Speed reducer and robot

Abstract

The utility model provides a speed reducer and a robot. The speed reducer comprises a supporting part, a rotating shaft, an output part, a threading pipe and a first sealing piece; the rotating shaft is arranged on the supporting component and can rotate relative to the supporting component, and a first through hole penetrating in the axial direction is formed in the rotating shaft; the output component is connected with the rotating shaft, is positioned at one end of the rotating shaft away from the supporting component and can rotate relative to the rotating shaft; the threading pipe is arranged in the first through hole, the threading pipe is connected with the output component, and a first oil cavity is formed between the threading pipe and the output component; the first sealing piece is arranged between the threading pipe and the output component, located on the side, away from the supporting component, of the first oil cavity and capable of sealing a gap between the threading pipe and the output component. In addition, due to the fact that the first sealing piece is static relative to the threading pipe and the first sealing piece is static relative to the output component, the first sealing piece does not cause extra energy loss in the power transmission process of the speed reducer, and the power transmission efficiency of the speed reducer is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more particularly, to a speed reducer and a robot. Background Art

[0002] At present, in the related art, industrial robots generally use speed reducers as robot joints. The speed reducer includes a rotating shaft and an output flange. The rotating shaft and the output flange are supported by bearings, so that relative rotation exists between the output flange and the rotating shaft. A sealing structure needs to be provided between the rotating shaft and the output flange to prevent the lubricating medium for lubricating the bearings from leaking. However, due to the relative rotation between the rotating shaft and the output flange, there will be friction between the sealing structure and the rotating shaft, resulting in energy loss and reducing the power transmission efficiency of the speed reducer. Summary of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] To this end, a first aspect of the utility model provides a speed reducer.

[0005] A second aspect of the utility model provides a robot.

[0006] In view of this, a first aspect of the utility model provides a speed reducer, including a support member, a rotating shaft, an output member, a wire conduit, and a first seal; the rotating shaft is disposed on the support member and can rotate relative to the support member. The rotating shaft is provided with a first through hole penetrating along the axial direction; the output member is connected to the rotating shaft and is located at an end of the rotating shaft away from the support member and can rotate relative to the rotating shaft; the wire conduit is disposed in the first through hole, the wire conduit is connected to the output member, and there is a first oil chamber between the wire conduit and the output member; the first seal is disposed between the wire conduit and the output member and is located on a side of the first oil chamber away from the support member and can seal the gap between the wire conduit and the output member.

[0007] The speed reducer provided by the present application includes a support component, a rotating shaft, and an output component. The rotating shaft is arranged on the support component and can rotate relative to the support component, thereby realizing the support of the rotating shaft through the support component and improving the stability of power transmission of the speed reducer. The output component is connected to the rotating shaft and is located at one end of the rotating shaft away from the support component and can rotate relative to the rotating shaft. The rotating shaft can transmit power to the outside through the output component, thereby realizing the power output of the speed reducer. A first through hole penetrating axially is provided on the rotating shaft, and a wire pipe is arranged in the first through hole. The cable of the speed reducer or the cable of the related equipment using the speed reducer can pass through the wire pipe to penetrate the speed reducer, reducing the wiring difficulty and improving the neatness of the cable. The wire pipe is connected to the output component, and there is a first oil cavity between the wire pipe and the output component. Lubricating medium can be stored in the inner shell of the first oil cavity, and thus the speed reducer can be lubricated through the lubricating medium in the first oil cavity, reducing the friction force existing in the power transmission process of the speed reducer, and further improving the power transmission efficiency of the speed reducer.

[0008] A first seal is arranged between the wire pipe and the output component and is located on the side of the first oil cavity away from the support component, thereby realizing the sealing of the gap between the wire pipe and the output component. And because the wire pipe is connected to the output component and there is no relative rotation between the wire pipe and the output component, the first seal is used as a static seal to realize the sealing of the gap between the wire pipe and the output component.

[0009] Since the first seal is stationary relative to the wire pipe and the first seal is stationary relative to the output component, there will be no additional frictional loss during the power transmission process of the speed reducer by the first seal, and there will be no additional energy loss during the power transmission process of the speed reducer by the first seal, further improving the power transmission efficiency of the speed reducer. And because there is no additional frictional loss during the power transmission process of the speed reducer by the first seal, the wear rate of the first seal itself is reduced, the service life of the first seal is prolonged; and the sealing effect of the first seal on the first oil cavity is improved, the probability of oil leakage from the first oil cavity is reduced, and thus the stability during the power transmission process of the speed reducer is improved.

[0010] And by arranging a first seal between the wire pipe and the output component, while realizing the sealing of the first oil cavity, there is no need to add additional auxiliary structures to realize the static seal of the first oil cavity. While improving the sealing effect of the speed reducer, the complexity of the structure of the speed reducer is not increased, thereby reducing the material cost of the speed reducer and simplifying the assembly process of the speed reducer.

[0011] And by arranging a first seal between the wire pipe and the output component, while realizing the sealing of the first oil cavity, the first seal no longer cooperates with the first rotating shaft to realize sealing, reducing the requirement for the surface machining accuracy of the rotating shaft, thereby simplifying the machining process of the rotating shaft, reducing the manufacturing difficulty of the rotating shaft, and reducing the machining cost of the rotating shaft.

[0012] Further, the output component is an output flange.

[0013] Further, the speed reducer is a harmonic speed reducer, and the rotating shaft is a wave generator.

[0014] The speed reducer can also be a cycloidal speed reducer or a planetary speed reducer, and is also applicable to speed reducers with different principles in different fields.

[0015] Further, the lubricating medium used in the speed reducer is a lubricating grease or lubricating oil with a relatively high viscosity.

[0016] In addition, the speed reducer in the above technical solution provided by the present utility model may also have the following additional technical features:

[0017] In some technical solutions of the present utility model, optionally, the wire conduit includes a pipe body and a sealing portion; the pipe body is disposed in the first through hole; the sealing portion is connected to one end of the pipe body away from the support member and is located on the side of the output member away from the support member; wherein, at least one of the sealing portion and the output member is provided with a first sealing groove, the first sealing groove is arranged around the first oil cavity, and a first sealing member is disposed in the first sealing groove.

[0018] In this technical solution, the wire conduit includes a pipe body and a sealing portion, the pipe body is disposed in the first through hole; the sealing portion is connected to one end of the pipe body away from the support member and is located on the side of the output member away from the support member, so that the whole wire conduit extends to one side of the output member in the axial direction, and the sealing portion is in axial end face fit with the output member, reducing the occupation of the radial space of the speed reducer and being beneficial to the miniaturization of the speed reducer.

[0019] At least one of the sealing portion and the output member is provided with a first sealing groove, the first sealing groove is arranged around the first oil cavity, and a first sealing member is disposed in the first sealing groove, realizing the installation and positioning of the first sealing member, avoiding the displacement of the first sealing member due to factors such as vibration during the operation of the speed reducer, and improving the stability of the first sealing member during the operation of the speed reducer. And the first sealing member is disposed in the first sealing groove, so that the gap between the sealing portion and the output member is reduced at the position where the first sealing member is not provided, further improving the sealing effect between the sealing portion and the output member.

[0020] By providing a first sealing member between the axial end faces of the sealing portion and the output member, it is no longer necessary for one end of the rotating shaft close to the output member to cooperate with the first sealing member, thereby shortening the length of the rotating shaft, reducing the weight of the rotating shaft, further reducing the inertia of the rotating shaft, improving the control precision of the speed reducer, and allowing the same specification servo motor to allocate more power to improve the operation rhythm of the robot.

[0021] Further, the first sealing groove is provided on the output component. The sealing part is in a plate-like structure and does not have the first sealing groove. The output component can be a casting, and the first sealing groove is die-cast when the output component is die-cast, or can be machined by a processing device, for example, the first sealing groove is machined by a lathe. The sealing part and the pipe body can be sheet metal parts of an integral structure, and the threading pipe can be integrally stamped.

[0022] The first sealing groove can also be provided on the sealing part, and the first sealing groove is formed by stamping when the threading pipe is stamped.

[0023] Both the sealing part and the output component can be provided with the first sealing groove. The notch of the first sealing groove on the sealing part is opposite to the notch of the first sealing groove on the output component. One part of the first sealing member is arranged in the first sealing groove on the sealing part, and the other part of the first sealing member is arranged in the first sealing groove of the output component.

[0024] Further, the first sealing member can be an O-ring, or a lip seal or a gasket and other sealing members, and can also be a labyrinth seal, a sealant and an end face oil seal.

[0025] Further, the sealing part is arranged in a ring shape. The sealing part is provided with a first mounting hole, and the first mounting hole is a through hole that penetrates the sealing part along the axial direction of the rotating shaft. There are multiple first mounting holes, and the multiple first mounting holes are arranged along the circumferential direction of the sealing part. The output component is provided with multiple first threaded holes at positions opposite to the multiple first mounting holes. The speed reducer further includes a first connecting member, and the first connecting member passes through the first mounting hole and is screwed into the first threaded hole, thereby fixing the sealing part to the output component.

[0026] The first connecting member can be a threaded connecting member such as a screw, a bolt or a screw rod.

[0027] The multiple first mounting holes are arranged along the outer circumference of the first sealing groove, thereby fixing the first sealing member to the inner circumference of the sealing part, improving the strength of the contact position between the first sealing member and the sealing part, and further improving the sealing effect at the first sealing member.

[0028] In some technical solutions of the present utility model, optionally, the speed reducer further includes a first transmission wheel and a second transmission wheel; the first transmission wheel is connected to the support component; the second transmission wheel is connected to the output component, is located on the side of the output component close to the support component, and is sleeved outside the rotating shaft and cooperates with the first transmission wheel. There is a second oil cavity between the second transmission wheel and the rotating shaft, and the second oil cavity is communicated with the first oil cavity.

[0029] In this technical solution, the speed reducer further includes a first transmission wheel and a second transmission wheel. The first transmission wheel is connected to the support component, and the second transmission wheel is connected to the output component, is located on the side of the output component close to the support component, and is sleeved outside the rotating shaft and cooperates with the first transmission wheel, thereby realizing the output of power through the first transmission wheel, the rotating shaft and the second transmission wheel.

[0030] There is a second oil cavity between the second transmission wheel and the rotating shaft. The second oil cavity is communicated with the first oil cavity, and the second oil cavity can also store lubricating medium, thereby realizing the lubrication between the first transmission wheel and the second transmission wheel and improving the smoothness of power transmission of the speed reducer.

[0031] Furthermore, the cooperation between the first transmission wheel and the second transmission wheel can also play a certain sealing effect.

[0032] In some technical solutions of the present utility model, optionally, there is a third oil cavity between the rotating shaft and the supporting member, and the third oil cavity is communicated with the second oil cavity.

[0033] In this technical solution, there is a third oil cavity between the rotating shaft and the supporting member, and the third oil cavity is communicated with the second oil cavity. The third oil cavity can also store lubricating medium, thereby realizing the lubrication of the rotational friction between the rotating shaft and the supporting member and improving the smoothness of power transmission of the speed reducer.

[0034] In some technical solutions of the present utility model, optionally, the speed reducer further includes a sealed bearing, and the sealed bearing is arranged between the rotating shaft and the supporting member and is located on the side of the third oil cavity away from the output member.

[0035] In this technical solution, the sealed bearing is arranged between the rotating shaft and the supporting member and is located on the side of the third oil cavity away from the output member. Thus, the third oil cavity is sealed by the sealed bearing, and part of the lubricating medium in the third oil cavity can enter the sealed bearing, thereby realizing the lubrication of the sealed bearing, reducing the frictional loss of the sealed bearing during the operation of the speed reducer, improving the power transmission efficiency of the speed reducer, and prolonging the service life of the sealed bearing.

[0036] Furthermore, the sealed bearing is a non-contact deep groove ball bearing.

[0037] In some technical solutions of the present utility model, optionally, the speed reducer further includes a second seal, and the second seal is arranged between the output member and the second transmission wheel. In the radial direction of the rotating shaft, the second seal is located outside the second oil cavity and is arranged around the second oil cavity.

[0038] In this technical solution, the speed reducer further includes a second seal, and the second seal is arranged between the output member and the second transmission wheel, thereby realizing the sealing of the gap between the second transmission wheel and the output member. In the radial direction of the rotating shaft, the second seal is located outside the second oil cavity and is arranged around the second oil cavity, and the second seal realizes the sealing of the second oil cavity.

[0039] The second transmission wheel is connected to the output component, and there is no relative rotation between the second transmission wheel and the output component. Thus, the second seal functions as a static seal to seal the gap between the second transmission wheel and the output component.

[0040] Since the second seal is stationary relative to the second transmission wheel and also stationary relative to the output component, there will be no additional frictional losses during the power transmission of the speed reducer by the second seal, and there will be no additional energy losses either. This further improves the power transmission efficiency of the speed reducer. And because there are no additional frictional losses during the power transmission of the speed reducer by the second seal, the wear rate of the second seal itself is reduced, and the service life of the second seal is extended; also, the sealing effect of the second seal on the second oil chamber is improved, the probability of oil leakage from the second oil chamber is reduced, and thus the stability of the speed reducer during power transmission is enhanced.

[0041] Furthermore, the second seal can be an O-ring, or a lip seal or a gasket and other seals, and can also be a labyrinth seal, sealant, and end face oil seal.

[0042] In some technical solutions of the present utility model, optionally, the second transmission wheel includes a flexible part and a mounting part; the flexible part meshes with the first transmission wheel; the mounting part is connected to the flexible part and is located on the side of the flexible part close to the output component; wherein, at least one of the mounting part and the output component is disposed in the second seal groove, and the second seal is disposed in the second seal groove.

[0043] In this technical solution, the flexible part meshes with the first transmission wheel to achieve power transmission. The mounting part is connected to the flexible part and is located on the side of the flexible part close to the output component. At least one of the mounting part and the output component is disposed in the second seal groove, and the second seal is disposed in the second seal groove, which realizes the installation and positioning of the second seal, avoids the displacement of the second seal due to factors such as vibration during the operation of the speed reducer, and improves the stability of the second seal during the operation of the speed reducer. And the second seal is disposed in the second seal groove, which reduces the gap between the mounting part and the output component at the position where the second seal is not provided, further improving the sealing effect between the mounting part and the output component.

[0044] Furthermore, the second seal groove is disposed in the output component, and the mounting part is not provided with the second seal groove. The output component can be a casting, and the second seal groove can be die-cast when the output component is die-cast, or can also be machined by a processing device, such as machining the second seal groove by a lathe.

[0045] The second seal groove can also be disposed in the mounting part.

[0046] Both the installation part and the output component can be provided with a second sealing groove. The notch of the second sealing groove on the installation part is opposite to the notch of the second sealing groove on the output component. A part of the second seal is arranged in the second sealing groove on the installation part, and the other part of the second seal is arranged in the second sealing groove of the output component.

[0047] Furthermore, the installation part is arranged in a ring shape and is provided with a second installation hole. The second installation hole is a through hole that penetrates the installation part along the axial direction of the rotating shaft. There are multiple second installation holes, and the multiple second installation holes are arranged along the circumferential direction of the installation part. The output component is provided with multiple third installation holes at positions opposite to the multiple second installation holes. The third installation hole is a through hole that penetrates the output component along the axial direction of the rotating shaft.

[0048] The speed reducer further includes an output arm and a second connecting member. The output arm is provided with multiple second threaded holes at positions opposite to the multiple third installation holes. The second connecting member passes through the second installation hole and the third installation hole and is screwed to the output arm, thereby realizing the fixation among the installation part, the output component, and the output arm.

[0049] The second connecting member can be a threaded connecting member such as a screw, a bolt, or a screw rod.

[0050] The multiple second installation holes are arranged along the outer circumference of the second sealing groove, thereby fixing the second seal to the inner circumference of the installation part, enhancing the strength of the contact position between the second seal and the installation part, and further enhancing the sealing effect at the second seal.

[0051] In some technical solutions of the present invention, optionally, the rotating shaft includes a first shaft body and a second shaft body; the first shaft body is rotatably connected to the supporting component; the second shaft body is sleeved on the first shaft body, and the radial cross-section of the second shaft body is elliptical; the flexible part is sleeved on the second shaft body.

[0052] In this technical solution, the first shaft body is rotatably connected to the supporting component and can be used as the power input end of the speed reducer. The motor can transmit power to the speed reducer through the first shaft body. The second shaft body is connected to the first shaft body, and the radial cross-section of the second shaft body is elliptical. The flexible part is sleeved on the second shaft body. During the process of the first shaft body driving the second shaft body to rotate, the second shaft body can cause the flexible part to deform. During the meshing process between the flexible part and the first transmission wheel, the power is transmitted to the output component, and thus the speed reducer realizes the power output through the output component.

[0053] Furthermore, the inner circumference of the first transmission wheel is provided with first teeth, the outer circumference of the flexible part is provided with second teeth, the first teeth are meshed with the second teeth, and the number of the first teeth is greater than the number of the second teeth.

[0054] In some technical solutions of the present invention, optionally, the speed reducer further includes a third seal, and the third seal is arranged between the first transmission wheel and the supporting component and is arranged around the third oil chamber.

[0055] In this technical solution, the speed reducer further includes a third seal, which is arranged between the support member and the first transmission wheel, thereby realizing the sealing of the gap between the first transmission wheel and the support member. In the radial direction of the rotating shaft, the third seal is located outside the third oil chamber and is arranged around the third oil chamber, and the third seal realizes the sealing of the third oil chamber.

[0056] The first transmission wheel is connected to the support member, and there is no relative rotation between the first transmission wheel and the support member, so that the third seal is used as a static seal to realize the sealing of the gap between the first transmission wheel and the support member.

[0057] Since the third seal is stationary relative to the first transmission wheel and the third seal is stationary relative to the support member, there will be no additional frictional loss during the power transmission process of the speed reducer, and there will be no additional energy loss during the power transmission process of the speed reducer, further improving the power transmission efficiency of the speed reducer. And because there is no additional frictional loss during the power transmission process of the speed reducer, the wear rate of the third seal itself is reduced, and the service life of the third seal is extended; and the sealing effect of the third seal on the third oil chamber is improved, and the probability of oil leakage from the third oil chamber is reduced, thereby improving the stability of the speed reducer during the power transmission process.

[0058] Further, the third seal can be an O-ring, or a lip seal or a gasket and other seals, and can also be a labyrinth seal, a sealant and an end face oil seal.

[0059] In some technical solutions of the present invention, optionally, at least one of the first transmission wheel and the support member is provided with a third seal groove, and the third seal is arranged in the third seal groove.

[0060] In this technical solution, at least one of the first transmission wheel and the support member is provided with a third seal groove, and the third seal is arranged in the third seal groove, realizing the installation and positioning of the third seal, avoiding the displacement of the third seal due to factors such as vibration during the operation of the speed reducer, and improving the stability of the third seal during the operation of the speed reducer. And the third seal is arranged in the third seal groove, so that the gap between the first transmission wheel and the support member is reduced at the position where the third seal is not arranged, further improving the sealing effect between the first transmission wheel and the support member.

[0061] Further, the third seal groove is arranged on the support member, and the first transmission wheel is not provided with a third seal groove. The support member can be a casting, and the third seal groove is die-cast when the support member is die-cast, or can be machined by a processing device, for example, the third seal groove is machined by a lathe.

[0062] The third sealing groove can also be arranged on the first transmission wheel.

[0063] Both the first transmission wheel and the support component can be provided with the third sealing groove. The notch of the third sealing groove on the first transmission wheel is opposite to the notch of the third sealing groove on the support component. One part of the third sealing member is arranged in the third sealing groove on the first transmission wheel, and the other part of the third sealing member is arranged in the third sealing groove of the support component.

[0064] Further, the first transmission wheel is arranged in a ring shape. The first transmission wheel is provided with a fourth mounting hole, and the fourth mounting hole is a through hole that penetrates the first transmission wheel along the axial direction of the rotating shaft. There are multiple fourth mounting holes, and the multiple fourth mounting holes are arranged along the circumferential direction of the first transmission wheel. The support component is provided with multiple fifth mounting holes at positions opposite to the multiple fourth mounting holes, and the fifth mounting holes are through holes that penetrate the support component along the axial direction of the rotating shaft.

[0065] The speed reducer further includes a third connecting member, and the third connecting member passes through the fourth mounting hole and the fifth mounting hole, thereby realizing the fixation of the first transmission wheel and the support component.

[0066] The third connecting member can be a threaded connecting member such as a screw, a bolt or a screw rod.

[0067] The multiple fourth mounting holes are arranged along the outer circumference of the third sealing groove, thereby fixing the third sealing member to the inner circumference of the first transmission wheel, enhancing the strength of the contact position between the third sealing member and the first transmission wheel, and further enhancing the sealing effect at the third sealing member.

[0068] In some technical solutions of the present utility model, optionally, the speed reducer further includes a support bearing, and the support bearing is arranged between the rotating shaft and the output component and is located between the first oil chamber and the second oil chamber.

[0069] In this technical solution, the speed reducer further includes a support bearing, and the support bearing is arranged between the rotating shaft and the output component, thereby realizing the support of the rotating shaft and the output component, making the rotation of the rotating shaft relative to the output component smoother. The support bearing is located between the first oil chamber and the second oil chamber, and the lubricating media in the first oil chamber and the second oil chamber can lubricate the support bearing, reducing the frictional loss of the sealed bearing during the operation of the speed reducer, improving the power transmission efficiency of the speed reducer, and prolonging the service life of the sealed bearing.

[0070] Further, the support bearing is a deep groove ball bearing.

[0071] Further, the rotating shaft can be connected to the driving motor. The first shaft body of the rotating shaft drives the second shaft body to rotate, thereby driving the flexible part of the second transmission wheel to deform. The second flexible part meshes with the first transmission wheel, thereby driving the second transmission wheel to rotate, and the second transmission wheel outputs power through the output component.

[0072] In some technical solutions of the utility model, optionally, the output component is provided with a first bearing chamber, the support bearing is arranged in the first bearing chamber, and the reducer also includes a corrugated spring, which is arranged in the first bearing chamber and located between the output component and the support bearing.

[0073] In this technical solution, the output component is provided with a first bearing chamber for installing a support bearing, and a corrugated spring is arranged between the support bearing and the inner wall of the first bearing chamber. The corrugated spring provides elastic force to achieve axial sealing of the support bearing, thereby improving the sealing effect of the reducer.

[0074] In some technical solutions of the present utility model, optionally, the rotating shaft and the threading tube extend in a vertical direction.

[0075] In this technical solution, the rotating shaft and the threading tube extend in the vertical direction, so that the lubricating medium in the first oil chamber, the second oil chamber and the third oil chamber is maintained in the three oil chambers under the action of gravity, so that there is no need to set an additional sealing structure on the upper part of the rotating shaft and the threading tube, thereby simplifying the deceleration structure.

[0076] Furthermore, for the vertical joint of the robot, during the operation of the vertical joint, under the action of gravity, the lubricating medium is subjected to a downward force under the action of gravity, and the air permeability inside the reducer can ensure that the lubricating medium will not leak from the upper end due to pressure; the hollow shaft is the transmission shaft of the reducer, and the threading tube realizes sealing and protection of the wiring harness, so that the threading tube passes through the hollow shaft and is connected to the output flange of the reducer to form a closed space. The seal on the upper part of the vertical joint is eliminated to reduce the friction of the joint, reduce material costs, and improve the performance of the robot.

[0077] Furthermore, the reducer is installed vertically and the input side is sealed by non-contact sealing. The reducer is also suitable for the case where the reducer is installed non-vertically and lubricated by a lubricating medium with a certain viscosity.

[0078] In some technical solutions of the present utility model, optionally, one end of the threading tube away from the output component extends to a side of the supporting component away from the output component.

[0079] In this technical solution, one end of the threading tube away from the output component extends to the side of the supporting component away from the output component, so that the height of the top end of the threading tube is higher than the height of the third oil chamber, thereby preventing the lubricating medium from overflowing from the gap between the threading tube and the rotating shaft, further improving the sealing effect of the reducer.

[0080] In some technical solutions of the present utility model, optionally, when assembling the speed reducer, first, the sealing between the rotating shaft and the output component is achieved. The realization of the sealing relies on the end face static seal between the threading pipe and the output component to form a first sealing surface. The outer diameter of the threading pipe is slightly smaller than the hollow diameter of the rotating shaft so that the threading pipe can pass through the hollow position of the rotating shaft. The bottom of the threading pipe is provided with a circular end face and a circumferential through hole. The output component is provided with a first sealing groove for placing a first sealing member. A circle of first threaded holes is arranged outside the first sealing groove, and the number and size thereof are the same as those of the first mounting holes on the end face of the threading pipe. Place the first sealing member in the first sealing groove on the end face of the output component, pass the threading pipe through the output flange, and lock it with a first connecting member.

[0081] After the pre-assembly of the threading pipe and the output component is completed, the sealing between the second transmission wheel and the output component is implemented to form a second sealing surface. The second oil cavity stores the lubricating medium and is communicated with the first oil cavity. To prevent the leakage of the lubricating medium in the first oil cavity, the end face static seal between the second transmission wheel and the output component is realized by using a second sealing member. The lower end face of the output component is provided with a second sealing groove for placing the second sealing member. A circle of second threaded holes is arranged on the joint surface between the output arm and the lower end face of the output component, and the number of the threaded holes is the same as the number of the second connecting members installed on the output surface of the speed reduction mechanism. Place the second sealing member in the second sealing groove of the output component, align the second mounting holes and the third mounting holes on the outside of the speed reduction mechanism and the output component, and lock the speed reduction mechanism, the output component, and the output arm with a second connecting member.

[0082] To implement the sealing between the rotating shaft and the output component, the non-contact sealed deep groove ball bearing must be pre-assembled with the rotating shaft, the corrugated spring is placed, and the pre-assembled rotating shaft is inserted into the speed reduction mechanism. The corrugated spring provides elastic force to achieve the axial seal of the deep groove ball bearing. The threading pipe passes through the hollow position of the rotating shaft.

[0083] Implement the sealing between the support component and the first transmission wheel of the speed reduction mechanism to form a third sealing surface. A third oil cavity is formed between the speed reduction mechanism, the rotating shaft, and the support component, and the static seal of the speed reduction mechanism and the support component is carried out. The lower end face of the support component is provided with a third sealing groove for placing a third sealing member, and the mounting plate, the support component, and the speed reduction mechanism are connected and fastened with a third connecting member.

[0084] The speed reduction mechanism is vertically installed. At the same time, the non-contact sealed deep groove ball bearing has the functions of sealing, ventilation, and pressure relief, and the sealing between the rotating shaft and the support component is completed by relying on the non-contact deep groove ball bearing. Finally, the synchronous pulley and the rotating shaft are connected by screws to complete the assembly of the oil-free seal of the hollow speed reduction mechanism.

[0085] The speed reduction mechanism includes a first transmission wheel and a second transmission wheel.

[0086] The installation of the speed reduction mechanism is achieved through this assembly method, making the assembly of the speed reduction mechanism convenient. After the pre-assembly of the wire conduit and the output component, and the pre-assembly of the wave generator and the bearing, the installation of each part of the speed reduction mechanism, the output component, the output arm, and the support component is carried out from top to bottom, without the need to reverse the parts multiple times, greatly improving the assembly efficiency.

[0087] In the second aspect of the present invention, a robot is provided, including a speed reducer as in any of the above technical solutions. Therefore, the robot has all the beneficial effects of the speed reducer as in any of the above technical solutions.

[0088] Furthermore, the robot further includes a mounting plate, and the support component is mounted on the mounting plate through a third connecting member.

[0089] The speed reducer further includes a synchronous pulley, and the synchronous pulley is sleeved on the rotating shaft.

[0090] Some of the additional aspects and advantages of the present invention will be given in the following description, some will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0092] Figure 1 One of the cross-sectional views of the speed reducer according to an embodiment of the present invention is shown;

[0093] Figure 2 Another cross-sectional view of the speed reducer according to an embodiment of the present invention is shown;

[0094] Figure 3 A partial schematic view of the speed reducer at the first seal according to an embodiment of the present invention is shown;

[0095] Figure 4 A schematic structural view of the wire conduit according to an embodiment of the present invention is shown;

[0096] Figure 5 A schematic structural view of the rotating shaft according to an embodiment of the present invention is shown;

[0097] Figure 6 A partial schematic view of the speed reducer at the second seal according to an embodiment of the present invention is shown;

[0098] Figure 7 A partial schematic view of the speed reducer at the third seal according to an embodiment of the present invention is shown;

[0099] Figure 8Shows a third cross-sectional view of a speed reducer according to an embodiment of the present invention.

[0100] Among them, Figures 1 to 8 The corresponding relationship between the reference numerals and the component names in is:

[0101] 10 Speed reducer, 100 Support component, 200 Rotating shaft, 210 First through hole, 220 First shaft body, 230 Second shaft body, 300 Output component, 310 First bearing chamber, 400 Conduit, 410 Pipe body, 420 Sealing part, 430 First mounting hole, 510 First seal, 520 First seal groove, 530 Second seal, 540 Second seal groove, 550 Third seal, 560 Third seal groove, 610 First oil cavity, 620 Second oil cavity, 630 Third oil cavity, 710 First transmission wheel, 720 Second transmission wheel, 722 Flexible part, 724 Mounting part, 730 Sealed bearing, 740 Support bearing, 750 Corrugated spring, 760 First connecting part, 770 Output arm, 780 Second connecting part, 790 Third connecting part, 810 Mounting plate, 820 Synchronous belt pulley. Detailed implementation manners

[0102] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0103] Many specific details are set forth in the following description in order to fully understand 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 by the specific embodiments disclosed below.

[0104] Next, refer to Figures 1 to 8 Describe a speed reducer 10 and a robot according to some embodiments of the present invention.

[0105] In an embodiment of the present invention, as Figure 1 , Figure 2 And Figure 3 Shown, a speed reducer 10 is provided, including a support component 100, a rotating shaft 200, an output component 300, a conduit 400 and a first seal 510; the rotating shaft 200 is arranged on the support component 100 and can rotate relative to the support component 100. The rotating shaft 200 is provided with an axial direction (such as Figure 1A first through hole 210 that penetrates in the direction indicated by arrow A; an output component 300 is connected to the rotating shaft 200, is located at one end of the rotating shaft 200 away from the support component 100, and can rotate relative to the rotating shaft 200; a wire threading pipe 400 is arranged in the first through hole 210, the wire threading pipe 400 is connected to the output component 300, and a first oil cavity 610 is formed between the wire threading pipe 400 and the output component 300; a first seal 510 is arranged between the wire threading pipe 400 and the output component 300, is located on a side of the first oil cavity 610 away from the support component 100, and can seal the gap between the wire threading pipe 400 and the output component 300.

[0106] In this embodiment, the speed reducer 10 includes a support component 100, a rotating shaft 200, and an output component 300. The rotating shaft 200 is arranged on the support component 100 and can rotate relative to the support component 100, so as to realize the support of the rotating shaft 200 through the support component 100 and improve the stability of power transmission of the speed reducer 10. The output component 300 is connected to the rotating shaft 200, is located at one end of the rotating shaft 200 away from the support component 100, and can rotate relative to the rotating shaft 200. The rotating shaft 200 can transmit power to the outside through the output component 300, thereby realizing the power output of the speed reducer 10. The rotating shaft 200 is provided with a first through hole 210 that penetrates axially, and a wire threading pipe 400 is arranged in the first through hole 210. The cable of the speed reducer 10 or the cable of the related equipment applying the speed reducer 10 can pass through the wire threading pipe 400 to pass through the speed reducer 10, reducing the wiring difficulty and improving the neatness of the cable. The wire threading pipe 400 is connected to the output component 300, and a first oil cavity 610 is formed between the wire threading pipe 400 and the output component 300. A lubricating medium can be stored in the first oil cavity 610, and thus the speed reducer 10 can be lubricated through the lubricating medium in the first oil cavity 610, reducing the friction force existing in the power transmission process of the speed reducer 10, and thereby improving the power transmission efficiency of the speed reducer 10.

[0107] The first seal 510 is arranged between the wire threading pipe 400 and the output component 300, is located on a side of the first oil cavity 610 away from the support component 100, so as to realize the sealing of the gap between the wire threading pipe 400 and the output component 300. And because the wire threading pipe 400 is connected to the output component 300 and there is no relative rotation between the wire threading pipe 400 and the output component 300, the first seal 510 is used as a static seal to realize the sealing of the gap between the wire threading pipe 400 and the output component 300.

[0108] Since the first seal 510 is stationary relative to the conduit 400 and the first seal 510 is stationary relative to the output component 300, there is no additional frictional loss during the power transmission of the speed reducer 10, and there is no additional energy loss during the power transmission of the speed reducer 10, further improving the power transmission efficiency of the speed reducer 10. And since there is no additional frictional loss during the power transmission of the speed reducer 10, the wear rate of the first seal 510 itself is reduced, and the service life of the first seal 510 is extended; and the sealing effect of the first seal 510 on the first oil chamber 610 is improved, and the probability of oil leakage from the first oil chamber 610 is reduced, thereby improving the stability of the speed reducer 10 during power transmission.

[0109] And by providing the first seal 510 between the conduit 400 and the output component 300, while achieving the sealing of the first oil chamber 610, there is no need to add additional auxiliary structures to achieve the static sealing of the first oil chamber 610. While improving the sealing effect of the speed reducer 10, the complexity of the structure of the speed reducer 10 is not increased, thereby reducing the material cost of the speed reducer 10 and simplifying the assembly process of the speed reducer 10.

[0110] And by providing the first seal 510 between the conduit 400 and the output component 300, while achieving the sealing of the first oil chamber 610, the first seal 510 no longer cooperates with the first rotating shaft 200 to achieve sealing, reducing the requirement for the surface machining accuracy of the rotating shaft 200, thereby simplifying the machining process of the rotating shaft 200, reducing the manufacturing difficulty of the rotating shaft 200, and reducing the machining cost of the rotating shaft 200.

[0111] Further, the output component 300 is an output flange.

[0112] Further, the speed reducer 10 is a harmonic speed reducer 10, and the rotating shaft 200 is a wave generator.

[0113] The speed reducer 10 can also be a cycloidal speed reducer 10 or a planetary speed reducer 10, and is also applicable to speed reducers 10 with different principles in different fields.

[0114] Further, the lubricating medium used in the speed reducer 10 is a lubricating grease or lubricating oil with a relatively high viscosity.

[0115] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0116] As Figure 1 and Figure 4As shown, the conduit 400 includes a pipe body 410 and a sealing portion 420; the pipe body 410 is disposed within the first through hole 210; the sealing portion 420 is connected to an end of the pipe body 410 remote from the support member 100 and is located on a side of the output member 300 remote from the support member 100; wherein, at least one of the sealing portion 420 and the output member 300 is provided with a first sealing groove 520, the first sealing groove 520 is arranged around the first oil chamber 610, and the first sealing member 510 is disposed within the first sealing groove 520.

[0117] In this embodiment, the conduit 400 includes a pipe body 410 and a sealing portion 420, the pipe body 410 is disposed within the first through hole 210; the sealing portion 420 is connected to an end of the pipe body 410 remote from the support member 100 and is located on a side of the output member 300 remote from the support member 100, so that the whole of the conduit 400 extends to one side of the output member 300 in the axial direction, and the sealing portion 420 is in axial end face fit with the output member 300, reducing the occupation of the radial (such as Figure 1 the direction indicated by arrow B in the figure) space of the speed reducer 10, which is beneficial to the miniaturization of the speed reducer 10.

[0118] At least one of the sealing portion 420 and the output member 300 is provided with a first sealing groove 520, the first sealing groove 520 is arranged around the first oil chamber 610, and the first sealing member 510 is disposed within the first sealing groove 520, realizing the installation and positioning of the first sealing member 510, avoiding displacement of the first sealing member 510 due to factors such as vibration during the operation of the speed reducer 10, and improving the stability of the first sealing member 510 during the operation of the speed reducer 10. And the first sealing member 510 is disposed within the first sealing groove 520, so that the gap between the sealing portion 420 and the output member 300 is reduced at the position where the first sealing member 510 is not provided, further improving the sealing effect between the sealing portion 420 and the output member 300.

[0119] By providing the first sealing member 510 between the axial end faces of the sealing portion 420 and the output member 300, the end of the rotating shaft 200 close to the output member 300 no longer needs to cooperate with the first sealing member 510, so that the length of the rotating shaft 200 can be shortened, the weight of the rotating shaft 200 can be reduced, and further the inertia of the rotating shaft 200 can be reduced, improving the control accuracy of the speed reducer 10, and more power can be allocated to the same specification of servo motor to improve the running rhythm of the robot.

[0120] Further, the first sealing groove 520 is provided on the output component 300. The sealing portion 420 is a plate-like structure and does not have the first sealing groove 520. The output component 300 can be a casting, and the first sealing groove 520 can be die-cast when the output component 300 is die-cast, or the first sealing groove 520 can be machined by a processing device, such as machining the first sealing groove 520 by a lathe. The sealing portion 420 and the pipe body 410 can be sheet metal parts with an integral structure, and the threading pipe 400 can be integrally stamped.

[0121] The first sealing groove 520 can also be provided on the sealing portion 420. When the threading pipe 400 is stamped, the first sealing groove 520 is stamped and formed.

[0122] Both the sealing portion 420 and the output component 300 can be provided with the first sealing groove 520. The notch of the first sealing groove 520 on the sealing portion 420 is opposite to the notch of the first sealing groove 520 on the output component 300. A part of the first seal 510 is arranged in the first sealing groove 520 on the sealing portion 420, and another part of the first seal 510 is arranged in the first sealing groove 520 of the output component 300.

[0123] Further, the first seal 510 can be an O-ring, or a lip seal or a gasket and other seals, and can also be a labyrinth seal, sealant and end face oil seal.

[0124] Further, the sealing portion 420 is arranged in a ring shape. The sealing portion 420 is provided with a first mounting hole 430. The first mounting hole 430 is a through hole that penetrates the sealing portion 420 along the axial direction of the rotating shaft 200. There are multiple first mounting holes 430, and the multiple first mounting holes 430 are arranged along the circumferential direction of the sealing portion 420. The output component 300 is provided with a plurality of first threaded holes at positions opposite to the multiple first mounting holes 430. The speed reducer 10 further includes a first connecting member 760. The first connecting member 760 passes through the first mounting hole 430 and is screwed into the first threaded hole, thereby fixing the sealing portion 420 to the output component 300.

[0125] The first connecting member 760 can be a threaded connecting member such as a screw, a bolt or a screw rod.

[0126] The multiple first mounting holes 430 are arranged along the outer circumference of the first sealing groove 520, thereby fixing the first seal 510 to the inner circumference of the sealing portion 420, improving the strength of the contact position between the first seal 510 and the sealing portion 420, and further improving the sealing effect at the first seal 510.

[0127] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0128] Such as Figure 1 And Figure 2As shown, the speed reducer 10 further includes a first transmission wheel 710 and a second transmission wheel 720; the first transmission wheel 710 is connected to the support member 100; the second transmission wheel 720 is connected to the output member 300, is located on the side of the output member 300 close to the support member 100, and is sleeved outside the rotating shaft 200 and cooperates with the first transmission wheel 710. There is a second oil chamber 620 between the second transmission wheel 720 and the rotating shaft 200, and the second oil chamber 620 is communicated with the first oil chamber 610.

[0129] In this embodiment, the speed reducer 10 further includes a first transmission wheel 710 and a second transmission wheel 720. The first transmission wheel 710 is connected to the support member 100, and the second transmission wheel 720 is connected to the output member 300. The second transmission wheel 720 is located on the side of the output member 300 close to the support member 100, is sleeved outside the rotating shaft 200, and cooperates with the first transmission wheel 710. Thus, the output of power is realized through the first transmission wheel 710, the rotating shaft 200, and the second transmission wheel 720.

[0130] There is a second oil chamber 620 between the second transmission wheel 720 and the rotating shaft 200, and the second oil chamber 620 is communicated with the first oil chamber 610. The second oil chamber 620 can also store a lubricating medium, thereby realizing the lubrication between the first transmission wheel 710 and the second transmission wheel 720 and improving the smoothness of power transmission of the speed reducer 10.

[0131] Furthermore, the cooperation between the first transmission wheel 710 and the second transmission wheel 720 can also achieve a certain sealing effect.

[0132] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiment, this embodiment further includes the following technical features.

[0133] As Figure 1 and Figure 2 shown, there is a third oil chamber 630 between the rotating shaft 200 and the support member 100, and the third oil chamber 630 is communicated with the second oil chamber 620.

[0134] In this embodiment, there is a third oil chamber 630 between the rotating shaft 200 and the support member 100, and the third oil chamber 630 is communicated with the second oil chamber 620. The third oil chamber 630 can also store a lubricating medium, thereby realizing the lubrication of the rotational friction between the rotating shaft 200 and the support member 100 and improving the smoothness of power transmission of the speed reducer 10.

[0135] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiment, this embodiment further includes the following technical features.

[0136] As Figure 1 、 Figure 2 and Figure 5As shown, the speed reducer 10 further includes a sealed bearing 730. The sealed bearing 730 is arranged between the rotating shaft 200 and the support member 100, and is located on the side of the third oil chamber 630 away from the output member 300.

[0137] In this embodiment, the sealed bearing 730 is arranged between the rotating shaft 200 and the support member 100, and is located on the side of the third oil chamber 630 away from the output member 300. Thus, the sealed bearing 730 is used to seal the third oil chamber 630. Moreover, part of the lubricating medium in the third oil chamber 630 can enter the sealed bearing 730, thereby lubricating the sealed bearing 730, reducing the frictional loss of the sealed bearing 730 during the operation of the speed reducer 10, improving the power transmission efficiency of the speed reducer 10, and prolonging the service life of the sealed bearing 730.

[0138] Furthermore, the sealed bearing 730 is a non-contact deep groove ball bearing.

[0139] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiment, this embodiment further includes the following technical features.

[0140] As Figure 1 and Figure 6 shown, the speed reducer 10 further includes a second seal 530. The second seal 530 is arranged between the output member 300 and the second transmission wheel 720. In the radial direction of the rotating shaft 200, the second seal 530 is located outside the second oil chamber 620 and is arranged around the second oil chamber 620.

[0141] In this embodiment, the speed reducer 10 further includes a second seal 530. The second seal 530 is arranged between the output member 300 and the second transmission wheel 720, thereby sealing the gap between the second transmission wheel 720 and the output member 300. In the radial direction of the rotating shaft 200, the second seal 530 is located outside the second oil chamber 620 and is arranged around the second oil chamber 620, and the second seal 530 seals the second oil chamber 620.

[0142] The second transmission wheel 720 is connected to the output member 300, and there is no relative rotation between the second transmission wheel 720 and the output member 300. Thus, the second seal 530 is used as a static seal to seal the gap between the second transmission wheel 720 and the output member 300.

[0143] Since the second seal 530 is stationary relative to the second drive wheel 720 and the second seal 530 is stationary relative to the output member 300, there is no additional frictional loss during the power transmission of the speed reducer 10, and there is no additional energy loss during the power transmission of the speed reducer 10, further improving the power transmission efficiency of the speed reducer 10. And since there is no additional frictional loss during the power transmission of the speed reducer 10, the wear rate of the second seal 530 itself is reduced, and the service life of the second seal 530 is extended; and the sealing effect of the second seal 530 on the second oil chamber 620 is improved, and the probability of oil leakage from the second oil chamber 620 is reduced, thereby improving the stability of the speed reducer 10 during power transmission.

[0144] Further, the second seal 530 can be an O-ring, or a lip seal or a gasket, etc., and can also be a labyrinth seal, a sealant and an end face oil seal.

[0145] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0146] As Figure 1 、 Figure 2 and Figure 6 shown, the second drive wheel 720 includes a flexible portion 722 and a mounting portion 724; the flexible portion 722 meshes with the first drive wheel 710; the mounting portion 724 is connected to the flexible portion 722 and is located on the side of the flexible portion 722 close to the output member 300; wherein, at least one of the mounting portion 724 and the output member 300 is disposed in the second seal groove 540, and the second seal 530 is disposed in the second seal groove 540.

[0147] In this embodiment, the flexible portion 722 meshes with the first drive wheel 710 to achieve power transmission. The mounting portion 724 is connected to the flexible portion 722 and is located on the side of the flexible portion 722 close to the output member 300. At least one of the mounting portion 724 and the output member 300 is disposed in the second seal groove 540, and the second seal 530 is disposed in the second seal groove 540 to achieve the installation and positioning of the second seal 530, avoiding displacement of the second seal 530 due to vibration and other factors during the operation of the speed reducer 10, and improving the stability of the second seal 530 during the operation of the speed reducer 10. And the second seal 530 is disposed in the second seal groove 540, so that the gap between the mounting portion 724 and the output member 300 is reduced at the position where the second seal 530 is not provided, further improving the sealing effect between the mounting portion 724 and the output member 300.

[0148] Furthermore, the second sealing groove 540 is provided on the output component 300, and the installation part 724 is not provided with the second sealing groove 540. The output component 300 can be a casting, and the second sealing groove 540 is die-cast when the output component 300 is die-cast, or the second sealing groove 540 can be machined by processing equipment, such as machining the second sealing groove 540 by a lathe.

[0149] The second sealing groove 540 can also be provided on the installation part 724.

[0150] Both the installation part 724 and the output component 300 can be provided with the second sealing groove 540. The notch of the second sealing groove 540 on the installation part 724 is opposite to the notch of the second sealing groove 540 on the output component 300. A part of the second sealing member 530 is arranged in the second sealing groove 540 on the installation part 724, and another part of the second sealing member 530 is arranged in the second sealing groove 540 of the output component 300.

[0151] Furthermore, the installation part 724 is arranged in a ring shape. The installation part 724 is provided with second installation holes. The second installation holes are through holes that penetrate the installation part 724 along the axial direction of the rotating shaft 200. There are multiple second installation holes, and the multiple second installation holes are arranged along the circumferential direction of the installation part 724. The output component 300 is provided with multiple third installation holes at positions opposite to the multiple second installation holes. The third installation holes are through holes that penetrate the output component 300 along the axial direction of the rotating shaft 200.

[0152] The speed reducer 10 further includes an output arm 770 and a second connecting member 780. The output arm 770 is provided with multiple second threaded holes at positions opposite to the multiple third installation holes. The second connecting member 780 passes through the second installation holes and the third installation holes and is screwed to the output arm 770, thereby realizing the fixation among the installation part 724, the output component 300, and the output arm 770.

[0153] The second connecting member 780 can be a threaded connecting member such as a screw, a bolt, or a screw rod.

[0154] The multiple second installation holes are arranged along the outer circumference of the second sealing groove 540, thereby fixing the second sealing member 530 to the inner circumference of the installation part 724, enhancing the strength of the contact position between the second sealing member 530 and the installation part 724, and further enhancing the sealing effect at the second sealing member 530.

[0155] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0156] Such as Figure 1 、 Figure 2 and Figure 5As shown, the rotating shaft 200 includes a first shaft body 220 and a second shaft body 230; the first shaft body 220 is rotatably connected to the support member 100; the second shaft body 230 is sleeved on the first shaft body 220, and the radial cross-section of the second shaft body 230 is elliptical; the flexible portion 722 is sleeved on the second shaft body 230.

[0157] In this embodiment, the first shaft body 220 is rotatably connected to the support member 100 and can serve as the power input end of the speed reducer 10. The motor can transmit power to the speed reducer 10 through the first shaft body 220. The second shaft body 230 is connected to the first shaft body 220, and the radial cross-section of the second shaft body 230 is elliptical. The flexible portion 722 is sleeved on the second shaft body 230. During the process of the first shaft body 220 driving the second shaft body 230 to rotate, the second shaft body 230 can cause the flexible portion 722 to deform. During the meshing process of the flexible portion 722 and the first transmission wheel 710, power is transmitted to the output member 300, and further, the speed reducer 10 realizes power output through the output member 300.

[0158] Further, the inner circumference of the first transmission wheel 710 is provided with first teeth, the outer circumference of the flexible portion 722 is provided with second teeth, the first teeth and the second teeth are meshed, and the number of the first teeth is greater than the number of the second teeth.

[0159] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0160] As Figure 1 、 Figure 2 and Figure 7 shown, the speed reducer 10 further includes a third seal 550. The third seal 550 is disposed between the first transmission wheel 710 and the support member 100 and is arranged around the third oil chamber 630.

[0161] In this embodiment, the speed reducer 10 further includes a third seal 550. The third seal 550 is disposed between the support member 100 and the first transmission wheel 710, thereby realizing the sealing of the gap between the first transmission wheel 710 and the support member 100. In the radial direction of the rotating shaft 200, the third seal 550 is located outside the third oil chamber 630 and is arranged around the third oil chamber 630. The third seal 550 realizes the sealing of the third oil chamber 630.

[0162] The first transmission wheel 710 is connected to the support member 100, and there is no relative rotation between the first transmission wheel 710 and the support member 100. Therefore, the third seal 550 is used as a static seal to realize the sealing of the gap between the first transmission wheel 710 and the support member 100.

[0163] Since the third seal 550 is stationary relative to the first driving wheel 710 and the third seal 550 is stationary relative to the support member 100, there is no additional frictional loss during the power transmission of the speed reducer 10, and there is no additional energy loss during the power transmission of the speed reducer 10, further improving the power transmission efficiency of the speed reducer 10. And since there is no additional frictional loss during the power transmission of the speed reducer 10 by the third seal 550, the wear rate of the third seal 550 itself is reduced, and the service life of the third seal 550 is extended; and the sealing effect of the third seal 550 on the third oil chamber 630 is improved, and the probability of oil leakage from the third oil chamber 630 is reduced, thereby improving the stability of the speed reducer 10 during power transmission.

[0164] Further, the third seal 550 can be an O-ring, or a lip seal or a gasket, etc., and can also be a labyrinth seal, a sealant and an end face oil seal.

[0165] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0166] As Figure 1 、 Figure 2 and Figure 7 shown, at least one of the first driving wheel 710 and the support member 100 is provided with a third seal groove 560, and the third seal 550 is disposed in the third seal groove 560.

[0167] In this embodiment, at least one of the first driving wheel 710 and the support member 100 is provided with a third seal groove 560, and the third seal 550 is disposed in the third seal groove 560 to realize the installation and positioning of the third seal 550, and prevent the third seal 550 from being displaced due to factors such as vibration during the operation of the speed reducer 10, improving the stability of the third seal 550 during the operation of the speed reducer 10. And the third seal 550 is disposed in the third seal groove 560, so that the gap between the first driving wheel 710 and the support member 100 is reduced at the position where the third seal 550 is not provided, further improving the sealing effect between the first driving wheel 710 and the support member 100.

[0168] Further, the third seal groove 560 is disposed on the support member 100, and the first driving wheel 710 is not provided with the third seal groove 560. The support member 100 can be a casting, and the third seal groove 560 can be die-cast on the support member 100 during die-casting, or the third seal groove 560 can be machined by a processing device, for example, the third seal groove 560 is machined by a lathe.

[0169] The third sealing groove 560 can also be provided on the first driving wheel 710.

[0170] Both the first driving wheel 710 and the support member 100 can be provided with the third sealing groove 560. The notch of the third sealing groove 560 on the first driving wheel 710 faces the notch of the third sealing groove 560 on the support member 100. A part of the third seal 550 is disposed in the third sealing groove 560 on the first driving wheel 710, and another part of the third seal 550 is disposed in the third sealing groove 560 of the support member 100.

[0171] Furthermore, the first driving wheel 710 is arranged in a ring shape. The first driving wheel 710 is provided with a fourth mounting hole, and the fourth mounting hole is a through hole that penetrates the first driving wheel 710 along the axial direction of the rotating shaft 200. There are a plurality of fourth mounting holes, and the plurality of fourth mounting holes are arranged along the circumferential direction of the first driving wheel 710. The support member 100 is provided with a plurality of fifth mounting holes at positions opposite to the plurality of fourth mounting holes, and the fifth mounting holes are through holes that penetrate the support member 100 along the axial direction of the rotating shaft 200.

[0172] The speed reducer 10 further includes a third connecting member 790. The third connecting member 790 passes through the fourth mounting hole and the fifth mounting hole, thereby realizing the fixation of the first driving wheel 710 and the support member 100.

[0173] The third connecting member 790 can be a threaded connecting member such as a screw, a bolt or a screw rod.

[0174] The plurality of fourth mounting holes are arranged along the outer circumference of the third sealing groove 560, thereby fixing the third seal 550 to the inner circumference of the first driving wheel 710, enhancing the strength of the contact position between the third seal 550 and the first driving wheel 710, and further enhancing the sealing effect at the third seal 550.

[0175] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0176] As Figure 1 、 Figure 2 and Figure 5 shown, the speed reducer 10 further includes a support bearing 740. The support bearing 740 is disposed between the rotating shaft 200 and the output member 300, and is located between the first oil chamber 610 and the second oil chamber 620.

[0177] In this embodiment, the speed reducer 10 further includes a support bearing 740, which is arranged between the rotating shaft 200 and the output component 300, so as to support the rotating shaft 200 and the output component 300, and make the rotation of the rotating shaft 200 relative to the output component 300 smoother. The support bearing 740 is located between the first oil chamber 610 and the second oil chamber 620. The lubricating medium in the first oil chamber 610 and the second oil chamber 620 can lubricate the support bearing 740, reduce the friction loss of the sealing bearing 730 during the operation of the speed reducer 10, improve the power transmission efficiency of the speed reducer 10, and extend the service life of the sealing bearing 730.

[0178] Further, the support bearing 740 is a deep groove ball bearing.

[0179] Further, the rotating shaft 200 can be connected to a driving motor. The first shaft body 220 of the rotating shaft 200 drives the second shaft body 230 to rotate, and then drives the flexible part 722 of the second transmission wheel 720 to deform. The second flexible part 722 meshes with the first transmission wheel 710, so as to make the second transmission wheel 720 rotate, and the second transmission wheel 720 outputs power through the output component 300.

[0180] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0181] As Figure 1 、 Figure 2 and Figure 8 shown, the output component 300 is provided with a first bearing chamber 310, the support bearing 740 is arranged in the first bearing chamber 310, and the speed reducer 10 further includes a corrugated spring 750, which is arranged in the first bearing chamber 310 and is located between the output component 300 and the support bearing 740.

[0182] In this embodiment, the output component 300 is provided with a first bearing chamber 310 for installing the support bearing 740, and a corrugated spring 750 is arranged between the support bearing 740 and the inner wall of the first bearing chamber 310. The corrugated spring 750 provides elastic force to realize the axial sealing of the support bearing 740, so as to improve the sealing effect of the speed reducer 10.

[0183] This embodiment provides a speed reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0184] As Figure 1 and Figure 2 shown, the rotating shaft 200 and the threading pipe 400 extend in the vertical direction (as Figure 2 indicated by the arrow C).

[0185] In this embodiment, the rotating shaft 200 and the wire threading pipe 400 extend in the vertical direction, so that the lubricating medium in the first oil chamber 610, the second oil chamber 620 and the third oil chamber 630 is maintained in the three oil chambers under the action of gravity. Furthermore, no additional sealing structure needs to be provided at the upper part of the rotating shaft 200 and the wire threading pipe 400, thus simplifying the structure of the reducer.

[0186] Furthermore, for the vertical joint of the robot, during the operation of the vertical joint, under the action of gravity, the lubricating medium is subject to a downward force, ensuring that the air permeability inside the reducer 10 can ensure that the lubricating medium does not leak from the upper end due to pressure; the hollow rotating shaft 200 is the transmission shaft of the reducer 10, and the wire threading pipe 400 realizes sealing and protecting the wire harness, so that the wire threading pipe 400 passes through the hollow shaft and is connected to the output flange of the reducer 10 to form a sealed space. Canceling the seal at the upper part of the vertical joint reduces the joint friction, reduces the material cost, and improves the performance of the robot.

[0187] Furthermore, the reducer 10 adopts a vertical installation method and completes the sealing of the input side through non-contact sealing. This reducer 10 is also applicable to the case where the reducer 10 is installed non-vertically and lubricated with a lubricating medium having a certain viscosity.

[0188] This embodiment provides a reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0189] As Figure 1 and Figure 2 shown, one end of the wire threading pipe 400 away from the output component 300 extends to the side of the support component 100 away from the output component 300.

[0190] In this embodiment, one end of the wire threading pipe 400 away from the output component 300 extends to the side of the support component 100 away from the output component 300, so that the height of the top end of the wire threading pipe 400 is higher than the height of the third oil chamber 630, thereby preventing the lubricating medium from overflowing from the gap between the wire threading pipe 400 and the rotating shaft 200, and further improving the sealing effect of the reducer 10.

[0191] This embodiment provides a reducer 10. In addition to the technical features of the above embodiments, this embodiment further includes the following technical features.

[0192] As Figure 1 and Figure 2As shown in the figure, when assembling the speed reducer 10, first, the sealing between the rotating shaft 200 and the output component 300 is achieved. The realization of the sealing depends on the end face static seal between the threading pipe 400 and the output component 300, forming the first sealing surface. The outer diameter of the threading pipe 400 is slightly smaller than the hollow diameter of the rotating shaft 200 so that the threading pipe 400 can pass through the hollow position of the rotating shaft 200. The bottom of the threading pipe 400 is provided with a circular end face and a circle of through holes. The output component 300 is provided with a first sealing groove 520 for placing the first seal 510. A circle of first threaded holes is arranged outside the first sealing groove 520, and the number and size thereof are the same as those of the first mounting holes 430 on the end face of the threading pipe 400. Place the first seal 510 in the first sealing groove 520 on the end face of the output component 300, pass the threading pipe 400 through the output flange, and lock it with the first connecting piece 760.

[0193] After the pre-assembly of the threading pipe 400 and the output component 300 is completed, the sealing between the second transmission wheel 720 and the output component 300 is implemented to form the second sealing surface. The second oil cavity 620 stores the lubricating medium and communicates with the first oil cavity 610. To prevent the lubricating medium in the first oil cavity 610 from leaking, the end face static seal between the second transmission wheel 720 and the output component 300 is achieved by using the second seal 530. The lower end face of the output component 300 is provided with a second sealing groove 540 for placing the second seal 530. A circle of second threaded holes is arranged on the joint surface between the output arm 770 and the lower end face of the output component 300, and the number of the threaded holes is the same as that of the second connecting pieces 780 installed on the output surface of the reduction mechanism. Place the second seal 530 in the second sealing groove 540 of the output component 300, align the second mounting holes and the third mounting holes on the outside of the reduction mechanism and the output component 300, and lock the reduction mechanism, the output component 300, and the output arm 770 with the second connecting piece 780.

[0194] To implement the sealing between the rotating shaft 200 and the output component 300, the non-contact sealed deep groove ball bearing must be pre-assembled with the rotating shaft 200, the corrugated spring 750 is placed, and the pre-assembled rotating shaft 200 is inserted into the reduction mechanism. The corrugated spring 750 provides elastic force to achieve the axial seal of the deep groove ball bearing. The threading pipe 400 passes through the hollow position of the rotating shaft 200.

[0195] The sealing between the support component 100 and the first transmission wheel 710 of the reduction mechanism is implemented to form the third sealing surface. A third oil cavity 630 is formed between the reduction mechanism, the rotating shaft 200, and the support component 100, and the static seal of the reduction mechanism and the support component 100 is carried out. The lower end face of the support component 100 is provided with a third sealing groove 560 for placing the third seal 550, and the mounting plate 810, the support component 100, and the reduction mechanism are connected and fastened with the third connecting piece 790.

[0196] The reduction mechanism is vertically installed. At the same time, the non-contact sealed deep groove ball bearing has the functions of sealing, ventilation and pressure relief. The sealing between the rotating shaft 200 and the supporting component 100 is completed by the non-contact deep groove ball bearing. Finally, the synchronous pulley 820 and the rotating shaft 200 are connected by screws to complete the assembly of the hollow reduction mechanism without oil seal.

[0197] The reduction mechanism includes a first transmission wheel 710 and a second transmission wheel 720.

[0198] Through this assembly method, the installation of the reduction mechanism is realized, making the assembly of the reduction mechanism convenient. After the threading pipe 400 and the output component 300 are pre-assembled, and the wave generator and the bearing are pre-assembled, the installation of each part of the reduction mechanism, the output component 300, the output arm 770 and the supporting component 100 is installed from top to bottom, without the need to reverse the parts multiple times, greatly improving the assembly efficiency.

[0199] In an embodiment of the present invention, a robot is provided, including a speed reducer 10 as in any of the above embodiments. Therefore, the robot has all the beneficial effects of the speed reducer 10 as in any of the above embodiments.

[0200] Furthermore, the robot further includes a mounting plate 810, and the supporting component 100 is installed on the mounting plate 810 through a third connecting member 790.

[0201] The speed reducer 10 further includes a synchronous pulley 820, and the synchronous pulley 820 is sleeved on the rotating shaft 200.

[0202] In the claims, the description and the drawings of the present invention, the term "a plurality" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for more convenient description of the present invention and to make the description process simpler, rather than to indicate or imply that the device or element referred to must have the specific orientation, be constructed and operated in the specific orientation. Therefore, these descriptions should not be construed as limitations on the present invention; the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific situations of the above data.

[0203] In the claims, description and drawings of the present utility model, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In the claims, description and drawings of the present utility model, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0204] The foregoing is only the preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A reducer, characterized in that: include Support components; A rotating shaft, the rotating shaft is arranged on the supporting component and can rotate relative to the supporting component, and the rotating shaft is provided with a first through hole penetrating along the axial direction; an output component, the output component is connected to the rotating shaft, is located at an end of the rotating shaft away from the supporting component, and can rotate relative to the rotating shaft; A threading tube, the threading tube is arranged in the first through hole, the threading tube is connected to the output component, and a first oil chamber is formed between the threading tube and the output component; The first sealing member is arranged between the threading tube and the output component, and is located on a side of the first oil chamber away from the supporting component, and can seal the gap between the threading tube and the output component.

2. The reducer according to claim 1, characterized in that: The threading tube comprises: a tube body, wherein the tube body is disposed in the first through hole; A sealing portion, the sealing portion is connected to an end of the tube body away from the supporting component and is located on a side of the output component away from the supporting component; Wherein, at least one of the sealing portion and the output component is provided with a first sealing groove, the first sealing groove is arranged around the first oil chamber, and the first sealing member is provided in the first sealing groove.

3. The reducer according to claim 1, characterized in that: Also includes: a first transmission wheel, the first transmission wheel being connected to the supporting component; A second transmission wheel, the second transmission wheel is connected to the output component, is located on a side of the output component close to the supporting component, and is sleeved on the outer side of the rotating shaft, and cooperates with the first transmission wheel. A second oil chamber is provided between the second transmission wheel and the rotating shaft, and the second oil chamber is communicated with the first oil chamber.

4. The reducer according to claim 3, characterized in that: A third oil chamber is provided between the rotating shaft and the supporting component, and the third oil chamber is communicated with the second oil chamber.

5. The reducer according to claim 4, characterized in that: Also includes: A sealed bearing is disposed between the rotating shaft and the supporting component and is located at a side of the third oil chamber away from the output component.

6. The reducer according to claim 3, characterized in that: Also includes: A second sealing member is disposed between the output component and the second transmission wheel. In the radial direction of the rotating shaft, the second sealing member is located outside the second oil chamber and is disposed around the second oil chamber.

7. The reducer according to claim 6, characterized in that: The second transmission wheel comprises: a flexible portion, wherein the flexible portion is engaged with the first transmission wheel; a mounting portion, the mounting portion being connected to the flexible portion and being located at a side of the flexible portion close to the output component; Wherein, at least one of the mounting portion and the output component is disposed in a second sealing groove, and the second sealing member is disposed in the second sealing groove.

8. The reducer according to claim 7, characterized in that: The rotating shaft comprises: a first shaft body, the first shaft body being rotatably connected to the supporting component; A second shaft body, the second shaft body is sleeved on the first shaft body, and the radial cross section of the second shaft body is elliptical; The flexible portion is sleeved on the second shaft.

9. The reducer according to claim 4, characterized in that: Also includes: A third sealing member is disposed between the first transmission wheel and the supporting component and is arranged around the third oil chamber.

10. The reducer according to claim 9, characterized in that: At least one of the first transmission wheel and the supporting component is provided with a third sealing groove, and the third sealing member is provided in the third sealing groove.

11. The reducer according to claim 3, characterized in that: Also includes: A support bearing is disposed between the rotating shaft and the output component and between the first oil chamber and the second oil chamber.

12. The reducer according to claim 11, characterized in that: The output component is provided with a first bearing chamber, the support bearing is arranged in the first bearing chamber, and the reducer further comprises: A corrugated spring is arranged in the first bearing chamber and is located between the output component and the support bearing.

13. The reducer according to any one of claims 1 to 12, characterized in that: The rotating shaft and the threading tube extend in a vertical direction.

14. The reducer according to any one of claims 1 to 12, characterized in that: One end of the threading tube away from the output component extends to a side of the supporting component away from the output component.

15. A robot, characterized in that: It comprises the reducer as claimed in any one of claims 1 to 14.

Images