Harmonic speed reducer and industrial robot

Abstract

The utility model discloses a harmonic speed reducer and an industrial robot, and relates to the technical field of speed reducers, the harmonic speed reducer comprises a rigid gear, a flexible gear, a bearing device, a first oil seal and a second oil seal, a first oil storage space for storing a lubricant of the gear pair is formed between the bearing device and the cylinder part and the diaphragm part of the flexible gear, a second oil storage space for storing the lubricant of the raceway and the rolling body is formed in the bearing device, and the first oil seal is used for blocking exchange of the lubricant in the first oil storage space and the lubricant in the second oil storage space; the second oil seal is used for preventing the lubricant in the second oil storage space from overflowing outwards, the first oil seal can inhibit the lubricant after lubricating the gear pair from entering the second oil storage space, and abnormal damage to the bearing device is prevented; and the second oil storage space forms a sealed cavity, so that a lubricating agent can be selected according to the performance and working conditions of the harmonic speed reducer, and the lubricating effect in the bearing device is improved.

Description

Technical Field

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

[0002] In the harmonic reducer of the related technology, the rigid wheel and the flexible wheel are generally supported by bearings, such as cross roller bearings; however, foreign matter such as iron powder and abrasive particles will be generated during the meshing process of the rigid wheel and the flexible wheel. After the iron powder and abrasive particles and other foreign matter enter the bearing along with the lubricant, they will aggravate the wear of the raceway and have a great impact on the life of the bearing, thereby significantly reducing the service life of the harmonic reducer. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a harmonic reducer, which can isolate the space where the gear pair of the flexible wheel and the rigid wheel is located and the internal space of the bearing device, improve the lubricating effect of the lubricant in the bearing device, and increase the service life of the harmonic reducer.

[0004] The utility model also provides an industrial robot having the harmonic reducer.

[0005] According to the first aspect of the utility model, the harmonic reducer comprises: a rigid wheel provided with an internal tooth portion; a flexible wheel comprising a cylinder, a diaphragm and a flange portion, the cylinder being provided with an external tooth portion cooperating with the internal tooth portion, a meshing gap being formed between the external tooth portion and the internal tooth portion, the diaphragm being connected to an end of the cylinder away from the external tooth portion and extending to the outside of the cylinder, the flange being connected to the outer peripheral edge of the diaphragm; a wave generator being coaxially mounted on the inner hole of the flexible wheel, the wave generator being configured to mesh the external tooth portion with the internal tooth portion when rotating; a bearing device for supporting the rigid wheel and the flexible wheel so that they can rotate relative to each other, the bearing device being arranged around the outside of the cylinder, and a first meshing gap being formed between the bearing device and the cylinder and the diaphragm and communicating with the meshing gap. Oil space; the bearing device includes an inner bearing ring and an outer bearing ring, the inner bearing ring is fixedly connected to the rigid wheel, the outer bearing ring is arranged around the outer side of the inner bearing ring and is fixedly connected to the flange portion, a second oil storage space is formed between the outer bearing ring and the inner bearing ring, the outer bearing ring and the inner bearing ring are provided with a first gap on the side of the second oil storage space close to the first oil storage space, and the outer bearing ring and the rigid wheel are provided with a second gap on the side of the second oil storage space away from the first oil storage space; a first oil seal is installed in the first gap to prevent the lubricant in the first oil storage space from exchanging with the lubricant in the second oil storage space; a second oil seal is installed in the second gap to prevent the lubricant in the second oil storage space from overflowing outward.

[0006] The harmonic reducer according to the embodiment of the utility model has at least the following beneficial effects:

[0007] By installing the first oil seal and the second oil seal in the gaps on both sides of the bearing device respectively, the bearing device is arranged around the outer side of the cylinder of the flexible wheel, and a first oil storage space for storing lubricant for lubricating the gear pair is formed between the bearing device and the cylinder and the diaphragm. The bearing device includes an inner bearing ring and an outer bearing ring, and a second oil storage space for storing lubricant for lubricating the raceway and the rolling body is formed between the outer bearing ring and the inner bearing ring. The first oil seal is used to prevent the lubricant in the first oil storage space from exchanging with the lubricant in the second oil storage space, and the second oil seal is used to prevent the lubricant in the second oil storage space from overflowing outward. The first oil seal can inhibit the lubricant containing iron powder and abrasive particles in the first oil storage space from entering the second oil storage space after lubricating the gear pair, effectively preventing abnormal damage to the bearing device and improving the service life of the harmonic reducer; and under the joint action of the first oil seal and the second oil seal, the second oil storage space is formed into a sealed cavity, so the lubricant can be selected according to the performance and working conditions of the harmonic reducer, thereby improving the lubrication effect in the bearing device and improving the performance of the whole machine.

[0008] According to some embodiments of the utility model, the inner wall of the outer bearing ring close to one end of the flange portion is provided with a protrusion extending toward the rotation axis of the wave generator, and the inner bearing ring is provided with a step portion spaced apart from the protrusion, and the first gap is formed between the protrusion and the step portion.

[0009] According to some embodiments of the present invention, the first oil seal includes a mounting ring and a first lip, the mounting ring is fixedly connected to the protrusion, and the first lip is connected to the mounting ring and extends in the first gap to seal the first gap.

[0010] According to some embodiments of the utility model, the first oil seal also includes a second lip, the mounting ring includes a first ring body and a second ring body, the first ring body is clamped to the end of the protrusion toward one end of the rotation axis, the first lip is connected to the first ring body, the second ring body is connected to the first ring body and extends toward the direction of the rotation axis, the second ring body is spaced apart from the inner bearing ring, the second lip is connected to the second ring body and extends toward the inner bearing ring to seal the gap between the second ring body and the inner bearing ring.

[0011] According to some embodiments of the present invention, the first ring body is provided with a stop shoulder, and the stop shoulder is located on the side wall of the protrusion facing the inner bearing ring to limit the first oil seal from escaping in a direction away from the inner bearing ring.

[0012] According to some embodiments of the present invention, the first lip and the second lip are configured as sealing rings wrapped around at least a portion of the outer wall of the mounting ring.

[0013] According to some embodiments of the present invention, the sealing ring is integrally manufactured from a rubber material; and / or the mounting ring is integrally manufactured from a metal material.

[0014] According to some embodiments of the present invention, a groove is provided at one end of the outer bearing ring away from the flange portion, and the second gap is formed between the bottom wall of the groove and the outer peripheral wall of the rigid wheel.

[0015] According to some embodiments of the utility model, the inner bearing ring is provided with a first raceway and a second raceway at two ends opposite to each other along the rotation axis of the wave generator, respectively, the first raceway and the second raceway are annular and arranged at intervals; the outer bearing ring includes a first outer bearing ring connected to the flange portion, and a second outer bearing ring connected to the first outer bearing ring, the first outer bearing ring is provided with a third raceway located on the outside of the first raceway and opposite to the first raceway, and the second outer bearing ring is provided with a fourth raceway located on the outside of the second raceway and opposite to the second raceway; a plurality of first rolling bodies are installed in a first annular space formed between the first raceway and the third raceway, and a plurality of second rolling bodies are installed in a second annular space formed between the second raceway and the fourth raceway.

[0016] According to some embodiments of the utility model, a boss is formed between the first raceway and the second raceway, and a channel is formed between the inner wall of the first outer bearing ring, the inner wall of the second outer bearing ring and the boss, and the channel is used to connect the first annular space and the second annular space.

[0017] The industrial robot according to the embodiment of the second aspect of the utility model includes the harmonic reducer described in the above embodiment.

[0018] The industrial robot according to the embodiment of the utility model has at least the following beneficial effects:

[0019] A harmonic reducer of the first aspect embodiment is adopted. The harmonic reducer is provided with a first oil seal and a second oil seal respectively in the gaps on both sides of the bearing device. The bearing device is arranged around the outer side of the cylinder of the flexible wheel. A first oil storage space for storing lubricant for lubricating the gear pair is formed between the bearing device and the cylinder and the diaphragm. The bearing device comprises an inner bearing ring and an outer bearing ring. A second oil storage space for storing lubricant for lubricating the raceway and the rolling element is formed between the outer bearing ring and the inner bearing ring. The first oil seal is used to prevent the lubricant in the first oil storage space from exchanging with the lubricant in the second oil storage space. The second oil seal is used to prevent the lubricant in the second oil storage space from overflowing outward. The first oil seal can inhibit the lubricant containing iron powder and abrasive particles in the first oil storage space from entering the second oil storage space after lubricating the gear pair, thereby effectively preventing abnormal damage to the bearing device and improving the service life of the harmonic reducer. Moreover, under the joint action of the first oil seal and the second oil seal, the second oil storage space is formed into a sealed cavity. Therefore, the lubricant can be selected according to the performance and working conditions of the harmonic reducer, thereby improving the lubrication effect in the bearing device and improving the performance of the whole machine.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a structural cross-sectional view of a harmonic reducer according to an embodiment of the utility model;

[0023] Figure 2 for Figure 1 A partial cross-sectional view of the inner bearing ring and the outer bearing ring, wherein the rolling element is reduced in size to illustrate the matching relationship between the raceway and the rolling element;

[0024] Figure 3 for Figure 1 A partial enlarged view of the harmonic reducer shown;

[0025] Figure 4 for Figure 3 An enlarged view of A in the middle, showing a first oil seal of an embodiment;

[0026] Figure 5 for Figure 3 An enlarged view of A in the middle, showing a first oil seal of another embodiment;

[0027] Figure 6 for Figure 5 A cross-sectional view of the first oil seal of the illustrated embodiment.

[0028] Figure Number:

[0029] Flexspline 100; cylinder 110; external tooth 111; diaphragm 120; flange 130;

[0030] The rigid wheel 200; the inner tooth portion 210;

[0031] Wave generator 300; flexible bearing 310; cam 320;

[0032] Bearing device 400; inner bearing ring 410; first raceway 411; second raceway 412; boss 413; step portion 414; horizontal surface 4141; vertical surface 4142; outer bearing ring 420; first outer bearing ring 421; third raceway 4211; protrusion 4212; inner hole surface 4213; right end surface 4214; second outer bearing ring 422; fourth raceway 4221; groove 423; second oil storage space 430; first gap 440; second gap 450; first rolling element 460; second rolling element 470;

[0033] A first oil storage space 500;

[0034] First oil seal 600; mounting ring 610; first ring body 611; second ring body 612; shoulder 613; first lip 620; second lip 630; third gap 640;

[0035] Second oil seal 700;

[0036] Axis of rotation O. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the descriptions involving orientation, such as the orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] In the description of the present utility model, "a plurality" means more than two. If there is a description of "first" or "second", it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0041] As a kind of precision reducer, harmonic reducer has the advantages of compact structure, small size, light weight, large transmission ratio and load capacity, and high transmission accuracy. It is widely used in electronics, aerospace, robotics, automation and other industries.

[0042] Reference Figure 1 As shown, a harmonic reducer of an embodiment of the utility model comprises a flexible wheel 100, a rigid wheel 200 and a wave generator 300. The flexible wheel 100 comprises a barrel 110, a diaphragm 120 and a flange 130. The barrel 110 is located at one end of the flexible wheel 100 close to the rigid wheel 200, the diaphragm 120 is connected to one end of the barrel 110 away from the rigid wheel 200 and extends to the outside of the barrel 110, and the flange 130 is connected to the outer periphery of the diaphragm 120. The barrel 110 of the flexible wheel 100 is provided with a flexible outer tooth portion 111, and the rigid wheel 200 is provided with a rigid inner tooth portion 210. The outer tooth portion 111 cooperates with the inner tooth portion 210, and a meshing gap is formed between the outer tooth portion 111 and the inner tooth portion 210.

[0043] In the embodiment of the utility model, the wave generator 300 is coaxially mounted on the inner hole of the flexible wheel 100, and the wave generator 300 is configured to make the outer tooth portion 111 mesh with the inner tooth portion 210 when rotating. When the wave generator 300 is installed in the inner hole of the flexible wheel 100, the flexible wheel 100 is forced to produce elastic deformation and become elliptical. During the operation of the harmonic reducer, the wave generator 300 rotates at a high speed to drive the flexible wheel 100 to deform repeatedly, so that the outer tooth portion 111 of the flexible wheel 100 meshes with the inner tooth portion 210 of the rigid wheel 200, and the meshing position of the outer tooth portion 111 and the inner tooth portion 210 moves along the circumferential direction of the rotation axis O of the wave generator 300, thereby realizing the relative deceleration movement between the flexible wheel 100 and the rigid wheel 200. The wave generator 300 includes a flexible bearing 310 and a cam 320, and the flexible bearing 310 is sleeved on the outer side of the cam 320, and the cam 320 is provided with a mounting position for connecting a driving device such as a motor.

[0044] Reference Figure 1 and Figure 2As shown, the harmonic reducer of one embodiment of the utility model further includes a bearing device 400, which is used to support the rigid wheel 200 and the flexible wheel 100, and enable the rigid wheel 200 and the flexible wheel 100 to achieve relative rotation. The bearing device 400 is arranged around the outer side of the cylinder 110, and the bearing device 400 includes an inner bearing ring 410 and an outer bearing ring 420, the inner bearing ring 410 is fixedly connected to the rigid wheel 200, and the outer bearing ring 420 is arranged around the outer side of the inner bearing ring 410 and fixedly connected to the flange part 130, and the inner bearing ring 410 and the outer bearing ring 420 can achieve relative rotation.

[0045] Reference Figure 2 and Figure 3 As shown, a first oil storage space 500 is formed between the bearing device 400 and the cylinder 110 and the diaphragm 120 of the flexible wheel 100, and the first oil storage space 500 is connected to the meshing gap. Figure 3 The dotted arrows are the flow direction of the lubricant: specifically, from the inner hole of the flexible wheel 100 to the meshing gap, and then to the first oil storage space 500. The lubricant lubricates the wave generator 300 at the inner hole of the flexible wheel 100, and the lubricant further acts on the gear pair between the flexible wheel 100 and the rigid wheel 200, and finally gathers in the first oil storage space 500. The lubricant in the first oil storage space 500 can continuously lubricate the gear pair.

[0046] A second oil storage space 430 is formed between the outer bearing ring 420 and the inner bearing ring 410, and the second oil storage space 430 is used to lubricate the raceway and rolling elements in the bearing device 400. In order to realize the assembly of the bearing device 400, there are gaps on both sides of the matching position of the outer bearing ring 420 and the inner bearing ring 410, including a first gap 440 provided between the outer bearing ring 420 and the inner bearing ring 410 on the side of the second oil storage space 430 close to the first oil storage space 500, and a second gap 450 provided between the outer bearing ring 420 and the rigid wheel 200 on the side of the second oil storage space 430 away from the first oil storage space 500.

[0047] The harmonic reducer of one embodiment of the utility model further includes a first oil seal 600 and a second oil seal 700. The first oil seal 600 is installed in the first gap 440, and is used to prevent the lubricant in the first oil storage space 500 from exchanging with the lubricant in the second oil storage space 430. The second oil seal 700 is installed in the second gap 450, and is used to prevent the lubricant in the second oil storage space 430 from overflowing to the outside of the harmonic reducer. The second oil seal 700 generally adopts a conventional skeleton oil seal.

[0048] Since foreign matter such as iron powder and abrasive particles are easily generated when the outer tooth portion 111 and the inner tooth portion 210 are meshing, the iron powder and abrasive particles will be mixed into the lubricant to contaminate the lubricant. The contaminated lubricant has little effect on the flexible bearing 310, the inner tooth portion 210 and the outer tooth portion 111, but has a greater impact on the bearing device 400, which is subject to greater contact stress; therefore, providing the first oil seal 600 can inhibit the lubricant containing iron powder and abrasive particles in the first oil storage space 500 from entering the second oil storage space 430, effectively preventing the bearing device 400 from being abnormally damaged and thus causing premature damage, thereby increasing the service life of the harmonic reducer.

[0049] Under the joint action of the first oil seal 600 and the second oil seal 700, the second oil storage space 430 is formed into a sealed cavity, which is isolated from the first oil storage space 500. Therefore, different lubricants can be used in the first oil storage space 500 and the second oil storage space 430. In particular, the lubricant of the bearing device 400 can be reasonably selected according to the performance and working conditions of the harmonic reducer, thereby improving the lubrication effect in the bearing device 400 and further improving the overall performance of the harmonic reducer.

[0050] In addition, under the sealing effect of the first oil seal 600, the lubricant in the first oil storage space 500 cannot enter the second oil storage space 430, so that the grease in the harmonic reducer cannot leak from the outer peripheral wall of the rigid wheel 200, thereby improving the sealing performance of the harmonic reducer.

[0051] Reference Figure 2 and Figure 3 As shown, in the harmonic reducer of the embodiment of the utility model, the outer bearing ring 420 includes a first outer bearing ring 421 and a second outer bearing ring 422, the first outer bearing ring 421 is connected to the flange portion 130, and the second outer bearing ring 422 is connected to the first outer bearing ring 421. The flange portion 130, the first outer bearing ring 421 and the second outer bearing ring 422 can be fixedly connected together by fasteners (such as screws, bolts, pins, etc.); or they can be fixed separately in pairs, that is, the flange portion 130 and the first outer bearing ring 421 are fixedly connected by a group of fasteners, and the first outer bearing ring 421 and the second outer bearing ring 422 are fixedly connected by another group of fasteners. In actual use, it is necessary to select according to the assembly requirements and load requirements of the harmonic reducer, which is not specifically limited here.

[0052] Reference Figure 2 and Figure 3 As shown, it can be understood that a groove 423 is provided at one end of the second outer bearing ring 422 facing away from the first outer bearing ring 421, and a second gap 450 is formed between the bottom wall of the groove 423 and the outer peripheral wall of the rigid wheel 200. The second oil seal 700 is positioned and installed in the second gap 450 through the groove 423, which makes assembly simpler and more convenient.

[0053] Continue to refer to Figure 2 As shown, the inner bearing ring 410 is provided with a first raceway 411 and a second raceway 412 at two opposite ends along the rotation axis O of the wave generator 300 . The first raceway 411 and the second raceway 412 are both annular and are spaced apart in the direction of the rotation axis O.

[0054] The first outer bearing ring 421 is provided with a third raceway 4211 located on the outer side of the first raceway 411 (i.e., the side away from the second raceway 412) and opposite to the first raceway 411, and the second outer bearing ring 422 is provided with a fourth raceway 4221 located on the outer side of the second raceway 412 (i.e., the side away from the first raceway 411) and opposite to the second raceway 412, and both the third raceway 4211 and the fourth raceway 4221 are annular.

[0055] A first annular space is formed between the first raceway 411 and the third raceway 4211, and a plurality of first rolling bodies 460 are installed in the first annular space. A second annular space is formed between the second raceway 412 and the fourth raceway 4221, and a plurality of second rolling bodies 470 are installed in the second annular space. In this embodiment, two sets of rolling body structures of the first rolling body 460 and the second rolling body 470 are adopted, which can improve the bearing capacity of the bearing device 400, and the structure of the inner bearing ring 410, the first outer bearing ring 421 and the second outer bearing ring 422 is conducive to the assembly of the harmonic reducer, and it is easier to adapt to different loads. It can be understood that the first rolling body 460 can be a sphere, or a cylinder, a cone or other cylinder; the second rolling body 470 can be a sphere, or a cylinder, a cone or other cylinder, which is not specifically limited here. In addition, in this embodiment, the first rolling body 460 and the second rolling body 470 can be made of metal materials such as steel.

[0056] Reference Figure 2 As shown, the inner bearing ring 410 forms a boss 413 between the first raceway 411 and the second raceway 412, and the boss 413 can improve the structural strength of the first raceway 411 and the second raceway 412. A channel is formed between the inner wall of the first outer bearing ring 421, the inner wall of the second outer bearing ring 422 and the boss 413, and the channel is used to connect the first annular space and the second annular space, so that the lubricant can flow between the first annular space and the second annular space, thereby effectively lubricating the rolling element and the raceway.

[0057] In order to prevent the lubricant in the first oil storage space 500 from entering the second oil storage space 430, the first gap 440 includes at least two gaps that are angled to each other. Figure 2 and Figure 3As shown, the inner wall of the first outer bearing ring 421 extends toward the rotation axis O and is provided with a protrusion 4212, the center of the protrusion 4212 is formed as a through hole, the inner bearing ring 410 is provided with a step portion 414 spaced from the protrusion 4212, and a first gap 440 is formed between the protrusion 4212 and the step portion 414. A first gap is formed between the inner hole surface 4213 of the protrusion 4212 and the horizontal surface 4141 of the step portion 414, and a second gap is formed between the right end surface 4214 of the protrusion 4212 and the vertical surface 4142 of the step portion 414. The first gap and the second gap are arranged at an angle to each other, for example, at a right angle. In one embodiment, the first oil seal 600 can be configured to seal the connection between the first gap and the second gap. In another embodiment, the first oil seal 600 can be configured to seal the first gap and the second gap at the same time to achieve double sealing. In yet another embodiment, the first oil seal 600 may be configured to seal the second gap, and the first gap may function as a labyrinth seal to prevent the lubricant from entering the second gap.

[0058] Reference Figure 4 As shown, in one embodiment of the utility model, the first oil seal 600 includes a mounting ring 610 and a first lip 620. The mounting ring 610 is fixedly connected to the protrusion 4212. The mounting ring 610 can be interference-connected in the through hole of the protrusion 4212, or installed in the through hole by bonding, screwing, etc. As another embodiment, the mounting ring 610 can also be fixedly connected to the right end surface 4214 (the end away from the flange part 130) or the left end wall (the end facing the flange part 130) of the protrusion 4212. The first lip 620 is connected to the mounting ring 610, and the first lip 620 extends from the mounting ring 610 into the first gap 440 and seals the first gap 440, thereby achieving stable installation of the first oil seal 600 and effective sealing of the first gap 440.

[0059] In order to improve the stability of the first oil seal 600, the mounting ring 610 is integrally manufactured with a metal material, for example, manufactured by a stamping process, so that the overall structure of the first oil seal 600 is more stable. The first lip 620 is configured as a sealing ring wrapped around at least a portion of the outer wall of the mounting ring 610, and is configured to seal the connection between the first section gap and the second section gap in the first gap 440. The sealing ring is integrally manufactured with a rubber material and then installed on the mounting ring 610, or is integrally injection molded with the mounting ring 610, which can achieve a better sealing effect.

[0060] Reference Figure 5 and Figure 6As shown, in another embodiment of the utility model, the first oil seal 600 includes a first lip 620 and a second lip 630, the mounting ring 610 includes a first ring body 611 and a second ring body 612, the first ring body 611 is clamped to the end of the protrusion 4212 toward one end of the rotation axis O, the first lip 620 is fixedly connected to the first ring body 611, and is used to seal the first gap 440.

[0061] The second ring body 612 is connected to the first ring body 611 and extends toward the direction of the rotation axis O. The second ring body 612 and the left end surface of the inner bearing ring 410 are spaced to form a third gap 640 connected to the first gap 440. The third gap 640 and the first section of the gap of the first gap 440 are arranged at an angle to each other, so the third gap 640 and the first gap 440 form a labyrinth seal. The second lip 630 is fixedly connected to the second ring body 612 and extends to the inner bearing ring 410, thereby sealing the third gap 640 between the second ring body 612 and the inner bearing ring 410, further inhibiting the lubricant from entering the second oil storage space 430. In this embodiment, two-stage sealing is achieved through the first lip 620 and the second lip 630, and a labyrinth seal formed by the first gap 440 and the third gap 640 is formed, so that the lubricant in the first oil storage space 500 and the lubricant in the second oil storage space 430 can be better blocked from exchanging, thereby protecting the life of the bearing device 400.

[0062] Continue to refer to Figure 5 and Figure 6 As shown, it can be understood that the first ring body 611 is provided with a shoulder 613, and the shoulder 613 is located on the side wall of the protrusion 4212 facing the inner bearing ring 410 (i.e., the right end face 4214), and the shoulder 613 can limit the first oil seal 600 from escaping in the direction away from the inner bearing ring 410, thereby improving the installation stability of the first oil seal 600.

[0063] In order to improve the stability of the first oil seal 600, the first ring body 611, the second ring body 612 and the shoulder 613 are integrally manufactured with metal materials, for example, by a stamping process or a folding process, so that the overall structure of the first oil seal 600 is more stable. The first lip 620 and the second lip 630 are configured as sealing rings wrapped around at least a portion of the outer wall of the mounting ring 610. The sealing rings are integrally manufactured with rubber materials and then mounted on the mounting ring 610, or are integrally injection molded with the mounting ring 610. Therefore, the sealing rings can play a good sealing effect on the first gap 440 and the third gap 640.

[0064] An industrial robot in one embodiment of the utility model comprises a motor and the harmonic reducer of the above embodiment. It is understandable that the motor can be a servo motor, and the servo motor drive is connected to the harmonic reducer to perform deceleration control on the joints of the industrial robot. The industrial robot can be a handling robot, a welding robot, an assembly robot, a processing robot, a spraying robot, a cleaning robot, a collaborative robot, etc.

[0065] The industrial robot of the embodiment of the utility model adopts the harmonic reducer of the above embodiment. The harmonic reducer is provided with a first oil seal 600 and a second oil seal 700 in the gaps on both sides of the bearing device 400. The bearing device 400 is arranged around the outer side of the cylinder 110 of the flexible wheel 100. A first oil storage space 500 for storing lubricant for lubricating the gear pair is formed between the bearing device 400, the cylinder 110 and the diaphragm 120. The bearing device 400 includes an inner bearing ring 410 and an outer bearing ring 420. A second oil storage space 430 for storing lubricant for lubricating the raceway and the rolling element is formed between the outer bearing ring 420 and the inner bearing ring 410. The first oil seal 600 is used to block the first oil storage space 500. The lubricant in the first oil storage space 500 is exchanged with the lubricant in the second oil storage space 430, and the second oil seal 700 is used to prevent the lubricant in the second oil storage space 430 from overflowing. The first oil seal 600 can inhibit the lubricant containing iron powder and abrasive particles in the first oil storage space 500 from entering the second oil storage space 430 after lubricating the gear pair, thereby effectively preventing abnormal damage to the bearing device 400 and improving the service life of the harmonic reducer; and under the joint action of the first oil seal 600 and the second oil seal 700, the second oil storage space 430 is formed into a sealed cavity, so the lubricant can be selected according to the performance and working conditions of the harmonic reducer, thereby improving the lubrication effect in the bearing device 400 and improving the performance of the whole machine.

[0066] The industrial robot of the embodiment of the utility model adopts all the technical solutions of the harmonic reducer of the above embodiment, and therefore has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here.

[0067] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Harmonic reducer, characterized in that: include: A rigid wheel having an internal tooth portion; The flexible wheel comprises a cylinder, a diaphragm and a flange, wherein the cylinder is provided with an outer tooth portion cooperating with the inner tooth portion, and a meshing gap is formed between the outer tooth portion and the inner tooth portion, the diaphragm is connected to an end of the cylinder away from the outer tooth portion and extends to the outside of the cylinder, and the flange is connected to the outer peripheral edge of the diaphragm; a wave generator coaxially mounted on the inner hole of the flexspline, the wave generator being configured to mesh the outer tooth portion with the inner tooth portion when rotating; A bearing device, used for supporting the rigid wheel and the flexible wheel so that they can rotate relatively, the bearing device is arranged around the outer side of the cylinder, and a first oil storage space connected with the meshing gap is formed between the bearing device, the cylinder and the diaphragm; the bearing device includes an inner bearing ring and an outer bearing ring, the inner bearing ring is fixedly connected to the rigid wheel, the outer bearing ring is arranged around the outer side of the inner bearing ring and is fixedly connected to the flange, a second oil storage space is formed between the outer bearing ring and the inner bearing ring, a first gap is provided between the outer bearing ring and the inner bearing ring on a side of the second oil storage space close to the first oil storage space, and a second gap is provided between the outer bearing ring and the rigid wheel on a side of the second oil storage space away from the first oil storage space; a first oil seal installed in the first gap to prevent the lubricant in the first oil storage space from exchanging with the lubricant in the second oil storage space; The second oil seal is installed in the second gap and is used to prevent the lubricant in the second oil storage space from overflowing.

2. The harmonic reducer according to claim 1, characterized in that: The inner wall of the outer bearing ring close to one end of the flange portion is provided with a protrusion extending toward the rotation axis of the wave generator, and the inner bearing ring is provided with a step portion spaced apart from the protrusion, and the first gap is formed between the protrusion and the step portion.

3. The harmonic reducer according to claim 2, characterized in that: The first oil seal includes a mounting ring and a first lip. The mounting ring is fixedly connected to the protruding portion. The first lip is connected to the mounting ring and extends in the first gap to seal the first gap.

4. The harmonic reducer according to claim 3, characterized in that: The first oil seal also includes a second lip, and the mounting ring includes a first ring body and a second ring body, the first ring body is clamped on the end of the protrusion toward one end of the rotation axis, the first lip is connected to the first ring body, the second ring body is connected to the first ring body and extends toward the direction of the rotation axis, the second ring body is spaced apart from the inner bearing ring, and the second lip is connected to the second ring body and extends toward the inner bearing ring to seal the gap between the second ring body and the inner bearing ring.

5. The harmonic reducer according to claim 4, characterized in that: The first ring body is provided with a stop shoulder, and the stop shoulder is located on the side wall of the protruding portion facing the inner bearing ring to limit the first oil seal from escaping in a direction away from the inner bearing ring.

6. The harmonic reducer according to claim 4, characterized in that: The first lip and the second lip are configured as sealing rings wrapped around at least a portion of an outer wall of the mounting ring.

7. The harmonic reducer according to claim 6, characterized in that: The sealing ring is integrally manufactured from rubber material; and / or, The mounting ring is integrally manufactured from metal material.

8. The harmonic reducer according to claim 1, characterized in that: A groove is provided at one end of the outer bearing ring away from the flange portion, and the second gap is formed between the bottom wall of the groove and the outer peripheral wall of the rigid wheel.

9. The harmonic reducer according to claim 1, characterized in that: The inner bearing ring is provided with a first raceway and a second raceway at two ends opposite to each other along the rotation axis of the wave generator, and the first raceway and the second raceway are annular and arranged at intervals; the outer bearing ring includes a first outer bearing ring connected to the flange portion, and a second outer bearing ring connected to the first outer bearing ring, the first outer bearing ring is provided with a third raceway located on the outside of the first raceway and opposite to the first raceway, and the second outer bearing ring is provided with a fourth raceway located on the outside of the second raceway and opposite to the second raceway; a plurality of first rolling bodies are installed in a first annular space formed between the first raceway and the third raceway, and a plurality of second rolling bodies are installed in a second annular space formed between the second raceway and the fourth raceway.

10. The harmonic reducer according to claim 9, characterized in that: A boss is formed between the first raceway and the second raceway, and a channel is formed between the inner wall of the first outer bearing ring, the inner wall of the second outer bearing ring and the boss, and the channel is used to connect the first annular space and the second annular space.

11. An industrial robot, characterized in that: Including the harmonic reducer according to any one of claims 1 to 10.

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