Drive units and robots

Abstract

This utility model provides a drive device and a robot. The drive device includes a housing, a drive component, a transmission assembly, a reducer, a mounting ring, and an oil seal. The drive component and the transmission assembly are located inside the housing. The drive component includes a drive shaft, and the transmission assembly includes a first transmission component, which is sleeved on the drive shaft and rotates synchronously with it. The reducer is connected to the transmission assembly, and the drive component drives the reducer through the transmission assembly. The mounting ring is sleeved on the first transmission component, and the mounting ring and the first transmission component are sealed together. The oil seal is sleeved on the mounting ring, with its inner ring in sealing contact with the mounting ring and its outer ring in sealing contact with the housing. The mounting ring, as a separate component, allows for easy machining of its surface parameters to meet usage requirements. Using the mounting ring to adapt to the drive component does not restrict the design freedom of the drive component and reduces the processing and maintenance costs of the robot's power unit.

Description

Technical Field

[0001] This utility model relates to the field of drive device technology, and more specifically, to a drive device and a robot. Background Technology

[0002] As a core transmission component of industrial robots, the reliability of the reducer's sealing structure directly affects the equipment's performance and service life.

[0003] Currently, effectively preventing leakage of high-performance lubricating media has become a pressing technical bottleneck. Current engineering practices commonly employ axial direct-connection oil seals. This method requires a precision-fitting surface to be reserved in the drive unit's shaft system for effective sealing between the oil seal and this surface. This significantly restricts the design freedom of the drive unit. These technical shortcomings directly increase the processing and maintenance costs of industrial robot power units, becoming a key technological weakness hindering the industry's development. Utility Model Content

[0004] This utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0005] In view of the above, in a first aspect, this utility model proposes a driving device, comprising: a housing; a driving member located inside the housing, the driving member including a driving shaft; a transmission assembly located inside the housing, the transmission assembly including a first transmission member, the first transmission member being sleeved on the driving shaft, and the first transmission member rotating synchronously with the driving shaft; a reducer connected to the transmission assembly, the driving member driving the reducer to operate through the transmission assembly; a mounting ring sleeved on the first transmission member, the mounting ring and the first transmission member being sealed together; and an oil seal sleeved on the mounting ring, the inner ring of the oil seal being in sealing contact with the mounting ring, and the outer ring of the oil seal being in sealing contact with the housing.

[0006] The drive component is connected to the transmission assembly, which in turn is connected to the reducer. The drive component drives the reducer to operate via the transmission assembly. The transmission assembly includes a first transmission component, which is fitted onto the drive shaft of the drive component and connected to the drive shaft, allowing the drive shaft to drive the first transmission component to rotate synchronously. A mounting ring is fitted onto the first transmission component, and a sealed connection is formed between the mounting ring and the first transmission component to prevent oil between the reducer and the housing from leaking out through the gap between the mounting ring and the first transmission component.

[0007] An oil seal is fitted onto the mounting ring. To ensure effective sealing, the surface shape, hardness, and roughness of the structural component installed inside the oil seal are precision-machined. Directly precision-machining the drive shaft and transmission assembly would obviously increase their machining difficulty and cost. In this solution, with the mounting ring fitted onto the first transmission component, the surface of the mounting ring can be precision-machined. As an intermediate component between the oil seal and the drive structure, precision machining of the mounting ring eliminates the need for precision machining of the drive shaft and the first transmission component, thus reducing their machining difficulty. Furthermore, as a separate component, the mounting ring's surface parameters can be easily machined to meet usage requirements. Using the mounting ring to fit the drive component does not restrict the design freedom of the drive component, reducing the machining and maintenance costs of the robot power unit.

[0008] The first transmission component is fitted onto the drive shaft, and then the mounting ring is fitted onto the first transmission component. This arrangement can prevent the mounting ring from causing wear on the drive shaft.

[0009] In some technical solutions, the first transmission member is optionally provided with a mounting groove in the circumferential direction, and the driving device also includes a sealing ring, a portion of which is embedded in the mounting groove, and the sealing ring is located between the mounting ring and the first transmission member.

[0010] A sealing ring is provided between the first transmission component and the mounting ring to seal the space between them, preventing oil from leaking out through the gap. A mounting groove is machined into the first transmission component, extending circumferentially. A portion of the sealing ring is embedded in the mounting groove, preventing the sealing ring from shifting axially along the first transmission component. This ensures the installation stability of the sealing ring and guarantees effective sealing between the first transmission component and the mounting ring.

[0011] Since the first transmission component is sleeved on the drive shaft, a mounting groove can be set on the first transmission component. However, if the mounting ring is directly sleeved on the drive shaft, a mounting groove needs to be set on the drive shaft, which can easily damage the structural stability of the drive shaft and make the machining of the drive shaft more difficult.

[0012] In some technical solutions, the drive device may optionally include: sealant, the mounting ring and the first transmission component having a transition fit, and the sealant filling the space between the mounting ring and the first transmission component.

[0013] The mounting ring and the first transmission component are installed using a transition fit, which allows the mounting ring to be easily fitted onto the first transmission component. However, with the transition fit, there will be a small gap between the mounting ring and the first transmission component. In this solution, sealant is filled between the mounting ring and the first transmission component. The sealing ring and the sealant work together to seal the space between the mounting ring and the first transmission component, ensuring the airtightness between them.

[0014] In some technical solutions, the driving component may optionally include a driving body, with the driving shaft mounted on the driving body. The outer ring of the mounting ring has a first chamfer on the side away from the driving body, and the chamfer angle of the first chamfer is α1, where 45°≤α1≤85°.

[0015] The oil seal is mounted on the mounting ring in a sleeve-like manner. To ensure a tight seal between the oil seal and the mounting ring, the oil seal is fitted onto the mounting ring with an interference fit, which makes the installation process relatively laborious. In this solution, a first chamfer is provided on the outer ring of the mounting ring on the side opposite to the drive body. The first chamfer acts as a guide for the oil seal, improving the ease of installation.

[0016] If the angle of the first chamfer is too small, its guiding effect on the oil seal is limited. If the angle is too large, there is a large angle between the first chamfer and the outer ring of the mounting ring. This large angle can easily scratch the oil seal, thus affecting its sealing performance. This design limits the chamfer angle to between 45° and 85°, effectively guiding the installation of the oil seal while preventing scratches and ensuring its sealing performance.

[0017] In some technical solutions, optionally, a first fillet is provided on the side of the first chamfer away from the drive body, the radius of the first fillet being r1, 0.1mm≤r1≤3mm; and / or a second fillet is provided on the side of the first chamfer adjacent to the drive body, the radius of the second fillet being r2, 0.1mm≤r2≤3mm.

[0018] There is an angle between the side of the first chamfer away from the drive body and one axial end of the mounting ring. During the installation of the oil seal, this angled structure may cause scratches to the oil seal. Similarly, there is also an angle between the side of the first chamfer adjacent to the drive body and the outer ring of the mounting ring. This angled structure may also cause scratches to the oil seal.

[0019] In this design, a first fillet and a second fillet are respectively provided on the side of the first chamfer that is away from the drive body and on the side that is adjacent to the drive body. The first fillet and the second fillet make the structure on both sides of the first chamfer smoother, which can prevent the oil seal from being scratched during installation.

[0020] If the radii of the first and second fillets are too small, their edges will have large sharp corners; if the radii are too large, they cannot achieve a smooth transition. This solution limits the radii of the first and second fillets to between 0.1mm and 3mm, effectively preventing scratches on the oil seal as it passes through them.

[0021] In some technical solutions, optionally, the inner ring of the mounting ring has a second chamfer on the side adjacent to the drive body, and the chamfer angle of the second chamfer is α2, where 5°≤α2≤45°.

[0022] The inner ring of the mounting ring has a second chamfer on the side adjacent to the drive body. Since some oil may be present on the surface of the first transmission component, the second chamfer on the inner ring of the mounting ring allows the oil to be directed towards a designated location, such as a groove in the drive body or housing, as the mounting ring rotates with the first transmission component, thus preventing oil splashing. In this design, the chamfer angle is limited to between 5° and 45°, effectively guiding the oil.

[0023] In some technical solutions, optionally, the hardness of the mounting ring is greater than the hardness of the oil seal, and the hardness of the mounting ring is greater than or equal to 20 HRC.

[0024] To improve the sealing effect between the mounting ring and the oil seal, the mounting ring needs to have high hardness. In this solution, the hardness of the mounting ring is greater than that of the oil seal, and the hardness of the mounting ring is greater than or equal to 20 HRC. This allows the oil seal to deform when it comes into contact with the mounting ring, ensuring that the oil seal can fit tightly against the surface of the mounting ring.

[0025] In some technical solutions, optionally, the surface roughness RA of the mounting ring satisfies the following condition: 0.05μm≤RA≤3μm; and / or the surface roughness RZ of the mounting ring satisfies the following condition: 0.5μm≤RZ≤2.5μm.

[0026] If the surface of the mounting ring is too smooth, it may affect the sealing performance between the mounting ring and the oil seal. This solution limits the surface roughness range of the mounting ring. Within the above range, the oil seal can fit tightly against the surface of the mounting ring, thereby improving the sealing performance between the oil seal and the mounting ring.

[0027] In some technical solutions, the first transmission component may optionally include: a transmission part, a sleeve part, and a locking part. The sleeve part is connected to the transmission part and is sleeved on the drive shaft. The transmission part is located at the axial end of the drive shaft and has a mounting hole. The locking part passes through the mounting hole and is connected to the drive shaft.

[0028] The sleeve is fitted onto the drive shaft to prevent radial movement between the first transmission component and the drive shaft. The transmission component is located at the end of the drive shaft. With this configuration, the outer ring of the first transmission component is equipped with a mounting ring and an oil seal, making it less prone to oil leakage. Even with the locking component passing through the mounting hole, oil is unlikely to enter the inner ring of the first transmission component. Therefore, no sealing structure is needed between the first transmission component and the drive shaft, reducing the sealing difficulty between them and thus lowering the machining difficulty of the drive shaft and the first transmission component.

[0029] In some technical solutions, optionally, the oil seal includes: a first sealing part that is sealed and fitted to the housing; a first connecting part, the first end of which is connected to the first sealing part, and the second end of which is provided with a second sealing part that is sealed and fitted to the first transmission component, wherein the width of the second sealing part is greater than the width of the first connecting part along the axial direction of the drive shaft; a second connecting part, the first end of which is connected to the first sealing part, and the second end of which is provided with a third sealing part that is sealed and fitted to the first transmission component, wherein the width of the third sealing part is greater than the width of the second connecting part along the axial direction of the drive shaft; the first connecting part and the second connecting part are spaced apart along the axial direction of the drive shaft, and the second sealing part and the third sealing part are spaced apart along the axial direction of the drive shaft.

[0030] The first sealing part extends axially along the drive shaft, providing a large contact area between the first sealing part and the housing, ensuring the sealing performance between the oil seal and the housing. The first sealing part is provided with a first connecting part and a second connecting part. A second sealing part is located at the end of the first connecting part, and a third sealing part is located at the end of the second connecting part. Both the second and third sealing parts fit snugly against the mounting ring, effectively forming a two-layer sealing structure between the oil seal and the mounting ring, thereby improving the sealing effect between the oil seal and the mounting ring.

[0031] The first connecting part and the second connecting part are spaced apart, and the second sealing part and the third sealing part are spaced apart. When the oil seal is deformed, the first connecting part and the second connecting part are less likely to interfere with each other, and the second sealing part and the third sealing part are less likely to interfere with each other, thereby avoiding the problem of the oil seal lifting edge and ensuring that the oil seal fits tightly against the surface of the mounting ring.

[0032] Secondly, this utility model proposes a robot, including the drive device described in the first aspect.

[0033] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0034] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 A schematic diagram of the drive device in an embodiment of this utility model is shown;

[0036] Figure 2 A partial schematic diagram of the driving device in an embodiment of this utility model is shown;

[0037] Figure 3 A schematic diagram of the drive component in an embodiment of this utility model is shown;

[0038] Figure 4 A schematic diagram of the mounting ring in an embodiment of this utility model is shown;

[0039] Figure 5 A schematic diagram of the mounting ring in an embodiment of this utility model is shown;

[0040] Figure 6 A partial structural schematic diagram of the mounting ring in an embodiment of this utility model is shown.

[0041] Figure label:

[0042] 100 Drive unit, 110 Housing, 120 Drive component, 121 Drive shaft, 122 Drive body, 123 Flange, 124 Wiring harness connector, 130 Transmission assembly, 131 First transmission component, 132 Second transmission component, 133 Mounting slot, 140 Reducer, 150 Mounting ring, 151 First chamfer, 152 First fillet, 153 Second fillet, 154 Second chamfer, 155 Transmission part, 156 Sleeve part, 157 Locking component, 158 Mounting hole, 160 Oil seal, 161 First sealing part, 162 First connecting part, 163 Second sealing part, 164 Second connecting part, 165 Third sealing part, 170 Sealing ring, 180 Sealing adhesive. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0044] Many specific details are set forth in the following description in order to provide 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.

[0045] The following reference Figures 1 to 6 This invention describes a drive device and a robot provided according to some embodiments of the present invention.

[0046] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments of this utility model, a driving device 100 is provided. The driving device 100 includes: a housing 110, a driving member 120, a transmission assembly 130, a reducer 140, a mounting ring 150, and an oil seal 160. The driving member 120 and the transmission assembly 130 are located inside the housing 110. The driving member 120 includes a drive shaft 121, and the transmission assembly 130 includes a first transmission member 131, which is sleeved on the drive shaft 121 and rotates synchronously with the drive shaft 121. The reducer 140 is connected to the transmission assembly 130. The drive component 120 drives the reducer 140 to operate through the transmission assembly 130. The mounting ring 150 is fitted onto the first transmission component 131, and the mounting ring 150 and the first transmission component 131 are sealed together. The oil seal 160 is fitted onto the mounting ring 150, and the inner ring of the oil seal 160 is in sealing contact with the mounting ring 150. The outer ring of the oil seal 160 is in sealing contact with the housing 110.

[0047] The drive component 120 is connected to the transmission assembly 130, which in turn is connected to the reducer 140. The drive component 120 drives the reducer 140 to operate via the transmission assembly 130. The transmission assembly 130 includes a first transmission component 131, which is fitted onto the drive shaft 121 of the drive component 120 and connected to the drive shaft 121, allowing the drive shaft 121 to drive the first transmission component 131 to rotate synchronously. A mounting ring 150 is fitted onto the first transmission component 131, and a sealed connection is formed between the mounting ring 150 and the first transmission component 131 to prevent oil between the reducer 140 and the housing 110 from leaking out through the gap between the mounting ring 150 and the first transmission component 131.

[0048] An oil seal 160 is fitted onto the mounting ring 150. To ensure the oil seal 160 provides an effective seal, the surface shape, hardness, and roughness of the structural components installed on the inner ring of the oil seal 160 are precision machined. Directly precision machining the drive shaft 121 and transmission assembly 130 would obviously increase the machining difficulty and cost of the drive shaft 120 and transmission assembly 130. In this solution, with the mounting ring 150 fitted onto the first transmission component 131, the surface of the mounting ring 150 can be precision machined. Since the mounting ring 150 serves as an intermediate component between the oil seal 160 and the drive structure, precision machining of the mounting ring 150 eliminates the need for precision machining of the drive shaft 121 and the first transmission component 131, thereby reducing the machining difficulty of the drive shaft 121 and the first transmission component 131. As a separate component, the mounting ring 150 can be easily machined to meet the requirements of use. Then, the mounting ring 150 can be used to adapt to the drive component, thus not restricting the design freedom of the drive component and reducing the processing and maintenance costs of the robot power unit.

[0049] The first transmission component 131 is fitted onto the drive shaft 121, and then the mounting ring 150 is fitted onto the first transmission component 131. This arrangement can prevent the mounting ring 150 from causing wear to the drive shaft 121.

[0050] In one possible embodiment, the transmission assembly 130 further includes a second transmission member 132, which is connected to the first transmission member 131 and the second transmission member 132, and is connected to the reducer 140.

[0051] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, optionally, the circumferential direction of the first transmission member 131 ( Figure 2 (The arrow at point C points to) A mounting groove 133 is provided. The drive device 100 also includes a sealing ring 170. A portion of the sealing ring 170 is embedded in the mounting groove 133. The sealing ring 170 is located between the mounting ring 150 and the first transmission member 131.

[0052] A sealing ring 170 is provided between the first transmission member 131 and the mounting ring 150. The sealing ring 170 seals the space between the first transmission member 131 and the mounting ring 150, preventing oil from leaking out through the gap between them. A mounting groove 133 is machined into the first transmission member 131, extending circumferentially. A portion of the sealing ring 170 is embedded in the mounting groove 133, making it difficult for the sealing ring 170 to move axially along the first transmission member 131. This ensures the installation stability of the sealing ring 170 and guarantees its effective sealing between the first transmission member 131 and the mounting ring 150.

[0053] Since the first transmission component 131 is sleeved on the drive shaft 121, an installation groove 133 can be provided on the first transmission component 131. However, if the installation ring 150 is directly sleeved on the drive shaft 121, an installation groove 133 needs to be provided on the drive shaft 121, which can easily damage the structural stability of the drive shaft 121 and make the machining of the drive shaft 121 more difficult.

[0054] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments, the drive device 100 may optionally include: sealant 180, the mounting ring 150 and the first transmission member 131 having a transition fit, and the sealant 180 filling the space between the mounting ring 150 and the first transmission member 131.

[0055] The mounting ring 150 and the first transmission component 131 are installed using a transition fit, which allows the mounting ring 150 to be easily fitted onto the first transmission component 131. However, with the transition fit, there will be a small gap between the mounting ring 150 and the first transmission component 131. In this solution, sealant 180 is filled between the mounting ring 150 and the first transmission component 131. The sealing ring 170 and the sealant 180 together seal the space between the mounting ring 150 and the first transmission component 131, ensuring the sealing performance between them.

[0056] Combination Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the drive member 120 further includes a drive body 122, the drive shaft 121 is disposed on the drive body 122, and the outer ring of the mounting ring 150 is provided with a first chamfer 151 on the side away from the drive body 122, the chamfer angle of the first chamfer 151 is α1, 45°≤α1≤85°.

[0057] The oil seal 160 is fitted onto the mounting ring 150 in a sleeve-like manner. To ensure a tight seal between the oil seal 160 and the mounting ring 150, the oil seal 160 is fitted onto the mounting ring 150 with an interference fit, which makes the installation of the oil seal 160 relatively laborious. In this solution, a first chamfer 151 is provided on the outer ring of the mounting ring 150 on the side opposite to the drive body 122. The first chamfer 151 serves as a guide for the oil seal 160, which can improve the ease of installation of the oil seal 160.

[0058] If the angle of the first chamfer 151 is too small, its guiding effect on the oil seal 160 is limited. If the angle of the first chamfer 151 is too large, there is a large angle between the first chamfer 151 and the outer ring of the mounting ring 150. This large angle can easily scratch the oil seal 160, thus affecting its sealing performance. This design limits the chamfer angle of the first chamfer 151 to between 45° and 85°, which effectively guides the installation of the oil seal 160 while preventing scratches and ensuring its sealing performance.

[0059] The drive unit 120 also includes a flange 123 and a wiring harness connector 124, which are disposed on the drive body 122.

[0060] Combination Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the first chamfer 151 is provided with a first fillet 152 on the side away from the drive body 122, the radius of the first fillet 152 is r1, 0.1mm≤r1≤3mm; and / or, the first chamfer 151 is provided with a second fillet 153 on the side adjacent to the drive body 122, the radius of the second fillet 153 is r2, 0.1mm≤r2≤3mm.

[0061] There is an angle between the side of the first chamfer 151 away from the drive body 122 and one axial end of the mounting ring 150. During the installation of the oil seal 160, this angled structure may cause scratches to the oil seal 160. Similarly, there is also an angle between the side of the first chamfer 151 adjacent to the drive body 122 and the outer ring of the mounting ring 150. This angled structure may also cause scratches to the oil seal 160.

[0062] In this design, the first chamfer 151 is provided with a first fillet 152 and a second fillet 153 on the side away from the drive body 122 and the side adjacent to the drive body 122, respectively. The first fillet 152 and the second fillet 153 make the structure on both sides of the first chamfer 151 more rounded, which can prevent the oil seal 160 from being scratched during installation.

[0063] If the radii of the first fillet 152 and the second fillet 153 are too small, their edges will have large sharp angles. If the radii of the first fillet 152 and the second fillet 153 are too large, they cannot achieve an effective smooth transition. In this solution, the radii of the first fillet 152 and the second fillet 153 are limited to between 0.1 mm and 3 mm. When the oil seal 160 passes through the first fillet 152 and the second fillet 153, it can effectively prevent the oil seal 160 from being scratched.

[0064] Combination Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, optionally, the inner ring of the mounting ring 150 is provided with a second chamfer 154 on the side adjacent to the drive body 122, and the chamfer angle of the second chamfer 154 is α2, 5°≤α2≤45°.

[0065] The inner ring of the mounting ring 150 has a second chamfer 154 on the side adjacent to the drive body 122. Since some oil may be present on the surface of the first transmission member 131, by providing the second chamfer 154 on the inner ring of the mounting ring 150, the oil can be thrown along the second chamfer 154 to a designated location, such as towards the drive body 122 or the groove in the housing 110, during the rotation of the mounting ring 150 with the first transmission member 131, thus preventing oil splashing. In this design, the chamfer angle of the second chamfer 154 is limited to between 5° and 45°, which can effectively guide the oil.

[0066] In some embodiments, the hardness of the mounting ring 150 is optionally greater than the hardness of the oil seal 160, and the hardness of the mounting ring 150 is greater than or equal to 20 HRC.

[0067] To improve the sealing effect between the mounting ring 150 and the oil seal 160, the mounting ring 150 needs to have high hardness. In this solution, the hardness of the mounting ring 150 is greater than that of the oil seal 160, and the hardness of the mounting ring 150 is greater than or equal to 20 HRC. This allows the oil seal 160 to deform when it comes into contact with the mounting ring 150, ensuring that the oil seal 160 can fit tightly against the surface of the mounting ring 150.

[0068] In some embodiments, the surface roughness RA of the mounting ring 150 may optionally satisfy the following condition: 0.05 μm ≤ RA ≤ 3 μm; and / or the surface roughness RZ of the mounting ring 150 may satisfy the following condition: 0.5 μm ≤ RZ ≤ 2.5 μm.

[0069] If the surface of the mounting ring 150 is too smooth, it may affect the sealing performance between the mounting ring 150 and the oil seal 160. In this solution, the surface roughness range of the mounting ring 150 is limited. Within the above range, the oil seal 160 can fit tightly with the surface of the mounting ring 150, thereby improving the sealing performance between the oil seal 160 and the mounting ring 150.

[0070] Combination Figure 1 and Figure 2 As shown, in some embodiments, optionally, the first transmission member 131 includes: a transmission part 155, a sleeve part 156, and a locking member 157. The sleeve part 156 is connected to the transmission part 155, and the sleeve part 156 is sleeved on the drive shaft 121. The transmission part 155 is located axially on the drive shaft 121. Figure 2 (The arrow at H points to) the end, the transmission part 155 is provided with a mounting hole 158, the locking member 157 passes through the mounting hole 158 and is connected to the drive shaft 121.

[0071] The sleeve 156 is fitted onto the drive shaft 121 to prevent the first transmission member 131 and the drive shaft 121 from moving radially relative to each other. The transmission part 155 is located at the end of the drive shaft 121. With this arrangement, the outer ring of the first transmission member 131 is provided with a mounting ring 150 and an oil seal 160, making it less prone to oil leakage from the outer ring of the first transmission member 131. Even with the locking member 157 passing through the mounting hole 158, oil is also less likely to enter the inner ring of the first transmission member 131. Therefore, no sealing structure is required between the first transmission member 131 and the drive shaft 121, reducing the sealing difficulty between the first transmission member 131 and the drive shaft 121, thereby reducing the machining difficulty of the drive shaft 121 and the first transmission member 131.

[0072] Combination Figure 1 and Figure 2As shown, in some embodiments, optionally, the oil seal 160 includes: a first sealing portion 161, a first connecting portion 162, and a second connecting portion 164. The first sealing portion 161 is sealed and fitted to the housing 110. A first end of the first connecting portion 162 is connected to the first sealing portion 161, and a second end of the first connecting portion 162 is provided with a second sealing portion 163. The second sealing portion 163 is sealed and fitted to the first transmission member 131. Along the axial direction of the drive shaft 121, the width of the second sealing portion 163 is greater than the width of the first connecting portion 162. The first end of the second connecting part 164 is connected to the first sealing part 161, and the second end of the second connecting part 164 is provided with a third sealing part 165. The third sealing part 165 is sealed and fitted with the first transmission member 131. Along the axial direction of the drive shaft 121, the width of the third sealing part 165 is greater than the width of the second connecting part 164. The first connecting part 162 and the second connecting part 164 are spaced apart in the axial direction of the drive shaft 121, and the second sealing part 163 and the third sealing part 165 are spaced apart in the axial direction of the drive shaft 121.

[0073] The first sealing portion 161 extends axially along the drive shaft 121, providing a large contact area between the first sealing portion 161 and the housing 110, thus ensuring the sealing performance between the oil seal 160 and the housing 110. A first connecting portion 162 and a second connecting portion 164 are provided on the first sealing portion 161. A second sealing portion 163 is provided at the end of the first connecting portion 162, and a third sealing portion 165 is provided at the end of the second connecting portion 164. Both the second sealing portion 163 and the third sealing portion 165 are fitted to the mounting ring 150, effectively forming a two-layer sealing structure between the oil seal 160 and the mounting ring 150, thereby improving the sealing effect between the oil seal 160 and the mounting ring 150.

[0074] The first connecting part 162 and the second connecting part 164 are spaced apart, and the second sealing part 163 and the third sealing part 165 are spaced apart. When the oil seal 160 deforms, the first connecting part 162 and the second connecting part 164 are less likely to interfere with each other, and the second sealing part 163 and the third sealing part 165 are less likely to interfere with each other, thereby avoiding the problem of the oil seal 160 warping and ensuring that the oil seal 160 fits tightly against the surface of the mounting ring 150.

[0075] In this embodiment of the invention, a sealing structure for the input shaft of a speed reducer is proposed. This structure achieves a more stable sealing effect on the drive components at the input end of the speed reducer, while simultaneously reducing related design costs. By modifying component features, it mitigates the risk of oil leakage and potential collateral losses, thereby reducing the failure rate of the speed reducer 140 and motor during robot operation and lowering the design, manufacturing, and maintenance costs of the robot's sealing system. Furthermore, this structure is easy to assemble, highly reliable, and adaptable to different types of speed reducers 140, motors, gears, and other structures, significantly improving the level of design standardization and serialization.

[0076] The input shaft sealing structure of the reducer includes a motor (drive component 120), a reducer 140, input gear one (first transmission component 131), input gear two (second transmission component 132), an O-ring (sealing ring 170), an oil seal ring (mounting ring 150), a high-speed oil seal (oil seal sealing component 160), a screw (locking component 157), and a housing 110.

[0077] First, install the O-ring in the groove on the input gear one. Then, apply fastening adhesive to the outer wall of the input gear one and the inner wall of the oil seal ring, and connect the two through an adapter fit. The input shaft of the reducer is the input component of the reducer 140, driving the reducer 140 to complete the reduction and torque increase function. The input gear one is connected to the motor shaft (drive shaft 121) with screws.

[0078] The oil seal ring is an intermediate component between the motor and the high-speed oil seal, providing a mating mounting surface for the inner ring of the high-speed oil seal. This contact surface needs to be finely machined according to the oil seal installation requirements. The oil seal ring has small-angle chamfer and rounded corner features to facilitate the installation of the high-speed oil seal. The radius of the first rounded corner 152 and the second rounded corner 153 ranges from 0.1mm to 3mm, the first chamfer 151 ranges from 45° to 85°, and the second chamfer 154 ranges from 5° to 45°.

[0079] The O-ring and the high-speed oil seal are sealing components. The O-ring is a static sealing component, installed in the groove of the input gear. The O-ring is used to seal the gap between the inner ring of the oil seal ring and the input gear. The high-speed oil seal is a dynamic sealing component, and its lip mates with the outer ring of the oil seal ring. The outer ring of the high-speed oil seal is installed on the connecting housing 110.

[0080] The housing 110 is a connecting component for the motor, the reducer 140 and related sealing components, providing mounting positions for these components.

[0081] In this device, the reducer side is filled with lubricating medium, and the input shaft sealing structure is driven by a motor, sealing the reducer input shaft position with fastening glue, O-rings and high-speed oil seals.

[0082] This embodiment provides a solution for the sealing structure of the input shaft of a speed reducer, which solves the problems of large sealing structure size between the input side of the speed reducer and the drive component, interference between the size of the input gear of the speed reducer and the sealing component, reduces the design and manufacturing cost, reduces the axial size and design difficulty of the sealing device on the input side of the speed reducer, makes the overall structure more compact, and allows for serialization in structural design.

[0083] The following example, a common problem with a gearbox input shaft sealing device, illustrates the testing principle and technical advantages of this solution:

[0084] First, the sealing problem between the input shaft of the reducer and the drive components.

[0085] In actual design, due to the different speed ratios of the reducer (140), the gear size on the input shaft varies greatly under different operating conditions. If the diameter of the input gear is larger than the diameter of the motor shaft, a complex transition structure and sealing method are often required, which increases the overall axial length. Furthermore, the sealing components required for different models need to be redesigned, increasing the workload and manufacturing cost.

[0086] This device uses a universal oil seal ring structure as the mating component for the high-speed oil seal. This component has a simple structure and low manufacturing cost. It can use the same sealing components and design methods even when the motor shaft size and the reducer input gear size are different, which reduces the design and manufacturing cost and makes the sealing at this position more universal.

[0087] This embodiment achieves a more stable sealing effect on the drive component at the input end of the reducer by employing a sealing structure for the reducer input shaft. Simultaneously, it reduces related design costs. Special design features of the components minimize the risk of oil leakage and potential collateral losses, thereby reducing the failure rate of the reducer 140 and motor during robot operation and lowering the design and manufacturing costs of the robot's sealing system. Furthermore, this structure is easy to assemble, highly reliable, and adaptable to different types of reducers 140, motors, gears, and other structures, significantly improving the level of design standardization and serialization.

[0088] This reducer input shaft sealing structure is applicable to the center or eccentric input shaft sealing structure of reducers 140 commonly used in industrial robots, such as harmonic, cycloidal pinwheel planetary reducers. It can also be used in the sealing structure of input shafts of reducers with different principles in other fields, including but not limited to worm gears, chains, synchronous belts and other deceleration or acceleration forms.

[0089] The design concept of the input shaft sealing structure of the reducer can not only be used in the sealing structure of the industrial robot reducer 140, but also in other non-robot transmission fields, including but not limited to the sealing structure of equipment with stirring devices, hydraulic devices, etc.

[0090] The protection concept of the drive component through the oil seal ring and boss features in the input shaft sealing structure of this reducer can be applied not only to motor drive structures, but also to the protection design of drive components that perform rotational motion, including but not limited to rotary cylinders and rotary hydraulic cylinders.

[0091] The oil seal ring in the input shaft sealing structure of this reducer is not limited to the single-stage cylindrical shape shown in the schematic diagram of this embodiment. Through flexible design, such as changing the shape or adding mating surfaces, the oil seal ring can be adapted to various sealing structures. Methods include, but are not limited to, adding multiple cylindrical mating surfaces.

[0092] The sealing components installed using oil seal rings in the input shaft sealing structure of this reducer can be not only skeleton oil seals, but also dynamic or static sealing components such as star seals and O-rings, and the sealing components on a single oil seal ring are not limited to one or one type.

[0093] In this reducer input shaft sealing structure, the connection between the reducer input shaft and the drive component can use not only interference fit, but also various common transmission connection methods, including but not limited to screw connection, spline connection, etc.

[0094] In the embodiments of this utility model, a robot is proposed, which includes the driving device in any of the above embodiments and can achieve the same technical effect, and will not be described again here.

[0095] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0096] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above 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 one or more embodiments or examples.

[0097] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A drive device characterized by comprising: include: case; A drive unit, located within the housing, includes a drive shaft; A transmission assembly is located inside the housing. The transmission assembly includes a first transmission member, which is sleeved on the drive shaft and rotates synchronously with the drive shaft. A speed reducer is connected to the transmission assembly, and the driving component drives the speed reducer to operate through the transmission assembly; An installation ring is fitted onto the first transmission component, and the installation ring and the first transmission component are sealed together. An oil seal is fitted onto the mounting ring, with the inner ring of the oil seal in sealing contact with the mounting ring and the outer ring of the oil seal in sealing contact with the housing.

2. The driving device according to claim 1, characterized in that, The first transmission component has a mounting groove in its circumference, and the driving device also includes a sealing ring, a portion of which is embedded in the mounting groove, and the sealing ring is located between the mounting ring and the first transmission component.

3. The drive apparatus according to claim 1, characterized by The drive device further includes: The sealant is used to fill the space between the mounting ring and the first transmission component, where the mounting ring and the first transmission component have a transition fit.

4. The drive apparatus according to any one of claims 1 to 3, characterized in that, The driving component also includes a driving body, the driving shaft is disposed on the driving body, and the outer ring of the mounting ring has a first chamfer on the side away from the driving body, the chamfer angle of the first chamfer is α1, 45°≤α1≤85°.

5. The drive apparatus according to claim 4, characterized by The first chamfer has a first fillet on the side facing away from the drive body, and the radius of the first fillet is r1, 0.1mm≤r1≤3mm; and / or The first chamfer has a second fillet on the side adjacent to the drive body, and the radius of the second fillet is r2, 0.1mm≤r2≤3mm.

6. The drive apparatus according to claim 4, characterized by The inner ring of the mounting ring has a second chamfer on the side adjacent to the drive body, and the chamfer angle of the second chamfer is α2, where 5°≤α2≤45°.

7. The drive apparatus according to any one of claims 1 to 3, characterized by The hardness of the mounting ring is greater than that of the oil seal, and the hardness of the mounting ring is greater than or equal to 20 HRC.

8. The drive apparatus according to any one of claims 1 to 3, characterized by The surface roughness RA of the mounting ring satisfies the following conditions: 0.05μm≤RA≤3μm; and / or The surface roughness RZ of the mounting ring satisfies the following condition: 0.5μm≤RZ≤2.5μm.

9. The drive apparatus according to any one of claims 1 to 3, characterized by The first transmission component includes: The device includes a transmission part, a sleeve part, and a locking member. The sleeve part is connected to the transmission part and is sleeved on the drive shaft. The transmission part is located at the axial end of the drive shaft and has a mounting hole. The locking member passes through the mounting hole and is connected to the drive shaft.

10. The drive apparatus according to any one of claims 1 to 3, characterized by The oil seal includes: The first sealing part is in a sealed fit with the housing; A first connecting part, a first end of the first connecting part is connected to the first sealing part, a second sealing part is provided at the second end of the first connecting part, the second sealing part is sealed and fitted with the first transmission component, and the width of the second sealing part is greater than the width of the first connecting part along the axial direction of the drive shaft; The second connecting part has a first end connected to the first sealing part, and a second end of the second connecting part is provided with a third sealing part. The third sealing part is sealed and fitted to the first transmission component. Along the axial direction of the drive shaft, the width of the third sealing part is greater than the width of the second connecting part. The first connecting part and the second connecting part are spaced apart along the axial direction of the drive shaft, and the second sealing part and the third sealing part are spaced apart along the axial direction of the drive shaft.

11. A robot, characterized in that include: The drive device as described in any one of claims 1 to 10.

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