A gearbox assembly and a robot comprising the same

Abstract

This invention relates to the field of gearbox assembly technology, and discloses a gearbox assembly and a robot including the gearbox assembly. The gearbox assembly includes a gearbox and a cover, the cover being fixedly connected to the gearbox by screws. An input shaft, a first-stage reduction assembly, a second-stage reduction assembly, and an output shaft are respectively arranged inside the gearbox. An internal gear ring is arranged on the inner wall of the gearbox, and a plurality of oil nozzles are arranged on the cover. An oil drain seat is installed at the lower end of the gearbox, and the oil drain seat contains an oil filter cover for filtering lubricating oil. A movable scraper is also provided in the oil drain seat. This invention can avoid insufficient lubrication of components during the initial operation, reduce component wear, and prevent metal debris from flowing with the lubricating oil through the oil filter cover in the oil drain seat, thus avoiding damage to the gear pump and clogging of the oil nozzles, and ensuring lubrication effect.

Description

Technical Field

[0001] This invention relates to the field of gearbox assembly technology, specifically to a gearbox assembly and a robot comprising the gearbox assembly. Background Technology

[0002] Heavy-duty handling robotic arms typically employ planetary gear reducers, which, thanks to their multi-wheel load-sharing characteristics, can withstand high torque and overturning moments, and feature a compact structure, high transmission rigidity, and high rotational positioning accuracy. The planetary gearbox driving the overall rotation of the heavy-duty handling robotic arm has a vertical structure, with an input at the bottom and an output at the top. Lubricating oil naturally accumulates at the bottom of the gearbox due to gravity. During start-up, shutdown, reversal, and overturning moment conditions, the gear meshing surfaces endure significant impact forces over extended periods.

[0003] In existing technology, when the equipment is in operation, the revolution and rotation of the planetary gears generate centrifugal force, causing some of the lubricating oil to be thrown towards the inner wall and upper part of the housing to lubricate the parts. However, the following drawbacks exist:

[0004] First, under heavy load conditions, when the planetary gearbox is running, the oil is thrown to the side walls and upper part, which easily leads to uneven distribution of lubricating oil and insufficient lubrication at the gear meshing points. Second, after the machine stops, the oil will quickly flow back to the bottom of the gearbox, but the upper gears will be in a state of low oil or no oil during the shutdown. They cannot obtain sufficient lubrication in the early stage of operation, which easily causes wear and produces metal shavings.

[0005] Secondly, the existing technology lacks a metal debris separation structure in the gearbox. Metal debris can easily enter the gear meshing area with the oil circulation, aggravating the wear and further reducing the reliability of the transmission and the service life of the equipment. Summary of the Invention

[0006] This invention provides a gearbox assembly and a robot including the gearbox assembly. The assembly draws lubricating oil from the oil drain seat to the top of the gearbox cover via an oil delivery component, forming a circulating lubrication circuit with several oil nozzles. This reduces localized lubrication dead zones under heavy load conditions. A magnetic block on the oil filter cover rotates synchronously with the filter cover, adsorbing and collecting metal debris from the oil drain seat, thus separating the metal debris from the flowing lubricating oil and improving the cleanliness of the circulating lubricating oil. This invention solves the problems mentioned in the background art, where under heavy load conditions, the oil in the planetary gearbox is thrown to the sidewalls and upper part, easily leading to uneven lubrication distribution and insufficient lubrication at the gear meshing points. Furthermore, after shutdown, the oil quickly flows back to the bottom of the gearbox, but the upper gears remain in a state of low or no oil during shutdown, failing to obtain sufficient lubrication in the initial operation phase, easily causing wear and generating metal debris. Secondly, existing gearboxes lack a metal debris separation structure, allowing metal debris to easily enter the gear meshing points with the circulating oil, exacerbating wear and further reducing transmission reliability and equipment lifespan.

[0007] The present invention provides the following technical solution: a gearbox assembly, including a gearbox and a cover, wherein the cover is fixedly connected to the gearbox by screws, and an input shaft, a first-stage reduction assembly, a second-stage reduction assembly and an output shaft are respectively arranged inside the gearbox, an internal gear ring is arranged on the inner wall of the gearbox, and a plurality of fuel injectors are arranged on the cover;

[0008] The lower end of the gearbox is equipped with an oil drain seat, and the oil drain seat is equipped with an oil filter cover for filtering lubricating oil. The oil drain seat is equipped with a movable scraper. The circumferential surface of the oil filter cover is equipped with a magnetic block for adsorbing metal debris. The lower end of the oil filter cover is equipped with an oil delivery assembly for delivering the filtered lubricating oil to the oil nozzle for spraying. A storage box for collecting metal debris is provided on one side of the oil filter cover.

[0009] As an optional embodiment of the gearbox assembly of the present invention, wherein: the input shaft is rotatably connected to the gearbox via a bearing, the output shaft is rotatably connected to the gearbox cover via a bearing, the oil filter cover is provided with a tapered portion, and both the tapered portion and the oil filter cover are provided with oil filter holes, and a first servo motor for driving the oil filter cover to rotate is installed at the lower end of the oil drain seat.

[0010] As an optional embodiment of the gearbox assembly of the present invention, the first-stage reduction assembly includes a first sun gear, which is fixed on the input shaft. A first planetary support is disposed above the first sun gear, and a plurality of first planetary gears are rotatably connected to the first planetary support. The first planetary gears mesh with the internal gear ring.

[0011] As an optional embodiment of the gearbox assembly of the present invention, the secondary reduction assembly includes a second sun gear, which is fixedly connected to the first planetary carrier, and a second planetary carrier is provided above the second sun gear. A plurality of second planetary gears are rotatably connected to the second planetary carrier, and the second planetary gears mesh with the internal gear ring. The output shaft is fixedly connected to the second planetary carrier.

[0012] As an optional embodiment of the gearbox assembly of the present invention, the oil delivery assembly includes a gear pump, which is fixed to the end face of the gearbox. The oil outlet of the gear pump is connected to an oil delivery pipe, one end of which is connected to an annular pipe. The annular pipe is connected to the fuel injector. The lower end of the oil filter cover is connected to a rotary joint, which is connected to the oil inlet of the gear pump through a connecting pipe.

[0013] As an optional embodiment of the gearbox assembly of the present invention, wherein: a guide rod is installed on the back of the scraper, a sliding block is slidably connected to the guide rod, a first spring is connected between the sliding block and the scraper, an electric push rod is fixed on the storage box, and the piston rod of the electric push rod passes through the oil drain seat and is fixedly connected to the sliding block.

[0014] As an optional embodiment of the gearbox assembly of the present invention, a chip removal groove is provided between the storage box and the oil drain seat, the scraper is located above the chip removal groove, a conical retaining ring is provided at the lower end of the oil filter cover, and a scraper is fixed on the conical retaining ring.

[0015] As an optional embodiment of the gearbox assembly of the present invention, a pressure plate is slidably connected inside the storage box, a sliding rod is fixed on the pressure plate, the sliding rod is elastically connected to the storage box through a second spring, and an abutment block is fixed on the sliding rod, and an abutment rod is fixed on the piston rod of the electric push rod.

[0016] As an optional embodiment of the gearbox assembly of the present invention, the pressure plate is provided with a plurality of stepped holes, a rotating cover plate is provided in the stepped holes, the two sides of the rotating cover plate are rotatably connected to the pressure plate, and a torsion spring is connected between the rotating cover plate and the pressure plate.

[0017] A robot including a gearbox assembly, comprising a robot body that is driven to rotate by the gearbox assembly.

[0018] The present invention has the following beneficial effects:

[0019] 1. In this gearbox assembly, the oil drain seat is located below the gearbox and is connected to the gearbox. The lubricating oil in the oil drain seat is drawn to the top of the gearbox cover through the oil delivery assembly. It works with several oil spray nozzles to form a circulating lubrication circuit so that the gearbox can spray the lubricating oil at the bottom onto the secondary reduction assembly. This allows the secondary reduction assembly to fully contact the lubricating oil during operation, reducing local lubrication dead zones under heavy load conditions. Secondly, it can avoid the problem of insufficient lubrication of parts in the initial stage of operation, reduce the wear of parts, and improve the smoothness of operation.

[0020] The oil filter cover installed inside the oil drain seat can filter the lubricating oil when the oil delivery assembly draws it, preventing metal debris from entering the gear pump and nozzle in the oil delivery assembly along with the lubricating oil, thus avoiding damage to the gear pump and clogging of the nozzle, and ensuring lubrication effect. The first servo motor can drive the oil filter cover to rotate, which can reduce the risk of oil filter cover clogging and maintain stable filtration efficiency.

[0021] 2. In this gearbox assembly, the magnetic block installed on the oil filter cover can rotate synchronously with the oil filter cover, which can adsorb and collect metal debris in the oil drain seat, so that the metal debris can be separated from the flowing lubricating oil, improve the cleanliness of the circulating lubricating oil, reduce the wear of the first-stage reduction assembly, the second-stage reduction assembly and the internal gear ring, improve the reliability of the transmission and the service life of the equipment.

[0022] The scraper, during its movement, contacts the conical retaining ring, is lifted by the ring, and adheres to the outer wall of the oil filter cover. This allows for automatic opening of the chip removal groove and increases the chip removal height. As the oil filter cover rotates, the scraper removes metal debris adhering to the outer wall of the oil filter cover and the magnetic block, improving the lubricating oil filtration efficiency. After the scraped metal debris detaches from the magnetic block's adsorption area, it falls to the bottom of the oil drain seat. With the assistance of the rotating scraper, the metal debris is automatically discharged through the chip removal groove into the storage box, separating from the lubricating oil in the gearbox. This improves lubrication and reduces the frequency of lubricating oil replacement.

[0023] 3. In this gearbox assembly, the pressure plate inside the storage box can move upward when the chip discharge groove is open, allowing metal debris to flow into the bottom of the storage box. When the chip discharge groove is closed, the pressure plate moves downward to reset. The stepped holes on the pressure plate separate the metal debris and lubricating oil at the bottom of the storage box. The rotating cover plate on the stepped holes can be automatically opened by the pressure of the lubricating oil when the pressure plate moves downward, so that the lubricating oil flows into the upper part of the pressure plate after separation. On the one hand, this prevents the backflow of lubricating oil and metal debris, and on the other hand, it achieves the purpose of separating metal debris from some of the lubricating oil, so that the loss of lubricating oil can be reduced when the metal debris is discharged. Attached Figure Description

[0024] Figure 1 This is one of the three-dimensional structural diagrams of the gearbox of the present invention.

[0025] Figure 2 This is the second schematic diagram of the gearbox structure of the present invention.

[0026] Figure 3 This is a cross-sectional view of the gearbox structure of the present invention.

[0027] Figure 4 This is a schematic diagram of the internal components of the gearbox of the present invention.

[0028] Figure 5 This is a cross-sectional view of the oil drain seat structure of the present invention.

[0029] Figure 6 This is a schematic diagram of the oil drain seat and storage box structure of the present invention.

[0030] Figure 7 This is a schematic diagram of the gear pump structure of the present invention.

[0031] Figure 8 This is a schematic diagram of the pressure plate structure of the present invention.

[0032] Figure 9 for Figure 5 Enlarged view of point A in the middle.

[0033] Figure 10 for Figure 8 Enlarged at point B in the middle.

[0034] Figure 11 This is a schematic diagram of the robot's body structure.

[0035] Figure 12 This is a schematic diagram of the sliding block structure of the present invention.

[0036] In the diagram: 1. Gearbox; 2. Input shaft; 3. First stage reduction assembly; 31. First sun gear; 32. First planetary carrier; 33. First planetary gear; 4. Second stage reduction assembly; 41. Second sun gear; 42. Second planetary carrier; 43. Second planetary gear; 5. Output shaft; 6. Gearbox cover; 7. Fuel injector; 8. Oil drain seat; 9. Oil filter cover; 10. Magnetic block; 11. Oil delivery assembly; 111. Gear pump; 112. Oil delivery pipe; 113. Annular pipe; 114. 12. Rotary joint; 13. Storage box; 14. Conical part; 15. First servo motor; 16. Scraper; 17. Chip removal groove; 18. Guide rod; 19. Sliding block; 20. First spring; 21. Electric push rod; 22. Conical retaining ring; 23. Scraper; 24. Pressure plate; 25. Sliding rod; 26. Second spring; 27. Abutting block; 28. Abutting rod; 29. ​​Internal gear ring; 20. Stepped hole; 21. Rotating cover plate; 22. Torsion spring; 30. Robot body. Detailed Implementation

[0037] 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.

[0038] Example 1, please refer to Figures 1 to 12 A gearbox assembly includes a gearbox 1 and a cover 6. The cover 6 is fixedly connected to the gearbox 1 by screws. The gearbox 1 is provided with an input shaft 2, a first-stage reduction assembly 3, a second-stage reduction assembly 4 and an output shaft 5. An internal gear ring 27 is provided on the inner wall of the gearbox 1. A plurality of fuel injectors 7 are provided on the cover 6.

[0039] The lower end of the gearbox 1 is equipped with an oil drain seat 8, and the oil drain seat 8 is equipped with an oil filter cover 9 for filtering lubricating oil. The oil drain seat 8 is equipped with a movable scraper 15. The circumferential surface of the oil filter cover 9 is equipped with a magnetic block 10 for adsorbing metal debris. The lower end of the oil filter cover 9 is equipped with an oil delivery assembly 11, which is used to deliver the filtered lubricating oil to the oil spray nozzle 7 for spraying. A storage box 12 for collecting metal debris is provided on one side of the oil filter cover 9.

[0040] The input shaft 2 is rotatably connected to the gearbox 1 via a bearing, and the output shaft 5 is rotatably connected to the cover 6 via a bearing. The oil filter cover 9 is provided with a tapered part 13, and both the tapered part 13 and the oil filter cover 9 are provided with oil filter holes. The lower end of the oil drain seat 8 is equipped with a first servo motor 14 that drives the oil filter cover 9 to rotate.

[0041] The first-stage reduction assembly 3 includes a first sun gear 31, which is fixed on the input shaft 2. A first planetary support 32 is provided above the first sun gear 31. Several first planetary gears 33 are rotatably connected to the first planetary support 32. The first planetary gears 33 mesh with the internal gear ring 27.

[0042] The secondary reduction gear 4 includes a second sun gear 41, which is fixedly connected to the first planetary support 32. The second planetary support 42 is located above the second sun gear 41. Several second planetary gears 43 are rotatably connected to the second planetary support 42. The second planetary gears 43 mesh with the internal gear ring 27. The output shaft 5 is fixedly connected to the second planetary support 42.

[0043] The oil delivery assembly 11 includes a gear pump 111, which is fixed on the end face of the gearbox 1. The oil outlet of the gear pump 111 is connected to an oil delivery pipe 112. One end of the oil delivery pipe 112 is connected to an annular pipe 113, which is connected to the fuel injector 7. The lower end of the oil filter cover 9 is connected to a rotary joint 114, which is connected to the oil inlet of the gear pump 111 through a connecting pipe.

[0044] In the prior art, in order to improve the lubrication effect of the gears in the gearbox 1, a large amount of lubricating oil is added to the gearbox 1. This causes the gears to have to overcome greater resistance when they are running, which is like running under a heavy load. This will lead to a decrease in the power performance of the equipment. At the same time, the drive equipment needs to output more power to maintain operation, which will increase the resistance of the gears. This will cause the internal temperature of the gearbox 1 to rise abnormally and accelerate the deterioration of the lubricating oil. At the same time, the internal pressure will increase accordingly, exceeding the bearing capacity of the seals, causing oil leakage in the joints, oil seals and other parts. The risk is even higher under high temperature and high speed conditions.

[0045] refer to Figures 1 to 10In this technical solution, the input shaft 2 at the bottom of the gearbox 1 is connected to the power equipment so as to drive the input shaft 2 and the first sun gear 31 to rotate synchronously. The first sun gear 31 rotates at high speed, driving several first planet gears 33 to roll on the internal gear ring 27, so that the first planetary support 32 rotates at a lower speed to complete the first deceleration. The first planetary support 32 drives the second sun gear 41 to rotate, and the second sun gear 41 drives several second planet gears 43 to roll on the internal gear ring 27, so that the several second planet gears 43 drive the second planetary support 42 and the output shaft 5 to rotate at an even lower speed to complete the second deceleration. After the two decelerations, the output torque increases by a factor of two, while the speed decreases significantly to adapt to the operation requirements of the heavy-duty handling robot arm rotating at low speed and high torque on the base.

[0046] Meanwhile, before the gearbox 1 starts operating, the lubricating oil at the bottom of the gearbox 1 first enters the oil filter cover 9 of the oil drain seat 8. The oil filter holes on the oil filter cover 9 first filter the lubricating oil for metal debris. The purified lubricating oil enters the gear pump 111 through the rotary joint 114. The gear pump 111 generates suction through the volume difference formed by gear meshing, draws out the oil at the bottom and pressurizes it. Then, it is transported through the oil supply pipe 112 to the annular pipe 113 at the gearbox cover 6. The oil spray nozzle 7 connected to the annular pipe 113 accurately sprays the pressurized lubricating oil onto the lubrication blind area of ​​the meshing surface of the secondary reduction assembly 4. After completing lubrication and removing heat, the lubricating oil falls back to the bottom of the gearbox 1 by gravity and re-enters the oil filter cover 9, forming a closed-loop lubrication system. This can avoid insufficient lubrication of parts in the early stage of operation, reduce the wear of parts, and improve the stability of operation.

[0047] In the prior art, burrs and iron filings are easily left in the gearbox 1 during processing and assembly. At the same time, the heavy-duty robotic arm frequently starts, stops, reverses, and bears overturning torque, causing the gear meshing surfaces in the gearbox 1 to be subjected to alternating impact loads. The corresponding tooth surfaces will experience micro-pitting, peeling, and dry friction, which will also generate metal fragments. The metal fragments will circulate with the oil and repeatedly scratch the tooth surfaces, causing the surface roughness to increase, and thus generating more new fragments. Furthermore, if the metal fragments enter the gear pump 111 and the fuel injector 7, they will cause damage to the gear pump 111, affecting the delivery of lubricating oil, and block the fuel injector 7, affecting the fuel injection effect. The lubricating oil needs to be filtered to remove the metal fragments during flow.

[0048] In this technical solution, the first servo motor 14 drives the oil filter cover 9 to rotate through gear transmission. On the one hand, this reduces the risk of the oil filter cover 9 being clogged and maintains a stable filtration efficiency. On the other hand, when the magnetic block 10 rotates with the oil filter cover 9, it can adsorb and collect the metal debris in the oil drain seat 8, thereby achieving the purpose of preliminary separation between oil and metal debris and improving the quality of the circulating lubricating oil.

[0049] Example 2 is an improvement upon Example 1. For details, please refer to [link / reference]. Figures 1 to 12 A guide rod 17 is installed on the back of the scraper 15. A sliding block 18 is slidably connected to the guide rod 17. A first spring 19 is connected between the sliding block 18 and the scraper 15. An electric push rod 20 is fixed on the storage box 12. The piston rod of the electric push rod 20 passes through the oil drain seat 8 and is fixedly connected to the sliding block 18.

[0050] A chip removal groove 16 is provided between the storage box 12 and the oil drain seat 8. The scraper 15 is located above the chip removal groove 16. A conical retaining ring 21 is provided at the lower end of the oil filter cover 9. A scraper 22 is fixed on the conical retaining ring 21.

[0051] A pressure plate 23 is slidably connected inside the storage box 12. A sliding rod 24 is fixed on the pressure plate 23. The sliding rod 24 is elastically connected to the storage box 12 through a second spring 241. An abutment block 25 is fixed on the sliding rod 24. An abutment rod 26 is fixed on the piston rod of the electric push rod 20.

[0052] The pressure plate 23 has several stepped holes 28, and a rotating cover plate 29 is provided in the stepped holes 28. The two sides of the rotating cover plate 29 are rotatably connected to the pressure plate 23, and a torsion spring 291 is connected between the rotating cover plate 29 and the pressure plate 23.

[0053] refer to Figures 1 to 11 When the accumulation of metal debris is large, it will reduce the adsorption and filtration effect of the lubricating oil. It needs to be cleaned regularly after the gearbox 1 stops running. If it is not cleaned in time, the lubricating oil will easily break up the metal debris at the bottom of the oil drain seat 8 when it flows, increasing the difficulty of subsequent debris removal.

[0054] In this technical solution, when the piston rod of the electric push rod 20 extends, it drives the sliding block 18 to move, causing the scraper 15 to move out of the oil drain seat 8. The scraper 15 abuts against the conical retaining ring 21 on the oil filter cover 9, causing the scraper 15 to drive the guide rod 17 to slide on the sliding block 18. The first spring 19 stores force so that the scraper 15 moves upward and abuts against the surface of the oil filter cover 9. At the same time, the chip discharge groove 16 opens automatically. When the oil filter cover 9 rotates, it can drive the scraper 22 on the conical retaining ring 21 to rotate circumferentially. The scraper 22 can pass through the scraper. The gap between the oil drain seat 8 and the oil filter cover 9 is filled by the scraper 15 scraping off the metal debris attracted by the magnetic block 10 from the oil filter cover 9 as the oil filter cover 9 rotates. The scraper 15 pushes the metal debris away from the magnetic block 10's attraction area and automatically falls into the oil drain seat 8. With the cooperation of the scraper 22 below the oil filter cover 9, the metal debris can be automatically discharged into the storage box 12 through the chip removal groove 16, completely separating it from the lubricating oil in the box. The conical retaining ring 21 is provided to prevent metal debris from entering the rotating connection between the oil drain seat 8 and the oil filter cover 9, thus avoiding damage to the bearing at that point.

[0055] When the chip discharge trough 16 is opened, the piston rod of the electric push rod 20 extends, causing the abutment rod 26 to move synchronously. This allows the abutment rod 26 to slide along the inclined groove of the abutment block 25, causing the abutment block 25 to move the sliding rod 24 and the pressure plate 23 upward along the storage box 12. The second spring 241 stores energy, allowing metal chips to fall directly into the bottom of the storage box 12. When chip discharge ends and the chip discharge trough 16 is closed, the pressure plate 23 moves downward to reset. Inside the stepped hole 28 on the pressure plate, a rotating cover with a torsion spring 291... The plate 29 opens automatically under the pressure of lubricating oil, and the lubricating oil flows back to the pressure plate 23 through the stepped hole 28. The rotating cover 29 closes under the action of the torsion spring 291 to prevent the lubricating oil and debris from flowing back, so that the metal debris is trapped at the bottom of the storage box 12, achieving the purpose of separating the metal debris from part of the lubricating oil, so that the metal debris is discharged from the slag discharge port of the storage box 12. This can achieve unidirectional collection of debris and lubricating oil return, greatly reducing oil change losses.

[0056] The storage box 12 is equipped with an oil valve on its slag discharge port so that the slag discharge port can be opened and closed to facilitate the discharge of metal shavings.

[0057] The storage box 12 has an integral guide block on both sides, and the sliding rod 24 is slidably connected to the guide block so that the sliding rod 24 can move vertically along the storage box 12.

[0058] The rotating cover plate 29 is provided with an integral rotating column, which is rotatably connected to the pressure plate 23 so that the rotating cover plate 29 can open and close the stepped hole 2.

[0059] Example 3, please refer to Figures 1 to 12 A robot including a gearbox assembly, comprising a robot body 30, the robot body 30 being driven to rotate by the gearbox assembly.

[0060] refer to Figure 11 The robot body 30 is a heavy-duty handling robotic arm with a gripper at its end for holding goods, capable of handling large-weight goods. The cover 6 in the gearbox assembly is fixed to the base of the robot body 30 with screws. Its input shaft 2 is fixedly connected to the motor shaft of the drive motor, and its output shaft 5 is fixedly connected to the rotating seat of the robot body 30. The first-stage reduction assembly 3 and the second-stage reduction assembly 4 inside the gearbox assembly reduce speed and increase torque, outputting a large torque to drive the robot body 30 to rotate smoothly at low speed.

[0061] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A gearbox assembly, comprising a gearbox (1) and a cover (6), characterized in that: The cover (6) is fixedly connected to the gearbox (1) by screws. The gearbox (1) is provided with an input shaft (2), a first-stage reduction assembly (3), a second-stage reduction assembly (4) and an output shaft (5). An internal gear ring (27) is provided on the inner wall of the gearbox (1). Several fuel injectors (7) are provided on the cover (6). The gearbox (1) is equipped with an oil drain seat (8) at its lower end, and the oil drain seat (8) is provided with an oil filter cover (9) for filtering lubricating oil. The oil drain seat (8) is provided with a movable scraper (15). The oil filter cover (9) is provided with a magnetic block (10) for adsorbing metal debris on its circumferential surface. The oil filter cover (9) is provided with an oil delivery assembly (11) at its lower end. The oil delivery assembly (11) is used to deliver the filtered lubricating oil to the oil nozzle (7) for spraying. The oil filter cover (9) is provided with a storage box (12) for collecting metal debris on one side.

2. The gearbox assembly according to claim 1, characterized in that: The input shaft (2) is rotatably connected to the gearbox (1) via a bearing, the output shaft (5) is rotatably connected to the cover (6) via a bearing, the oil filter cover (9) is provided with a tapered part (13), both the tapered part (13) and the oil filter cover (9) are provided with oil filter holes, and the lower end of the oil drain seat (8) is equipped with a first servo motor (14) that drives the oil filter cover (9) to rotate.

3. The gearbox assembly according to claim 1, characterized in that: The first-stage reduction assembly (3) includes a first sun gear (31), which is fixed on the input shaft (2). A first planetary support (32) is provided above the first sun gear (31), and a plurality of first planetary gears (33) are rotatably connected to the first planetary support (32). The first planetary gears (33) mesh with the internal gear ring (27).

4. The gearbox assembly according to claim 3, characterized in that: The secondary reduction assembly (4) includes a second sun gear (41), which is fixedly connected to the first planetary support (32). A second planetary support (42) is provided above the second sun gear (41). Several second planetary gears (43) are rotatably connected to the second planetary support (42). The second planetary gears (43) mesh with the internal gear ring (27). The output shaft (5) is fixedly connected to the second planetary support (42).

5. The gearbox assembly according to claim 1, characterized in that: The oil delivery assembly (11) includes a gear pump (111), which is fixed on the end face of the gearbox (1). The oil outlet of the gear pump (111) is connected to an oil delivery pipe (112). One end of the oil delivery pipe (112) is connected to an annular pipe (113), which is connected to the fuel injector (7). The lower end of the oil filter cover (9) is connected to a rotary joint (114), which is connected to the oil inlet of the gear pump (111) through a connecting pipe.

6. The gearbox assembly according to claim 1, characterized in that: A guide rod (17) is installed on the back of the scraper (15), and a sliding block (18) is slidably connected to the guide rod (17). A first spring (19) is connected between the sliding block (18) and the scraper (15). An electric push rod (20) is fixed on the storage box (12), and the piston rod of the electric push rod (20) passes through the oil drain seat (8) and is fixedly connected to the sliding block (18).

7. The gearbox assembly according to claim 6, characterized in that: A chip removal groove (16) is provided between the storage box (12) and the oil drain seat (8). The scraper (15) is located above the chip removal groove (16). A conical retaining ring (21) is provided at the lower end of the oil filter cover (9). A scraper (22) is fixed on the conical retaining ring (21).

8. The gearbox assembly according to claim 6, characterized in that: A pressure plate (23) is slidably connected inside the storage box (12). A sliding rod (24) is fixed on the pressure plate (23). The sliding rod (24) is elastically connected to the storage box (12) through a second spring (241). An abutment block (25) is fixed on the sliding rod (24). An abutment rod (26) is fixed on the piston rod of the electric push rod (20).

9. The gearbox assembly according to claim 8, characterized in that: The pressure plate (23) has several stepped holes (28), and a rotating cover plate (29) is provided in the stepped holes (28). The two sides of the rotating cover plate (29) are rotatably connected to the pressure plate (23), and a torsion spring (291) is connected between the rotating cover plate (29) and the pressure plate (23).

10. A robot comprising a gearbox assembly, characterized in that: The gearbox assembly according to any one of claims 1-9 includes a robot body (30) that is driven to rotate by the gearbox assembly.

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