Harmonic reducer joint module and robot having the same

Abstract

The application provides a harmonic reducer joint module and a robot with the same, and belongs to the technical field of industrial robots, special operation robots, service consumption robots, collaborative robots, humanoid robots and quadruped robots. The harmonic reducer joint module comprises a motor, a reducer and a one-way valve. The motor comprises a shell and a rotating shaft. The reducer is assembled on one side of the shell. An installation channel is formed on the shell. The installation channel is connected to the inside of the shell and the inside of the reducer respectively. The rotating shaft passes through the installation channel. The one-way valve is installed between the outer circumferential wall of the rotating shaft and the circumferential wall of the installation channel. The one-way valve is in clearance fit with the outer circumferential wall of the rotating shaft, and the one-way valve is in sealing fit with the circumferential wall of the installation channel. According to the application, the one-way valve is arranged near the joint of the motor and the reducer. The one-way conduction of the one-way valve from the motor to the reducer can prevent the abrasion powder generated by the reducer from flowing to the side where the motor is located, thereby being beneficial to protecting the normal operation of the driving part.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a harmonic reducer joint module and a robot having the same, belonging to the categories of industrial robots, special-purpose robots, service robots, collaborative robots, humanoid robots, and quadruped robots. Background Technology

[0002] Traditional harmonic reducer joint modules mainly consist of three parts: the power output section, including the harmonic reducer and output flange; the power input section, including the motor stator, motor rotor, hollow shaft, etc.; and the control section, including the encoder and driver. Due to their small size, light weight, high torque density, and high precision, joint modules are currently widely used in the robotics field.

[0003] The joint module's drive board chip and motor windings continuously generate significant heat during operation. If this heat is not dissipated promptly, it accumulates, causing the module temperature to rise rapidly. This triggers temperature alarms on the drive board and motor, preventing them from functioning. Currently, a cooling medium flows through the module's interior to lower the temperature. However, the reducer within the module generates wear debris during operation. This debris, carried by the cooling medium, flows back to the control and power input components, affecting their normal operation. Summary of the Invention

[0004] Therefore, the present invention provides a harmonic reducer joint module and a robot having the same, belonging to the categories of industrial robots, special operation robots, service consumption robots, collaborative robots, humanoid robots, and quadruped robots. It can solve the technical problem that the reducer of the harmonic reducer joint module generates wear debris during operation, and the wear debris flows back to the control part and power input part of the module under the drive of the cooling medium, thereby affecting the normal operation of the module.

[0005] To address the aforementioned problems, this invention provides a harmonic reducer joint module, comprising a motor, a reducer, and a one-way valve. The motor includes a housing and a shaft. The reducer is assembled on one side of the housing. The housing has an installation channel, with its two ends leading to the interior of the housing and the interior of the reducer, respectively. The shaft passes through the installation channel. The one-way valve is installed between the outer peripheral wall of the shaft and the peripheral side wall of the installation channel. The one-way valve and the outer peripheral wall of the shaft are in clearance fit, and the one-way valve and the peripheral side wall of the installation channel are in sealing fit. The one-way valve is used to achieve unidirectional flow from the motor to the reducer.

[0006] In some embodiments, the one-way valve includes a housing, a valve core, and an elastic element. The housing is sleeved around the rotating shaft, and the housing and the peripheral wall of the mounting channel are sealed together. The housing has an inlet channel, a mounting chamber, and an outlet hole. The two ends of the inlet channel lead to the interior of the housing and the mounting chamber, respectively. The two ends of the outlet hole lead to the mounting chamber and the interior of the reducer, respectively. The valve core and the elastic element are both installed in the mounting chamber. When the valve core and the elastic element work together to create a gap between the valve core and the mounting chamber, the inlet channel and the outlet hole are connected. When the valve core seals the mounting chamber under the elastic force of the elastic element, the inlet channel and the outlet hole are not connected.

[0007] In some embodiments, one side of the elastic element is connected to the inner wall of the housing, the other side of the elastic element is connected to the valve core, and the elastic element is also located on the side of the valve core facing away from the inlet channel, and the valve core is also located between the inlet channel and the outlet hole.

[0008] In some embodiments, the cross-sectional area of ​​the valve core gradually increases from the inlet channel to the outlet orifice, and the shape of the mounting chamber is adapted to the shape of the valve core.

[0009] In some embodiments, a sealing ring is provided between the one-way valve and the outer peripheral wall of the rotating shaft, the sealing ring being used to seal the gap between the one-way valve and the outer peripheral wall of the rotating shaft.

[0010] In some embodiments, a support bearing is installed between the outer peripheral wall of the rotating shaft and the peripheral side wall of the mounting channel. The inner ring of the support bearing is interference-fitted with the outer peripheral wall of the rotating shaft, and the outer ring of the support bearing is interference-fitted with the peripheral side wall of the mounting channel. The support bearing is located on the side of the one-way valve facing away from the reducer.

[0011] In some embodiments, a gap is formed between the support bearing and the one-way valve along the axial direction of the shaft.

[0012] In some embodiments, the motor further includes a rotor and a stator, the rotor being mounted on the shaft, the stator being fixed inside the housing and also fitted around the rotor, and a flow passage being constructed on the inner peripheral wall of the housing, the flow passage spanning the stator.

[0013] In some embodiments, a fixed ring is assembled on the side of the housing away from the reducer, a drive plate is assembled on the fixed ring, and a through hole is formed on the drive plate.

[0014] In some embodiments, an encoder is also assembled on the fixed ring, and the encoder is also connected to the rotating shaft, with the encoder being closer to the housing relative to the drive plate.

[0015] In some embodiments, an end cap is assembled on the side of the fixed ring away from the outer shell, the end cap covering the drive plate, and the end cap having an inlet hole.

[0016] In some embodiments, the housing is provided with an outlet channel, the two ends of which lead to the interior of the reducer and the exterior of the housing, respectively.

[0017] In some embodiments, a circulation pump is provided outside the motor, with the inlet of the circulation pump connected to the outlet channel and the outlet of the circulation pump connected to the inlet hole.

[0018] In some embodiments, the circulating pump is used to drive insulating lubricating oil to enter through the inlet orifice and flow out through the outlet channel.

[0019] In some embodiments, a filter is provided in the flow path between the inlet of the circulating pump and the outlet channel.

[0020] In some embodiments, a heat dissipation device is provided in the flow path between the inlet of the circulating pump and the outlet channel; or, a heat dissipation device is provided in the flow path between the outlet of the circulating pump and the inlet hole.

[0021] The present invention also provides a robot including the aforementioned harmonic reducer joint module.

[0022] The present invention provides a harmonic reducer joint module and a robot having the same, which have the following beneficial effects:

[0023] By installing a one-way valve near the junction of the motor and the reducer, the one-way valve is only used to achieve unidirectional flow from the motor to the reducer. Therefore, it can prevent the wear debris generated by the reducer from flowing back to the motor side, which is beneficial to protecting the normal operation of the drive part. Moreover, the one-way valve will not affect the flow of the cooling medium from the motor side to the reducer side to cool the reducer. This provides an industrial robot, a special operation robot, a service consumption robot, a collaborative robot, a humanoid robot, and a quadruped robot. Attached Figure Description

[0024] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0025] Figure 1 This is a cross-sectional view of the harmonic reducer joint module according to an embodiment of the present invention;

[0026] Figure 2 This is a cross-sectional view of the one-way valve of the harmonic reducer joint module in an embodiment of the present invention in the open state.

[0027] Figure 3 This is a cross-sectional view of the one-way valve of the harmonic reducer joint module in an embodiment of the present invention in the cut-off state.

[0028] Figure 4 This is a schematic diagram of the housing of the one-way valve of the harmonic reducer joint module according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the encoder of the harmonic reducer joint module according to an embodiment of the present invention.

[0030] The reference numerals in the attached figures are as follows:

[0031] 1. Reducer; 2. Housing; 3. Shaft; 4. Check valve; 41. Housing; 42. Valve core; 43. Elastic element; 5. Inlet channel; 6. Mounting chamber; 7. Outlet hole; 8. Support bearing; 9. Rotor; 10. Stator; 11. Flow channel; 12. Fixing ring; 13. Drive plate; 14. Through hole; 15. Encoder; 151. Encoder mounting base; 152. Encoder stator; 16. End cover; 17. Inlet hole; 18. Outlet channel; 19. Circulating pump; 20. Heat dissipation device; 21. Filter device; 22. Notch; 23. Output flange. Detailed Implementation

[0032] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] See also Figures 1 to 5 As shown, according to an embodiment of the present invention, a harmonic reducer joint module is provided, including a motor, a reducer 1, and a one-way valve 4. The motor includes a housing 2 and a rotating shaft 3. The reducer 1 is assembled on one side of the housing 2. The housing 2 has an installation channel, the two ends of which lead to the interior of the housing 2 and the interior of the reducer 1, respectively. The rotating shaft 3 passes through the installation channel. The one-way valve 4 is installed between the outer peripheral wall of the rotating shaft 3 and the peripheral side wall of the installation channel. The one-way valve 4 and the outer peripheral wall of the rotating shaft 3 are in clearance fit, and the one-way valve 4 and the peripheral side wall of the installation channel are in sealing fit. The one-way valve 4 is used to realize unidirectional conduction from the motor to the reducer 1.

[0037] In this technical solution, a one-way valve 4 is installed near the junction of the motor and the reducer 1. The one-way valve 4 is only used to achieve one-way flow from the motor to the reducer 1. Therefore, it can prevent the wear debris generated by the reducer 1 from flowing back to the side where the motor is located, which is beneficial to protecting the normal operation of the drive part. Moreover, the one-way valve 4 will not affect the flow of the cooling medium from the side where the motor is located to the side where the reducer 1 is located to cool the reducer 1. This provides an industrial robot, a special operation robot, a service consumption robot, a collaborative robot, a humanoid robot, and a quadruped robot.

[0038] See also Figure 2 and Figure 3 As shown, the one-way valve 4 includes a housing 41, a valve core 42, and an elastic element 43. The housing 41 is sleeved around the rotating shaft 3, and the housing 41 and the peripheral wall of the mounting channel are sealed together. The housing 41 has an inlet channel 5, a mounting chamber 6, and an outlet hole 7. The two ends of the inlet channel 5 lead to the interior of the outer shell 2 and the mounting chamber 6, respectively. The two ends of the outlet hole 7 lead to the mounting chamber 6 and the interior of the reducer 1, respectively. The valve core 42 and the elastic element 43 are both installed in the mounting chamber 6. When the valve core 42 is subjected to external force and the elastic force of the elastic element 43, creating a gap between the valve core 42 and the mounting chamber 6, the inlet channel 5 and the outlet hole 7 are connected. When the valve core 42 is sealed in the mounting chamber 6 by the elastic force of the elastic element 43, the inlet channel 5 and the outlet hole 7 are not connected. The sealing fit between the housing 41 and the peripheral wall of the mounting channel can be an interference fit or adhesive bonding. The housing 41 is preferably made of plastic to reduce weight, the valve core 42 is preferably made of rubber or plastic-rubber material to improve sealing effect, and the elastic element 43 is preferably a spring.

[0039] In this embodiment, the one-way valve 4, composed of a valve core 42 and an elastic element 43 arranged inside the housing 41, is not only simple in structure and easy to implement, but also stable in operation. When the cooling medium for cooling the joint module enters the one-way valve 4 through the inlet channel 5, it will inevitably impact the valve core 42. The valve core 42 is thus subjected to external force from the cooling medium. Under the combined action of this external force and the elastic force of the elastic element 43, the valve core 42 moves and creates a gap between itself and the mounting chamber 6. The one-way valve 4 then conducts forward, thereby connecting the inlet channel 5 and the outlet hole 7. At this time, the cooling medium will flow sequentially through the inlet channel 5, the mounting chamber 6, and the outlet hole 7 of the one-way valve 4, and then enter the interior of the reducer 1 to cool the reducer 1. When the cooling medium stops flowing, the elastic force of the elastic element 43 will cause the valve core 42 to move to the position of sealing the mounting chamber 6. The one-way valve 4 then reverses and closes, thereby preventing the connection between the inlet channel 5 and the outlet hole 7. At this time, the wear debris generated by the reducer 1 will not flow back to the motor side. That is, by setting a one-way valve 4 consisting of a valve core 42 and an elastic element 43 inside the housing 41, the flow of the cooling medium from the motor to the reducer 1 for cooling is not affected, and the backflow of the wear debris generated by the reducer 1 to the motor side is also prevented. Preferably, the cooling medium is lubricating oil. Using lubricating oil as the cooling medium allows the lubricating oil to not only cool the reducer 1 when it flows through it, but also to lubricate the reducer 1, which helps to extend the service life of the reducer 1. The number of outlet holes 7 can be more than two, and their shape is not limited, as long as the lubricating oil can pass through. Increasing the number of outlet holes 7 can improve the flow efficiency of the lubricating oil.

[0040] See also Figure 2 and Figure 3 As shown, one side of the elastic element 43 is connected to the inner wall of the housing 41, and the other side of the elastic element 43 is connected to the valve core 42. The elastic element 43 is also located on the side of the valve core 42 facing away from the inlet channel 5, and the valve core 42 is also located between the inlet channel 5 and the outlet hole 7.

[0041] In this technical solution, when the elastic element 43 is located on the side of the valve core 42 facing away from the inlet channel 5, it indicates that the lubricating oil entering from the inlet channel 5 will directly impact the valve core 42, while the elastic element 43 will push against the valve core 42 from the opposite direction. When the impact force of the lubricating oil on the valve core 42 is greater than the elastic force of the elastic element 43, the elastic element 43 is compressed, and the valve core 42 will move towards the side where the elastic element 43 is located. This creates a gap between the valve core 42 and the mounting chamber 6, allowing the one-way valve 4 to conduct in the forward direction. When the lubricating oil stops flowing, the compressed elastic element 43 applies an elastic force to the valve core 42, causing the valve core 42 to move and seal the mounting chamber 6, thus shutting off the one-way valve 4 in the reverse direction. In other words, the design of the elastic element 43 being located on the side of the valve core 42 facing away from the inlet channel 5 and the valve core 42 being located between the inlet channel 5 and the outlet hole 7 makes it easier to achieve both forward conduction and reverse shut-off of the one-way valve 4. It should be noted that the housing 41 can be assembled from two parts, which makes it easy to install the elastic element 43 and the valve core 42 inside the housing 41. The assembly method of these two parts can be screw connection, fastening adhesive bonding, or a split structure in which each part is sequentially installed into the motor housing 2, etc.

[0042] See also Figure 2 and Figure 3 As shown, from the inlet channel 5 to the outlet hole 7, the cross-sectional area of ​​the valve core 42 gradually increases. The shape of the mounting chamber 6 matches the shape of the valve core 42, so there will be a long inclined mating surface between the valve core 42 and the mounting chamber 6. This long inclined mating surface makes the sealing path between the two longer and the sealing effect better.

[0043] In one specific implementation, a sealing ring (not shown in the figure) is provided between the outer peripheral wall of the one-way valve 4 and the rotating shaft 3. The sealing ring is used to seal the gap between the one-way valve 4 and the outer peripheral wall of the rotating shaft 3.

[0044] In this embodiment, the shaft 3 is a rotating component in the working state, while the one-way valve 4 is a stationary component. Therefore, the one-way valve 4 cannot directly contact the shaft 3, and there will be a certain gap between them. The sealing ring seals this gap, thereby preventing the wear debris generated by the reducer 1 from flowing back through this gap to the motor side. It can be understood that when the one-way valve 4 is composed of a housing 41, a valve core 42, and an elastic element 43, the sealing ring actually seals the gap between the housing 41 and the outer peripheral wall of the shaft 3. It should be noted that when the lubricating oil pressure is not high or the viscosity is not low, as long as it can be ensured that there is no interference between the housing 41 and the shaft 3, the gap between the inner peripheral wall of the housing 41 and the outer peripheral wall of the shaft 3 can be designed to be small, thus eliminating the need for a sealing ring.

[0045] See Figure 1As shown, a support bearing 8 is installed between the outer peripheral wall of the rotating shaft 3 and the peripheral side wall of the mounting channel. The inner ring of the support bearing 8 is interference-fitted with the outer peripheral wall of the rotating shaft 3, and the outer ring of the support bearing 8 is interference-fitted with the peripheral side wall of the mounting channel. The support bearing 8 is located on the side of the one-way valve 4 facing away from the reducer 1.

[0046] In this technical solution, when the support bearing 8 is located on the side of the one-way valve 4 facing away from the reducer 1, it means that the cooling medium will first flow through the support bearing 8 and then through the one-way valve 4, and finally flow into the interior of the reducer 1. This is equivalent to the support bearing 8 being located upstream of the one-way valve 4. Thus, the one-way valve 4 can also prevent the wear debris generated by the reducer 1 from flowing back into the support bearing 8, ensuring that the support bearing 8 will not be damaged by the wear debris.

[0047] As a specific implementation, a gap is formed between the support bearing 8 and the one-way valve 4 along the axial direction of the rotating shaft 3. This ensures that the one-way valve 4 does not contact the support bearing 8, so that the one-way valve 4 will not interfere with the inner ring of the support bearing 8 and the rotating shaft 3 rotating together.

[0048] See Figure 1 As shown, the motor also includes a rotor 9 and a stator 10. The rotor 9 is mounted on the rotating shaft 3, and the stator 10 is fixed inside the housing 2. The stator 10 is also mounted on the outer periphery of the rotor 9. An overflow channel 11 is constructed on the inner peripheral wall of the housing 2, and the overflow channel 11 spans the stator 10.

[0049] In this embodiment, by designing a flow channel 11 across the stator 10 on the inner peripheral wall of the housing 2, the lubricating oil can pass not only through the gap between the rotor 9 and the stator 10, but also through the flow channel 11, thereby improving the flow efficiency of the lubricating oil and thus improving the heat dissipation efficiency. It is understood that when the lubricating oil passes through both the gap between the rotor 9 and the stator 10 and the flow channel 11, the lubricating oil will simultaneously cool the stator 10 from both its radially inner and radially outer sides, resulting in better cooling of the stator 10. Furthermore, the number of flow channels 11 can be increased to at least two, with each flow channel 11 distributed circumferentially around the housing 2, which further improves the flow efficiency of the lubricating oil and the heat dissipation efficiency of the lubricating oil on the stator 10.

[0050] See Figure 1 As shown, a fixed ring 12 is assembled on the side of the outer shell 2 away from the reducer 1, and a drive plate 13 is assembled on the fixed ring 12. A through hole 14 is constructed on the drive plate 13.

[0051] In this technical solution, by constructing through holes 14 on the drive plate 13, lubricating oil flows to the drive plate 13 and through the through holes 14. This allows the lubricating oil to not only carry away heat from the drive plate 13 but also continue its journey to cool the rotor 9, stator 10, reducer 1, etc. The number of through holes 14 can be increased to at least two to further improve the flow efficiency of the lubricating oil.

[0052] See Figure 1 As shown, an encoder 15 is also assembled on the fixed ring 12. The encoder 15 is also connected to the rotating shaft 3. The encoder 15 is closer to the outer shell 2 than the drive plate 13.

[0053] In this embodiment, after the lubricating oil flows through the through hole 14 of the self-driving plate 13, it can also flow through the encoder 15 to dissipate heat. It should be noted that, as... Figure 5 As shown, encoder 15 includes encoder mounting base 151 and encoder stator 152. Encoder stator 152 has a notch 22 for oil passage, thus eliminating the need for a separate oil passage for encoder 15. If the encoder stator 152 used does not have a notch 22, grooves can be provided on the mounting ring 12 or encoder stator 152 for oil passage. It should also be noted that when the module includes encoder 15 and drive plate 13, the one-way valve 4 can also prevent wear debris from reaching the vicinity of encoder 15 and drive plate 13, which is beneficial for protecting the normal operation of the control unit.

[0054] See Figure 1 As shown, an end cap 16 is assembled on the side of the fixed ring 12 away from the outer shell 2. The end cap 16 covers the drive plate 13 and has an inlet hole 17.

[0055] In this technical solution, the end cap 16 is used to protect the drive plate 13, and the inlet hole 17 designed on it allows the lubricating oil to enter the joint module, so as not to affect the heat dissipation of the drive plate 13, encoder 15, rotor 9, stator 10, reducer 1, etc., and the lubrication of the reducer 1.

[0056] See Figure 1 As shown, the outer casing 2 is provided with an outflow channel 18, the two ends of which lead to the interior of the reducer 1 and the exterior of the outer casing 2, respectively.

[0057] In this embodiment, by designing a flow channel 18 on the housing 2, the lubricating oil can be discharged after flowing through the interior of the reducer 1, thereby using the lubricating oil to carry out the wear debris generated by the reducer 1, and avoiding the accumulation of wear debris in the reducer 1, which would affect the normal operation of the reducer 1.

[0058] See Figure 1As shown, a circulation pump 19 is provided outside the motor. The inlet of the circulation pump 19 is connected to the outlet channel 18, and the outlet of the circulation pump 19 is connected to the inlet hole 17.

[0059] In this technical solution, a circulating pump 19 is installed to allow lubricating oil to circulate among the pump 19, drive plate 13, encoder 15, rotor 9, stator 10, and reducer 1, thereby utilizing the flowing lubricating oil to better cool each component. It should be noted that because the lubricating oil also flows through the drive plate 13, the lubricating oil should be insulating to prevent short circuits in the drive plate 13. When using insulating lubricating oil, the circulating pump 19 drives the insulating lubricating oil to enter through the inlet hole 17 and flow out through the outlet channel 18. It is understood that, without considering lubrication of the reducer 1, other media besides insulating lubricating oil can be selected, but the insulation of the medium must be ensured.

[0060] See Figure 1 As shown, a filter device 21 is installed in the flow path between the inlet and outlet channel 18 of the circulating pump 19. When the lubricating oil flows through the filter device 21, the filter device 21 can filter the wear debris and impurities carried in the lubricating oil, preventing the wear debris and impurities carried out from returning to the joint module. At the same time, the filtered wear debris is collected and its material, shape, size and other indicators are analyzed to determine whether the current operating status of the reducer 1 is normal, which is helpful for evaluating and controlling the module life.

[0061] See Figure 1 As shown, a heat dissipation device 20 is provided in the flow path between the inlet and outlet channel 18 of the circulating pump 19; or, a heat dissipation device 20 is provided in the flow path between the outlet and inlet hole 17 of the circulating pump 19.

[0062] In this embodiment, when the lubricating oil flows through the heat dissipation device 20, the heat dissipation device 20 can cool the lubricating oil. The cooled lubricating oil is then pumped back into the module by the circulation pump 19 to better cool the components within the module. It is worth noting that the heat dissipation device 20 can be designed according to needs. For example, if the module is used in a high-temperature factory, the heat dissipation device 20 can be placed outside the factory or in other locations with lower temperatures, such as a water tank. It should be noted that regardless of the location of the heat dissipation device 20, it is best to be located downstream of the filter device 21, so that the purer lubricating oil after filtration can flow through the heat dissipation device 20. The joint module also includes an output flange 23, which is assembled onto the reducer 1 with screws. The shaft extension of the output flange 23 passes sequentially through the rotating shaft 3, encoder 15, drive plate 13, and end cover 16 along the axial direction of the motor or reducer 1.

[0063] It should be noted that the current mainstream heat dissipation methods for joint modules include adding fins to the outer shell and installing internal fans, but these all rely on natural heat exchange with the surrounding environment. While simple, this heat exchange rate decreases significantly in high-temperature environments. This application addresses the problem of poor heat dissipation in joint modules at high temperatures through innovative structural design. It eliminates traditional fins or air-cooling structures, instead incorporating oil channels at key heat sources, such as the drive board 13 and the motor housing 2. An external circulation pump 19 circulates insulating lubricating oil, allowing low-temperature lubricating oil to quickly remove heat generated by the drive board 13 and the motor stator 10. The high-temperature lubricating oil is cooled by an external heat dissipation device 20, and then the cooled lubricating oil is pumped back into the module to complete the circulation. Because the heat dissipation device 20 is used independently and can be freely selected according to the application, its heat dissipation capacity is unaffected by the ambient temperature of the module, making it more suitable for high-temperature environments where traditional air cooling and natural heat dissipation are difficult to adapt to.

[0064] The present invention also provides a robot including the aforementioned harmonic reducer joint module.

[0065] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0066] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above are merely preferred embodiments 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 protection scope of the present invention.

Claims

1. A harmonic reducer joint module, characterized in that, The device includes a motor, a reducer (1), and a one-way valve (4). The motor includes a housing (2) and a shaft (3). The reducer (1) is assembled on one side of the housing (2). The housing (2) has an installation channel. The two ends of the installation channel lead to the interior of the housing (2) and the interior of the reducer (1), respectively. The shaft (3) passes through the installation channel. The one-way valve (4) is installed between the outer peripheral wall of the shaft (3) and the peripheral side wall of the installation channel. The one-way valve (4) and the outer peripheral wall of the shaft (3) are in clearance fit. The one-way valve (4) and the peripheral side wall of the installation channel are in sealing fit. The one-way valve (4) is used to realize one-way flow from the motor to the reducer (1).

2. The harmonic reducer joint module according to claim 1, characterized in that, The one-way valve (4) includes a housing (41), a valve core (42), and an elastic element (43). The housing (41) is sleeved on the periphery of the rotating shaft (3), and the housing (41) and the peripheral wall of the mounting channel are sealed together. The housing (41) is provided with an inlet channel (5), an installation chamber (6) and an outlet hole (7). The two ends of the inlet channel (5) are respectively connected to the interior of the outer shell (2) and the installation chamber (6). The two ends of the outlet hole (7) are respectively connected to the installation chamber (6) and the interior of the reducer (1). The valve core (42) and the elastic element (43) are both installed in the installation chamber (6). When the valve core (42) and the mounting chamber (6) have a gap under the combined action of external force and the elastic force of the elastic element (43), the inlet channel (5) and the outlet hole (7) are connected. When the valve core (42) seals the mounting chamber (6) under the action of the elastic force of the elastic element (43), the inlet channel (5) and the outlet hole (7) are not connected.

3. The harmonic reducer joint module according to claim 2, characterized in that, One side of the elastic element (43) is connected to the inner wall of the housing (41), and the other side of the elastic element (43) is connected to the valve core (42). The elastic element (43) is also located on the side of the valve core (42) facing away from the inlet channel (5). The valve core (42) is also located between the inlet channel (5) and the outlet hole (7).

4. The harmonic reducer joint module according to claim 2, characterized in that, From the inlet channel (5) to the outlet hole (7), the cross-sectional area of ​​the valve core (42) gradually increases, and the shape of the mounting chamber (6) is adapted to the shape of the valve core (42).

5. The harmonic reducer joint module according to claim 1, characterized in that, A sealing ring is provided between the outer peripheral wall of the one-way valve (4) and the rotating shaft (3), and the sealing ring is used to seal the gap between the outer peripheral wall of the one-way valve (4) and the rotating shaft (3).

6. The harmonic reducer joint module according to claim 1, characterized in that, A support bearing (8) is installed between the outer peripheral wall of the rotating shaft (3) and the peripheral side wall of the mounting channel. The inner ring of the support bearing (8) is interference-fitted with the outer peripheral wall of the rotating shaft (3), and the outer ring of the support bearing (8) is interference-fitted with the peripheral side wall of the mounting channel. The support bearing (8) is located on the side of the one-way valve (4) facing away from the reducer (1).

7. The harmonic reducer joint module according to claim 6, characterized in that, Along the axial direction of the rotating shaft (3), a gap is formed between the support bearing (8) and the one-way valve (4).

8. The harmonic reducer joint module according to any one of claims 1 to 7, characterized in that, The motor also includes a rotor (9) and a stator (10). The rotor (9) is mounted on the shaft (3). The stator (10) is fixed inside the housing (2) and is also mounted on the periphery of the rotor (9). An overflow channel (11) is constructed on the inner peripheral wall of the housing (2) and the overflow channel (11) spans the stator (10).

9. The harmonic reducer joint module according to any one of claims 1 to 7, characterized in that, A fixed ring (12) is assembled on the side of the outer shell (2) away from the reducer (1), and a drive plate (13) is assembled on the fixed ring (12). A through hole (14) is constructed on the drive plate (13).

10. The harmonic reducer joint module according to claim 9, characterized in that, An encoder (15) is also assembled on the fixed ring (12), and the encoder (15) is also connected to the rotating shaft (3). The encoder (15) is closer to the outer shell (2) than the drive plate (13).

11. The harmonic reducer joint module according to claim 9, characterized in that, An end cap (16) is assembled on the side of the fixed ring (12) away from the outer shell (2), the end cap (16) covers the drive plate (13), and an inlet hole (17) is constructed on the end cap (16).

12. The harmonic reducer joint module according to claim 11, characterized in that, The outer casing (2) is provided with an outflow channel (18), the two ends of which lead to the interior of the reducer (1) and the exterior of the outer casing (2), respectively.

13. The harmonic reducer joint module according to claim 12, characterized in that, A circulation pump (19) is provided outside the motor. The inlet of the circulation pump (19) is connected to the outlet channel (18), and the outlet of the circulation pump (19) is connected to the inlet hole (17).

14. The harmonic reducer joint module according to claim 13, characterized in that, The circulating pump (19) is used to drive insulating lubricating oil to enter from the inlet hole (17) and flow out through the outlet channel (18).

15. The harmonic reducer joint module according to claim 13, characterized in that, A filter device (21) is provided in the flow path between the inlet of the circulating pump (19) and the outlet channel (18).

16. The harmonic reducer joint module according to claim 13, characterized in that, A heat dissipation device (20) is provided in the flow path between the inlet of the circulating pump (19) and the outlet channel (18); or, a heat dissipation device (20) is provided in the flow path between the outlet of the circulating pump (19) and the inlet hole (17).

17. A robot, characterized in that it includes the harmonic reducer joint module according to any one of claims 1 to 16.

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