controlled within the range of -20~80℃.

[0060] All gear meshing parts, bearings, and sliding pairs use lithium-based grease (model GB / T7324-2010, grade 3#). The filling amount is 1 / 3 to 1 / 2 of the transmission cavity volume. Lubrication cycle: under normal working conditions, grease is replenished every 2000 hours and replaced every 8000 hours. When replenishing grease, it is injected through the lubrication filling hole of the support seat 14 and the upper housing 3. When replacing grease, the drain hole (10mm in diameter) at the bottom of the lower housing 1 is opened to drain the waste grease to ensure lubrication effect.

[0061] A temperature sensor (model PT100) is installed on the top of the upper housing 3 to detect the internal temperature of the transmission cavity. When the temperature exceeds 80℃, an alarm signal is issued to prevent overheating damage. A torque sensor (model T120) is installed at the end of the intermediate shaft 11 to monitor the output torque in real time. When the torque approaches the overload threshold (90% of the rated overload torque), a warning signal is issued to remind the operator to adjust the load. An encoder mounting interface (model absolute encoder, resolution 1024 lines) is set at the end of the output shaft 5 to connect an external encoder to detect the speed and angle of the output shaft 5, thereby achieving precise control of the robot joints.

[0062] When in use, the lower housing 1, middle housing 2, and upper housing 3 are assembled, and each transmission and backlash elimination protection component is in the initial standby state: the input shaft 4 and the output shaft 5 are rotatably connected between the support base 14, the middle housing 2, and the upper housing 3 through bearings, and the intermediate shaft 11 is rotatably supported between the support plate 9 and the lower housing 1.

[0063] The high-speed pinion 7 is mounted on the outer ring of the input shaft 4 and meshes with the medium-speed large gear 12 of the intermediate shaft 11. The medium-speed pinion 10 meshes with the low-speed large gear 8 of the output shaft 5, forming a two-stage reduction transmission chain.

[0064] Backlash elimination assembly 6: The buffer engagement protrusion 614 of the buffer engagement ring 613 is engaged in the fixed engagement groove 622 of the fixed engagement ring 621, the disc spring 612 is naturally extended, the pressing block 625 and the pushing plate 626 are in the initial position, the return spring 624 and the spring sheet 644 are not compressed, the backlash elimination gear 13 is in contact with the medium speed large gear 12 through the first torsion spring 131, the sliding column 132 is located in the sliding cavity 121, the damping plate 652 of the damping component 65 is away from the intermediate shaft 11 under the action of the second torsion spring 653, and the damping pad 654 is not in contact with the anti-slip groove 111.

[0065] The motor drives the input shaft 4 to rotate, and the device achieves smooth deceleration and automatically eliminates gear meshing backlash: the input shaft 4 drives the high-speed small gear 7 to rotate and mesh with the medium-speed large gear 12 to complete the first deceleration. The intermediate shaft 11 rotates synchronously with the medium-speed large gear 12, driving the medium-speed small gear 10 to mesh with the low-speed large gear 8, driving the output shaft 5 to rotate, completing the second deceleration, and realizing the robot joint deceleration output.

[0066] Synchronous backlash elimination action: When the medium-speed large gear 12 rotates, the fixed meshing ring 621 rotates synchronously, the buffer meshing protrusion 614 squeezes the pressing block 625, causing the pressing block 625 to retract into the mounting cavity 623, the return spring 624 is compressed, the pressing block 625 drives the push plate 626 to move radially outward, the squeezing drive plate 643 slides along the limit frame 63, and the spring 644 is compressed.

[0067] The drive plate 643 pushes the sliding column 132 to move along the sliding cavity 121, causing the backlash-free gear 13 to deflect coaxially with the medium-speed large gear 12. The first torsion spring 131 twists, and the teeth of the medium-speed large gear 12 and the backlash-free gear 13 respectively engage with the two sides of the tooth gap of the high-speed small gear 7, completely eliminating the gear transmission gap and avoiding transmission vibration and return error.

[0068] When the output shaft 5 is jammed by external force and the load torque exceeds the safety threshold, the device activates overload protection: the output shaft 5 is forcibly locked, the intermediate shaft 11 and the medium-speed gear 12 are instantly overloaded, the fixed meshing ring 621 and the buffer meshing ring 613 are circumferentially misaligned, the fixed meshing groove 622 and the buffer meshing protrusion 614 push against each other, pushing the buffer meshing ring 613 axially away from the intermediate shaft 11, the disc spring 612 is compressed, the medium-speed gear 12 is disengaged from the synchronous transmission with the intermediate shaft 11, and it can idle, quickly releasing the overload torque and protecting the input motor from being burned out.

[0069] Damping locking action: When the buffer engagement ring 613 moves axially, the buffer engagement protrusion 614 is pushed when it coincides with the fixed engagement groove 622. When the fixed ring plate 611 is in contact with the fixed engagement groove 622, it resets, thereby driving the fixed ring plate 611 to move synchronously and intermittently. Since the medium-speed large gear 12 rotates at medium speed and the damping push plate 615 is dampedly connected to the fixed ring plate 611, when the fixed ring plate 611 rebounds, the damping push plate 615 will not reset immediately, and the fixed ring plate 611 will be pushed again. Therefore, the smooth inclined surface of the damping push plate 615 will continuously squeeze the damping plate 652.

[0070] The damping plate 652 rotates around the mounting bracket 651, the second torsion spring 653 twists, and the end damping pad 654 moves toward the intermediate shaft 11 and is engaged in the anti-slip groove 111. The damping pad 654 applies forced friction damping to the intermediate shaft 11, completely locking the intermediate shaft 11 and preventing the robot joint components connected to the output shaft 5 from accidentally falling off.

[0071] After the output load is removed and the torque returns to normal, the device automatically resets to normal operating status: the disc spring 612 elastically resets, pushing the buffer engagement ring 613 back, the buffer engagement protrusion 614 re-engages into the fixed engagement groove 622, and the damping push plate 615 resets with the buffer engagement ring 613, releasing the pressure on the damping plate 652.

[0072] The second torsion spring 653 rebounds, causing the damping plate 652 to rotate. The damping pad 654 disengages from the anti-slip groove 111, the intermediate shaft 11 is unlocked, the reset spring 624 and the spring piece 644 reset synchronously, the push plate 626 and the drive plate 643 return to their initial positions, the first torsion spring 131 twists and resets, the backlash elimination gear 13 resumes its backlash elimination working state, and the device re-enters the smooth deceleration transmission mode.

[0073] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A robot joint reducer device, characterized by: The structure includes a lower housing (1), a middle housing (2), and an upper housing (3). An input shaft (4) and an output shaft (5) are rotatably connected to the inner cavities of the middle housing (2) and the upper housing (3), respectively. A high-speed pinion (7) is fitted onto the outer ring of the input shaft (4), a low-speed large gear (8) is fitted onto the outer ring of the output shaft (5), an intermediate shaft (11) is rotatably connected to the inner cavity of the lower housing (1), and a medium-speed pinion (10) and a medium-speed large gear (12) are fitted onto the two sides of its surface, respectively. A backlash-free gear (13) is rotatably connected to the inner cavity of the lower housing (1). On one side of the medium-speed large gear (12), a backlash elimination component (6) is provided. The backlash elimination component (6) includes a buffer meshing part (61), a fixed meshing part (62), a backlash elimination drive part (64), and a damping part (65). The backlash elimination component (6) achieves high torque threshold protection by meshing the buffer meshing part (61) with the fixed meshing part (62). When the torque exceeds the threshold, the damping part (65) is used to lock the intermediate shaft (11) synchronously. The backlash elimination drive part (64) eliminates gear backlash synchronously during operation.

2. The robotic joint reducer device of claim 1, wherein: A support base (14) is fixedly welded to the center of the inner cavity of the upper housing (3). One end of the output shaft (5) is rotatably connected to one side of the support base (14) through a bearing. One end of the input shaft (4) is rotatably connected to the other side of the support base (14) through a bearing. The outer rings of the input shaft (4) and the output shaft (5) are rotatably connected to the middle housing (2) and the upper housing (3) through bearings. The high-speed pinion (7) and the low-speed gear (8) are respectively set on both sides of the support base (14). The contact surface between the backlash-free gear (13) and the medium-speed gear (12) is in sliding contact.

3. The robotic joint reducer device of claim 1 or 2, wherein: The surface of the medium-speed pinion (10) meshes with the surface of the low-speed large gear (8), and the medium-speed large gear (12) meshes with the surface of the high-speed pinion (7).

4. The robotic joint reducer device of claim 1, wherein: The buffer engagement component (61) includes: a fixed ring plate (611), an outer ring fixedly sleeved on the intermediate shaft (11); a disc spring (612), an outer ring fixed on one side of the fixed ring plate (611); a buffer engagement ring (613), fixed on one side of the fixed ring plate (611); a buffer engagement protrusion (614), integrally formed on one side of the buffer engagement ring (613); and a damping push plate (615), fixed on the other side of the buffer engagement ring (613).

5. The robotic joint reducer device of claim 1, wherein: The fixed meshing component (62) includes: a fixed meshing ring (621) fixed to one side of the medium-speed large gear (12), a fixed meshing groove (622) opened on one side of the fixed meshing ring (621), a mounting cavity (623) opened inside the fixed meshing ring (621), a return spring (624) fixed to one side of the inner cavity of the mounting cavity (623), a pressing block (625) fixed to one end of the return spring (624), the surface of which is slidably connected to the inner wall of the mounting cavity (623), and a push plate (626) fixed to the surface of the pressing block (625), one end of which is slidably inserted through to the outer ring of the fixed meshing ring (621).

6. The robotic joint reducer device of claim 1, wherein: A limiting frame (63) is fixed on one side of the medium-speed large gear (12), and the backlash elimination drive (64) is disposed in the inner cavity of the limiting frame (63). It includes: a fixing plate (641) fixed on one side of the medium-speed large gear (12), a spring piece (644) fixed on one side of the fixing plate (641), and a drive plate (643) slidably connected to the inner cavity of the limiting frame (63). Its surface is provided with a cavity (642) for accommodating the spring piece (644) and the fixing plate (641).

7. The robotic joint reducer device of claim 1, wherein: The inner cavity of the lower housing (1) is fixed with a support plate (9), which is rotatably connected to the outer ring of the intermediate shaft (11). The damping element (65) is disposed on one side of the support plate (9) and includes: a mounting bracket (651) fixed to the outer ring of one side of the support plate (9), a damping plate (652) movably sleeved on the surface of the mounting bracket (651), a second torsion spring (653) sleeved on the surface of the mounting bracket (651) and located at the axis of the damping plate (652), one end of which is fixed to the surface of the damping plate (652) and the other end is fixed to the surface of the mounting bracket (651). A damping pad (654) is fixed to one end of the damping plate (652).

8. The robotic joint reducer device of claim 1 or 2, wherein: A first torsion spring (131) is fixed to one side of the backlash-free gear (13), and one end of the first torsion spring (131) is fixed to the surface of the medium-speed large gear (12). A sliding column (132) is fixed to one side of the backlash-free gear (13), and the backlash-free gear (13) and the medium-speed large gear (12) are the same size.

9. The robotic joint reducer device of claim 8, wherein: The outer ring of the medium-speed large gear (12) has a sliding cavity (121), and the sliding column (132) is slidably connected to the inner wall of the sliding cavity (121).

10. The robotic joint reducer device of claim 4, wherein: The inner ring of the buffer engagement ring (613) is slidably connected to the outer ring of the intermediate shaft (11). There are three damping push plates (615), one end of which is provided with a smooth inclined surface. The inclined end of the damping push plate (615) passes through the fixed ring plate (611) and is dampedly connected to it at the connection point. The outer ring of the intermediate shaft (11) is provided with an anti-slip groove (111).

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