CN113280100A - RV-C type speed reducer of industrial robot - Google Patents
RV-C type speed reducer of industrial robot Download PDFInfo
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- CN113280100A CN113280100A CN202110470899.3A CN202110470899A CN113280100A CN 113280100 A CN113280100 A CN 113280100A CN 202110470899 A CN202110470899 A CN 202110470899A CN 113280100 A CN113280100 A CN 113280100A
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- lubricant
- hole
- reducing mechanism
- cavity
- speed reducing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Details Of Gearings (AREA)
Abstract
The invention relates to the technical field of speed reducers of industrial robots, in particular to an RV-C type speed reducer of an industrial robot, which comprises a speed reducing mechanism, a shell, a sliding rail, a sliding block, a ring sleeve, a motor and a controller, wherein the shell is provided with a first end and a second end; an annular groove is formed in the shell; the annular groove surrounds the speed reducing mechanism; the sliding rails are arranged on two opposite end surfaces of the annular groove; the sliding block is positioned in the annular groove; a steel rope is wound on an output shaft of the motor; the controller is used for controlling the industrial robot RV-C type speed reducer to automatically operate; according to the invention, the motor contracts the steel rope and then is matched with the lubricant in the cavity I extruded by the two sliding blocks, so that the purpose that the lubricant flows through the step hole I and the through hole I to enter the speed reducing mechanism is achieved, the lubricant lubricates and cools the gear in the speed reducing mechanism, the service life of the speed reducing mechanism is prolonged, and the reduction of the transmission precision of the speed reducing mechanism is delayed.
Description
Technical Field
The invention relates to the technical field of speed reducers of industrial robots, in particular to an RV-C type speed reducer of an industrial robot.
Background
The industrial robot is a general machine which is provided with a memory device and a tail end execution device and can finish various movements or processes to replace human labor, a servo motor is operated at a proper speed due to the existence of a precise speed reducer, the rotating speed is precisely reduced to the speed required by each part of the industrial robot, the rigidity of a mechanical body is improved, and meanwhile, larger torque is output; compared with a universal speed reducer, the robot joint speed reducer is required to have the characteristics of short transmission chain, small volume, high power, light weight, easiness in control and the like; the existing speed reducer applied to the robot field is mainly an RV type speed reducer, and the RV-C type speed reducer is one of the RV type speed reducers; in the articulated robot, because the RV reducer has higher rigidity and rotation precision, the RV reducer is generally placed at the position of heavy load such as a base, a large arm, a shoulder and the like; the gears can generate heat during meshing transmission, the gears can thermally expand to influence the transmission precision of the speed reducer, and the lubricant can be evaporated to easily cause the gears to be blocked; the gear can have adhesive wear, abrasive wear and corrosive wear when lacking the lubricant, which can affect the transmission precision of the speed reducer and reduce the service life of the speed reducer.
For example, a chinese patent with application number CN202010571024.8 discloses an RV-C type speed reducer for an industrial robot, which comprises a pin gear housing, a first-stage speed reducing component and a second-stage speed reducing component, wherein the first-stage speed reducing component comprises a driving wheel, a duplicate gear and a planet wheel on a servo motor, and the second-stage speed reducing component comprises an eccentric shaft, a cycloid wheel, a pin, a left rigid disc and a right rigid disc; after the technical scheme is adopted for the shape modification of the cycloid wheel, a reasonable gap is generated between the pin and the tooth socket of the cycloid wheel, so that an engagement part is not blocked when the cycloid wheel is thermally expanded under the rated load of the speed reducer, high manufacturing precision is not needed, the speed reducer can be exchanged with an RV speed reducer on the market, and the adaptability and the practicability of the product are improved; however, the technical scheme does not solve the problem that the lack of lubricant causes serious abrasion when the gear is in transmission, and only solves the problem of expansion of the gear under high-speed operation, thereby causing the limitation of the scheme.
In view of this, in order to overcome the technical problems, the invention provides an industrial robot RV-C type speed reducer, which solves the technical problems.
Disclosure of Invention
In order to make up the defects of the prior art, the industrial robot RV-C type speed reducer provided by the invention has the advantages that the steel rope is contracted through the motor and then matched with the lubricant in the cavity I extruded by the two sliding blocks, so that the purpose that the lubricant flows through the step hole I and the through hole and enters the speed reducing mechanism is achieved, the lubricant lubricates and cools the gear in the speed reducing mechanism, and the gear in the speed reducing mechanism is prevented from being adhered and worn; the lubricant is added into the speed reducing mechanism, so that the service life of the speed reducing mechanism is prolonged, and the reduction of the transmission precision of the speed reducing mechanism is delayed.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an RV-C type speed reducer of an industrial robot, which comprises a speed reducing mechanism and a shell; the speed reducing mechanism comprises an input gear, a speed reducing unit and an output gear; the RV-C type speed reducer of the industrial robot further comprises a slide rail, a slide block, a ring sleeve, a motor and a controller; an annular groove is formed in the shell; the annular groove surrounds the speed reducing mechanism; the sliding rails are positioned in the annular groove and are arranged on two opposite end surfaces of the annular groove; the two sliding blocks are positioned in the annular groove, the cross section of each sliding block in the direction vertical to the end face of the annular groove is the same as that of the annular groove, the end face of one sliding block is fixedly connected with the rope winding ring, the sliding block is provided with a first groove, the cross section of the first groove in the direction vertical to the end face of the annular groove is the same as that of the sliding rail, and the sliding block slides on the sliding rail through the first groove; a through hole is formed in the inner wall, close to the speed reducing mechanism, of the annular groove; the ring sleeve is sleeved on the inner wall of the annular groove close to the speed reducing mechanism, and the ring sleeve surrounds the speed reducing mechanism; a first step hole is formed in the ring sleeve; a first check valve is arranged in the first step hole, and the two sliding blocks divide the annular groove into a first cavity and a second cavity; the motor is arranged in the second cavity, and a steel rope is wound on an output shaft of the motor; the other end of the steel rope penetrates through the sliding block which is not provided with the rope winding ring, and is fixedly connected with the end face of the sliding block which is not provided with the rope winding ring after winding around the rope winding ring; the first cavity is filled with a lubricant; the two sliding blocks can extrude the lubricant in the first cavity under the action of the steel rope; the lubricant can overcome the one-way valve and enter the step hole after being extruded; the lubricant in the first step hole can pass through the through hole to be in contact with a gear in the speed reducing mechanism; the controller is used for controlling the industrial robot RV-C type speed reducer to automatically operate; the lubricant is preferably a lubricating oil;
when the robot works, power of the industrial robot is input through an input gear of the RV-C type speed reducer of the industrial robot, the rotating speed is reduced, and then the power is output through an output gear to reach the rotating speed required by the industrial robot; the gear in the RV-C type speed reducer of the industrial robot has very high rotating speed; the gears in the speed reducing mechanism can be heated to generate thermal expansion, so that the lubricant is evaporated; the gears in the speed reducing mechanism can generate adhesive wear, abrasive wear and corrosive wear when lacking of a lubricant, so that the transmission precision of the speed reducing mechanism is influenced, and the service life of the RV-C type speed reducer of the industrial robot is shortened;
therefore, the controller in the invention can start the motor periodically to control the output shaft of the motor to rotate; an output shaft of the motor can wind the steel rope in the rotating process, so that the steel rope pulls the two sliding blocks, and the purpose that the two sliding blocks are close to each other along the sliding rail is achieved; the two sliding blocks are close to each other and can extrude the lubricant in the first cavity, so that the lubricant can overcome the first check valve and enter the first step hole, and meanwhile, the lubricant in the first step hole flows into the through hole; the lubricant in the through hole drops on the gear in the speed reducing mechanism under the action of gravity to lubricate the gear in the speed reducing mechanism and supplement the lubricant in the speed reducing mechanism;
according to the invention, the motor contracts the steel rope and then is matched with the lubricant in the cavity I extruded by the two sliding blocks, so that the purpose that the lubricant flows through the step hole I and the through hole I to enter the speed reducing mechanism is achieved, the lubricant lubricates and cools the gear in the speed reducing mechanism, the service life of the speed reducing mechanism is prolonged, and the reduction of the transmission precision of the speed reducing mechanism is delayed.
Preferably, the outer wall of the ring sleeve, which is far away from the first step hole, is provided with a second step hole; a second check valve is arranged in the second step hole; the lubricant in the speed reducing mechanism can enter the through hole; the lubricant in the through hole can overcome the check valve II and enter the step hole II; the lubricant in the second step hole can be gathered in the second cavity under the action of gravity; the outer wall of the shell, which is close to the motor, is provided with a threaded hole; the internal thread of the threaded hole is connected with a set screw; the fastening screw is positioned in the threaded hole in a screwed state;
when the speed reducer works, the lubricant in the speed reducing mechanism lubricates the gear in the speed reducing mechanism; particle impurities are generated when gears in the speed reducing mechanism are abraded; particulate impurities can contaminate the lubricant; the gears in the speed reducing mechanism are subjected to abrasive wear and corrosive wear due to the fact that particle impurities in the lubricant are not cleaned; particulate impurities in the lubricant may settle at the bottom of the speed reducing mechanism; when the lubricant in the first cavity replenishes the lubricant in the speed reducing mechanism, the lubricant in the speed reducing mechanism is increased, so that the lubricant containing particle impurities at the bottom of the speed reducing mechanism is extruded by the newly added lubricant; the lubricant containing the particulate impurities flows into the through-holes after being pressed; the lubricant containing particle impurities in the through hole overcomes the defect that a second check valve flows into a second step hole; finally, the lubricant containing particle impurities in the second step hole is gathered in the second cavity under the action of gravity; when a worker maintains or repairs the industrial robot, the worker discharges polluted lubricant along the threaded hole by removing the set screw;
according to the invention, the ring sleeve is provided with the second step hole, the second check valve is arranged in the second step hole and is matched with the set screw arranged in the shell, so that the purpose of gathering the lubricant containing particle impurities in the speed reducing mechanism in the second cavity is achieved, the gear in the speed reducing mechanism is prevented from contacting the lubricant containing particle impurities, and the service life of the speed reducing mechanism is prolonged.
Preferably, a cavity is arranged in the ring sleeve; the cavity is formed by lost foam casting, the cavity is arranged close to the first step hole, the number of the cavities is two, and the cavities are symmetrically distributed on two sides of the first step hole; the opening of the first step hole is vertically upward under the action of the cavity;
when the robot works, the mechanical arm of the industrial robot rotates or swings to change the positions of all mechanisms in space, so that the ring sleeve can rotate around the inner wall of the annular groove under the action of the cavity; because the length of the steel rope is fixed, the two sliding blocks can slide downwards along the sliding rail under the action of gravity when the motor is not started;
according to the invention, the cavity is arranged in the ring sleeve, and the ring sleeve is matched with the sliding block, so that the purpose that the first cavity is positioned above the second cavity is achieved, the first step hole is communicated with the first cavity, and the second step hole is communicated with the second cavity, so that a lubricant containing particle impurities in the second step hole is prevented from entering the first cavity, the cleanness of the lubricant in the first cavity is ensured, and the service life of the speed reducing mechanism is prolonged.
Preferably, the through holes are uniformly distributed on the inner wall of the annular groove, and the distance between the two through holes is smaller than the diameter of the first step hole; the diameter of the first step hole is the same as that of the second step hole;
when the annular sleeve works, the annular sleeve in the annular sleeve can rotate around the inner wall of the annular groove along with the rotation or swing of the mechanical arm of the industrial robot, so that the first step hole and the second step hole can be communicated with the through hole;
according to the invention, through holes are formed in the inner wall of the annular groove, and the distance between the annular groove and the two through holes is smaller than the diameter of the first step hole and the diameter of the second step hole, so that the first step hole and the through holes are communicated, and the second step hole and the through holes are communicated, so that a lubricant in the first cavity can enter the speed reducing mechanism through the first step hole, and meanwhile, a lubricant containing particle impurities in the speed reducing mechanism can enter the second cavity through the second step hole; the invention is ensured to be implemented.
Preferably, a second groove is formed in the end face, close to the ring sleeve, of the sliding block; a moving block is connected in the second groove in a sliding manner, and a spring is arranged in the second groove; one end of the spring is fixedly connected to the bottom of the second groove, and the other end of the spring is connected with the moving block; the moving block is contacted with the ring sleeve under the action of the spring;
when the movable block works, the movable block is pushed by the spring, so that the movable block can be contacted with the ring sleeve; the end face of the sliding block, which is close to the ring sleeve, is provided with the second groove, the moving block and the spring are arranged in the second groove, and the second groove and the moving block can be in contact and match with the ring sleeve under the action of the spring, so that the situation that the sliding block and the ring sleeve cannot slide relatively due to overlarge friction force is prevented, meanwhile, the situation that the sealing performance of the first cavity and the second cavity cannot be ensured due to small friction force between the sliding block and the ring sleeve is prevented, and the using effect of the invention is further ensured.
Preferably, a rolling shaft is rotatably connected between two opposite groove walls of the annular groove; the rolling shaft is positioned in the first cavity; the steel ropes wind around the rolling shafts and can be arranged far away from the ring sleeve under the action of the rolling shafts;
when the device works, the rotating shaft supports the steel rope, so that the steel rope cannot contact the ring sleeve in the first cavity, and the ring sleeve cannot be influenced by the steel rope during rotation; the purpose of preventing the ring sleeve from being influenced by the steel rope when the ring sleeve rotates is achieved by the steel rope winding the rolling shaft; meanwhile, the rotating shaft supports the steel rope, so that the steel rope can be prevented from driving the ring sleeve through friction when the motor winds the steel rope, and the using effect and the stability of the electric motor are further ensured.
The invention has the following beneficial effects:
1. the motor contracts the steel rope and is matched with the lubricant in the cavity I extruded by the two sliding blocks, so that the purpose that the lubricant flows through the step hole I and the through hole I to enter the speed reducing mechanism is achieved, the lubricant lubricates and cools the gear in the speed reducing mechanism, and the gear in the speed reducing mechanism is prevented from being adhered and abraded; the lubricant is added into the speed reducing mechanism, so that the service life of the speed reducing mechanism is prolonged, and the reduction of the transmission precision of the speed reducing mechanism is delayed.
2. According to the invention, the ring sleeve is provided with the second step hole, the second check valve is arranged in the second step hole and is matched with the set screw arranged in the shell, so that the purpose of gathering the lubricant containing particle impurities in the speed reducing mechanism in the second cavity is achieved, the gear in the speed reducing mechanism is prevented from contacting the lubricant containing particle impurities, and the service life of the speed reducing mechanism is prolonged.
3. According to the invention, the cavity is arranged in the ring sleeve, and the ring sleeve is matched with the sliding block, so that the purpose that the first cavity is positioned above the second cavity is achieved, the first step hole is communicated with the first cavity, and the second step hole is communicated with the second cavity, so that a lubricant containing particle impurities in the second step hole is prevented from entering the first cavity, the cleanness of the lubricant in the first cavity is ensured, and the service life of the speed reducing mechanism is prolonged.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective cross-sectional view of the present invention;
FIG. 3 is an overall cross-sectional view of the present invention;
FIG. 4 is an enlarged view at A in FIG. 3;
FIG. 5 is an enlarged view at B in FIG. 3;
FIG. 6 is an enlarged view at C in FIG. 3;
in the figure: 1. a speed reduction mechanism; 2. a housing; 11. an input gear; 12. a deceleration unit; 13. an output gear; 3. a slide rail; 4. a slider; 5. sleeving a ring; 6. a motor; 7. a controller; 8. an annular groove; 44. a rope winding ring; 21. a through hole; 51. a first step hole; 511. a first check valve; 81. a first cavity; 82. a cavity II; 52. a second stepped hole; 521. a second one-way valve; 22. a threaded hole; 23. tightening the screw; 53. a cavity; 41. a second groove; 42. a moving block; 43. a spring; 45. a first groove; 9. a roll axis; 10. a steel cord.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 6, the industrial robot RV-C reducer of the present invention comprises a reduction mechanism 1 and a housing 2; the reduction mechanism 1 includes an input gear 11, a reduction unit 12, and an output gear 13; the RV-C type speed reducer of the industrial robot further comprises a sliding rail 3, a sliding block 4, a ring sleeve 5, a motor 6 and a controller 7; an annular groove 8 is formed in the shell 2; the annular groove 8 surrounds the speed reducing mechanism 1; the sliding rail 3 is positioned in the annular groove 8, and the sliding rail 3 is arranged on two opposite end faces of the annular groove 8; the sliding blocks 4 are positioned in the annular groove 8, the number of the sliding blocks 4 is two, the cross section of each sliding block 4 in the direction perpendicular to the end face of the annular groove 8 is the same as that of the annular groove 8, a first groove 45 is formed in each sliding block 4, the cross section of each first groove 45 in the direction perpendicular to the end face of the annular groove 8 is the same as that of the sliding rail 3, and each sliding block 4 slides on the sliding rail 3 through the corresponding first groove 45; the end face of one of the sliding blocks 4 is fixedly connected with a rope winding ring 44; a through hole 21 is formed in the inner wall of the annular groove 8 close to the speed reducing mechanism 1; the ring sleeve 5 is sleeved on the inner wall of the annular groove 8 close to the speed reducing mechanism 1, and the ring sleeve 5 surrounds the speed reducing mechanism 1; a first step hole 51 is formed in the ring sleeve 5; a first check valve 511 is arranged in the first stepped hole 51, and the two sliding blocks 4 divide the annular groove 8 into a first cavity 81 and a second cavity 82; the motor 6 is arranged in the second cavity 82, and a steel rope 10 is wound on an output shaft of the motor 6; the other end of the steel rope 10 penetrates through the sliding block 4 without the rope winding ring 44, and is fixedly connected with the end face of the sliding block 4 without the rope winding ring 44 after winding around the rope winding ring 44; the first cavity 81 is filled with a lubricant; the two sliding blocks 4 can extrude the lubricant in the first cavity 81 under the action of the steel rope 10; the lubricant can overcome the first check valve 511 and enter the first stepped hole 51 after being extruded; the lubricant in the first stepped hole 51 can pass through the through hole 21 to contact with the gear in the speed reduction mechanism 1; the controller 7 is used for controlling the industrial robot RV-C type speed reducer to automatically operate; the lubricant is preferably a lubricating oil;
when the robot works, power of the industrial robot is input through the input gear 11 of the RV-C type speed reducer of the industrial robot, the rotating speed is reduced, and then the power is output through the output gear 13 to reach the rotating speed required by the industrial robot; the gear in the RV-C type speed reducer of the industrial robot has very high rotating speed; the gears in the speed reducing mechanism 1 are heated to generate thermal expansion, so that the lubricant is evaporated; the gear in the speed reducing mechanism 1 can generate adhesive wear, abrasive wear and corrosive wear when lacking lubricant, so that the transmission precision of the speed reducing mechanism 1 is influenced, and the service life of the RV-C type speed reducer of the industrial robot is reduced;
therefore, the controller 7 in the invention can start the motor 6 periodically to control the output shaft of the motor 6 to rotate; the output shaft of the motor 6 can wind the steel rope 10 in the rotating process, so that the steel rope 10 pulls the two sliding blocks 4, and the purpose that the two sliding blocks 4 are close to each other along the sliding rail 3 is achieved; the two sliding blocks 4 approach to each other and squeeze the lubricant in the first cavity 81, so that the lubricant can overcome the first check valve 511 and enter the first stepped hole 51, and meanwhile the lubricant in the first stepped hole 51 flows into the through hole 21; the lubricant in the through hole 21 drops on the gear in the speed reduction mechanism 1 under the action of gravity to lubricate the gear in the speed reduction mechanism 1 and supplement the lubricant in the speed reduction mechanism 1;
according to the invention, the motor 6 contracts the steel rope 10 and then is matched with the lubricant in the first cavity 81 extruded by the two sliding blocks 4, so that the purpose that the lubricant flows through the first stepped hole 51 and the through hole 21 to enter the speed reducing mechanism 1 is achieved, the lubricant lubricates and cools the gear in the speed reducing mechanism 1, the service life of the speed reducing mechanism 1 is prolonged, and the reduction of the transmission precision of the speed reducing mechanism 1 is delayed.
As an embodiment of the present invention, a second stepped hole 52 is formed on an outer wall of the ring sleeve 5 away from the first stepped hole 51; a second check valve 521 is installed in the second stepped hole 52; the lubricant in the speed reducing mechanism 1 can enter the through-hole 21; the lubricant in the through hole 21 can overcome the second check valve 521 and enter the second stepped hole 52; the lubricant in the second stepped hole 52 can be collected in the second cavity 82 under the action of gravity; a threaded hole 22 is formed in the outer wall, close to the motor 6, of the shell 2; a set screw 23 is connected with the thread hole 22 in a threaded manner; the set screw 23 is located in the threaded hole 22 in a tightened state;
during operation, the lubricant in the speed reducing mechanism 1 lubricates the gears in the speed reducing mechanism 1; particle impurities are generated when gears in the speed reducing mechanism 1 are worn; particulate impurities can contaminate the lubricant; the gears in the reduction mechanism 1 are subjected to abrasive wear and corrosive wear due to uncleaned particulate impurities in the lubricant; particulate impurities in the lubricant may precipitate in the lubricant; when the lubricant in the first cavity replenishes the lubricant in the speed reducing mechanism, the lubricant in the speed reducing mechanism is increased, so that the lubricant containing particle impurities at the bottom of the speed reducing mechanism is extruded by the newly added lubricant; the lubricant containing the particulate impurities flows into the through-holes after being pressed; the lubricant containing the particulate impurities flows into the through-holes 21; the lubricant containing granular impurities in the through hole 21 overcomes the second check valve 521 and flows into the second stepped hole 52; finally, the lubricant containing the particle impurities in the second stepped hole 52 is gathered in the second cavity 82 under the action of gravity; when a worker maintains or repairs the industrial robot, the worker discharges the contaminated lubricant along the threaded hole 22 by removing the set screw 23;
according to the invention, the ring sleeve 5 is provided with the second stepped hole 52, the second check valve 521 is arranged in the second stepped hole 52 and is matched with the set screw 23 arranged in the shell 2, so that the purpose of gathering the lubricant containing particle impurities in the speed reducing mechanism 1 in the second cavity 82 is achieved, the gear in the speed reducing mechanism 1 is prevented from contacting the lubricant containing particle impurities, and the service life of the speed reducing mechanism 1 is prolonged.
As an embodiment of the present invention, a cavity 53 is provided in the ring sleeve 5; the cavity 53 is formed by lost foam casting, the cavity 53 is arranged close to the first step hole 51, the number of the cavities 53 is two, and the cavities 53 are symmetrically distributed on two sides of the first step hole 51; the opening of the first stepped hole 51 is vertically upward under the action of the cavity 53;
during work, the mechanical arm of the industrial robot rotates or swings to change the positions of all mechanisms in the invention in space, so that the ring sleeve 5 can rotate around the inner wall of the annular groove 8 under the action of the cavity 53; because the length of the steel rope 10 is fixed, the two sliding blocks 4 can slide downwards along the sliding rail 3 under the action of gravity when the motor 6 is not started;
according to the invention, the cavity 53 is arranged in the ring sleeve 5, and the ring sleeve 5 is matched with the sliding block 4, so that the purpose that the first cavity 81 is positioned above the second cavity 82 is achieved, the first stepped hole 51 is communicated with the first cavity 81, the second stepped hole 52 is communicated with the second cavity 82, and further, a lubricant containing particle impurities in the second stepped hole 52 is prevented from entering the first cavity 81, the cleanness of the lubricant in the first cavity 81 is ensured, and the service life of the speed reducing mechanism 1 is prolonged.
As an embodiment of the present invention, the through holes 21 are uniformly distributed on the inner wall of the annular groove 8, and the distance between two through holes 21 is smaller than the diameter of the first step hole 51; the diameter of the first stepped hole 51 is the same as that of the second stepped hole 52;
during working, along with the rotation or swing of the mechanical arm of the industrial robot, the ring sleeve 5 in the invention can rotate around the inner wall of the annular groove 8, so that the first step hole 51 and the second step hole 52 can be communicated with the through hole 21;
according to the invention, the through holes 21 are formed in the inner wall of the annular groove 8, and the distance between the through holes 21 and the diameter of the first step hole 51 is smaller than the distance between the two through holes 21 and the diameter of the second step hole 52, so that the first step hole 51 is communicated with the through holes 21, and the second step hole 52 is communicated with the through holes 21, so that a lubricant in the first cavity 81 can enter the speed reducing mechanism 1 through the first step hole 51, and meanwhile, the lubricant containing particle impurities in the speed reducing mechanism 1 can enter the second cavity 82 through the second step hole 52; the invention is ensured to be implemented.
As an embodiment of the invention, a second groove 41 is arranged on the end surface of the sliding block 4 close to the ring sleeve 5; a moving block 42 is connected in the second groove 41 in a sliding manner, and a spring 43 is arranged in the second groove 41; one end of the spring 43 is fixedly connected to the bottom of the second groove 41, and the other end of the spring is connected with the moving block 42; the moving block 42 is contacted with the ring sleeve 5 under the action of a spring 43;
in operation, the moving block 42 is pushed by the spring 43, so that the moving block 42 can be contacted with the ring sleeve 5; the second groove 41 is formed in the end face, close to the ring sleeve 5, of the sliding block 4, the moving block 42 and the spring 43 are arranged in the second groove 41, and then the moving block 42 and the ring sleeve 5 can be in contact fit under the action of the spring 43, so that the situation that the sliding block 4 and the ring sleeve 5 cannot slide relatively due to overlarge friction force is prevented, meanwhile, the situation that the sealing performance of the first cavity 81 and the second cavity 82 cannot be guaranteed due to small friction force between the sliding block 4 and the ring sleeve 5 is prevented, and the using effect of the invention is further guaranteed.
As an embodiment of the present invention, a rolling shaft 9 is rotatably connected between two opposite groove walls of the annular groove 8; the rolling shaft 9 is positioned in the first cavity 81; the steel ropes 10 are wound around the rolling shaft 9, and the steel ropes 10 can be arranged far away from the ring sleeve 5 under the action of the rolling shaft 9;
when the electric shoe is in work, the rotating shaft supports the steel rope 10, so that the steel rope 10 cannot contact the ring sleeve 5 in the first cavity 81, and the ring sleeve 5 cannot be influenced by the steel rope 10 when rotating; the steel rope 10 bypasses the rolling shaft 9, so that the purpose of preventing the ring sleeve 5 from being influenced by the steel rope 10 when rotating is achieved; meanwhile, the rotating shaft supports the steel rope 10, so that the condition that the steel rope 10 drives the ring sleeve 5 through friction when the motor 6 winds the steel rope 10 can be prevented, and the using effect and the stability of the electric motor vehicle are further ensured.
The specific working process is as follows:
the controller 7 in the invention can start the motor 6 periodically and control the output shaft of the motor 6 to rotate; the output shaft of the motor 6 can wind the steel rope 10 in the rotating process, so that the steel rope 10 pulls the two sliding blocks 4, and the purpose that the two sliding blocks 4 are close to each other along the sliding rail 3 is achieved; the two sliding blocks 4 approach to each other and squeeze the lubricant in the first cavity 81, so that the lubricant can overcome the first check valve 511 and enter the first stepped hole 51, and meanwhile the lubricant in the first stepped hole 51 flows into the through hole 21; the lubricant in the through hole 21 drops on the gear in the speed reduction mechanism 1 under the action of gravity to lubricate the gear in the speed reduction mechanism 1 and supplement the lubricant in the speed reduction mechanism 1; particle impurities are generated when gears in the speed reducing mechanism 1 are worn; particulate impurities can contaminate the lubricant; the gears in the reduction mechanism 1 are subjected to abrasive wear and corrosive wear due to uncleaned particulate impurities in the lubricant; particulate impurities in the lubricant may precipitate in the lubricant; when the lubricant in the first cavity 81 supplements the lubricant in the speed reducing mechanism 1, the lubricant containing particle impurities in the speed reducing mechanism 1 is extruded; the lubricant containing the particulate impurities flows into the through-holes 21; the lubricant containing granular impurities in the through hole 21 overcomes the second check valve 521 and flows into the second stepped hole 52; finally, the lubricant containing the particle impurities in the second stepped hole 52 is gathered in the second cavity 82 under the action of gravity; when a worker maintains or repairs the industrial robot, the worker discharges the contaminated lubricant along the threaded hole 22 by removing the set screw 23; the rotation or swing of the mechanical arm of the industrial robot causes the positions of the various mechanisms of the present invention to change in space, so that the loop 5 can rotate around the inner wall of the loop groove 8 under the action of the cavity 53; because the length of the steel rope 10 is fixed, the two sliding blocks 4 can slide downwards along the sliding rail 3 under the action of gravity when the motor 6 is not started; with the rotation or swing of the mechanical arm of the industrial robot, the ring sleeve 5 in the invention can rotate around the inner wall of the annular groove 8, so that the first step hole 51 and the second step hole 52 can be communicated with the through hole 21; the moving block 42 is pushed by a spring 43, so that the moving block 42 can be contacted with the ring sleeve 5; the second groove 41 is formed in the end face, close to the ring sleeve 5, of the sliding block 4, the moving block 42 and the spring 43 are arranged in the second groove 41, and then the moving block 42 and the ring sleeve 5 can be in contact fit under the action of the spring 43, so that the situation that the sliding block 4 and the ring sleeve 5 cannot slide relatively due to overlarge friction force is prevented, and meanwhile, the situation that the sealing performance of the first cavity 81 and the second cavity 82 cannot be guaranteed due to small friction force between the sliding block 4 and the ring sleeve 5 is prevented; the rotating shaft supports the steel cable 10, so that the steel cable 10 does not contact the ring sleeve 5 in the first cavity 81, and the ring sleeve 5 is not affected by the steel cable 10 during rotation.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. An industrial robot RV-C type speed reducer comprises a speed reducing mechanism (1) and a shell (2); the reduction mechanism (1) comprises an input gear (11), a reduction unit (12) and an output gear (13), and is characterized in that: the industrial robot RV-C type speed reducer further comprises a sliding rail (3), a sliding block (4), a ring sleeve (5), a motor (6) and a controller (7); an annular groove (8) is formed in the shell (2); the annular groove (8) surrounds the speed reducing mechanism (1); the sliding rails (3) are positioned in the annular groove (8), and the sliding rails (3) are arranged on two opposite end faces of the annular groove (8); the sliding blocks (4) are positioned in the annular grooves (8), the number of the sliding blocks (4) is two, the cross section shape of each sliding block (4) in the direction perpendicular to the end face of each annular groove (8) is the same as that of each annular groove (8), a first groove (45) is formed in each sliding block (4), the cross section shape of each first groove (45) in the direction perpendicular to the end face of each annular groove (8) is the same as that of each sliding rail (3), each sliding block (4) slides on each sliding rail (3) through the corresponding first groove (45), and the end face of one sliding block (4) is fixedly connected with a rope winding ring (44); a through hole (21) is formed in the inner wall, close to the speed reducing mechanism (1), of the annular groove (8); the ring sleeve (5) is sleeved on the inner wall of the annular groove (8) close to the speed reducing mechanism (1), and the ring sleeve (5) surrounds the speed reducing mechanism (1); a first step hole (51) is formed in the ring sleeve (5); a first check valve (511) is arranged in the first stepped hole (51); the two sliding blocks (4) divide the annular groove (8) into a first cavity (81) and a second cavity (82); the motor (6) is arranged in the second cavity (82), and a steel rope (10) is wound on an output shaft of the motor (6); the other end of the steel rope (10) penetrates through the sliding block (4) which is not provided with the rope winding ring (44), and is fixedly connected with the end face of the sliding block (4) after winding around the rope winding ring (44); the first cavity (81) is filled with a lubricant; the two sliding blocks (4) can extrude the lubricant in the first cavity (81) under the action of the steel rope (10); the lubricant can overcome the first check valve (511) and enter the first stepped hole (51) after being extruded; the lubricant in the first stepped hole (51) can pass through the through hole (21) to be in contact with a gear in the speed reducing mechanism (1); and the controller (7) is used for controlling the industrial robot RV-C type speed reducer to automatically operate.
2. An industrial robot RV-C type speed reducer according to claim 1 characterized in that: a second stepped hole (52) is formed in the outer wall, far away from the first stepped hole (51), of the ring sleeve (5); a second check valve (521) is installed in the second stepped hole (52); the lubricant in the speed reducing mechanism (1) can enter the through hole (21); the lubricant in the through hole (21) can overcome a second check valve (521) and enter a second stepped hole (52); the lubricant in the second stepped hole (52) can be gathered in the second cavity (82) under the action of gravity; a threaded hole (22) is formed in the outer wall, close to the motor (6), of the shell (2); the threaded hole (22) is internally connected with a set screw (23); the set screw (23) is located in the threaded bore (22) in the tightened state.
3. An industrial robot RV-C type speed reducer according to claim 1 characterized in that: a cavity (53) is arranged in the ring sleeve (5); the cavities (53) are arranged close to the first step hole (51), the number of the cavities (53) is two, and the cavities (53) are symmetrically distributed on two sides of the first step hole (51); the opening of the first step hole (51) is vertically upward under the action of the cavity (53).
4. An industrial robot RV-C type speed reducer according to claim 1 characterized in that: the through holes (21) are uniformly distributed on the inner wall of the annular groove (8), and the distance between the two through holes (21) is smaller than the diameter of the first step hole (51); the diameter of the first stepped hole (51) is the same as that of the second stepped hole (52).
5. An industrial robot RV-C type speed reducer according to claim 1 characterized in that: a groove (41) is formed in the end face, close to the ring sleeve (5), of the sliding block (4); a moving block (42) is connected in the groove (41) in a sliding manner, and a spring (43) is arranged in the groove (41); one end of the spring (43) is fixedly connected to the bottom of the groove (41), and the other end of the spring is connected with the moving block (42); the moving block (42) is contacted with the ring sleeve (5) under the action of a spring (43).
6. An industrial robot RV-C type speed reducer according to claim 1 characterized in that: a rolling shaft (9) is rotatably connected between two opposite groove walls of the annular groove (8); the rolling shaft (9) is positioned in the first cavity (81); the steel ropes (10) all wind around the rolling shaft (9), and the steel ropes (10) can be arranged far away from the ring sleeve (5) under the action of the rolling shaft (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110470899.3A CN113280100A (en) | 2021-04-29 | 2021-04-29 | RV-C type speed reducer of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110470899.3A CN113280100A (en) | 2021-04-29 | 2021-04-29 | RV-C type speed reducer of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113280100A true CN113280100A (en) | 2021-08-20 |
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ID=77277798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110470899.3A Pending CN113280100A (en) | 2021-04-29 | 2021-04-29 | RV-C type speed reducer of industrial robot |
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| Country | Link |
|---|---|
| CN (1) | CN113280100A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116961317A (en) * | 2023-08-01 | 2023-10-27 | 广东南博万电机有限公司 | Integrated planetary gear motor |
-
2021
- 2021-04-29 CN CN202110470899.3A patent/CN113280100A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116961317A (en) * | 2023-08-01 | 2023-10-27 | 广东南博万电机有限公司 | Integrated planetary gear motor |
| CN116961317B (en) * | 2023-08-01 | 2024-01-12 | 广东南博万电机有限公司 | Integrated planetary gear motor |
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