A robot reducer with a shell heat dissipation fin and a method of using the same

Abstract

The application discloses a robot reducer with shell heat dissipation fins and a use method thereof, and belongs to the technical field of robot transmission equipment, and comprises a reducer shell, a transmission gear pair, an input shaft and an output flange, the transmission gear pair is accommodated in a gear cavity inside the reducer shell, the input shaft is rotatably installed at an input end of the reducer shell and is in transmission connection with an input end of the transmission gear pair, and the output flange is rotatably installed at an output end of the reducer shell and is in transmission connection with an output end of the transmission gear pair; the heat dissipation fin structure of the shell is integrally formed, an independent radiator is not needed to be additionally installed, the heat exchange area is effectively improved without significantly increasing the overall volume of the reducer, the overall structure is compact, the narrow installation space of a robot joint can be perfectly adapted, and the installation size requirement of a multi-joint collaborative robot can be met.

Description

Technical Field

[0001] This invention belongs to the field of robot transmission equipment technology, specifically relating to a robot reducer with a housing and heat dissipation fins and its usage method. Background Technology

[0002] Precision reducers are the core components of robot joint transmission systems. Their main function is to reduce input speed and amplify output torque, while ensuring transmission accuracy and operational stability. As industrial robots develop towards heavy-duty and long-term continuous operation, the internal gear meshing friction and bearing running friction will continuously generate a large amount of heat when the reducer is running under rated load.

[0003] According to the authorization announcement number CN117803703B, an industrial robot internal helical gear combination crankshaft RV reducer is a known prior art. This patent involves drawing lubricating oil from the bottom of the fixed housing assembly via a second connecting pipe. The high-temperature lubricating oil is rapidly cooled through connecting copper pipes and heat dissipation fins. The cooled lubricating oil then flows back into the fixed housing assembly from the top, rapidly cooling its interior. However, this patent's technical solution has the following drawbacks in practical use: The patent requires additional pumping power components, connecting pipes, and external heat dissipation structures, resulting in a complex and bulky overall system that significantly increases the radial and axial dimensions of the reducer, making it unsuitable for the narrow installation space of robot joints. Furthermore, the oil circulation system requires multiple dynamic sealing structures, which can lead to lubricating oil leakage and coolant contamination if the seals fail, resulting in numerous potential failure points and high maintenance costs. Summary of the Invention

[0004] The purpose of this invention is to provide a robot reducer with a housing and heat dissipation fins, and its usage method, to solve the problems of requiring additional liquid pumping power components, connecting pipelines, and external heat dissipation structures, resulting in a complex and bulky overall system that significantly increases the radial and axial dimensions of the reducer, making it unsuitable for the narrow installation space of robot joints; and the need for multiple dynamic sealing structures in the oil circulation circuit, which can easily lead to lubricant leakage and coolant contamination after seal failure, resulting in multiple failure points and high maintenance costs. To achieve the above objectives, this invention provides the following technical solution: a robot reducer with a housing and heat dissipation fins, and its usage method, comprising a reducer housing, a transmission gear pair, an input shaft, and an output flange; The transmission gear pair is housed in the gear cavity inside the reducer housing. The input shaft is rotatably mounted on the input end of the reducer housing and is connected to the input end of the transmission gear pair. The output flange is rotatably mounted on the output end of the reducer housing and is connected to the output end of the transmission gear pair. The outer wall of the reducer housing is integrally formed with an array of heat dissipation fins, which are evenly distributed along the outer side of the reducer housing. The inner wall of the reducer housing is provided with a heat-conducting groove surrounding the gear cavity, which is filled with a heat-conducting medium. Sealing end caps are fixedly installed at both ends of the reducer housing. A support frame is provided on one side of one of the sealing end caps, and a heat dissipation fan is provided on the support frame. The air outlet direction of the heat dissipation fan corresponds to the arrangement area of ​​the heat dissipation fins.

[0005] In a preferred embodiment, the heat dissipation fins are rectangular straight fin structures, with the heat dissipation fins on the same side arranged at equal intervals.

[0006] In a preferred embodiment, the heat-conducting channel is a spiral continuous channel that extends around the gear cavity along its axial direction. The two ends of the heat-conducting channel abut against the sealing end caps on both sides, forming a closed heat-conducting channel in cooperation with the sealing end caps. The bottom of the heat dissipation fins is provided with a heat-conducting end, which extends into the upper part of the heat-conducting channel.

[0007] In a preferred embodiment, the heat-conducting medium is thermally conductive silicone grease or liquid metal thermal conductive agent, and the thermal conductivity of the heat-conducting medium is higher than that of the reducer housing material. In a preferred embodiment, the height of the support frame matches that of the reducer housing.

[0008] In a preferred embodiment, the reducer housing and the heat dissipation fins are integrally cast from aluminum alloy, and the ratio of the height of the heat dissipation fins to the outer diameter of the reducer housing is 0.15 to 0.25.

[0009] The present invention also discloses a method of using a robot reducer with heat dissipation fins and a shell, including the following steps: S1, assembly and preheating: after completing the assembly of all components of the reducer, the reducer is preheated to a set temperature, so that the heat conduction medium in the heat conduction channel expands and fills the entire channel evenly, while the residual air bubbles in the channel are discharged. S2, No-load break-in: Connect the assembled reducer to the drive system and run it continuously at the set no-load speed for a set time. The heat generated by the operation of the transmission gear pair and bearings is conducted to the heat dissipation fins on the outside through the reducer housing and heat transfer medium, so that the temperature field inside the reducer gradually becomes more uniform. S3, Load Operation: Loaded operation according to rated operating parameters. During operation, the heat dissipation fins continuously dissipate the heat generated by gear meshing and bearing friction through natural convection. When the temperature of the reducer housing exceeds the set temperature threshold, the cooling guide fan is activated to perform forced convection cooling to maintain the housing temperature within the allowable operating range. S4. Intermittent heat dissipation: After a single processing operation is completed, the heat dissipation fan continues to run for a set time until the temperature of the reducer housing drops to a safe threshold before turning off the heat dissipation fan to complete one operation cycle.

[0010] In a preferred embodiment, in step S3, the steady-state heat dissipation power of the reducer satisfies the following relationship:

[0011] In the formula, This refers to the steady-state heat dissipation power of the reducer. The combined heat transfer coefficient between the fins and the air. The total heat exchange area of ​​all heat sink fins. This is the difference between the surface temperature of the reducer housing and the ambient air temperature.

[0012] In a preferred embodiment, the preheating temperature in step S1 is 40℃-60℃, and the preheating time is not less than 30 minutes; the no-load speed in step S2 is 30%-50% of the rated operating speed, and the no-load break-in time is not less than 1 hour. In a preferred embodiment, the temperature threshold set in step S3 is 70℃-80℃, the cooling fan continues to run for no less than 10 minutes in step S4, and the safety threshold is 40℃-50℃.

[0013] Compared with the prior art, the beneficial effects of the present invention are: the present invention adopts a heat dissipation fin structure with an integrally formed shell, which eliminates the need for additional independent heat sinks, effectively increases the heat exchange area without significantly increasing the overall volume of the reducer, and has a compact overall structure that can perfectly fit the narrow installation space of robot joints and meet the installation size requirements of multi-joint collaborative robots.

[0014] This invention features a heat-conducting and flow-guiding groove surrounding the gear cavity on the inner side of the housing, filled with a highly thermally conductive medium. This allows for the rapid conduction and homogenization of concentrated heat generated by gear meshing and bearing friction across the entire housing wall, effectively solving the problem of heat being difficult to dissipate from the enclosed gear cavity. This significantly improves heat conduction efficiency, avoids the occurrence of localized high-temperature points, and makes the internal temperature distribution of the reducer more uniform. When the heat dissipation fins have completed heat dissipation, they also simultaneously dissipate heat for the heat-conducting medium.

[0015] This invention uses a support frame to install a heat dissipation and airflow guiding fan, with the airflow direction precisely corresponding to the fin arrangement area. It can switch between natural heat dissipation and forced heat dissipation modes according to the working conditions. Under light load, it relies on natural heat dissipation for energy-saving operation, while under heavy load, it starts forced air cooling to quickly remove heat. The heat dissipation capacity can be flexibly adjusted to adapt to the heat dissipation needs of different load conditions.

[0016] The invention's accompanying usage method and heat dissipation structure are deeply compatible, enabling full-process control of the reducer's temperature status: during the assembly preheating stage, the air gap thermal resistance in the heat-conducting medium is eliminated, ensuring that the thermal conductivity meets the standards; during the no-load break-in stage, a uniform temperature field is achieved and the initial break-in of the transmission pair is completed, improving operational stability; during the load operation stage, the heat dissipation mode is intelligently switched, balancing heat dissipation effect and energy consumption; during the intermittent heat dissipation stage, residual heat from shutdown is discharged, preventing high temperatures from continuously acting on the lubricating oil and seals, effectively extending the reducer's service life and maintaining the long-term stability of transmission accuracy.

[0017] The invention has a simple and reliable overall structure, and the one-piece molded shell is easy to process. It has no complex internal high-pressure flow channels and sealing structures, so there is no risk of coolant leakage. The manufacturing and maintenance costs are low, making it suitable for large-scale production and long-term stable operation in industrial settings. Attached Figure Description

[0018] Figure 1 This is a front view of the robot reducer structure with heat dissipation fins and housing according to the present invention. Figure 2 This is a front view of the structure with the output flange of the present invention; Figure 3 This is a front view of the heat-conducting end structure of the present invention; Figure 4 This is a schematic diagram illustrating the steps of using the robot reducer with heat dissipation fins and housing according to the present invention.

[0019] In the diagram: 1. Reducer housing; 2. Input shaft; 3. Heat sink fins; 4. Support frame; 5. Heat dissipation fan; 6. Transmission gear pair; 7. Heat conduction channel; 8. Output flange; 9. Gear cavity; 10. Heat conduction end. Detailed Implementation

[0020] The present invention will be further described below with reference to embodiments.

[0021] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0022] Please see Figures 1-4 The present invention provides a robot reducer with heat dissipation fins and a housing. The reducer housing 1 is a hollow box-shaped casting with a gear cavity 9 inside to accommodate the transmission components. The two ends of the housing are machined with annular stops and bolt mounting holes for positioning and fixing the sealing end cap.

[0023] The input shaft 2 is rotatably supported in the input end by a deep groove ball bearing at the input end. The inner ring of the input end bearing is interference-fitted with the input shaft 2, and the outer ring is transition-fitted with the bearing hole of the end cover. The output flange 8 is rotatably supported in the output end of the reducer housing 1 by a tapered roller bearing at the output end, and can simultaneously withstand radial and axial loads.

[0024] The power is generated by the meshing of a small gear on the outside of the input shaft 2 and a large gear on the outside of the transmission gear pair 6, thus completing the transmission setup.

[0025] The outer wall of the reducer housing 1 is integrally die-cast with an array of heat dissipation fins 3. The heat dissipation fins 3 are rectangular straight fin structures, and the ratio of fin spacing to fin thickness is controlled between 3:1 and 4:1, taking into account both heat exchange area and airflow.

[0026] In this embodiment, the ratio of the height of the heat dissipation fin 3 to the outer diameter of the reducer housing 1 is 0.2. This maximizes the heat exchange area while ensuring the rigidity of the fin structure, and the overall outer diameter is still compatible with the standard installation space of the robot joint. The root of the heat dissipation fin 3 is fixedly connected to the reducer housing 1.

[0027] The inner wall of the reducer housing 1, which is the outer wall of the gear cavity 9, is machined with a spiral heat-conducting groove 7. The cross-section of the heat-conducting groove 7 is semi-circular, and the groove depth is one-third of the thickness of the housing wall. This ensures the filling amount of heat-conducting medium without weakening the structural strength of the housing. The heat-conducting groove 7 extends continuously around the axial direction of the gear cavity 9, and the helix angle is set to 15° to 20°. The heat-conducting groove 7 is filled with heat-conducting medium.

[0028] This embodiment uses high thermal conductivity silicone grease, which has a higher thermal conductivity than the aluminum alloy material of the shell. It has good insulation performance and does not corrode metal. It is not easy to solidify and fail under long-term high temperature environment. For heavy load and high heat generation conditions, it can also be replaced with liquid metal thermal conductive agent to further improve the heat conduction rate. The role of the thermal conductive medium is to rapidly diffuse the concentrated heat generated by gear meshing and bearing friction along the spiral channel to the circumference and axial direction, and evenly transfer it to the entire shell wall, eliminating local high temperature points, and then dissipating it outward through the heat dissipation fins 3 on the outside.

[0029] The bottom of the heat dissipation fin 3 is provided with a heat conduction end 10, which extends into the upper part of the heat conduction channel 7. When the heat dissipation fin 3 completes heat dissipation, it also completes heat dissipation for the heat conduction medium. The outer side of the input end sealing cover is fixed with a support frame 4 by bolts. The support frame 4 is a square frame structure, consisting of a central mounting seat and multiple spokes. The outer ring fixing edge is bolted to the end cover. The central mounting seat is used to fix the heat dissipation fan 5.

[0030] The axial height of the support frame 4 matches the outer diameter of the reducer housing 1, so that the air outlet surface of the cooling fan 5 is flush with the axial end face of the heat dissipation fins 3. The air supply range completely covers the axial area of ​​all fins, preventing air leakage and improving the utilization rate of wind energy. The cooling fan 5 is an axial fan, coaxially mounted on the central mounting seat of the support frame 4. The air outlet direction is along the axial direction of the housing towards the output end. When the cooling fan 5 is started, the airflow is blown parallel to the axial direction into the gap between the fins, flows along the fin surface and carries away the heat. The overall wind resistance is small and the air volume is large, and the forced convection cooling effect is significant.

[0031] In this embodiment, the reducer housing 1 and the heat dissipation fins 3 are integrally die-cast from ADC12 aluminum alloy, which has both excellent thermal conductivity and structural strength. It has fewer processing steps and is suitable for mass production. The whole machine structure has no external independent heat sink, and the overall size is compact. It can directly replace the standard robot joint reducer without modifying the installation interface.

[0032] Combination Figure 3 The method of using the robot reducer with heat dissipation fins and housing of the present invention is carried out in sequence according to four stages: assembly preheating, no-load break-in, load operation, and intermittent heat dissipation. The temperature status of the reducer is controlled throughout the entire process. The specific implementation process is as follows: S1 Assembly Preheating: First, complete the assembly of the reducer according to the process sequence: First, press the internal gear ring into the inner wall of the reducer housing 1, install the transmission gear pair 6 and bearing assembly, install the sealing end caps at both ends and tighten the bolts; then, use the vacuum grease injection process to inject the heat-conducting medium into the heat-conducting groove 7. Grease injection under vacuum environment can greatly reduce the initial residual air in the groove.

[0033] After assembly, the reducer is placed in an electric constant temperature oven for preheating. The preheating temperature is set to 50℃ and the holding time is 40 minutes. During the preheating process, the heat transfer medium expands in volume due to heat, filling the tiny gaps in the channel. At the same time, it drives the remaining tiny air bubbles to both ends of the channel, completely eliminating the additional thermal resistance caused by the air gap and ensuring that the heat transfer medium is in full and tight contact with the inner wall of the channel.

[0034] The preheating temperature is set in the range of 40℃ to 60℃ because if the temperature is too low, the expansion of the medium will be insufficient and the exhaust effect will be poor; if the temperature is too high, the initial viscosity of the lubricating oil in the gear cavity 9 will be too low, which is not conducive to the subsequent running-in process. After the preheating is completed, the reducer is taken out and allowed to cool naturally to room temperature. After the heat transfer medium cools and shrinks, it forms a gapless, continuous and uniform heat transfer layer, which lays the foundation for efficient heat transfer in subsequent operation.

[0035] S2 No-load break-in: The preheated reducer is clamped on the drive test bench, the input end is connected to the drive motor, and the output end is unloaded. The no-load break-in is completed in two stages: the first stage is to run at a low speed of 30% of the rated working speed for 30 minutes to allow the gear tooth surface and bearing raceway to make initial contact and run-in, and eliminate the micro protrusions left by the machining; the second stage is to increase the speed to 50% of the rated working speed and continue to run for 40 minutes. The total break-in time is not less than 1 hour.

[0036] During the break-in process, the small amount of heat generated by gear meshing and bearing friction is gradually conducted and diffused through the wall of the reducer housing 1 and the heat transfer medium, making the temperature field inside the reducer gradually more uniform. At the same time, the temperature difference can be detected by the temperature measuring points arranged around the reducer housing 1 to verify the temperature uniformity effect of the heat transfer medium. The heat generation is low at this stage, and the heat can be dissipated by the natural convection of the heat dissipation fins 3 alone, without the need to start the heat dissipation fan 5. The purpose of the no-load break-in is to improve the contact state of the transmission gear pair 6, reduce operating noise and vibration, and improve transmission smoothness. On the other hand, it is to complete the low-temperature operating condition verification of the heat dissipation system to ensure that the heat conduction and heat dissipation structure works normally.

[0037] S3 Load Operation: After the no-load break-in is completed, the loading device is connected to the output end, and the load is gradually and smoothly applied to the rated working load. The reducer enters the normal processing operation state. During continuous operation, the gear meshing friction and bearing running friction continuously generate heat. The heat is conducted to the heat transfer medium through the inner wall of the gear cavity 9. After being homogenized by the heat transfer medium, it is transferred to the entire reducer housing 1 wall and then dissipated into the ambient air through the outer heat dissipation fins 3 in a natural convection manner.

[0038] A temperature sensor is installed in the middle of the outer wall of the reducer housing 1 to collect the temperature signal of the reducer housing 1 in real time and connect it to the control system. Hysteresis control logic is used to realize the intelligent switching of the heat dissipation mode: when the housing temperature rises to the temperature threshold of 75℃, the control system automatically starts the heat dissipation fan 5 and enters the forced convection heat dissipation mode; the airflow blown by the heat dissipation fan 5 flows at high speed along the gap of the heat dissipation fins 3, destroying the air boundary layer on the surface of the heat dissipation fins 3, greatly improving the heat transfer coefficient, and quickly removing heat; when the housing temperature drops to 65℃, the control system shuts down the heat dissipation fan 5 and restores the natural heat dissipation mode. Hysteresis control can avoid frequent start and stop of the heat dissipation fan 5, extend the service life of the fan, and take into account both heat dissipation effect and operating energy consumption. In this step, the steady-state heat dissipation power of the reducer satisfies the following relationship:

[0039] In the formula, P is the steady-state heat dissipation power of the reducer, in W; k is the comprehensive heat transfer coefficient between the heat dissipation fins 3 and the air, in W / (m³). 2 The heat transfer coefficient (°C) varies under natural and forced convection conditions, with the coefficient reaching 3 to 5 times that of natural convection under forced convection. The total heat exchange area of ​​all heat sink fins 3, in m². 2 , The temperature difference between the surface of the reducer housing 1 and the ambient air temperature is expressed in °C.

[0040] This formula allows for matching the corresponding heat dissipation fin area and fan parameters based on the reducer's rated heat dissipation power during the design phase, ensuring that the steady-state temperature of the casing does not exceed the allowable range under rated operating conditions.

[0041] S4. Intermittent heat dissipation: After a single processing operation is completed and the drive motor stops, the gears and bearings inside the reducer still store a lot of residual heat. If heat dissipation is stopped immediately, the residual heat will continue to be conducted to the lubricating oil and seals, forming a "hot immersion" effect, which will accelerate the oxidation and deterioration of the lubricating oil and the aging of the seals. Therefore, after the machine stops, keep the heat dissipation fan 5 running for 15 minutes to force the airflow to continuously remove the heat from the casing and quickly reduce the overall internal temperature. Once the temperature sensor detects that the temperature of the reducer housing 1 has dropped below the safe threshold of 45℃, the cooling fan 5 is turned off, completing one full operation cycle.

[0042] The safety threshold is set in the range of 40℃ to 50℃ because the lubricating oil performance is stable within this temperature range, the seals will not be subjected to continuous high temperatures, and the reducer will be at a reasonable initial temperature when it starts up next time, thus avoiding accuracy fluctuations caused by excessive temperature difference during cold starts.

[0043] By using the above four steps, the heat dissipation structure of this reducer can be fully utilized to control the working temperature of the reducer throughout the entire cycle, effectively extend the service life of the lubricating oil and seals, and maintain the long-term stability of transmission accuracy. It is especially suitable for heavy-duty and long-term continuous operation of industrial robots.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot reducer with a housing and heat dissipation fins, characterized in that, It includes a reducer housing (1), a transmission gear pair (6), an input shaft (2), and an output flange (8); The transmission gear pair (6) is housed in the gear cavity (9) inside the reducer housing (1). The input shaft (2) is rotatably mounted on the input end of the reducer housing (1) and is connected to the input end of the transmission gear pair (6). The output flange (8) is rotatably mounted on the output end of the reducer housing (1) and is connected to the output end of the transmission gear pair (6). The outer wall of the reducer housing (1) is integrally formed with an array of heat dissipation fins (3). The heat dissipation fins (3) are evenly distributed along the outer side of the reducer housing (1). The inner wall of the reducer housing (1) is provided with a heat-conducting groove (7) surrounding the gear cavity (9). The heat-conducting groove (7) is filled with a heat-conducting medium. Sealing end caps are fixedly installed at both ends of the reducer housing (1). A support frame (4) is provided on one side of one of the sealing end caps. A heat dissipation fan (5) is provided on the support frame (4). The air outlet direction of the heat dissipation fan (5) corresponds to the arrangement area of ​​the heat dissipation fins (3).

2. The robot reducer with heat dissipation fins and a housing according to claim 1, characterized in that: The heat dissipation fins (3) are rectangular straight fin structures, and the heat dissipation fins (3) on the same side are arranged at equal intervals.

3. A robot reducer with heat dissipation fins and a housing according to claim 1, characterized in that: The heat-conducting channel (7) is a spiral continuous channel that extends around the gear cavity (9) along the axial direction. The two ends of the heat-conducting channel (7) abut against the sealing end caps on both sides, forming a closed heat-conducting channel with the sealing end caps. The bottom of the heat dissipation fins (3) is provided with a heat-conducting end (10), which extends into the upper part of the heat-conducting channel (7).

4. The robot reducer with heat dissipation fins and its method of use according to claim 1, characterized in that: The heat-conducting medium is thermally conductive silicone grease or liquid metal heat-conducting agent, and the thermal conductivity of the heat-conducting medium is higher than that of the material of the reducer housing (1).

5. A robot reducer with heat dissipation fins and a housing according to claim 1, characterized in that: The height of the support frame (4) matches that of the reducer housing (1).

6. A robot reducer with heat dissipation fins and a housing according to claim 1, characterized in that: The reducer housing (1) and the heat dissipation fins (3) are integrally cast from aluminum alloy material, and the ratio of the height of the heat dissipation fins (3) to the outer diameter of the reducer housing (1) is 0.15 to 0.

25.

7. A method of using a robot reducer with heat dissipation fins and a housing, characterized in that, The robot reducer with heat dissipation fins and housing as described in any one of claims 1-6 includes the following steps: S1. Assembly preheating: After completing the assembly of all components of the reducer, preheat the reducer to the set temperature so that the heat-conducting medium in the heat-conducting channel (7) expands and fills the entire channel evenly, while venting the air bubbles remaining in the channel. S2, No-load break-in: Connect the assembled reducer to the drive system and run it continuously for a set time at the set no-load speed. The heat generated by the operation of the transmission gear pair (6) and the bearing is conducted to the heat dissipation fins (3) on the outside through the reducer housing (1) and the heat transfer medium, so that the temperature field inside the reducer gradually becomes uniform. S3, Load operation: Load operation according to rated operating parameters. During operation, the heat dissipation fins (3) continuously dissipate the heat generated by gear meshing and bearing friction through natural convection. When the temperature of the reducer housing (1) exceeds the set temperature threshold, the heat dissipation fan (5) is started to perform forced convection heat dissipation to keep the housing temperature within the allowable operating range. S4. Intermittent heat dissipation: After a single processing operation is completed, the heat dissipation fan (5) continues to run for a set time until the temperature of the reducer housing (1) drops to a safe threshold before turning off the heat dissipation fan (5) to complete one operation cycle.

8. The method of using a robot reducer with heat dissipation fins and a housing according to claim 7, characterized in that: In step S3, the steady-state heat dissipation power of the reducer satisfies the following relationship: In the formula, This refers to the steady-state heat dissipation power of the reducer. This represents the combined heat transfer coefficient between the fins and the air. The total heat exchange area of ​​all heat dissipation fins (3) The difference between the surface temperature of the reducer housing (1) and the ambient air temperature.

9. The method of using a robot reducer with heat dissipation fins and a housing according to claim 7, characterized in that: The preheating temperature in step S1 is 40℃-60℃, and the preheating time is not less than 30 minutes. The no-load speed in step S2 is 30%-50% of the rated working speed, and the no-load break-in time is not less than 1 hour.

10. The method of using a robot reducer with heat dissipation fins and a housing according to claim 1, characterized in that: The temperature threshold set in step S3 is 70℃-80℃, and the cooling fan (5) continues to run for no less than 10 minutes in step S4. The safety threshold is 40℃-50℃.

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