Robot two-axis structure and robot

Abstract

The utility model discloses a robot two-shaft structure, which relates to the technical field of robots, and comprises a large arm and a small arm, and further comprises a second support cylinder which is fixedly arranged on one side of a steel wheel and is sleeved on the outer side surface of a flexible wheel; the first supporting cylinder is arranged on the peripheral face of the second supporting cylinder in a sleeving mode, and a certain gap is reserved between the inner wall of the first supporting cylinder and the peripheral face of the second supporting cylinder; and one side of the gap is sealed through a sealing ring, the other side of the gap is sealed through a sleeve shaft, and the sleeve shaft is rotationally arranged on the outer circumferential face of the output end of the flexible gear, so that a first closed space is defined by the first supporting cylinder, the second supporting cylinder, the sealing ring and the sleeve shaft. Lubricating oil in the second closed space is pumped into the first closed space through the oil pump mechanism, and the lubricating oil circularly flows in the first closed space and the second closed space, so that the cooling effect is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a two-axis robot structure and a robot. Background Technology

[0002] Two-axis structures are joint components that connect robotic arms. They require the installation and coordination of many parts and typically consist of a motor, forearm, upper arm, and reducer. They are used to increase the degrees of freedom of the robotic arm and facilitate the adjustment of the robotic arm's posture and position.

[0003] When using a two-shaft structure, lubricating oil needs to be injected into the reducer to reduce the friction coefficient between various gears, bearings and other friction parts inside the reducer. However, the reducer generates heat during operation, and the temperature will gradually rise. Excessive temperature will reduce the lubrication effect of the lubricating oil, resulting in poor lubrication, increased wear of the reducer, and accelerated deterioration of the lubricating oil. Utility Model Content

[0004] This invention provides a two-axis robot structure and robot, which has the advantage of cooling the lubricating oil in the reducer, thereby solving the problems mentioned in the background art.

[0005] To achieve the purpose of cooling the lubricating oil in the reducer, this utility model provides the following technical solution: A two-axis robot structure, including a large arm and a forearm, with a first outer shell and a second outer shell respectively fixed at opposite ends of the large arm and forearm. A motor is installed inside the first outer shell, and a reducer is installed inside the second outer shell. The reducer consists of a wave generator, a flexible wheel, and a steel wheel. It also includes: a second support cylinder, fixed to one side of the steel wheel and sleeved on the outer side of the flexible wheel; and a first support cylinder, sleeved on the outer circumferential surface of the second support cylinder, with a certain gap between the inner wall of the first support cylinder and the outer circumferential surface of the second support cylinder; one side of the gap is closed by a sealing ring, and the other side of the gap is closed by a sleeve shaft, which is rotatably mounted on... The output end of the flexible wheel has an outer circumferential surface that allows the first support cylinder, the second support cylinder, the sealing ring, and the sleeve shaft to enclose a first sealed space; a second sealing disc is fixed on the side of the steel wheel away from the first support cylinder, and the second sealing disc, the steel wheel, the second support cylinder, and the sleeve shaft enclose a second sealed space, in which the wave generator and the flexible wheel are housed; a first through hole is provided on the second support cylinder to allow the first sealed space and the second sealed space to communicate; an oil pump assembly is located on one side of the second sealing disc, and an oil inlet pipe and an oil outlet pipe are respectively connected to both sides of the oil pump assembly. The oil inlet pipe communicates with the first sealed space, and the oil outlet pipe communicates with the second sealed space, so that the lubricating oil in the reducer circulates within the first sealed space, the oil pump assembly, and the second sealed space.

[0006] As a preferred embodiment of this utility model, a positioning disk is rotatably provided on the outer peripheral surface of the output end, and the positioning disk is fixedly connected to the first support cylinder; the side of the positioning disk near the flexible wheel abuts against the sleeve shaft.

[0007] As a preferred embodiment of the present invention, a second end cap is fixedly provided on the side of the second outer shell away from the first outer shell; a connecting flange is fixedly provided on the outer peripheral surface of the output end, and the connecting flange is fixedly connected to the second end cap.

[0008] As a preferred technical solution of this utility model, a fixed disk is fixedly provided inside the first outer shell on the side near the second outer shell, and a drive shaft is fixedly connected to the output end of the motor. The drive shaft passes through the fixed disk, the oil pump mechanism and the second sealing disk and is fixedly connected to the wave generator; the drive shaft is the input shaft of the oil pump mechanism.

[0009] As a preferred embodiment of this utility model, the oil pump mechanism includes: a driving gear, which is fixed to the outer circumferential surface of the drive shaft and is coaxial with the drive shaft; a driven gear, wherein a mounting groove is formed on the surface of the second sealing disc near the driving gear, and the driven gear is rotatably mounted in the mounting groove, the driving gear and the driven gear mesh internally, and the driving gear and the driven gear are not coaxial; an oil passage hole is formed on the outer circumferential surface of the driven gear, and the oil passage hole extends to the inner side of the driven gear; a connecting housing, which is sleeved on the outer circumferential surface of the driven gear, and one side of the connecting housing is fixed to the second sealing disc, and the oil inlet pipe and the oil outlet pipe respectively extend to the inner circumferential surface of the connecting housing; and a first sealing disc, which is fixed to the side of the connecting housing away from the second sealing disc, and the axis of the first sealing disc is rotatably connected to the outer circumferential surface of the drive shaft.

[0010] In a preferred embodiment of this utility model, the fixed disk, the first sealing disk, the second sealing disk, the steel wheel, and the first support cylinder are fixedly connected by bolts.

[0011] As a preferred embodiment of this utility model, a needle roller bearing is provided between the first support cylinder and the second outer shell. The outer circumferential surface of the needle roller bearing is fixedly connected to the second outer shell, and the inner circumferential surface of the needle roller bearing is fixedly connected to the first support cylinder.

[0012] As a preferred embodiment of this utility model, a recessed surface is formed on the surface of the fixed disk near the second outer shell; a pressure ring is fixed on the side of the second outer shell near the fixed disk, the diameter of the pressure ring is smaller than the diameter of the outer circumference of the second outer shell, and the pressure ring extends from the inside of the second outer shell toward the fixed disk; a turntable bearing is installed in the recessed surface, and the end of the pressure ring away from the second outer shell is inserted into the recessed surface and contacts the turntable bearing.

[0013] This utility model also provides a robot, including the two-axis robot structure proposed above.

[0014] Compared with the prior art, this utility model provides a two-axis robot structure, which has the following advantages:

[0015] 1. The robot has a two-axis structure. By fixing a first support cylinder and a second support cylinder on a steel wheel, a first sealed space is formed by the gap between the first support cylinder and the second support cylinder. A second sealing disc is set up, and the second sealing disc, the steel wheel, and the second support cylinder form a second sealed space. When the reducer is working, the oil pump mechanism pumps the high-temperature lubricating oil in the second sealed space into the first sealed space, so that the lubricating oil circulates in the first and second sealed spaces, thereby cooling the lubricating oil in the first sealed space.

[0016] 2. The robot's two-axis structure forms a sealed cavity by setting a first sealing plate, a second sealing plate, and a connecting shell. A single-gear oil pump mechanism is set in the cavity, and the drive shaft is used as the input shaft of the oil pump mechanism. This makes the overall two-axis structure more compact and eliminates the need for an additional drive device to drive the oil pump mechanism. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the internal structure of the first and second outer shells of this utility model;

[0019] Figure 3 This is an internal sectional view of the first and second outer shells of this utility model;

[0020] Figure 4 This is an exploded view of the internal structure of the first outer shell of this utility model;

[0021] Figure 5 This is an exploded view of the internal structure of the second outer shell of this utility model;

[0022] Figure 6 This is an exploded view of the reducer structure of this utility model;

[0023] Figure 7 This is an exploded view of the oil pump mechanism of this utility model;

[0024] Figure 8 This is a cross-sectional view of the interior of the first outer shell of this utility model;

[0025] Figure 9 This is an internal sectional view of the second outer shell of this utility model;

[0026] Figure 10This is a cross-sectional view of the connection between the first and second outer shells of this utility model;

[0027] Figure 11 This is a cross-sectional view of the oil pump mechanism and reducer of this utility model.

[0028] Figure 12 This is a side view of the oil pump mechanism and reducer of this utility model.

[0029] In the diagram: 1. Main arm; 2. First outer shell; 3. First end cap; 4. Forearm; 5. Second outer shell; 6. Second end cap; 7. First mounting ring; 8. Clamp; 9. Motor; 10. Fixed plate; 101. Sunken surface; 11. Turntable bearing; 12. Second mounting ring; 13. Needle roller bearing; 14. Pressure ring; 15. Drive shaft; 16. First sealing plate; 17. Second sealing plate; 171. Mounting groove; 18. Steel wheel; 19. First support cylinder; 20. Second support cylinder; 201. First through hole; 21. Wave generator; 22. Flexible wheel; 221. Output end; 222. Second through hole; 23. Sleeve shaft; 24. Positioning plate; 25. Connecting flange; 26. Sealing ring; 27. Connecting housing; 28. Driven gear; 281. Oil passage hole; 29. ​​Drive gear; 30. Oil inlet pipe; 31. Oil outlet pipe; 32. Sealing gasket. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Please see Figure 1 - Figure 7 This utility model discloses a two-axis robot structure, including an upper arm 1 and a lower arm 4. A first outer shell 2 and a second outer shell 5 are respectively fixed at opposite ends of the upper arm 1 and the lower arm 4. The first outer shell 2 and the second outer shell 5 can be annular frames of the same shape and size, and the two are arranged coaxially. A motor 9 is installed in the first outer shell 2 and fixed by a clamp 8. A reducer is installed in the second outer shell 5. The reducer consists of a wave generator 21, a flexible wheel 22 and a steel wheel 18, and is driven by the motor 9. The reducer then drives the lower arm 4 to rotate.

[0032] The robot's two-axis structure also includes a second support cylinder 20, which is fixed to one side of the steel wheel 18. The second support cylinder 20 can be considered as a combination of a hollow cylinder and a ring. The diameter of the inner wall of the ring is smaller than the diameter of the inner wall of the hollow cylinder. The two can be made as one piece or fixed by bolts. The second support cylinder 20 is located inside the second outer shell 5 and is sleeved on the outer side of the flexible wheel 22. A first support cylinder 19 is also sleeved on the outer circumferential surface of the second support cylinder 20. The first support cylinder 19 and the second support cylinder 20 have the same structure, and there is a certain gap between the inner wall of the first support cylinder 19 and the outer circumferential surface of the second support cylinder 20. That is, the diameter of the inner circumferential surface of the first support cylinder 19 is larger than the diameter of the outer circumferential surface of the second support cylinder 20, and there is also a gap between the two ring structures.

[0033] Furthermore, a sealing ring 26 is used to seal one side of the gap. The sealing ring 26 is fixed to the hollow cylindrical part of the first support cylinder 19 and the second support cylinder 20. The inner circumferential surface of the sealing ring 26 is in seamless contact with the outer circumferential surface of the second support cylinder 20, and the outer circumferential surface of the sealing ring 26 is in seamless contact with the inner circumferential surface of the first support cylinder 19. When the sealing ring 26 is made of metal, it can be fixed by welding or threaded connection. When the sealing ring 26 is made of flexible material, it can be made into an inclined structure and pressed into the gap. In specific implementation, as long as the position of the sealing ring 26 is guaranteed to be fixed... It can be fixed and sealed to the first support cylinder 19 and the second support cylinder 20. The other side of the gap is closed by the sleeve shaft 23, and the sleeve shaft 23 is rotatably located on the outer peripheral surface of the output end 221 of the flexible wheel 22. When the reducer rotates, the output end 221 is used to drive the forearm 4 to rotate. The inner walls of the annular structure of the first support cylinder 19 and the second support cylinder 20 are sealed and fixed to the outer peripheral surface of the sleeve shaft 23, so that the first support cylinder 19, the second support cylinder 20, the sealing ring 26 and the sleeve shaft 23 enclose and form a first sealed space. In use, the first sealed space will be filled with lubricating oil.

[0034] In addition, a second sealing disc 17 is fixed on the side of the steel wheel 18 away from the first support cylinder 19. The steel wheel 18 and the first support cylinder 19 can be fixed together by bolts. The second sealing disc 17, the steel wheel 18, the inner wall of the second support cylinder 20 and the sleeve shaft 23 enclose a second sealed space. The wave generator 21 and the flexible wheel 22 are accommodated in the second sealed space. When in use, the second sealed space is also filled with lubricating oil, so that the reducer works under lubricated conditions. In order to ensure the sealing effect, a sealing gasket 32 ​​can be set between the steel wheel 18 and the first support cylinder 19.

[0035] In addition, a first through hole 201 is provided on the second support cylinder 20, so that the first sealed space and the second sealed space are connected, so that the lubricating oil can flow between the first sealed space and the second sealed space. In order to prevent the lubricating oil from accumulating in the flexible wheel 22, a second through hole 222 can also be provided on the surface of the flexible wheel 22 near the output end 221. Of course, if the structural strength of the flexible wheel 22 does not allow it, the second through hole 222 may not be provided. In this case, the lubricating oil can still enter the annular structure near the second support cylinder 20 from the gap between the flexible wheel 22 and the steel wheel 18, and enter the gap through the first through hole 201.

[0036] Furthermore, it also includes an oil pump assembly, which is located on one side of the second sealing disc 17. The oil pump assembly is connected to an oil inlet pipe 30 and an oil outlet pipe 31 on both sides. The oil inlet pipe 30 is connected to the first sealed space, and the oil outlet pipe 31 is connected to the second sealed space. When the oil pump assembly is working, it can make the lubricating oil in the reducer circulate in the first sealed space, the oil pump assembly, and the second sealed space. Of course, the names of the oil inlet pipe 30 and the oil outlet pipe 31 are just distinguishing names for the two pipes, and do not restrict the direction of lubricating oil flow. When the oil pump assembly works in one direction, the circulation path of the lubricating oil is the second sealed space, the first sealed space, the oil inlet pipe 30, the oil pump assembly, and the oil outlet pipe 31. When the oil pump assembly works in the other direction, the circulation path of the lubricating oil is the second sealed space, the oil outlet pipe 31, the oil pump assembly, the oil inlet pipe 30, and the first sealed space.

[0037] In this embodiment, the temperature of the lubricating oil in the second sealed space gradually increases when the reducer is working. Excessive temperature will reduce the lubrication effect of the lubricating oil, resulting in poor lubrication, increased wear of the reducer, and accelerated deterioration of the lubricating oil. In order to enable the reducer to cool down the high-temperature lubricating oil during operation, the high-temperature lubricating oil in the second sealed space can be pumped into the first sealed space through the oil pump assembly, so that the lubricating oil circulates between the first and second sealed spaces, thereby cooling down the lubricating oil in the first sealed space. The lubricating oil with the reduced temperature can then lubricate the reducer again.

[0038] Combination Figure 6 and Figure 9 A positioning disk 24 is rotatably provided on the outer peripheral surface of the output end 221. A sealing structure is also provided between the positioning disk 24 and the outer peripheral surface of the output end 221 to prevent lubricating oil from leaking from the gap between the two. The positioning disk 24 is fixed to the first support cylinder 19 by bolts. The side of the positioning disk 24 near the flexible wheel 22 abuts against the sleeve shaft 23 to limit the sleeve shaft 23. The other end of the sleeve shaft 23 can rotate to contact the bottom surface of the flexible wheel 22, or be positioned on the outer peripheral surface of the output end 221 by the limiting structure.

[0039] Combination Figure 3, Figure 5 and Figure 9 To facilitate the rotation of the second housing 5 and the forearm 4, a second end cap 6 is fixed on the side of the second housing 5 away from the first housing 2. Specifically, a second mounting ring 12 can be fixed at one end of the inner wall of the second housing 5, and the second end cap 6 can be fixed to the second mounting ring 12 by bolts. A connecting flange 25 is fixed on the outer circumferential surface of the output end 221. The connecting flange 25 is fixed to the second end cap 6 by bolts, thereby driving the second housing 5 and the forearm 4 to rotate through the reducer.

[0040] Combination Figure 3 , Figure 9 and Figure 10 In order to facilitate the operation of the oil pump mechanism, a fixed plate 10 is fixedly provided inside the first housing 2 on the side near the second housing 5. A drive shaft 15 is fixedly connected to the output end 221 of the motor 9. The drive shaft 15 passes through the fixed plate 10, the oil pump mechanism and the second sealing plate 17 and is fixedly connected to the wave generator 21. At the same time, the drive shaft 15 also serves as the input shaft of the oil pump mechanism, so that the motor 9 drives the oil pump mechanism and the reducer to work through the drive shaft 15.

[0041] Combination Figure 7 , Figure 9 - Figure 12 The aforementioned oil pump mechanism is preferably a single-tooth gear pump mechanism, which facilitates driving via the drive shaft 15 and makes the structure of the device more compact. The specific structure includes a drive gear 29, which is fixed on the outer circumferential surface of the drive shaft 15 and is coaxial with the drive shaft 15. When the drive shaft 15 rotates, it drives the drive gear 29 to rotate synchronously. A mounting groove 171 is provided on the surface of the second sealing disc 17 near the drive gear 29. When the mounting groove 171 rotates, a driven gear 28 is provided. The driven gear 28 restricts its own movement through the mounting groove 171. The drive gear 29 and the driven gear 28 are internally meshed, but they are not coaxial. An oil passage hole 281 is provided on the outer circumferential surface of the driven gear 28, which extends to the inner side of the driven gear 28, so that lubricating oil can enter the meshing part of the drive gear 29 and the driven gear 28 from the outer side of the driven gear 28.

[0042] Furthermore, it also includes a connecting housing 27, which is sleeved on the outer peripheral surface of the driven gear 28, forming an annular cavity on the outer peripheral surface of the driven gear 28 to facilitate the inflow of lubricating oil. One side of the connecting housing 27 is fixed to the second sealing disc 17. The oil inlet pipe 30 and the oil outlet pipe 31 respectively penetrate to the inner peripheral surface of the connecting housing 27. Lubricating oil enters or flows out of the connecting housing 27 through the oil inlet pipe 30 and the oil outlet pipe 31. On the side of the connecting housing 27 away from the second sealing disc 17, a first sealing disc 16 is also fixed. The first sealing disc 16, the second sealing disc 17 and the connecting housing 27 form a sealed cavity as the working space of the oil pump mechanism. The axis of the first sealing disc 16 is rotatably connected to the outer peripheral surface of the drive shaft 15. Correspondingly, the contact parts of the first sealing disc 16 and the second sealing disc 17 with the drive shaft 15 should be sealed to prevent lubricating oil leakage.

[0043] Alternatively, when the oil pump mechanism needs to operate at a lower speed, the gear ratio between the driving gear 29 and the driven gear 28 can be reduced, or a planetary gear reduction mechanism can be used between the driving gear 29 and the drive shaft 15, in which case the drive shaft 15 acts as the sun gear and the driving gear 29 acts as the outer gear ring.

[0044] Combination Figure 3 and Figure 10 To securely install the reducer, it is preferable that the fixed plate 10, the first sealing plate 16, the second sealing plate 17, the steel wheel 18, and the first support cylinder 19 are fixed together with bolts, thereby fixing both the oil pump mechanism and the reducer to the first housing 2. This fixing method can avoid affecting the rotation of the second housing 5. The bolts can be inserted from the side of the fixed plate 10 closest to the motor 9. Correspondingly, to facilitate the installation of the motor 9, a first mounting ring 7 is fixed to the inner wall of the first housing 2 away from the fixed plate 10. The first mounting ring 7 is a detachable fixing, such as a threaded connection, so that it can be removed when the motor 9 needs to be installed. The end face of the first housing 2 closest to the first mounting ring 7 is closed by a first end cover 3, which is fixed to the first mounting ring 7 with bolts.

[0045] Combination Figure 3 , Figure 9 or Figure 10 In order to support the rotation of the second outer shell 5 and the forearm 4, a needle roller bearing 13 is preferably provided between the first support cylinder 19 and the second outer shell 5. The needle roller bearing 13 is chosen because it has a high load-bearing capacity and a compact structure. The outer circumferential surface of the needle roller bearing 13 is fixed to the second outer shell 5, and the inner circumferential surface of the needle roller bearing 13 is fixed to the first support cylinder 19, so that the second outer shell 5 as a whole can rotate around the outer circumferential surface of the first support cylinder 19.

[0046] Combination Figure 10To improve the compactness of the structure, a recessed surface 101 is provided on the surface of the fixed plate 10 near the second outer shell 5. A pressure ring 14 is fixed on the side of the second outer shell 5 near the fixed plate 10. The diameter of the pressure ring 14 is smaller than the diameter of the outer circumference of the second outer shell 5, and the pressure ring 14 extends from the inside of the second outer shell 5 toward the fixed plate 10. During installation, a turntable bearing 11 is provided in the recessed surface 101. The end of the pressure ring 14 away from the second outer shell 5 is inserted into the recessed surface 101 and contacts the turntable bearing 11. When the pressure ring 14 is pressed onto the turntable bearing 11, a certain gap is left between the opposite end faces of the first outer shell 2 and the second outer shell 5 to avoid them jamming together.

[0047] The present invention further proposes a robot, including the two-axis robot structure described in the foregoing embodiments. The specific structure of the two-axis robot structure is as described in the above embodiments. Since the present robot adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0048] The working principle and usage process of this utility model are as follows: When in use, the motor 9 drives the drive shaft 15 to rotate, the drive shaft 15 drives the wave generator 21 to rotate, and thus the flexible wheel 22 rotates under the action of the steel wheel 18. The flexible wheel 22 drives the second end cover 6, the second outer shell 5 and the forearm 4 to rotate synchronously through the output end 221. The reducer is fixed to the fixed plate 10 by bolts. The first support cylinder 19 and the second support cylinder 20 are fixed on the steel wheel 18 of the reducer. A needle roller bearing 13 is provided between the second outer shell 5 and the first support cylinder 19 to support the rotation of the second outer shell 5.

[0049] While the drive shaft 15 rotates, it also drives the oil pump mechanism to work. The first support cylinder 19, the second support cylinder 20, the sealing ring 26 and the sleeve shaft 23 enclose a first sealed space. The second sealing disc 17, the steel wheel 18, the inner wall of the second support cylinder 20 and the sleeve shaft 23 enclose a second sealed space. When the oil pump mechanism works, it can pump the high-temperature lubricating oil in the second sealed space into the first sealed space, and make the lubricating oil circulate in the first and second sealed spaces, which can cool the lubricating oil.

[0050] In summary, this two-axis robot structure, by fixing a first support cylinder 19 and a second support cylinder 20 to the steel wheel 18, and utilizing the gap between the first support cylinder 19 and the second support cylinder 20 to form a first sealed space, and by setting a second sealing disc 17, and utilizing the second sealing disc 17, the steel wheel 18, and the second support cylinder 20 to form a second sealed space, when the reducer is working, uses an oil pump mechanism to pump the high-temperature lubricating oil in the second sealed space into the first sealed space, and makes the lubricating oil circulate in the first and second sealed spaces, thereby cooling the lubricating oil in the first sealed space; by setting the first sealing disc 16, the second sealing disc 17 and the connecting housing 27 to form a sealed cavity, and setting a single gear oil pump mechanism in the cavity, and using the drive shaft 15 as the input shaft of the oil pump mechanism, the overall two-axis structure is more compact and does not require an additional drive device to drive the oil pump mechanism.

[0051] It should be noted that, in this document, terms such as "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot two-axis structure comprising a large arm (1) and a small arm (4), opposite ends of the large arm (1) and the small arm (4) are respectively fixed with a first housing (2) and a second housing (5), a motor (9) is installed in the first housing (2), a reducer is installed in the second housing (5), the reducer is composed of a wave generator (21), a flexible gear (22) and a steel gear (18), characterized in that, Also include: Second support cylinder (20), the second support cylinder (20) is fixed on one side of steel wheel (18), and the second support cylinder (20) is sleeved on the outer side of flexible wheel (22); First support cylinder (19), the first support cylinder (19) is sleeved on the outer peripheral surface of second support cylinder (20), and a certain gap is left between the inner wall of first support cylinder (19) and the outer peripheral surface of second support cylinder (20); One side of the gap is closed by sealing ring (26), the other side of the gap is closed by sleeve shaft (23), and the sleeve shaft (23) is rotatably arranged on the outer peripheral surface of the output end (221) of flexible wheel (22), so that first support cylinder (19), second support cylinder (20), sealing ring (26) and sleeve shaft (23) form a first closed space; Second sealing disc (17), the second sealing disc (17) is fixed on the side of steel wheel (18) away from first support cylinder (19), and the second sealing disc (17), steel wheel (18), second support cylinder (20) and sleeve shaft (23) form a second closed space, and the wave generator (21) and the flexible wheel (22) are contained in the second closed space; The first through hole (201) is formed on the second support cylinder (20), so that the first closed space and the second closed space are communicated; Oil pump assembly, the oil pump assembly is arranged on one side of second sealing disc (17), and the oil pump assembly is communicated with oil inlet pipe (30) and oil outlet pipe (31) on both sides respectively, the oil inlet pipe (30) is communicated with the first closed space, and the oil outlet pipe (31) is communicated with the second closed space, so that the lubricating oil in the reducer circulates and flows in the first closed space, the oil pump assembly and the second closed space.

2. The robot two-axis structure according to claim 1, characterized in that: The outer peripheral surface of the output end (221) is rotatably provided with a positioning disc (24), and the positioning disc (24) is fixedly connected with the first support cylinder (19); The side of the positioning disc (24) close to the flexible wheel (22) abuts against the sleeve shaft (23).

3. The robot two-axis structure of claim 1, wherein: The second housing (5) is fixedly connected with the second end cover (6) on the side away from the first housing (2); The outer peripheral surface of the output end (221) is fixedly connected with the connecting flange (25), and the connecting flange (25) is fixedly connected with the second end cover (6).

4. The robot two-axis structure of claim 1, wherein: The first housing (2) is fixedly connected with the fixed disc (10) on the side close to the second housing (5), the output end of the motor (9) is fixedly connected with the driving shaft (15), the driving shaft (15) penetrates through the fixed disc (10), the oil pump mechanism and the second sealing disc (17), and is fixedly connected with the wave generator (21); The driving shaft (15) is the input shaft of the oil pump mechanism.

5. The robot two-axis structure according to claim 4, wherein The oil pump mechanism comprises: Driving gear (29), the driving gear (29) is fixedly connected with the outer peripheral surface of the driving shaft (15), and the driving gear (29) is coaxial with the driving shaft (15); A passive gear (28) is arranged in a mounting circular groove (171) on the surface of the second sealing disc (17) near the side of the driving gear (29), the driving gear (29) is engaged with the passive gear (28), and the driving gear (29) is not coaxial with the passive gear (28); An oil passage (281) is arranged on the outer periphery of the passive gear (28), and the oil passage (281) penetrates to the inner side of the passive gear (28); A connecting shell (27) is arranged on the outer periphery of the passive gear (28), one side of the connecting shell (27) is fixed on the second sealing disc (17), and the oil inlet pipe (30) and the oil outlet pipe (31) penetrate to the inner periphery of the connecting shell (27); A first sealing disc (16) is fixed on the side of the connecting shell (27) away from the second sealing disc (17), and the shaft center of the first sealing disc (16) is rotationally connected with the outer periphery of the driving shaft (15).

6. The robot two-axis structure of claim 5, wherein: The fixed disc (10), the first sealing disc (16), the second sealing disc (17), the steel wheel (18) and the first supporting cylinder (19) are fixed by bolts.

7. The robot two-axis structure of claim 3, wherein: A needle bearing (13) is arranged between the first supporting cylinder (19) and the second shell (5), the outer periphery of the needle bearing (13) is fixed on the second shell (5), and the inner periphery of the needle bearing (13) is fixed on the first supporting cylinder (19).

8. The robot two-axis structure of claim 4, wherein: A sunken surface (101) is arranged on the surface of the fixed disc (10) near the second shell (5); A press ring (14) is fixed on the side of the second shell (5) near the fixed disc (10), the diameter of the press ring (14) is smaller than the diameter of the outer periphery of the second shell (5), and the press ring (14) extends from the inner side of the second shell (5) to the side of the fixed disc (10); A rotary disc bearing (11) is arranged in the sunken surface (101), and one end of the press ring (14) away from the second shell (5) is inserted into the sunken surface (101) and contacts with the rotary disc bearing (11).

9. A robot, characterized in that The robot two-axis structure comprises the robot two-axis structure according to any one of claims 1 to 8.

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