Transmission device, robot joint, robot apparatus, and mechanical apparatus

Abstract

The utility model provides a speed change device, a robot joint part, robot equipment and mechanical equipment. The input shaft is used for driving the variable-speed motor to operate; the variable-speed motor and the input shaft are installed on the installation part, the installation part is provided with an oil cavity used for containing lubricating oil and further provided with an exhaust channel, an air inlet of the exhaust channel is communicated with the oil cavity, and an air outlet of the exhaust channel is communicated with the outside; the ventilation valve is installed at the air outlet, and when the air pressure in the exhaust channel is larger than or equal to an exhaust threshold value, the ventilation valve exhausts air in the exhaust channel to the outside; the shielding piece shields the air inlet, and a gap is formed between the shielding piece and the air inlet. According to the structure, the exhaust channel is shielded through the shielding piece, lubricating oil is prevented from splashing to the ventilation valve, the situation that the lubricating oil influences the exhaust effect of the ventilation valve is avoided, and the overall reliability and safety of the speed change device are improved. According to the speed change device, the product structure is simplified, an external ventilation and oil drainage structure is prevented from being added, and the overall size is more compact.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a speed change device, a robot joint part, a robot device and a mechanical device. Background Art

[0002] Robot joints include a reducer, which is located in an oil chamber containing lubricating oil. When the reducer runs at high speed, the pressure in the oil chamber increases. To prevent oil leakage, a vent valve is typically installed at the oil chamber's exhaust port to relieve pressure. When the reducer rotates, lubricating oil easily splashes onto the vent valve, impairing the valve's exhaust efficiency. Related art techniques lack a protective structure for the vent valve. Utility Model Content

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

[0004] Therefore, the first object of the present invention is to provide a speed change device.

[0005] The second purpose of the present invention is to provide a robot joint.

[0006] The third purpose of the present invention is to provide a robot device.

[0007] The fourth object of the present invention is to provide a mechanical device.

[0008] To achieve at least one of the above-mentioned purposes, according to the first aspect of the present invention, a speed change device is proposed, including: a speed changer; an input shaft connected to the speed changer, the input shaft being used to drive the speed changer to operate to output torque; a mounting portion, the speed changer and the input shaft being mounted on the mounting portion, the mounting portion having an oil chamber for containing lubricating oil, the input shaft and a portion of the speed changer being located in the oil chamber, the mounting portion also having an exhaust channel, the air inlet of the exhaust channel being connected to the oil chamber, and the air outlet of the exhaust channel being connected to the outside world; a breather valve being mounted on the air outlet, when the air pressure in the exhaust channel is greater than or equal to the exhaust threshold, the breather valve discharges the gas in the exhaust channel to the outside world, and when the air pressure in the exhaust channel is less than the exhaust threshold, the breather valve prevents the gas in the exhaust channel from being discharged to the outside world; a shielding member being mounted on the mounting portion, the shielding member shielding the air inlet and having a distance between the shielding member and the air inlet.

[0009] This application proposes a speed change device, which includes a speed changer and an input shaft, wherein the input shaft is used to input torque, and the speed changer is used to output torque. The speed changer can be a speed reducer. Specifically, the input shaft is connected to the speed changer. When the speed changer is in operation, the input shaft rotates to drive the speed changer to operate. The speed changer can output torque under the drive of the input shaft. The speed changer can be connected to other devices and drive the devices to rotate. The speed of the speed changer driving the devices to rotate is different from the speed of the input shaft to achieve a speed change effect.

[0010] Furthermore, the speed change device also includes a mounting portion, which can be a flange structure, and the speed changer and the input shaft are both mounted on the mounting portion. The mounting portion has an oil chamber, and the oil chamber contains lubricating oil. A portion of the input shaft and a portion of the speed changer are located in the oil chamber. In this way, the input shaft and the speed changer can be lubricated by the lubricating oil in the oil chamber to reduce the friction between the input shaft and the various components of the speed changer. It is understandable that when the input shaft and the speed changer rotate at high speed, the temperature of the lubricating oil in the oil chamber increases, which in turn causes the pressure in the oil chamber to increase. In order to reduce the pressure in the oil chamber, the gas in the oil chamber needs to be discharged. The mounting portion also has an exhaust channel for exhaust. When the air pressure in the oil chamber is too high, part of the gas in the oil chamber can be discharged through the exhaust channel, thereby relieving the pressure in the oil chamber.

[0011] Specifically, the exhaust channel's air inlet communicates with the oil chamber, while its air outlet communicates with the outside world. A breathable valve is provided at the outlet. This breathable valve comprises a waterproof, breathable film that allows air to escape when subjected to high pressure, but becomes impermeable when subjected to low pressure. This allows the valve to either exhaust or not exhaust air depending on the pressure within the exhaust channel. Because the exhaust channel communicates with the oil chamber, the pressure within the exhaust channel varies with the pressure within the oil chamber. When the pressure within the exhaust channel is greater than or equal to an exhaust threshold, the breathable valve enables exhaust, discharging gas from the exhaust channel to the outside world, thereby relieving pressure in the oil chamber. When the pressure within the exhaust channel is less than the exhaust threshold, the breathable valve stops exhausting, preventing gas from escaping to the outside world and sealing the exhaust channel.

[0012] Understandably, the ventilation efficiency of the air valve is related to its surface cleanliness. If oil stains adhere to the waterproof and breathable film of the air valve, the ventilation efficiency of the air valve will be reduced. When the input shaft and the transmission rotate at high speed, the transmission can easily pick up lubricating oil and splash it onto the air valve. To protect the air valve, the transmission device of this application also includes a shielding member. Specifically, the shielding member is mounted on the mounting portion and blocks the air inlet to prevent lubricating oil from entering the exhaust passage, thereby preventing lubricating oil from splashing onto the air valve, thereby providing a certain degree of protection for the air valve. Furthermore, a gap is provided between the shielding member and the air inlet. This allows the gas in the oil chamber and the exhaust passage to flow normally, allowing the air pressure in the exhaust passage to change with the air pressure in the oil chamber. This allows the air valve to exhaust to the outside to relieve the pressure in the oil chamber when the air pressure in the oil chamber is too high.

[0013] By providing a shielding member within the transmission, the shielding member blocks the exhaust passageway where the breather valve is located, preventing lubricating oil from entering the exhaust passageway and, in turn, splashing onto the breather valve. This prevents the lubricating oil from affecting the breather valve's exhaust efficiency. This allows the breather valve to properly vent oil when the oil chamber pressure is excessively high, thereby reducing the pressure within the oil chamber and preventing oil chamber leakage. This improves the overall reliability and safety of the transmission. Furthermore, providing a breather valve at the air outlet and protecting it with a shielding member simplifies the complex structure of related products, avoids the need for an external breathable and oil-draining structure, and results in a more compact overall size, an attractive appearance, and ease of installation and operation.

[0014] The above-mentioned speed change device according to the present invention may also have the following distinguishing technical features:

[0015] In some technical solutions, optionally, the speed changer includes: a transmission member connected to the input shaft, the input shaft drives the transmission member to rotate, at least a portion of the transmission member is located in the oil chamber, and along the radial direction of the transmission member, at least a portion of the shielding member is located between the transmission member and the air inlet.

[0016] In this technical solution, the positional relationship between the transmission, the shielding member, and the air inlet is defined. The transmission includes a transmission member connected to an input shaft. The input shaft drives the transmission member to rotate, which in turn drives the other components of the transmission to rotate. At least a portion of the transmission member is located within an oil chamber containing lubricating oil, and at least a portion of the transmission member is immersed in the lubricating oil. When the input shaft drives the transmission member to rotate, the transmission member splashes the lubricating oil. At high speeds, the transmission member is prone to splashing the lubricating oil near the air inlet of the exhaust duct.

[0017] Furthermore, at least a portion of the shielding member is located between the transmission member and the air inlet in the radial direction of the transmission member. It is understood that lubricating oil will splash along the rotational direction of the transmission member, and the movement range of most of the splashed lubricating oil will not exceed the range corresponding to the radial direction of the transmission member. By positioning at least a portion of the shielding member between the transmission member and the air inlet, lubricating oil splashed by the transmission member can be prevented from entering the exhaust passage, thereby preventing the lubricating oil from splashing onto the breather valve, thereby protecting the breather valve from contamination by the lubricating oil and ensuring that the breather valve can properly relieve pressure.

[0018] In one possible technical solution, the speed changer can be a reducer, and the transmission member can be a gear. When the speed changer is a reducer, the input shaft rotates at a relatively high speed, which in turn drives the transmission member to rotate at a relatively high speed. The high-speed rotation of the transmission member will splash lubricating oil. If the air inlet is not shielded, the splashed lubricating oil will enter the exhaust passage, thereby contaminating the breather valve. To this end, the present application provides a shielding member between the air inlet of the exhaust passage and the transmission member. Specifically, in the radial direction of the transmission member, at least a portion of the shielding member is positioned between the air inlet and the transmission member, so that the shielding member blocks the lubricating oil splashed by the transmission member and protects the breather valve.

[0019] In some technical solutions, optionally, the exhaust passage is close to the top of the mounting portion, and the air inlet is connected to the top of the oil chamber.

[0020] In this technical solution, the location of the exhaust channel is defined. The exhaust channel is located close to the top of the mounting portion, and the air inlet is connected to the top of the oil chamber. It is understandable that the density of gas is less than that of liquid, and the air in the oil chamber will be concentrated at the top of the oil chamber. In order to allow the air in the oil chamber to be quickly discharged through the exhaust channel, the present application connects the air inlet to the top of the oil chamber, and sets the exhaust channel at a position close to the top of the mounting portion, so that when the pressure in the oil chamber is high, the air in the oil chamber can quickly flow into the exhaust channel, and the air can be quickly discharged to the outside through the exhaust channel, thereby improving the pressure relief efficiency of the oil chamber. Specifically, during the use and installation of the speed change device, the exhaust channel is always maintained in the vertical upward direction along the direction of gravity.

[0021] In some technical solutions, optionally, the exhaust channel includes: a first exhaust section, the air inlet is arranged in the first exhaust section; a second exhaust section, the air outlet is arranged in the second exhaust section, and the first exhaust section and the second exhaust section extend in different directions.

[0022] In this technical solution, the structure of the exhaust channel is defined. The exhaust channel includes a first exhaust section and a second exhaust section. The first exhaust section and the second exhaust section extend in different directions to prevent lubricating oil from splashing directly onto the breather valve, thereby further protecting the breather valve. Specifically, an air inlet is provided in the first exhaust section, the second exhaust section is connected to the first exhaust section, an air outlet is provided at one end of the second exhaust section away from the first exhaust section, and the breather valve is provided at the air outlet. Air in the oil chamber flows from the air inlet into the first exhaust section, then into the second exhaust section, and is then discharged to the outside through the breather valve from the air outlet. The first exhaust section and the second exhaust section extend in different directions. Even if a small amount of lubricating oil splashes into the first exhaust section from the air inlet, since the second exhaust section extends in a different direction from the first exhaust section, the lubricating oil cannot continue to flow into the second exhaust section, thereby further protecting the breather valve.

[0023] In a possible technical solution, the first exhaust section extends vertically away from the oil chamber, and the second exhaust section extends horizontally.

[0024] In some technical solutions, optionally, the shielding member includes: a shielding plate for shielding the air inlet; a connecting plate connected to the shielding plate, and the connecting plate is installed on the installation portion.

[0025] This technical solution defines the structure of the shielding member. The shielding member comprises a shielding plate and a connecting plate. The shielding member is connected to the connecting plate, which is mounted on the mounting portion. The connecting plate and the mounting portion cooperate to allow the shielding member to be mounted on the mounting portion. The shielding plate is used to block the air inlet to prevent lubricating oil from splashing into the exhaust passage.

[0026] The shielding plate and the connecting plate can be made of metal or plastic.

[0027] In some technical solutions, optionally, the mounting portion is provided with a mounting hole, and the speed change device further includes: a connecting member adapted to the mounting hole, the connecting member passing through the connecting plate and connected to the mounting hole.

[0028] This technical solution defines the connection method between the connecting plate and the mounting portion. The mounting portion is provided with a mounting hole, and the speed change device further includes a connecting member adapted to fit within the mounting hole. The connection between the connecting member and the mounting hole is achieved through the cooperation of the connecting member and the mounting hole. Specifically, the connecting plate is provided with a through hole, through which the connecting member can be inserted into the mounting hole of the mounting portion. The connecting member is connected to the mounting hole to secure the connecting plate to the mounting portion. The connecting member can be a screw, and the mounting hole can be a threaded hole.

[0029] In another possible technical solution, the connecting plate may also be bonded to the mounting portion.

[0030] In another possible technical solution, the connecting plate and the mounting portion are provided with mutually adapted snap-fit ​​structures, and the connecting plate is mounted on the mounting portion via a snap-fit ​​connection.

[0031] In some technical solutions, optionally, the shielding plate and the connecting plate are integrally formed.

[0032] In this technical solution, the shielding member's structure is further defined, with the shielding plate and connecting plate integrally formed. This improves the overall strength of the shielding member while also reducing production costs and increasing production efficiency. The shielding member can be formed from either metal sheets through sheet metal processing or plastic through injection molding, reducing manufacturing costs.

[0033] In some technical solutions, optionally, the inner wall of the exhaust channel is provided with a first thread, the air vent has a second thread adapted to the first thread, and the air vent is detachably mounted on the air outlet through the cooperation of the first thread and the second thread.

[0034] This technical solution defines the connection method between the vent valve and the mounting portion. The inner wall of the exhaust passage is provided with a first thread, and the vent valve has a second thread. The first thread mates with the second thread. When the vent valve is mounted on the mounting portion, the second thread engages with the first thread, thereby securing the vent valve to the mounting portion via a threaded connection. To remove the vent valve from the mounting portion, the vent valve can be rotated in the opposite direction to separate the first and second threads, allowing the vent valve to be removed from the mounting portion. The first thread is positioned near the air outlet, facilitating installation of the vent valve.

[0035] In some technical solutions, optionally, the mounting portion has an axial hole, which is connected to the oil chamber and is used to install the input shaft. The speed change device also includes: a seal located between the input shaft and the inner wall of the axial hole, and the seal is used to seal the gap between the inner wall of the axial hole and the input shaft.

[0036] In this technical solution, the structure of the speed change device is further defined. The mounting portion has an axial hole for mounting the input shaft, the axial hole is connected to the oil chamber, the input shaft is mounted at the axial hole, and a portion of the input shaft is inserted into the oil chamber. Understandably, there is a certain gap between the input shaft and the inner wall of the mounting hole, which will cause the lubricating oil in the oil chamber to overflow through the gap. In order to seal the oil chamber, the present application also provides a seal in the speed change device. The seal is sleeved on the outside of the input shaft or mounted on the inner wall of the axial hole. The seal is at least partially located between the input shaft and the inner wall of the mounting hole, so that the gap between the inner wall of the axial hole and the input shaft can be sealed by the seal to achieve sealing of the oil chamber. The seal can be made of an oil-resistant rubber material.

[0037] In some technical solutions, optionally, the mounting portion also has an oil port, which is connected to the oil chamber, and the oil port is used to discharge the lubricating oil in the oil chamber, or to inject lubricating oil into the oil chamber. The speed change device also includes: a sealing member, which is detachably mounted on the oil port, and the sealing member is used to close the oil port.

[0038] In this technical solution, the structure of the mounting portion is further defined. The mounting portion has an oil port, which is connected to the oil chamber, and the lubricating oil in the oil chamber can be discharged or injected into the oil chamber through the oil port. It is understandable that under normal circumstances, the oil port should remain in a closed state to keep the oil chamber closed and prevent the lubricating oil from overflowing. When the lubricating oil needs to be discharged or injected into the oil chamber, the oil port needs to be kept open. For this reason, the present application also provides a sealing member for opening or closing the oil port in the speed change device. Specifically, the sealing member is detachably mounted on the oil port. When there is too much lubricating oil in the oil chamber, or when the lubricating oil in the oil chamber needs to be replaced, the sealing member is removed from the oil port to open the oil port. After the oil is drained or injected, the sealing member is mounted on the oil port to seal the oil port through the sealing member, so that the oil chamber remains sealed.

[0039] In some technical solutions, optionally, the oil port is provided at the bottom of the mounting portion.

[0040] In this technical solution, the location of the oil port is limited. The oil port is located at the bottom of the mounting portion and communicates with the bottom of the oil chamber. This allows the lubricating oil to be quickly discharged through the oil port under the action of gravity, thereby increasing the oil discharge speed.

[0041] The second aspect of the present invention further provides a robot joint, comprising the speed change device provided in the first aspect of the present invention.

[0042] The robot joint provided in the second aspect of the present invention includes the speed change device provided in the first aspect of the present invention, and thus has all the beneficial effects of the speed change device.

[0043] The third aspect of the present invention further provides a robot device, comprising the robot joint part provided in the second aspect of the present invention.

[0044] The robot device provided in the third aspect of the present invention includes the robot joint part proposed in the second aspect of the present invention, and thus has all the beneficial effects of the robot joint part.

[0045] The fourth aspect of the present invention further provides a mechanical device, comprising the speed change device provided in the first aspect of the present invention.

[0046] The mechanical equipment provided in the fourth aspect of the present invention includes the speed change device proposed in the first aspect of the present invention, and therefore has all the beneficial effects of the speed change device.

[0047] The mechanical equipment may be a mixer or a hydraulic press.

[0048] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0050] Figure 1 A schematic structural diagram of a speed change device according to an embodiment of the present invention is shown;

[0051] Figure 2 Shown Figure 1 Cross-sectional view of section AA;

[0052] Figure 3 A schematic structural diagram of a mounting portion of an embodiment of the present invention is shown;

[0053] Figure 4 Shown Figure 3 Cross-sectional view of the middle BB section;

[0054] Figure 5 Shown Figure 4 Cross-sectional view of the CC section;

[0055] Figure 6 A schematic structural diagram of a shielding member according to an embodiment of the present invention is shown.

[0056] in, Figures 1 to 6 The corresponding relationship between the reference numerals and component names is as follows:

[0057] 100 speed change device, 110 speed changer, 111 transmission member, 120 input shaft, 130 mounting portion, 131 oil chamber, 132 exhaust channel, 133 air inlet, 134 air outlet, 135 first exhaust section, 136 second exhaust section, 137 mounting hole, 138 first thread, 139 shaft hole, 140 breather valve, 150 shielding member, 151 shielding plate, 152 connecting plate, 160 sealing member, 170 blocking member, 171 oil port. DETAILED DESCRIPTION

[0058] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0059] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0060] Refer to the following Figures 1 to 6 The following describes a speed change device 100 , a robot joint, a robot device, and a mechanical device according to some embodiments of the present invention.

[0061] In one embodiment according to the present application, Figure 1 and Figure 2 As shown, the present application proposes a transmission device 100, comprising: a transmission 110; an input shaft 120 connected to the transmission 110, the input shaft 120 being used to drive the transmission 110 to operate and output torque; a mounting portion 130, the transmission 110 and the input shaft 120 being mounted on the mounting portion 130, the mounting portion 130 having an oil chamber 131, the oil chamber 131 being used to contain lubricating oil, the input shaft 120 and a portion of the transmission 110 being located in the oil chamber 131, the mounting portion 130 further having an exhaust passage 132, an air inlet 133 of the exhaust passage 132 The air outlet 134 of the exhaust channel 132 is connected to the outside world and is connected to the oil chamber 131; the air outlet 134 of the exhaust channel 132 is connected to the outside world; the air vent valve 140 is installed at the air outlet 134, and when the air pressure in the exhaust channel 132 is greater than or equal to the exhaust threshold, the air vent valve 140 discharges the gas in the exhaust channel 132 to the outside world; when the air pressure in the exhaust channel 132 is less than the exhaust threshold, the air vent valve 140 prevents the gas in the exhaust channel 132 from being discharged to the outside world; the shielding member 150 is installed at the mounting portion 130, and the shielding member 150 blocks the air inlet 133 and has a distance between it and the air inlet 133.

[0062] The present application proposes a speed change device 100, which includes a speed changer 110 and an input shaft 120. The input shaft 120 is used to input torque, and the speed changer 110 is used to output torque. The speed changer 110 can be a reducer. Specifically, the input shaft 120 is connected to the speed changer 110. When the speed changer is in operation, the input shaft 120 rotates to drive the speed changer 110 to operate. The speed changer 110 can output torque under the drive of the input shaft 120. The speed changer 110 can be connected to other devices and drive the devices to rotate. The speed at which the speed changer 110 drives the devices to rotate is different from the speed of the input shaft 120 to achieve a speed change effect.

[0063] Furthermore, the transmission 100 also includes a mounting portion 130, which may be a flange structure. The transmission 110 and the input shaft 120 are both mounted on the mounting portion 130. The mounting portion 130 has an oil chamber 131 containing lubricating oil. A portion of the input shaft 120 and a portion of the transmission 110 are located within the oil chamber 131. The lubricating oil within the oil chamber 131 lubricates the input shaft 120 and the transmission 110, thereby reducing friction between the input shaft 120 and the various components of the transmission 110. As will be appreciated, when the input shaft 120 and the transmission 110 rotate at high speeds, the temperature of the lubricating oil within the oil chamber 131 increases, which in turn increases the pressure within the oil chamber 131. To reduce the pressure within the oil chamber 131, the gas within the oil chamber 131 needs to be discharged. The mounting portion 130 further has an exhaust passage 132 for exhausting gas. When the gas pressure in the oil chamber 131 is too high, part of the gas in the oil chamber 131 can be discharged through the exhaust passage 132 , thereby relieving the pressure of the oil chamber 131 .

[0064] Specifically, the air inlet 133 of the exhaust channel 132 communicates with the oil chamber 131, and the air outlet 134 of the exhaust channel 132 communicates with the outside world. The air outlet 134 is provided with a breathable valve 140. The breathable valve 140 comprises a waterproof, breathable film that allows air to escape when subjected to high pressure, but becomes impermeable when subjected to low pressure. This allows the breathable valve 140 to either exhaust or not exhaust air depending on the pressure within the exhaust channel 132. Since the exhaust channel 132 communicates with the oil chamber 131, the pressure within the exhaust channel 132 varies with the pressure within the oil chamber 131. When the pressure within the exhaust channel 132 is greater than or equal to the exhaust threshold, the breathable valve 140 can exhaust air. At this point, the breathable valve 140 discharges the gas within the exhaust channel 132 to the outside world, thereby relieving the pressure in the oil chamber 131. When the pressure in the exhaust channel 132 is lower than the exhaust threshold, the air valve 140 stops exhausting. At this time, the air valve 140 prevents the gas in the exhaust channel 132 from being discharged to the outside, and the air valve 140 closes the exhaust channel 132.

[0065] Understandably, the exhaust efficiency of the air valve 140 is related to its surface cleanliness. If oil stains adhere to the waterproof, breathable film of the air valve 140, the exhaust efficiency of the air valve 140 will be reduced. When the input shaft 120 and the transmission 110 rotate at high speeds, the transmission 110 can easily pick up lubricating oil, which can splash onto the air valve 140. To protect the air valve 140, the transmission 100 is further provided with a shield 150. Specifically, the shield 150 is mounted on the mounting portion 130 and blocks the air inlet 133 to prevent lubricating oil from entering the exhaust passage 132. This, in turn, prevents lubricating oil from splashing onto the air valve 140, thereby providing a certain degree of protection for the air valve 140. Furthermore, there is a distance between the shielding member 150 and the air inlet 133, so that the gas in the oil chamber 131 and the exhaust channel 132 can flow normally to each other, so that the air pressure in the exhaust channel 132 can change with the air pressure in the oil chamber 131, and the air valve 140 can exhaust to the outside to relieve the pressure of the oil chamber 131 when the air pressure in the oil chamber 131 is too high.

[0066] By providing a shielding member 150 within the transmission 100, the shielding member 150 can block the exhaust passage 132 where the breather valve 140 is located, preventing lubricating oil from entering the exhaust passage 132 and, in turn, splashing onto the breather valve 140. This prevents the lubricating oil from affecting the exhaust efficiency of the breather valve 140. This allows the breather valve 140 to properly vent air when the pressure in the oil chamber 131 is too high, thereby reducing the pressure within the oil chamber 131 and preventing leakage from the oil chamber 131. This improves the overall reliability and safety of the transmission 100. Furthermore, by providing the breather valve 140 at the air outlet 134 and protecting it with the shielding member 150, the complex structure of related products is simplified, eliminating the need for an external air and oil release structure, resulting in a more compact overall size, an attractive appearance, and ease of installation and operation.

[0067] In some embodiments, optionally, as Figure 2 As shown, the speed changer 110 includes: a transmission member 111, which is connected to the input shaft 120, and the input shaft 120 drives the transmission member 111 to rotate. At least a portion of the transmission member 111 is located in the oil chamber 131, and along the radial direction of the transmission member 111, at least a portion of the shielding member 150 is located between the transmission member 111 and the air inlet 133.

[0068] In this embodiment, the positional relationship between the transmission 110, the shielding member 150, and the air inlet 133 is defined. The transmission 110 includes a transmission member 111, which is connected to the input shaft 120. The input shaft 120 drives the transmission member 111 to rotate, which in turn drives the other components of the transmission 110 to rotate. At least a portion of the transmission member 111 is located within an oil chamber 131, which contains lubricating oil. At least a portion of the transmission member 111 is immersed in the lubricating oil. When the input shaft 120 drives the transmission member 111 to rotate, the transmission member 111 splashes the lubricating oil. When the transmission member 111 rotates at a high speed, the transmission member 111 is likely to splash the lubricating oil near the air inlet 133 of the exhaust passage 132.

[0069] Furthermore, along the radial direction of the transmission member 111, at least a portion of the shielding member 150 is located between the transmission member 111 and the air inlet 133. It is understandable that lubricating oil will splash along the rotational direction of the transmission member 111, and the movement range of most of the splashed lubricating oil will not exceed the range corresponding to the radial direction of the transmission member 111. By arranging at least a portion of the shielding member 150 between the transmission member 111 and the air inlet 133, the lubricating oil splashed by the transmission member 111 can be prevented from entering the exhaust passage 132, thereby preventing the lubricating oil from splashing onto the breather valve 140, thereby protecting the breather valve 140, preventing the breather valve 140 from being contaminated by the lubricating oil, and ensuring that the breather valve 140 can release pressure normally.

[0070] In one possible embodiment, the transmission 110 may be a reducer, and the transmission member 111 may be a gear. When the transmission 110 is a reducer, the input shaft 120 rotates at a relatively high speed, which in turn drives the transmission member 111 to rotate at a relatively high speed. The high-speed rotation of the transmission member 111 will splash lubricating oil. If the air inlet 133 is not blocked, the splashed lubricating oil will enter the exhaust passage 132, thereby contaminating the breather valve 140. To this end, the present application provides a shielding member 150 between the air inlet 133 of the exhaust passage 132 and the transmission member 111. Specifically, along the radial direction of the transmission member 111, at least a portion of the shielding member 150 is positioned between the air inlet 133 and the transmission member 111. This shielding member 150 blocks the lubricating oil splashed by the transmission member 111, thereby protecting the breather valve 140.

[0071] In some embodiments, optionally, as Figure 2 As shown, the exhaust passage 132 is close to the top of the mounting portion 130 , and the air inlet 133 is communicated with the top of the oil chamber 131 .

[0072] In this embodiment, the location of the exhaust passage 132 is defined. The exhaust passage 132 is located near the top of the mounting portion 130, and the air inlet 133 is connected to the top of the oil chamber 131. As can be understood, the density of gas is lower than that of liquid, and the air in the oil chamber 131 will tend to concentrate at the top of the oil chamber 131. To allow the air in the oil chamber 131 to be quickly discharged through the exhaust passage 132, the present application connects the air inlet 133 to the top of the oil chamber 131, and the exhaust passage 132 is located near the top of the mounting portion 130. This allows the air in the oil chamber 131 to quickly flow into the exhaust passage 132 when the pressure in the oil chamber 131 is high, and the air is quickly discharged to the outside through the exhaust passage 132, thereby improving the pressure relief efficiency of the oil chamber 131. Specifically, during use and installation of the transmission 100, the exhaust passage 132 is always maintained in a vertically upward direction along the direction of gravity.

[0073] In some embodiments, optionally, as Figure 2 and Figure 4 As shown, the exhaust passage 132 includes a first exhaust section 135 , where the air inlet 133 is located, and a second exhaust section 136 , where the air outlet 134 is located. The first exhaust section 135 and the second exhaust section 136 extend in different directions.

[0074] In this embodiment, the structure of the exhaust passage 132 is defined. The exhaust passage 132 includes a first exhaust section 135 and a second exhaust section 136. The first and second exhaust sections 135, 136 extend in different directions to prevent lubricating oil from directly splashing onto the breather valve 140, further protecting the breather valve 140. Specifically, an air inlet 133 is provided in the first exhaust section 135, the second exhaust section 136 is connected to the first exhaust section 135, and an air outlet 134 is provided at one end of the second exhaust section 136 away from the first exhaust section 135. The breather valve 140 is provided at the air outlet 134. Air within the oil chamber 131 flows from the air inlet 133 into the first exhaust section 135, then into the second exhaust section 136, before being discharged to the outside through the breather valve 140 and out of the air outlet 134. The first exhaust section 135 and the second exhaust section 136 extend in different directions. Even if a small amount of lubricating oil splashes into the first exhaust section 135 from the air inlet 133, the lubricating oil cannot continue to flow into the second exhaust section 136 because the second exhaust section 136 extends in a different direction from the first exhaust section 135. This can further protect the air valve 140.

[0075] In a possible embodiment, the first exhaust section 135 extends vertically away from the oil chamber 131 , and the second exhaust section 136 extends horizontally.

[0076] In some embodiments, optionally, as Figure 2 and Figure 6 As shown, the shielding member 150 includes: a shielding plate 151 for shielding the air inlet 133; a connecting plate 152 connected to the shielding plate 151, and the connecting plate 152 is installed on the installation portion 130.

[0077] In this embodiment, the structure of shielding member 150 is defined. Shielding member 150 includes a shielding plate 151 and a connecting plate 152. Shielding member 150 is connected to connecting plate 152, which is mounted on mounting portion 130. The mating of connecting plate 152 and mounting portion 130 allows shielding member 150 to be mounted on mounting portion 130. Shielding plate 151 is used to shield air inlet 133 to prevent lubricating oil from splashing into exhaust passage 132.

[0078] The shielding plate 151 and the connecting plate 152 can be made of metal or plastic.

[0079] In some embodiments, optionally, as Figure 2 、 Figure 3 and Figure 5 As shown, the mounting portion 130 is provided with a mounting hole 137 , and the speed change device 100 further includes: a connecting member adapted to the mounting hole 137 , the connecting member passing through the connecting plate 152 and connected to the mounting hole 137 .

[0080] In this embodiment, the connection method between the connecting plate 152 and the mounting portion 130 is defined. The mounting portion 130 is provided with a mounting hole 137. The speed change device 100 also includes a connecting member that is compatible with the mounting hole 137. The connection between the connecting member and the mounting hole 137 is achieved by the cooperation between the connecting member and the mounting hole 137. Specifically, the connecting plate 152 is provided with a through hole. The connecting member can pass through the through hole of the connecting member and be inserted into the mounting hole 137 of the mounting portion 130. The connecting member is connected to the mounting hole 137 to mount the connecting plate 152 to the mounting portion 130. The connecting member can be a screw, and the mounting hole 137 can be a threaded hole.

[0081] In another possible embodiment, the connecting plate 152 may also be bonded to the mounting portion 130 .

[0082] In another possible embodiment, the connecting plate 152 and the mounting portion 130 are provided with mutually adapted snap-fit ​​structures, and the connecting plate 152 is mounted on the mounting portion 130 through a snap-fit ​​connection.

[0083] In some embodiments, optionally, the shielding plate 151 and the connecting plate 152 are integrally formed.

[0084] In this embodiment, the structure of the shielding member 150 is further defined, with the shielding plate 151 and the connecting plate 152 being integrally formed. This improves the overall strength of the shielding member 150 while also reducing the production cost and improving the production efficiency of the shielding member 150. The shielding member 150 can be formed from a metal plate through sheet metal processing or from plastic through injection molding to reduce manufacturing costs.

[0085] In some embodiments, optionally, as Figure 2 and Figure 4 As shown, the inner wall of the exhaust channel 132 is provided with a first thread 138 , and the breathable valve 140 has a second thread adapted to the first thread 138 . The breathable valve 140 is detachably mounted on the air outlet 134 through the cooperation between the first thread 138 and the second thread.

[0086] In this embodiment, the connection method between the vent valve 140 and the mounting portion 130 is defined. The inner wall of the exhaust passage 132 is provided with a first thread 138, and the vent valve 140 has a second thread. The first thread 138 mates with the second thread. When installing the vent valve 140 on the mounting portion 130, the second thread 138 is screwed into engagement with the first thread 138, thereby threading the vent valve 140 to the mounting portion 130. To remove the vent valve 140 from the mounting portion 130, the vent valve 140 can be rotated in the opposite direction to separate the first thread 138 from the second thread, thereby removing the vent valve 140 from the mounting portion 130. The first thread 138 is positioned near the air outlet 134 to facilitate installation of the vent valve 140.

[0087] In some embodiments, optionally, as Figure 2 、 Figure 3 and Figure 4 As shown, the mounting portion 130 has an axial hole 139, which is connected to the oil chamber 131, and the axial hole 139 is used to install the input shaft 120. The speed change device 100 also includes: a seal 160, which is located between the input shaft and the inner wall of the axial hole 139, and the seal 160 is used to seal the gap between the inner wall of the axial hole 139 and the input shaft 120.

[0088] In this embodiment, the structure of the transmission 100 is further defined. The mounting portion 130 includes a shaft hole 139 for mounting the input shaft 120. The shaft hole 139 communicates with the oil chamber 131. The input shaft 120 is mounted in the shaft hole 139, with a portion of the input shaft 120 inserted into the oil chamber 131. As will be appreciated, a gap exists between the input shaft 120 and the inner wall of the mounting hole 137, which can cause lubricating oil in the oil chamber 131 to overflow through this gap. To seal the oil chamber 131, the present application further provides a seal 160 in the transmission 100. The seal 160 is disposed over the input shaft 120 or mounted on the inner wall of the shaft hole 139. The seal 160 is at least partially located between the input shaft 120 and the inner wall of the mounting hole 137. Thus, the seal 160 blocks the gap between the inner wall of the shaft hole 139 and the input shaft 120, thereby sealing the oil chamber 131. The sealing member 160 may be made of an oil-resistant rubber material.

[0089] In some embodiments, optionally, as Figure 2 and Figure 4 As shown, the mounting portion 130 also has an oil port 171, which is connected to the oil chamber 131. The oil port 171 is used to discharge the lubricating oil in the oil chamber 131, or to inject lubricating oil into the oil chamber 131. The speed change device 100 also includes: a sealing member 170, which is detachably mounted on the oil port 171, and the sealing member 170 is used to close the oil port 171.

[0090] In this embodiment, the structure of the mounting portion 130 is further defined. The mounting portion 130 has an oil port 171, which communicates with the oil chamber 131. Lubricating oil within the oil chamber 131 can be drained or injected through the oil port 171. Under normal circumstances, the oil port 171 should remain closed to prevent the oil chamber 131 from overflowing. However, when it is necessary to drain or inject lubricating oil into the oil chamber 131, the oil port 171 needs to remain open. To this end, the transmission device 100 of this application further includes a sealing member 170 for opening or closing the oil port 171. Specifically, the blocking member 170 is detachably mounted on the oil port 171. When there is too much lubricating oil in the oil chamber 131 or the lubricating oil in the oil chamber 131 needs to be replaced, the blocking member 170 is removed from the oil port 171 to open the oil port 171. After draining or filling the oil, the blocking member 170 is mounted on the oil port 171 to seal the oil port 171 through the blocking member 170, so that the oil chamber 131 remains sealed.

[0091] In some embodiments, optionally, as Figure 2 and Figure 4 As shown, the oil port 171 is disposed at the bottom of the mounting portion 130 .

[0092] In this embodiment, the location of the oil port 171 is limited. The oil port 171 is located at the bottom of the mounting portion 130 and is connected to the bottom of the oil chamber 131. This allows the lubricating oil to be quickly discharged through the oil port 171 under the action of gravity, thereby increasing the oil discharge speed.

[0093] The second aspect of the present invention further provides a robot joint, comprising the speed change device 100 provided in the first aspect of the present invention.

[0094] The robot joint provided in the second aspect of the present invention includes the speed change device 100 provided in the first aspect of the present invention, and therefore has all the beneficial effects of the speed change device 100.

[0095] The third aspect of the present invention further provides a robot device, comprising the robot joint part provided in the second aspect of the present invention.

[0096] The robot device provided in the third aspect of the present invention includes the robot joint part proposed in the second aspect of the present invention, and thus has all the beneficial effects of the robot joint part.

[0097] The fourth aspect of the present invention further provides a mechanical device, comprising the speed change device 100 provided in the first aspect of the present invention.

[0098] The mechanical equipment provided in the fourth aspect of the present invention includes the speed change device 100 proposed in the first aspect of the present invention, and therefore has all the beneficial effects of the speed change device 100.

[0099] The mechanical equipment may be a mixer or a hydraulic press.

[0100] In one possible embodiment, Figure 2 As shown, the robot joint structure with a breathable valve (i.e., the speed change device 100) includes a reducer (i.e., the speed changer 110), a mounting flange (i.e., the mounting portion 130), an oil baffle (i.e., the shielding member 150), a waterproof breathable valve (i.e., the breathable valve 140), an oil drain plug (i.e., the sealing member 170), an oil seal (i.e., the sealing member 160), and a reducer input shaft (i.e., the input shaft 120).

[0101] The reducer and the reducer input shaft are driving components, and the reducer is driven by the reducer input shaft to drive the robot joints.

[0102] The mounting flange is used to cooperate with the reducer. Its interior serves as an oil chamber 131 to store the reducer lubricating oil to ensure lubrication during the operation of the reducer. At the same time, it has an air flow channel (i.e., an exhaust channel 132), a thread (i.e., a mounting hole 137) and other structures connected to the waterproof breathable valve and the oil baffle. The structural features of the mounting flange are shown in Figure 3 and Figure 4 ;

[0103] The oil baffle is used to prevent the splashing lubricating oil in the oil chamber 131 from entering the air flow channel and contacting the waterproof breathable valve during operation. The oil baffle is fixed to the mounting flange through a threaded connection. The structural features of the oil baffle are shown in FIG. Figure 6 ;

[0104] The waterproof breathable valve is used to relieve pressure. When the internal pressure of the oil chamber 131 reaches a certain value, the waterproof breathable film inside the waterproof breathable valve connects the inside of the oil chamber 131 with the outside atmosphere, thereby reducing the internal pressure of the oil chamber 131.

[0105] The oil drain plug is located at the bottom of the mounting flange vertically below the gravity direction and is used to drain the lubricating oil.

[0106] The oil seal is located on the input shaft side of the reducer and is used to ensure the sealing of the oil chamber 131.

[0107] In one possible embodiment, a robot joint structure with a breathable valve is applied to a parallel robot. The parallel robot joint in the related art has an oil leakage problem. In the parallel robot configuration in the related art, since the 1st axis, the 2nd axis and the 3rd axis are fixed at the top, in order to ensure sufficient lubrication of the reducers of the 1st axis, the 2nd axis and the 3rd axis, the oil filling ratio in the oil chamber needs to be very high. In addition, since the operating speed and frequency of the parallel robot are very high, the reducer and the lubricating oil will cause serious heat generation, which will lead to an increase in internal pressure, resulting in oil leakage, affecting the service life and polluting the working environment. The present application installs a waterproof breathable valve on the reducer mounting flange. When the internal pressure of the oil chamber 131 reaches a certain value, the waterproof and breathable film inside the waterproof breathable valve connects the inside of the oil chamber 131 with the outside atmosphere, thereby reducing the internal pressure of the oil chamber 131 and effectively avoiding oil leakage.

[0108] In another possible embodiment, the waterproof breathable valve of a robot in the related art, when installed in a fixed position, has a contamination problem. The waterproof breathable film inside the waterproof breathable valve in the related art is easily contaminated by foreign matter such as oil or iron powder, causing it to lose its permeability and fail to achieve the desired pressure relief and ventilation effect. For robot reducers installed in a fixed position, such as SCARA (selective compliance assembly robot arm) robots and parallel robots, it is necessary to prevent oil from contaminating the breathable valve. Existing technologies often add additional breathable boxes or complex baffles, which are complex, costly to manufacture, occupy a large space, and require many parts. The present application installs the waterproof breathable valve on top of the mounting flange, isolating it from the oil chamber 131 through an air channel and ensuring air circulation. Furthermore, a threaded oil baffle is provided at the entrance of the air channel within the oil chamber 131, effectively preventing splashing lubricating oil from entering the air channel without obstructing air circulation.

[0109] The robot joint structure with a breathable valve proposed in this application can be applied to the 1st axis, 2nd axis and 3rd axis of a parallel robot, the 1st axis and 2nd axis of a six-axis robot, and the 1st axis and 2nd axis of the reducer of a SCARA robot, etc., where the joint posture is fixed and the oil chamber 131 position has no relative movement during operation.

[0110] In this utility model, the term "plurality" refers to two or more, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this utility model based on specific circumstances.

[0111] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0112] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A speed change device, characterized in that: include: Speed ​​changer; an input shaft connected to the transmission, the input shaft being used to drive the transmission to output torque; a mounting portion, the transmission and the input shaft being mounted on the mounting portion, the mounting portion having an oil chamber for containing lubricating oil, the input shaft and a portion of the transmission being located within the oil chamber, the mounting portion further having an exhaust passage, an air inlet of the exhaust passage being in communication with the oil chamber, and an air outlet of the exhaust passage being in communication with the outside; a vent valve installed at the air outlet, wherein when the air pressure in the exhaust channel is greater than or equal to an exhaust threshold, the vent valve discharges the gas in the exhaust channel to the outside, and when the air pressure in the exhaust channel is less than the exhaust threshold, the vent valve prevents the gas in the exhaust channel from being discharged to the outside; A shielding member is installed on the installation portion, and the shielding member shields the air inlet and has a distance between the shielding member and the air inlet.

2. The speed change device according to claim 1, characterized in that: The speed changer comprises: A transmission member is connected to the input shaft, and the input shaft drives the transmission member to rotate. At least a portion of the transmission member is located in the oil chamber. Along the radial direction of the transmission member, at least a portion of the shielding member is located between the transmission member and the air inlet.

3. The speed change device according to claim 1, wherein: The exhaust passage is close to the top of the mounting portion, and the air inlet is communicated with the top of the oil chamber.

4. The speed change device according to claim 1, wherein: The exhaust passage comprises: a first exhaust section, wherein the air inlet is provided in the first exhaust section; The second exhaust section, the air outlet is provided in the second exhaust section, and the first exhaust section and the second exhaust section extend in different directions.

5. The transmission according to any one of claims 1 to 4, characterized in that: The shielding member comprises: a shielding plate, used for shielding the air inlet; A connecting plate is connected to the shielding plate, and the connecting plate is installed on the installation portion.

6. The speed change device according to claim 5, characterized in that: The mounting portion is provided with a mounting hole, and the speed change device further comprises: A connecting piece is adapted to the mounting hole, and the connecting piece passes through the connecting plate and is connected to the mounting hole.

7. The speed change device according to claim 5, characterized in that: The shielding plate and the connecting plate are integrally formed.

8. The transmission according to any one of claims 1 to 4, characterized in that: The inner wall of the exhaust channel is provided with a first thread, the breathable valve has a second thread adapted to the first thread, and the breathable valve is detachably mounted on the air outlet through the cooperation between the first thread and the second thread.

9. The transmission according to any one of claims 1 to 4, characterized in that: The mounting portion has a shaft hole, the shaft hole is communicated with the oil chamber, and the shaft hole is used to mount the input shaft. The speed change device further includes: A sealing member is located between the input shaft and the inner wall of the shaft hole, and is used to seal the gap between the inner wall of the shaft hole and the input shaft.

10. The transmission according to any one of claims 1 to 4, characterized in that: The mounting portion further comprises an oil port, the oil port being in communication with the oil cavity, the oil port being used to discharge the lubricating oil in the oil cavity, or to inject the lubricating oil into the oil cavity, and the speed change device further comprising: A blocking member is detachably mounted on the oil port, and is used to close the oil port.

11. The speed change device according to claim 10, characterized in that: The oil port is arranged at the bottom of the mounting portion.

12. A robot joint, characterized in that: include: The transmission according to any one of claims 1 to 11.

13. A robotic device, characterized in that include: The robot joint according to claim 12.

14. A mechanical device, characterized in that: include: The transmission according to any one of claims 1 to 11.

15. The mechanical device according to claim 14, characterized in that The mechanical equipment includes a mixer or a hydraulic press.

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