CN116887952A

CN116887952A - Pressure relief component, gearbox and robot

Info

Publication number: CN116887952A
Application number: CN202180092482.6A
Authority: CN
Inventors: 付新国; 李茂�; 冯涛
Original assignee: ABB Schweiz AG
Current assignee: ABB Schweiz AG
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2023-10-13
Also published as: WO2022193062A1

Abstract

A pressure relief component (100) for a gearbox (200), comprising: a gas permeable membrane (101) arranged adjacent to an inner cavity (201) of the gearbox (200) for receiving lubricant and adapted to allow gas to pass through but to prevent lubricant from passing through; and a fixing member (102) arranged on a side of the gas permeable membrane (101) remote from the inner cavity (201) to seal-fix the gas permeable membrane (101) in position, the fixing member (102) including a through hole (1023) for letting out gas passing through the gas permeable membrane (101) from the inner cavity (201). By the pressure relief component (100) comprising a gas permeable membrane (101) and a fixture (102), during operation of the gearbox (200) gas within the inner cavity (201) may pass through the gas permeable membrane (101) and escape to the external environment. In this way, the pressure within the lumen (201) may be maintained at a relatively low level. This ensures that the sealing system of the gearbox (200) operates within a safe pressure range, thereby ensuring the effectiveness of the sealing system and improving the reliability of the gearbox (200), the present disclosure also provides a gearbox (200) and a robot.

Description

Pressure relief component, gearbox and robot

Technical Field

Embodiments of the present disclosure relate generally to gearboxes for robots and, more particularly, to pressure relief components for gearboxes.

Background

Robots are widely used automated mechanisms that can increase operating efficiency and accuracy. Robots typically include a robot arm link and a joint. The robot arm links may be driven in rotation or movement by motors arranged at the joints or the base. In order to meet the requirement of the reduction ratio, a gear box and a speed reducer need to be arranged between the motor and the arm link, so that the drive is driven. A gearbox is a device that utilizes gears and a gear train to provide speed and torque conversion from a rotary power source to another device.

Lubricants such as oil and/or grease are typically provided in gearboxes to provide lubrication to gears and other components. In addition to the lubrication function for the various elements to substantially reduce friction, the lubricant in the gearbox may also cool the heated components and reduce and dampen gear strokes. In addition, it can reduce vibration, prevent corrosion and keep all parts clean. The lubricant is typically located in the interior cavity of the gearbox to provide lubrication to various components surrounding the interior cavity. The lubricant typically fills approximately half of the lumen.

Disclosure of Invention

Embodiments of the present disclosure provide a pressure relief component for a gearbox, a related gearbox, and a robot.

In a first aspect, a pressure relief component for a gearbox is provided. The pressure relief member includes an interior cavity disposed adjacent to the gear box for receiving the lubricant and adapted to allow passage of gas but prevent passage of the lubricant; and a fixing member disposed on a side of the gas permeable membrane remote from the inner chamber to seal the gas permeable membrane in place, the fixing member including a through hole for letting out gas passing through the gas permeable membrane from the inner chamber.

Embodiments according to the present disclosure have a pressure relief component that includes a gas permeable membrane and a fixture through which gas within the interior cavity may pass and escape to the external environment during operation of the gearbox. In this way, the pressure in the lumen can be kept at a relatively low level. This ensures that the sealing system of the gearbox operates within a safe pressure range, thereby ensuring the effectiveness of the sealing system and improving the reliability of the gearbox.

In some embodiments, a pressure relief member is disposed in a coupling hole in an end of the gearbox for closing the internal cavity. In this way, the pressure relief member can be assembled to the gearbox in a simple manner.

In some embodiments, the fixture includes a coupling portion adapted to be coupled to the coupling hole by a tight fit or an adhesive. Thus, the pressure relief member can be simply assembled in the coupling hole.

In some embodiments, the coupling portion is adapted to press the gas permeable membrane against a coupling ring formed at an end of the coupling hole adjacent to the lumen, thereby securing the gas permeable membrane between the coupling portion and the coupling ring. The breathable film can be sealed and fixed in place by a simple structure.

In some embodiments, the mount further comprises a protective plate disposed at the coupling portion distal from the lumen and including an outer surface flush with a surface of the end portion, and wherein formed on the protective plate. The protective plate may protect the breathable film from damage, thereby improving the reliability of the pressure relief component.

In some embodiments, the breathable film is made of an oleophobic material. This way, it is possible to prevent the lubricant from adhering to the gas permeable membrane and affecting the gas permeability of the gas permeable membrane, thereby further improving the reliability of the pressure relief member.

In a second aspect of the present disclosure, a gearbox is provided. The gearbox includes a housing at least partially surrounding an interior cavity for receiving a lubricant; and an end coupled to the housing for closing the lumen and including at least one coupling hole; and at least one pressure relief member as mentioned in the first aspect above and arranged in at least one coupling hole.

In some embodiments, the end includes at least one coupling ring formed at the end of the coupling bore adjacent the lumen to inhibit leakage of the pressure relief member and lubricant from between the pressure relief member and the coupling ring.

In some embodiments, the end is an input or output flange of a gearbox, or at least a portion of a robotic arm.

In a third aspect of the present disclosure, a robot is provided. The robot comprises at least one mechanical arm coupled to a gearbox as mentioned in the second aspect above.

It is to be understood that this summary is not intended to identify key or essential features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become more readily appreciated from the following description.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the embodiments of the present disclosure described in more detail in connection with the accompanying drawings, in which like reference numerals generally refer to like elements throughout the embodiments of the present disclosure.

FIG. 1 illustrates a partial perspective view of a gearbox according to an embodiment of the present disclosure;

fig. 2 shows an enlarged view of section a as shown in fig. 1;

FIG. 3 illustrates a partial perspective view of a gearbox end having a pressure relief feature according to an embodiment of the present disclosure;

the same or similar symbols are used throughout the drawings to refer to the same or like elements.

Detailed Description

The present disclosure will now be discussed with reference to some embodiments. It is to be understood that these embodiments are discussed only in order to enable those skilled in the art to better understand and thus practice the present disclosure, and are not intended to suggest any limitation as to the scope of the subject matter.

As used herein, the term "comprising" and its variants are to be understood as open-ended terms, meaning "including, but not limited to. The term "based on" is to be understood as "based at least in part on". The terms "one embodiment" and "an embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first," "second," and the like may refer to different or the same object. Other definitions, clear or implicit, may include the following. Unless the context clearly implies, the definition of terms is consistent throughout the description.

Various parts, such as gears and bearings in a gear machine, require lubricants to ensure smooth and reliable operation of the gear machine. The lubricant used in the gear wheel is typically located in the cavity inside the gearbox and occupies approximately half of the cavity volume, with the other half being occupied by air. The inner cavity will typically be surrounded by a housing for receiving the gears and bearings and an end portion arranged at one or both ends of the housing. The end may be an end flange or a portion of a robotic arm coupled to the gearbox. During operation of the gearbox, the temperature of the lubricant and the increase in components will increase the volume of lubricant and air due to factors like friction between the components, resulting in a pressurization of the internal cavity.

The increased pressure may deteriorate the closed system of the gearbox for the cavity. For example, under normal conditions, the pressure that the sealing system can withstand is a predetermined value and range. When the pressure in the lumen is greater than this value and range, the sealing system may fail, resulting in leakage of lubricant and thus a serious set of problems.

To at least partially address the above and other potential problems, embodiments of the present disclosure provide a pressure relief member 100 for a gearbox 200 to efficiently reduce pressure within an internal cavity 201 during operation of the gearbox 200, thereby improving the seal of the gearbox 200. Some embodiments will now be described with reference to fig. 1 to 3.

Fig. 1 shows a partial perspective view of a gearbox 200 with a pressure relief component 100 according to an embodiment of the present disclosure, and fig. 2 shows an enlarged view of portion a as shown in fig. 1. As shown in fig. 1 and 2, the pressure relief component 100 generally includes a gas permeable membrane 101 and a fastener 102 for sealingly securing the gas permeable membrane 101 in place. By "seal-secured" is meant that it is sealed or airtight between the circumferential edge of the gas-permeable membrane 101 and the portion where the gas-permeable membrane 101 is to be secured, thereby preventing leakage of lubricant therefrom. The gas permeable membrane 101 is a thin film or membrane that can allow gas to pass through but prevent water or a lubricant (e.g., oil or grease) from passing through.

The fixing member 102 is arranged on the side of the gas-permeable membrane 101 remote from the inner chamber 201 to seal-fix the gas-permeable membrane 101 in position, i.e. adjacent to the inner chamber 201. The mount 102 includes a through hole 1023 for gas to escape from the lumen 201 through the gas permeable membrane 101.

With pressure relief member 100 including gas permeable membrane 101 and fasteners 102 according to embodiments of the present disclosure, during operation of gearbox 200, gas within lumen 201 may pass through gas permeable membrane 101 and escape to the external environment. In this way, the pressure within lumen 201 may be maintained at a relatively low level. This ensures that the sealing system of the gearbox 200 can operate within a safe pressure range at all times, thereby ensuring the effectiveness of the sealing system and improving the reliability of the gearbox 200.

Further, the pressure relief member 100 according to embodiments of the present disclosure may also be applied to various types of gear boxes 200, such as cap-type or cup-type gear boxes 200. Additionally, the pressure relief member 100 according to embodiments of the present disclosure may operate regardless of the orientation of the gearbox. That is, the pressure relief member 100 may effectively reduce the pressure within the internal cavity 201 regardless of whether the main shaft of the gearbox 200 is vertical, horizontal, or inclined.

In some embodiments, the pressure relief member 100 may be disposed at an end 202 of the gearbox 200. The end 202 may be an end flange or a portion of a robotic arm coupled to the gearbox 200, and the end 202 may enclose the inner cavity 201 with a housing 203 at least partially surrounding the inner cavity 201 and the other end 202.

Hereinafter, embodiments of the present disclosure will be discussed primarily by taking end 202 as an end flange. It should be appreciated that embodiments in which the end 202 includes other components (e.g., a robotic arm) are similar and will not be discussed separately below.

As shown in fig. 3, the end 202 may include a coupling hole 2021 for receiving the pressure relief member 100. In this way, the pressure relief member 100 may be disposed in the existing gearbox 200 by forming the coupling hole 2021 in the end 202 of the existing gearbox 200. That is, by slightly improving the existing gear case 200, by introducing the pressure relief member 100 according to the embodiment, the sealability of the gear case 200 can be improved, thereby improving the reliability of the gear case 200 and even the entire robot.

Furthermore, fig. 1-3 illustrate that in some embodiments, the coupling holes 2021 may be through holes having a circular cross-section. This arrangement may facilitate the formation of the coupling hole 2021 and the assembly of the pressure relief component 100 in the coupling hole 2021. It should be appreciated that the coupling hole 2021 formed in the end 202 may be a through hole having any suitable predetermined shape in cross section, such as a circle, oval, ring, or polygon.

In some embodiments, the coupling hole 2021 may be cylindrical or tapered. That is, the diameters of the coupling holes 2021 may be equal in the axial direction, or may be gradually reduced from the inner cavity 201 to the outside of the end 202, thereby forming a taper. The tapered coupling hole 2021 may prevent the pressure relief member 100 from accidentally falling during gearbox operation to further improve the reliability of the gearbox 200.

Furthermore, while FIGS. 1-3 illustrate one coupling hole 2021 and associated pressure relief member 100 disposed in end 202, it should be understood that this is merely illustrative and not meant to limit the scope of the present disclosure in any way. Other arrangements or structures are equally possible. For example, in some alternative embodiments, there may be a plurality of coupling holes 2021 and corresponding pressure relief members 100, etc., for example, uniformly arranged in the circumferential direction in the end 202. This arrangement may further improve the pressure relief capability of the gearbox 200 with the pressure relief member 100.

In some embodiments, the mount 102 may include a coupling portion 1021, as shown in fig. 3. The coupling portion 1021 has a shape related to the predetermined shape of the coupling hole 2021 in cross section to allow the coupling portion 1021 to be coupled to the coupling hole 2021 by a tight fit or adhesion or the like.

In some embodiments, the end 202 may include a coupling ring 2022 formed at one end of the coupling bore 2021 adjacent to the lumen 201, as shown in fig. 3. By being coupled to the coupling hole 2021, the coupling portion 1021 can press the gas permeable membrane 101 against the coupling ring 2022, so that the gas permeable membrane 101 can be sealingly fixed between the coupling portion 1021 and the coupling ring 2022. In this way, the structure of the end 202 to receive the breathable film 101 may be even further simplified, thereby improving the materials and assembly costs of the end 202 and the pressure relief member 100.

In some embodiments, the coupling ring 2022 may be part of being integrally formed on the end 202, which may ensure strength of the end 202 with the coupling ring 2022. In some alternative embodiments, the coupling ring 2022 may also be a separate part adapted to be assembled to the end of the coupling bore 2021 adjacent the lumen by adhesive, welding, fasteners, and the like.

In some embodiments, the coupling portion 1021 may be somewhat resilient. On the one hand, the elasticity of the coupling portion 1021 may promote a tight coupling of the coupling portion 1021 in the coupling hole 2021. On the other hand, the coupling portion 1021 can also provide continuous pressure to the air permeable membrane 101 to prevent leakage of lubricant by elasticity.

To further facilitate assembly of the pressure relief component 100 within the coupling hole 2021, in some embodiments, the fastener 102 and the vented membrane 101 may be assembled together prior to assembly of the pressure relief component 100 into the coupling hole 2021. For example, in some embodiments, the securing member 102 and the gas permeable membrane 101 may be assembled together by adhesive or the like. In this way, the reliability of the pressure relief member 100 may be further improved while simplifying assembly of the pressure relief member 100.

In some embodiments, the mount 102 may further include a protective plate 1022 disposed at an end of the coupling portion 1021 remote from the lumen 201 to protect the vented membrane 101 from damage. As described above, the through-holes 1023 are for gas to escape from the inner cavity 201 through the gas permeable membrane 101, and as shown in fig. 3, the through-holes 1023 may be formed in the protective plate 1022. This arrangement can ensure that the gas escapes smoothly through the through-holes 1023 while preventing the gas permeable membrane 101 from being damaged.

The protection plate 1022 may be disposed in the coupling hole 2021, with its outer surface flush with the surface of the end 202 in some embodiments. This may reduce the risk of interference with other components and improve the applicability. Furthermore, in some embodiments, the protection plate 1022 and the coupling portion 1021 may be integrally made of a suitable material, such as rubber or silicon, which allows the fixing member 102 to be manufactured in a cost-effective manner.

In some embodiments, the gas permeable membrane 101 may be made of an oleophobic material to prevent lubricants such as oil or grease from adhering to the surface of the gas permeable membrane 101 and affecting gas permeability.

In some embodiments, the vented membrane 101 may also be deformable. For example, the vented membrane 101 may deform when the lumen 201 and the external ambient pressure are different. On the one hand, the deformable ventilation film 101 can expand its ventilation area and thus improve ventilation ability. On the other hand, the deformable gas permeable membrane 101 may expand the volume of the lumen 201 and thus further reduce the pressure within the lumen 201. In addition, when the pressure within the lumen 201 is approximately equal to the pressure of the external environment, the vented membrane 201 may resume its original shape.

Further, fig. 1 to 3 show that the original shape of the air-permeable membrane 101 before deformation may be a flat shape. It should be understood that this is by way of illustration only and is not intended to suggest any limitation as to the scope of the disclosure. Any other suitable structure or arrangement of the breathable film 101 is also possible. In some embodiments, the breathable film 101 may be of any suitable initial shape, which may be selected from the group consisting of: flat, curved, zigzagged, rectangular, etc.

According to other aspects of the present disclosure, a gearbox 200 comprising the pressure relief member 100 as described above, and a robot comprising the gearbox 200 are provided. As described above, in addition to the pressure relief member 100 according to embodiments of the present disclosure, the gearbox 200 further includes a housing 203 at least partially surrounding the internal cavity 201, and an end 202 coupled to the housing 203 to close the internal cavity 201. The end 202 may be an end flange or coupled to a portion of the gearbox 200 and includes at least one coupling hole 2021 for receiving the pressure relief member 100.

By having the end 202 include the pressure relief member 100 according to embodiments of the present disclosure, the pressure within the interior cavity 201 may be maintained at a relatively low level, thereby ensuring that the sealing system of the gearbox 200 may always operate within a safe pressure range, and thus ensuring the effectiveness of the sealing system and improving the reliability of the gearbox 200.

In some embodiments, the end 202 may include at least one coupling ring 2022 formed at the end of the coupling bore 2021 adjacent the lumen 201, as described above, to stop the pressure relief member 100 and prevent lubricant leakage. In this way, the coupling portion 1021 can sealingly secure the gas permeable membrane between the coupling portion 1021 and the coupling ring 2022.

The robot comprises at least one mechanical arm coupled to a gearbox 200 as described above. With the pressure relief member 100 according to embodiments of the present disclosure, the sealing performance of the gearbox 200 may be significantly improved and thus the service life of the gearbox 200 and the robot may be prolonged.

It is to be understood that the above detailed embodiments of the disclosure are merely illustrative or explanatory of the principles of the disclosure and are not restrictive thereof. Accordingly, any modifications, equivalent substitutions, improvements, etc. should be included within the scope of protection of the present disclosure without departing from the spirit and scope of the present disclosure. Meanwhile, the appended claims of the present disclosure are intended to cover all the ranges and boundaries of variations and modifications of the ranges and boundaries of the claims and equivalents.

Claims

1. A pressure relief component (100) for a gearbox (200), comprising:

a gas permeable membrane (101) arranged adjacent to an inner cavity (201) of the gearbox (200) for receiving lubricant and adapted to allow gas to pass but prevent lubricant from passing; and

-a fixing member (102) arranged on a side of the gas permeable membrane (101) remote from the inner cavity (201) for sealingly fixing the gas permeable membrane (101) in position, the fixing member (102) comprising a through hole (1023) for letting out gas passing through the gas permeable membrane (101) from the inner cavity (201).

2. The pressure relief component (100) according to claim 1, wherein the pressure relief component (100) is arranged in a coupling hole (2021) of an end (202) of a gearbox (200) for closing the inner cavity (201).

3. The pressure relief component (100) of claim 2, wherein the fixture (102) comprises:

a coupling portion (1021) adapted to be coupled to the coupling hole (2021) by a tight fit or adhesion.

4. The pressure relief component (100) of claim 3, wherein the coupling portion (1021) is adapted to press the gas permeable membrane (101) against a coupling ring (2022) formed at the end (2021) of the coupling hole (2021) adjacent to the lumen (201), thereby securing the gas permeable membrane (101) between the coupling portion (1021) and the coupling ring (2022).

5. The pressure relief component (100) of claim 3, wherein the fixture (102) further comprises:

a protection plate (1022) arranged at an end of the coupling portion (1021) remote from the inner cavity (201) and comprising an outer surface flush with a surface of the end portion (202), and

wherein the through hole (1023) is formed on the protection plate (1022).

6. The pressure relief component (100) of claim 1, wherein the gas permeable membrane (101) is made of an oleophobic material.

7. A gearbox (200) comprising:

a housing (203) at least partially surrounding an interior cavity (201) for receiving a lubricant;

an end (202) coupled to the housing (203) to close the inner cavity (201) and comprising at least one coupling hole (2021); and

the at least one pressure relief component (100) according to any of claims 1 to 6, being arranged in the at least one coupling hole (2021).

8. The gearbox (200) of claim 7, wherein the end (202) comprises:

at least one coupling ring (2022) formed at an end of the coupling hole (2021) adjacent to the lumen (201) to inhibit the pressure relief member (100) and to prevent leakage of lubricant between the pressure relief member (100) and the coupling ring (2022).

9. The gearbox (200) of claim 7, wherein the end (202) is an input or output flange of the gearbox (200), or at least a part of a robotic arm.

10. A robot comprising at least one mechanical arm coupled to a gearbox (200) according to any of claims 7 to 9.