Robot joint harmonic speed reducer

Abstract

The utility model provides a robot joint harmonic speed reducer, which relates to the technical field of industrial robots and comprises a casing, a motor is fixedly connected to the inner wall of a clamping groove formed in the top of the casing, and a wave emitter is connected to one side of the inner wall of the casing. According to the utility model, grease is one of important lubricants for normal operation of mechanical equipment through the mounted quick release mechanism. The grease is replaced or supplemented regularly, so that friction parts in the equipment can be kept in a good lubrication state, high-efficiency operation of the equipment is maintained, friction and abrasion can be reduced through good lubrication, and the service life of the equipment is effectively prolonged. By means of regular addition of new grease, all parts of the equipment can be kept to operate in a good working state, part abrasion caused by friction is reduced, meanwhile, a pressing piece and an operation handle are pressed, a worker can visually control the positions of a clamping block and a clamping ring, an oil inlet pipe is exposed, and new grease can be conveniently added.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a robot joint harmonic reducer. Background Art

[0002] Harmonic reducer is a high-precision, high-efficiency transmission device, which is usually used in robot joint components that require precise control and high torque output.

[0003] However, in the prior art, the existing robot body, as an important component of the industrial robot, usually adopts the harmonic reducer joint as the transmission design. In order to ensure the reliability and efficiency of the joint transmission, the grease needs to be replaced every 3,000 hours of operation. Under the current circumstances, one end of the equipment oil inlet pipe is exposed to the outside, but in industrial equipment, if the oil inlet of grease or lubricating oil is exposed to the outside, it may be damaged by chemicals, dust, moisture, etc., thereby affecting the lubrication effect and equipment life. Summary of the invention

[0004] The purpose of the utility model is to solve the shortcomings in the prior art and provide a robot joint harmonic reducer.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a robot joint harmonic reducer, comprising: a casing, a motor is fixedly connected to the inner wall of a slot opened on the top of the casing, a wave transmitter is connected to one side of the inner wall of the casing, a rigid wheel is connected to the inner wall of the casing, a quick release mechanism is arranged on the surface of the casing, and a protective mechanism is arranged on the bottom surface of the casing;

[0006] The quick-release mechanism comprises a joint component, wherein the inner wall of the slot opened in the joint component is provided with an oil inlet pipe, the inner wall of the slot opened at the top of the joint component is provided with a sealing plate, a snap ring is connected to one side of the sealing plate, the inner wall of the slot opened on one side of the joint component is connected to a fixed shell, a limiting tube is provided at the bottom of the inner wall of the fixed shell, the inner wall of the limiting tube is connected with a spring, the other end of the spring is connected with a blocking block, and a pressing piece is provided on the other side of the blocking block.

[0007] As a preferred implementation, one side of the joint component is fixedly connected to the surface of the casing, and the surface of the oil inlet pipe is fixedly connected to the inner wall of the groove opened on one side of the joint component.

[0008] As a preferred embodiment, the sealing plate surface is slidably connected to the inner wall of the slot opened on the top of the joint component, and one side of the snap ring is fixedly connected to one side of the sealing plate, and the inner wall of the slot opened by the snap ring is fixedly engaged with the recessed portion on the block surface.

[0009] As a preferred implementation, the surface of the fixed shell is fixedly connected to the inner wall of the slot opened at the top of the joint component, and one end of the limiting tube is fixedly connected to the bottom of the inner wall of the fixed shell.

[0010] As a preferred implementation, one end of the spring is fixedly connected to one side of the inner wall of the limiting tube, the other end of the spring is fixedly connected to the bottom of the block, and one side of the pressing member is fixedly connected to the other side of the block.

[0011] As a preferred embodiment, the protection mechanism includes a protection shell, the top of the protection shell is fixedly connected to the bottom of the casing, and the bottom of the inner wall of the protection shell is fixedly connected to the bottom of the base.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are:

[0013] 1. The utility model uses a quick-release mechanism installed. Grease is one of the important lubricants for the normal operation of mechanical equipment. Regular replacement or replenishment of grease can ensure that the internal friction parts of the equipment remain in a good lubrication state, thereby maintaining the high-efficiency operation of the equipment. Good lubrication can not only reduce friction and wear, but also effectively extend the service life of the equipment. Regular addition of new grease can also keep the various parts of the equipment running in a good working condition and reduce the wear of parts caused by friction. At the same time, by pressing the buttons and operating handles, the staff can also control the position of the block and the retaining ring more intuitively, so that the oil inlet pipe is exposed and new grease can be added conveniently. This intuitive operation method can reduce the possibility of operating errors and improve work efficiency.

[0014] 2. The installed protection mechanism can not only ensure a firm connection between the protective shell and the housing and base, providing stronger overall structural stability, but also effectively resist vibration and external impact during the operation of the equipment, reducing the looseness or damage of components that may be caused by them. At the same time, through the fixed connection at the bottom, the protective shell can also more effectively protect the internal components from the influence of the external environment, such as dust, moisture or other pollutants, which helps to extend the life and reliability of the equipment and reduce the maintenance frequency and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The utility model provides a structural schematic diagram of a robot joint harmonic reducer.

[0016] Figure 2 This is a structural schematic diagram of the front side of the dissected diagram of the quick-release mechanism and protection mechanism of a robot joint harmonic reducer provided by the utility model.

[0017] Figure 3 This is a structural schematic diagram of the side disassembly diagram of a quick-release mechanism of a robot joint harmonic reducer provided by the utility model.

[0018] Figure 4 This is a partial dissection diagram of the quick-release mechanism of a robot joint harmonic reducer provided by the utility model and a structural schematic diagram of the disassembled side.

[0019] Legend:

[0020] 1. Casing; 2. Motor; 3. Wave transmitter; 4. Rigid wheel;

[0021] 5. Quick release mechanism; 51. Joint component; 52. Oil inlet pipe; 53. Sealing plate; 54. Snap ring; 55. Fixed shell; 56. Limiting tube; 57. Spring; 58. Block; 59. Press piece;

[0022] 6. Protective mechanism; 61. Protective shell; 62. Base. DETAILED DESCRIPTION

[0023] In order to more clearly illustrate the overall concept of the utility model, a detailed description is given below in the form of examples in conjunction with the accompanying drawings.

[0024] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0025] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0027] In the present utility model, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0028] Example 1: Figure 1-Figure 4 As shown, the utility model provides a technical solution: a robot joint harmonic reducer, comprising: a casing 1, a motor 2 is fixedly connected to the inner wall of a slot opened on the top of the casing 1, a wave transmitter 3 is connected to one side of the inner wall of the casing 1, a rigid wheel 4 is connected to the inner wall of the casing 1, a quick release mechanism 5 is arranged on the surface of the casing 1, and a protective mechanism 6 is arranged on the bottom surface of the casing 1;

[0029] The quick release mechanism 5 includes a joint component 51. The inner wall of the slot opened in the joint component 51 is provided with an oil inlet pipe 52. The inner wall of the slot opened at the top of the joint component 51 is provided with a sealing plate 53. A retaining ring 54 is connected to one side of the sealing plate 53. The inner wall of the slot opened on one side of the joint component 51 is connected to a fixed shell 55. A limiting tube 56 is provided at the bottom of the inner wall of the fixed shell 55. A spring 57 is connected to the inner wall of the limiting tube 56. The other end of the spring 57 is connected to a clamping block 58. A pressing member 59 is provided on the other side of the clamping block 58.

[0030] In this embodiment, one side of the joint component 51 is fixedly connected to the surface of the casing 1, the surface of the oil inlet pipe 52 is fixedly connected to the inner wall of the groove opened on one side of the joint component 51, the surface of the sealing plate 53 is slidably connected to the inner wall of the groove opened at the top of the joint component 51, and the other side of the snap ring 54 is fixedly connected to one side of the sealing plate 53, and the inner wall of the groove opened by the snap ring 54 is fixedly engaged with the recessed portion of the surface of the clamping block 58, and the above components are matched; the sealing plate 53 not only effectively shields the oil inlet pipe 52 and the grease therein, and prevents external pollutants such as dust, moisture or other impurities from entering the grease, which helps to maintain the quality and performance of the grease, but also the installation of the sealing plate 53 makes it difficult for the oil inlet pipe 52 to be accidentally touched or damaged, especially in situations that may exist during equipment operation, which helps to protect the integrity and long-term use of the grease system.

[0031] The surface of the fixed shell 55 is fixedly connected to the inner wall of the slot opened at the top of the joint component 51, one end of the limit tube 56 is fixedly connected to the bottom of the inner wall of the fixed shell 55, one end of the spring 57 is fixedly connected to one side of the inner wall of the limit tube 56, the other end of the spring 57 is fixedly connected to the bottom of the block 58, and one side of the push piece 59 is fixedly connected to the other side of the block 58, and the above components are matched; grease is one of the important lubricants for the normal operation of mechanical equipment. Regular replacement or replenishment of grease can ensure that the internal friction parts of the equipment are kept in a good lubrication state, thereby maintaining the high-efficiency operation of the equipment. Good lubrication can not only reduce friction and wear, but also effectively extend the service life of the equipment. Regularly adding new grease can also keep the various parts of the equipment running in a good working state, reduce the wear of parts caused by friction, and at the same time, by pressing the push piece 59 and the operating handle, the staff can also intuitively control the position of the block 58 and the retaining ring 54, so that the oil inlet pipe 52 is exposed and new grease can be easily added. This intuitive operation method can reduce the possibility of operating errors and improve work efficiency.

[0032] Example 2: Figure 1-Figure 2 As shown, the protection mechanism 6 includes a protection shell 61 , the top of the protection shell 61 is fixedly connected to the bottom of the housing 1 , and the bottom of the inner wall of the protection shell 61 is fixedly connected to the bottom of the base 62 .

[0033] In this embodiment, this design can not only ensure a firm connection between the protective shell 61 and the housing 1 and the base 62, and provide a stronger overall structural stability, but also effectively resist vibration and external impact during the operation of the device, reducing the looseness or damage of components that may be caused thereby, and at the same time, through the fixed connection at the bottom, the protective shell 61 can also more effectively protect the internal components from the influence of the external environment, such as dust, moisture or other pollutants, which helps to extend the life and reliability of the device and reduce the maintenance frequency and cost.

[0034] Working principle: Figure 1-Figure 4As shown, when the equipment needs to add new grease, first, the pressing member 59 can be pressed. When the pressing member 59 is pressed, the clamping block 58 will be pushed to squeeze the spring 57. When the spring 57 is pressed, it will deform and shrink, thereby cooperating to realize the movement of the clamping block 58. The clamping block 58 moves during the deformation and shrinkage of the spring 57 and the limit between the clamping ring 54 is released. When the limit between the clamping ring 54 and the clamping block 58 is released, the staff can pull it out through the handle provided on the sealing plate 53 to expose the oil inlet pipe 52. The staff can then add new grease to the inside of the exposed oil inlet pipe 52. When the staff needs to hide the oil inlet pipe 52 after cleaning or adding grease to it, they can first align the sealing plate 53 with the slide groove opened on the top of the joint component 51, and then push the sealing plate 53 to engage the clamping ring 54 connected to it with the clamping block 58 to form a limit. When the clamping ring 54 and the clamping block 58 form a limit, the sealing plate 53 will also form a limit with the joint component 51, and the installation of the sealing plate 53 can be completed.

[0035] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0036] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot joint harmonic reducer, comprising: A casing (1), characterized in that: a motor (2) is fixedly connected to the inner wall of a slot provided at the top of the casing (1), a wave transmitter (3) is connected to one side of the inner wall of the casing (1), a rigid wheel (4) is connected to the inner wall of the casing (1), a quick release mechanism (5) is provided on the surface of the casing (1), and a protective mechanism (6) is provided on the bottom surface of the casing (1); The quick-release mechanism (5) comprises a joint component (51), wherein an oil inlet pipe (52) is arranged on the inner wall of a slot provided in the joint component (51), a sealing plate (53) is arranged on the inner wall of a slot provided at the top of the joint component (51), a snap ring (54) is connected to one side of the sealing plate (53), a fixed shell (55) is connected to the inner wall of the slot provided at one side of the joint component (51), a limiting tube (56) is arranged at the bottom of the inner wall of the fixed shell (55), a spring (57) is connected to the inner wall of the limiting tube (56), a blocking block (58) is connected to the other end of the spring (57), and a pressing member (59) is arranged on the other side of the blocking block (58).

2. A robot joint harmonic reducer according to claim 1, characterized in that: One side of the joint component (51) is fixedly connected to the surface of the housing (1), and the surface of the oil inlet pipe (52) is fixedly connected to the inner wall of a slot provided on one side of the joint component (51).

3. The robot joint harmonic reducer according to claim 1, characterized in that: The surface of the sealing plate (53) is slidably connected to the inner wall of a slot opened at the top of the joint component (51); the other side of the snap ring (54) is fixedly connected to one side of the sealing plate (53); the inner wall of the slot opened by the snap ring (54) is fixedly engaged with a recessed portion on the surface of the clamping block (58).

4. The robot joint harmonic reducer according to claim 1, characterized in that: The surface of the fixed shell (55) is fixedly connected to the inner wall of a slot opened at the top of the joint component (51), and one end of the limiting tube (56) is fixedly connected to the bottom of the inner wall of the fixed shell (55).

5. The robot joint harmonic reducer according to claim 1, characterized in that: One end of the spring (57) is fixedly connected to one side of the inner wall of the limiting tube (56), the other end of the spring (57) is fixedly connected to the bottom of the clamping block (58), and one side of the pressing member (59) is fixedly connected to the other side of the clamping block (58).

6. The robot joint harmonic reducer according to claim 1, characterized in that: The protection mechanism (6) comprises a protection shell (61), the top of the protection shell (61) is fixedly connected to the bottom of the housing (1), and the bottom of the inner wall of the protection shell (61) is fixedly connected to the bottom of the base (62).

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