CN109807928A - A kind of internal-circulation type lubrication self-cleaning mechanism - Google Patents
A kind of internal-circulation type lubrication self-cleaning mechanism Download PDFInfo
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- CN109807928A CN109807928A CN201711161970.XA CN201711161970A CN109807928A CN 109807928 A CN109807928 A CN 109807928A CN 201711161970 A CN201711161970 A CN 201711161970A CN 109807928 A CN109807928 A CN 109807928A
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- speed reducer
- large arm
- elastic mechanism
- oil circuit
- output shaft
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Abstract
The present invention relates to a kind of internal-circulation types to lubricate self-cleaning mechanism, motor static seal is connected in large arm, output end is connected by speed reducer input gear axle with one end of speed reducer output shaft, one end static seal of decelerator shell is mounted in large arm, the other end and speed reducer output shaft sealing are rotatablely connected, and the other end of speed reducer output shaft is connect with forearm static seal；Speed reducer inner cavity is equipped in large arm, speed reducer inner cavity is connected by oil circuit A with one end of elastic mechanism, the other end of elastic mechanism is connected by oil circuit B with speed reducer inner cavity, it is equipped with the oil outlet one-way valve for being only capable of flowing to elastic mechanism in oil circuit A, the return check valve for being only capable of flowing to speed reducer inner cavity is equipped in oil circuit B；Filter core is equipped in the oil circuit B of the elastic mechanism other end.The present invention can allow joint of robot internal pressure to be stablized, and prevent permeability, and the joint rotational resistance of robot is small, reduce energy efficiency, and energy-saving and environment-friendly better effect is significant.
Description
Technical field
The present invention relates to the joint of robot cleaning lubricating system of clean industry, specifically a kind of internal-circulation type lubrication
Self-cleaning mechanism.
Background technique
Motor and speed reducer is contained in the joint of robot, for conventional application, may oil leak or permeability, reason has
Very much.But absolutely not allow for being applied to clean industry.If speed reducer is in a more closed shape
If state, it is meshed between every a pair of of gear in speed reducer, certain friction will be generated, and the case where this friction, will
Issue certain heat；With the lengthening of the speed reducer duration of runs, the temperature that directly will lead in decelerating chassis occurs one
Determine the raising of degree；And the volume in decelerating chassis is constant, so resulting in the increasing of pressure also therewith in decelerating chassis
Add, lubricating oil will be sprinkled upon on the inner wall of decelerating chassis by splashing in cabinet.Since the permeability of this oil is also stronger
, thus under the pressure in decelerating chassis, if oil will be from this sealing not if poorly sealed at which
Tight place exudation.
Current solution is exactly a word " stifled ", is strict with assembly technology, it is desirable that design allows lubricating oil to expand
Volume is decelerated the compression of the air inside machine and compensates.This method internal pressure still remains, industry clean for application,
It is equivalent to the bomb that each of robot contains not timing containing the movable joint of speed reducer, is all likely to become at any time hidden
Suffer from.General industry robot penetrates grease, and there is no big harm, nor affects on use；But it for clean industry, penetrates a bit
Grease, which can volatilize, diffuses into dust, influences cleanliness index.
Summary of the invention
In order to solve the problems, such as clean industry robot infiltration grease, the purpose of the present invention is to provide a kind of internal-circulation types
Lubricate self-cleaning mechanism.The internal-circulation type lubricates self-cleaning mechanism and lubricates automatically cleaning using internal-circulation type, and joint of robot is allowed to transport
Under conditions of the raw random heating amount of movable property, internal pressure is still constant pressure, can constantly be carried out during the motion internal clear
It is clean.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes large arm, forearm, motor and the decelerator shell being respectively contained in large arm, speed reducer input gear
Axis, speed reducer output shaft, elastic mechanism, oil outlet one-way valve, return check valve and filter core, wherein motor static seal is connected to large arm
On, output end is connected by the speed reducer input gear axle with one end of speed reducer output shaft, the decelerator shell
One end static seal is mounted in large arm, the other end and speed reducer output shaft sealing be rotatablely connected, the speed reducer output shaft it is another
One end is connect with forearm static seal；The speed reducer inner cavity equipped with lubricating grease is equipped in the large arm, which passes through oil
Road A is connected with one end of elastic mechanism, and the other end of the elastic mechanism is connected by oil circuit B with speed reducer inner cavity,
It is equipped with the oil outlet one-way valve for being only capable of flowing to elastic mechanism in the oil circuit A, is equipped in the oil circuit B and is only capable of flowing in speed reducer
The return check valve of chamber；Filter core is equipped in the oil circuit B of the elastic mechanism other end；
Wherein: one end static seal of the elastic mechanism is connected to the inside of large arm, the other end by inertia vibration generator with
The inside of the large arm is connected；
The inertia vibration generator includes inertia vibration generator stationary end and inertia vibration generator tache motorice, and the inertia vibration generator is static
The one end at end is connected in the large arm, and one end of the inertia vibration generator tache motorice is connected with the other end of elastic mechanism, should
The other end of inertia vibration generator tache motorice is relatively movably connect with the other end of the inertia vibration generator stationary end；
The elastic mechanism is of reciprocating vibration in the horizontal direction under the action of inertia vibration generator；
The other end of the decelerator shell is rotatablely connected by rotary dynamic seal and speed reducer output shaft sealing, should
The other end and speed reducer input gear axle, the speed reducer output shaft and rotary dynamic seal of decelerator shell form speed reducer drive machine
Structure.
Advantages of the present invention and good effect are as follows:
1. motor and speed reducer is contained in the joint of robot of the present invention, allowing joint of robot internal pressure to stablize, (pressure is permanent
Pressure depressurizes or without pressure), it can be reduced with rotary dynamic seal failure probability, can also be in the design phase, it being capable of the slightly loose rotation of form slection
The joint rotational resistance of rotary seal, such robot is small, reduces energy efficiency, and energy-saving and environment-friendly better effect is significant.
2. motor and speed reducer is contained in the joint of robot of the present invention, internal pressure is stablized, and prevents permeability, especially contains to having
There are the part of casting flaw, such as sand holes, gap, the workpiece of crackle can equally be accomplished oil-tight.
3. the present invention increases heat dissipation area using a set of internal-circulation type lubrication self-cleaning mechanism and a set of inertia vibration generator,
The random heating amount for allowing joint of robot movement to generate, causes the temperature rise of joint of robot lower, allows the precision institute of robot
It is affected by temperature lower.
Detailed description of the invention
Fig. 1 is internal structure cross-sectional view of the invention；
Fig. 2 is explosive view of the invention；
Wherein: 1 is large arm, and 2 be motor, and 3 be decelerator shell, and 4 be speed reducer input gear axle, and 5 export for speed reducer
Axis, 6 be rotary dynamic seal, and 7 be forearm, and 8 be inertia vibration generator stationary end, and 9 be inertia vibration generator tache motorice, and 10 be elastic machine
Structure, 11 be oil outlet one-way valve, and 12 be return check valve, and 13 be filter core, and 14 be speed reducer inner cavity, and 15 be oil circuit A, and 16 be oil circuit B.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, the present invention includes large arm 1, forearm 7, motor 2 and the speed reducer being respectively contained in large arm 1
Shell 3, speed reducer input gear axle 4, speed reducer output shaft 5, elastic mechanism 10, oil outlet one-way valve 11,12 and of return check valve
Filter core 13, wherein 2 static seal of motor is fixedly attached in large arm 1, and output end penetrates in large arm 1, by speed reducer input gear
Axis 4 is connected with one end of speed reducer output shaft 5, and one end static seal of decelerator shell 3 is fixedly connected in large arm 1, another
End is rotatablely connected by rotary dynamic seal 6 and the sealing of speed reducer output shaft 5, and the other end and speed reducer of the decelerator shell 3 are defeated
Enter gear shaft 4, speed reducer output shaft 5 and rotary dynamic seal 6 and forms speed reducer drive mechanism.The other end of speed reducer output shaft 5
Static seal is fixedly attached on forearm 7.
Elastic mechanism 10 is mounted in large arm 1, and one end static seal is fixedly attached to the inside of large arm 1, and the other end can be direct
It is connected with large arm 1, or is connected by inertia vibration generator with the inside of large arm 1.In order to which the conveying of lubricating grease, this reality is better achieved
The other end for applying the elastic mechanism 10 of example is connected by inertia vibration generator with the inside of large arm 1.Inertia vibration generator includes that inertia swashs
Vibration device stationary end 8 and inertia vibration generator tache motorice 9, one end of the inertia vibration generator stationary end 8 are fixedly connected in large arm 1, are used to
One end of property vibration excitor tache motorice 9 is fixedly connected with the other end of elastic mechanism 10, the other end of the inertia vibration generator tache motorice 9
It is relatively movably connect with the other end of inertia vibration generator stationary end 8.Elastic mechanism 10 is under the action of inertia vibration generator along water
Square to of reciprocating vibration.
Speed reducer inner cavity 14, oil circuit A15 and oil circuit B16 are respectively equipped in large arm 1, wherein speed reducer inner cavity 14 is provided with
Lubricating grease；Speed reducer inner cavity 14 is connected by oil circuit A15 with one end of elastic mechanism 10, and the other end of elastic mechanism 10 passes through
Oil circuit B16 is connected with speed reducer inner cavity 14, and the oil outlet one-way valve 11 for being only capable of flowing to elastic mechanism 10 is equipped in oil circuit A15,
The return check valve 12 for being only capable of flowing to speed reducer inner cavity 14 is equipped in oil circuit B16.Close to the oil circuit of 10 other end of elastic mechanism
Filter core 13 is equipped in B16.Oil circuit A15 inside large arm 1 is connected to elastic mechanism by oil outlet one-way valve 11 from speed reducer inner cavity 14
10 inner space, oil circuit B16 inside large arm 1 is from the space inside elastic mechanism 10 by inertia vibration generator stationary end 8, used
Property vibration excitor tache motorice 9, filter core 13, return check valve 12 are connected to speed reducer inner cavity 14.
Elastic mechanism 10 of the invention can be vacuum corrugated pipe, or balloon, diaphragm, rubber capsule and spring group
Any internal-circulation type that can change such as conjunction lubricates self-cleaning implements.The stationary end 8 of inertia vibration generator of the invention can be weight,
Inertia vibration generator tache motorice 9 can be any mechanical mechanisms that joint of robot kinergety can be absorbed such as spring, elastic rubber band.
The operation principle of the present invention is that:
When joint operation, motor 2, decelerator shell 3, speed reducer input gear axle 4, speed reducer output shaft 5 and rotation
Dynamic sealing 6 can generate heat.Oil circuit is truncated in lubricating grease and gas expansion in intra articular speed reducer inner cavity 14, return check valve 12
B16, the lubricating grease in speed reducer flows to elastic mechanism 10 by oil outlet one-way valve 11, due to elastic mechanism 10 and inertia vibration generator
There are difference in volume, so the flexible deformation of elastic mechanism 10 will ensure that intra articular lubricating grease and gas constant pressure, and lower than rotation
The pressure of rotary seal 6 and entire joint static seal.When the joint speed of service is reduced or do not run, outside motor 2, speed reducer
Shell 3, speed reducer input gear axle 4, speed reducer output shaft 5 and 6 calorific value of rotary dynamic seal are few, intra articular lubricating grease and gas
It shrinks, oil circuit A15 is truncated in oil outlet one-way valve 11, and the lubricating grease inside elastic mechanism 10 passes through inertia vibration generator stationary end 8, inertia
Vibration excitor tache motorice 9, filter core 13, return check valve 12 are connected to speed reducer inner cavity 14.
When large arm 1 moves the acceleration or deceleration period with respect to forearm 7, inertia vibration generator tache motorice 9 and elastic mechanism 10 are formed
A set of vibrational system, the energy of joint motions allow the lubricating grease in entire joint in forward flow, and reach interior through filtration core 13
The circulating self-cleaning purpose of lubrication.
Claims (5)
1. a kind of internal-circulation type lubricates self-cleaning mechanism, it is characterised in that: including large arm (1), forearm (7), motor (2) and difference
Decelerator shell (3), speed reducer input gear axle (4), the speed reducer output shaft (5), elastic mechanism being placed in large arm (1)
(10), oil outlet one-way valve (11), return check valve (12) and filter core (13), wherein motor (2) static seal is connected to large arm (1)
On, output end is connected by the speed reducer input gear axle (4) with one end of speed reducer output shaft (5), the speed reducer
One end static seal of shell (3) is mounted in large arm (1), and the other end and speed reducer output shaft (5) sealing are rotatablely connected, described to subtract
The other end of fast machine output shaft (5) is connect with forearm (7) static seal；The speed reducer equipped with lubricating grease is equipped in the large arm (1)
Inner cavity (14), the speed reducer inner cavity (14) are connected by oil circuit A (15) with one end of elastic mechanism (10), the elastic mechanism
(10) the other end is connected by oil circuit B (16) with speed reducer inner cavity (14), is equipped in the oil circuit A (15) and is only capable of flowing to
The oil outlet one-way valve (11) of elastic mechanism (10) is equipped in the oil circuit B (16) and is only capable of flowing to returning for speed reducer inner cavity (14)
Oily check valve (12)；Filter core (13) are equipped in the oil circuit B (16) of the elastic mechanism (10) other end.
2. internal-circulation type according to claim 1 lubricates self-cleaning mechanism, it is characterised in that: the elastic mechanism (10)
One end static seal is connected to the inside of large arm (1), and the other end is connected by inertia vibration generator with the inside of the large arm (1).
3. internal-circulation type according to claim 2 lubricates self-cleaning mechanism, it is characterised in that: the inertia vibration generator includes
Inertia vibration generator stationary end (8) and inertia vibration generator tache motorice (9), one end of the inertia vibration generator stationary end (8) are connected to institute
It states on large arm (1), one end of the inertia vibration generator tache motorice (9) is connected with the other end of elastic mechanism (10), which swashs
The other end of vibration device tache motorice (9) is relatively movably connect with the other end of the inertia vibration generator stationary end (8).
4. internal-circulation type according to claim 2 lubricates self-cleaning mechanism, it is characterised in that: the elastic mechanism (10) exists
It is of reciprocating vibration in the horizontal direction under the action of inertia vibration generator.
5. internal-circulation type according to claim 1 lubricates self-cleaning mechanism, it is characterised in that: the decelerator shell (3)
The other end by rotary dynamic seal (6) and the speed reducer output shaft (5) sealing be rotatablely connected, the decelerator shell (3)
The other end and speed reducer input gear axle (4), speed reducer output shaft (5) and rotary dynamic seal (6) form speed reducer drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711161970.XA CN109807928B (en) | 2017-11-21 | 2017-11-21 | Internal circulation type lubricating self-cleaning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711161970.XA CN109807928B (en) | 2017-11-21 | 2017-11-21 | Internal circulation type lubricating self-cleaning mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109807928A true CN109807928A (en) | 2019-05-28 |
| CN109807928B CN109807928B (en) | 2021-08-31 |
Family
ID=66598667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711161970.XA Active CN109807928B (en) | 2017-11-21 | 2017-11-21 | Internal circulation type lubricating self-cleaning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109807928B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743571A (en) * | 2019-10-30 | 2021-05-04 | 日本电产三协（浙江）有限公司 | Cleaning device for wave gear reducer and manufacturing method for industrial robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07310808A (en) * | 1994-05-18 | 1995-11-28 | Fanuc Ltd | Internal pressure change absorbing device for gear box |
| CN101374637A (en) * | 2006-01-13 | 2009-02-25 | 纳博特斯克株式会社 | Joint mechanism |
| CN201521626U (en) * | 2009-09-23 | 2010-07-07 | 国茂减速机集团有限公司 | Vertical cycloid pinwheel speed reducer with lubricating oil external circuiting structure |
| CN103429396A (en) * | 2011-03-02 | 2013-12-04 | 杜尔系统有限责任公司 | Robot transmission with pressure compensation device |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| CN103692450A (en) * | 2013-11-28 | 2014-04-02 | 华南理工大学 | Robotic arm joint part for planar joint type robots |
-
2017
- 2017-11-21 CN CN201711161970.XA patent/CN109807928B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07310808A (en) * | 1994-05-18 | 1995-11-28 | Fanuc Ltd | Internal pressure change absorbing device for gear box |
| CN101374637A (en) * | 2006-01-13 | 2009-02-25 | 纳博特斯克株式会社 | Joint mechanism |
| ATE461017T1 (en) * | 2006-01-13 | 2010-04-15 | Nabtesco Corp | JOINT MECHANISM |
| CN201521626U (en) * | 2009-09-23 | 2010-07-07 | 国茂减速机集团有限公司 | Vertical cycloid pinwheel speed reducer with lubricating oil external circuiting structure |
| CN103429396A (en) * | 2011-03-02 | 2013-12-04 | 杜尔系统有限责任公司 | Robot transmission with pressure compensation device |
| CN103624775A (en) * | 2013-11-28 | 2014-03-12 | 华南理工大学 | Synchronous belt deceleration plane joint robot |
| CN103692450A (en) * | 2013-11-28 | 2014-04-02 | 华南理工大学 | Robotic arm joint part for planar joint type robots |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743571A (en) * | 2019-10-30 | 2021-05-04 | 日本电产三协（浙江）有限公司 | Cleaning device for wave gear reducer and manufacturing method for industrial robot |
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| Publication number | Publication date |
|---|---|
| CN109807928B (en) | 2021-08-31 |
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