CN216000586U

CN216000586U - Lubricating structure, driving mechanism and robot

Info

Publication number: CN216000586U
Application number: CN202122463972.2U
Authority: CN
Inventors: 徐文才
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2022-03-11
Anticipated expiration: 2031-10-13

Abstract

The utility model provides a lubricating structure, actuating mechanism and robot, lubricating structure includes: a rotating body along a rotational axis of the rotating body, the rotating body including opposing first and second ends; the channel is arranged on the rotating body, an inlet of the channel is located at the first end, an outlet of the channel is located at the second end, and the channel is used for driving the lubricant to flow from the first end to the second end. The lubricating structure provided by the utility model can be applied to the driving mechanism, effectively improve the lubricating effect at the joint of the speed reducing structure and the driving structure, and prolong the service life of the speed reducing structure and the driving structure; and the lubricant in the cavity can continuously flow to the joint of the speed reducing structure and the driving structure through the channel, so that the continuous lubrication of the joint of the speed reducing structure and the driving structure is realized.

Description

Lubricating structure, driving mechanism and robot

Technical Field

The utility model relates to a domestic lubricated technical field particularly, relates to a lubricating structure, actuating mechanism and robot.

Background

With the rapid development of industrial robots in the field of industrial automation, the position of industrial robots in the industry is more important. The harmonic reducer is used as a joint speed reduction part almost selected in an industrial robot, particularly, a four-axis robot and a small-load six-axis robot are greatly articulated at the tail end of the six-axis robot, and the service life of the harmonic reducer directly influences the service life of the whole robot.

In the related technology, the harmonic reducers are applied to joints of industrial robots, the mounting modes adopted by the harmonic reducers are consistent with the mounting mode recommended by the practical harmonic reducers, the adopted lubricating modes are also consistent with the recommended modes, grease lubrication is mainly adopted, and oil lubrication is adopted in a small number of cases. The two lubrication modes can provide a better lubrication environment in the early stage of the industrial robot; when in later stage, its lubricated condition will constantly worsen, especially under some vertical assembly's structure, will fail to provide better lubrication to the wave generator to will extremely influence the life-span of harmonic speed reducer ware.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.

Therefore, the utility model discloses the first aspect provides a lubricating structure.

A second aspect of the present invention provides an actuating mechanism.

The utility model discloses the third aspect provides a robot.

The utility model discloses a first aspect provides a lubricating structure, include: a rotating body along a rotational axis of the rotating body, the rotating body including opposing first and second ends; the channel is arranged on the rotating body, an inlet of the channel is located at the first end, an outlet of the channel is located at the second end, and the channel is used for driving the lubricant to flow from the first end to the second end.

The utility model provides a lubricating structure includes rotating body and passageway. Wherein, along the rotational axis of the rotating body, the rotating body comprises a first end and a second end opposite to each other, and the rotating body is rotatable around the rotational axis during use of the lubricating structure. The channel is disposed on the rotating body and includes an inlet and an outlet. Wherein the inlet of the channel is located at the first end of the rotating body and the outlet of the channel is located at the second end of the rotating body. Thus, during use, the rotating body rotates and causes lubricant in the space in which the lubricating structure is located to enter the interior of the passageway from the inlet and exit the passageway from the outlet under the influence of centrifugal force to drive lubricant from the first end to the second end of the rotating body.

Specifically, the utility model provides a lubricating structure can be arranged in actuating mechanism to effectively improve the lubricated effect of reduction structure and drive structure junction among the actuating mechanism. Specifically, the chamber of the speed reducing structure is filled with lubricant, but the lubricant does not fill the whole chamber (mainly considering the problems of expansion and contraction with heat, rotation efficiency, sealing and the like, so that excessive lubricant is not added into the chamber). In the use process of the driving mechanism, the speed reducing structure and the driving structure are generally distributed up and down, so that the poor lubricating effect is caused due to the lack of the lubricant at the joint of the speed reducing structure and the driving structure after the driving mechanism is used for a period of time.

Therefore, the utility model provides a lubricating structure can install in this cavity to lubricating structure can rotate along with the reduction structure. When the driving mechanism is used, the first end of the lubricating structure is in contact with the lubricant in the cavity, and the second end of the lubricating structure faces to the joint of the speed reducing structure and the driving structure; furthermore, the lubrication structure rotates with the reduction structure.

Like this, rotate the in-process at lubricating structure, inside the passageway just can be inhaled from the import of passageway to the emollient in the cavity to from the export outflow of passageway under the effect of centrifugal force, and by being got rid of to the junction of speed reduction structure and drive structure, and then solved the not good technical problem of effect of the junction lubrication of speed reduction structure and drive structure, promoted speed reduction structure and drive structure's life in the very big degree. In addition, the lubricating structure is simple in structure, only the lubricating structure needs to be installed in the cavity, the structure of the driving mechanism does not need to be greatly improved, and the lubricating structure is simple in cost and convenient to use.

Therefore, the utility model provides a lubricating structure can be applied to on the actuating mechanism to effectively improve the lubricated effect of speed reduction structure and drive structure junction, promote the life of speed reduction structure and drive structure. And the whole lubricating structure is simple in structure and convenient to manufacture and apply. In addition, in the whole using process, the lubricant in the cavity can continuously flow to the joint of the speed reducing structure and the driving structure through the channel, and the continuous lubrication of the joint of the speed reducing structure and the driving structure is realized.

In some possible designs, the number of channels is at least two, at least two channels being helically distributed on the rotating body.

In this design, the number of channels is at least two. Wherein, at least two channels are distributed on the rotating body in a spiral shape. Like this, the junction of lubricant accessible two at least passageways flow direction speed reduction structure and drive structure in the cavity can be guaranteed to two at least passageways, has promoted the total amount of the lubricant that flows to the junction of speed reduction structure and drive structure to guaranteed that the lubricant is evenly lubricated to the junction of speed reduction structure and drive structure.

Further, at least two channels are helically distributed on the rotating body such that for any channel there is a certain inclination between the inlet and the outlet of the channel. Like this, when the direction of rotation at rotatory body is opposite with the helical direction of two at least passageways, be favorable to the emollient in the cavity to enter into the passageway from the import inside more to be favorable to the emollient in the passageway to be thrown to the junction of speed reduction structure and drive structure, and then promote the drive effect of lubricating structure to emollient.

In some possible designs, the rotating body is conical.

In this design, the rotating body is conical and inverted during use. Therefore, when the lubricant flows along the channel under the driving of centrifugal force, the stress direction of the lubricant is matched with the extending direction of the channel, and the lubricant in the channel can flow favorably. In addition, when the lubricant flows out of the channel from the outlet, the lubricant flowing out instantly is in a diffusion shape, so that the lubricant flowing out of the channel can move towards the joint of the speed reducing structure and the driving structure and lubricate the joint of the speed reducing structure and the driving structure.

In some possible designs, the cross-sectional area of the second end is greater than the cross-sectional area of the first end.

In this design, the cross-sectional area of the second end is greater than the cross-sectional area of the first end. Therefore, when the lubricant flows along the channel under the driving of centrifugal force, the stress direction of the lubricant is matched with the extending direction of the channel, and the lubricant in the channel can flow favorably. In addition, when the lubricant flows out of the channel from the outlet, the lubricant flowing out instantly is in a diffusion shape, so that the lubricant flowing out of the channel can move towards the joint of the speed reducing structure and the driving structure and lubricate the joint of the speed reducing structure and the driving structure.

In some possible designs, the area of the inlet is larger than the area of the outlet.

In this design, the area of the inlet is larger than the area of the outlet. In this way, on the one hand, the area of the inlet of the channel is increased, so that more lubricant is sucked into the interior of the channel; on the other hand, the area of the outlet is reduced, so that the lubricant has higher pressure at the outlet, and further the lubricant has higher speed at the moment of flowing out of the outlet, so that the lubricant is guaranteed to be thrown to the connecting part of the speed reducing structure and the driving structure.

In some possible designs, the interior of the rotating body is hollow.

In this design, the interior of the rotating body is hollow. The interior of the rotating body is hollow, so that the material and weight of the rotating body can be reduced. Like this, at first can reduce the cost of rotatory body, secondly can reduce because the load that the rotatory body brought, guarantee that rotatory body can not influence drive structure drive speed reduction result, and then on the basis of guaranteeing the original drive power of actuating mechanism, solve the lubricated not good problem of effect of the junction of speed reduction structure and drive structure.

In some possible designs, the channel is provided in an outer wall of the rotating body.

In this design, the channel is provided in the outer wall of the rotating body. Like this, at first guarantee that the inside cavity of rotatory body can not influence the setting of passageway, on the other hand has guaranteed to have a certain distance between the axis of rotation of passageway and rotatory body, and then increases the centrifugal force size that the interior emollient of passageway received, and then promotes the drive effect to emollient.

In some possible designs, the second end is located on top of the first end.

In this design, the second end is located on top of the first end. That is, during use, the second end of the rotating body is located above and the first end of the rotating body is located below. Like this, in the use, rotating body drives the passageway and rotates, and then makes the passageway drive the top of rotating body with the emollient of rotating body bottom, and then guarantees to be located the lubricated effect of the junction at rotating body top.

In particular, during use of the drive mechanism, the lubricant is located at the bottom of the chamber under the influence of gravity, resulting in less lubricant at the junction of the reduction structure and the drive structure at the top of the chamber. And the utility model provides a lubricating structure can be with the top of the emollient drive to the cavity that is in the cavity bottom just, and then the junction of lubricated speed reduction structure and drive structure.

In some possible designs, the outlet is located at the top of the inlet.

In this design, the outlet is located at the top of the inlet. That is, in use, the outlet of the channel is located above and the inlet of the channel is located below. Like this, in the use, rotating body drives the passageway and rotates, and then makes the passageway drive the top of rotating body with the emollient of rotating body bottom, and then guarantees to be located the lubricated effect of the junction at rotating body top.

In some possible designs, the lubrication structure further includes: the connecting part is arranged on the rotating body and used for connecting the rotating structure.

In this design, the lubrication structure further includes a connection portion. Wherein the connecting part is arranged on the rotating body, and the rotating body is connected with an external rotating structure (such as a wave generator connected with a speed reducing structure) through the connecting part. Like this, connecting portion can guarantee the stable connection of rotating body on the one hand, and on the other hand can guarantee that rotating body can rotate under outside revolution mechanic's the drive, and then makes the passageway drive emollient flow.

The utility model discloses the second aspect provides an actuating mechanism, include: a drive structure; the speed reducing structure is connected with the driving structure and can rotate under the driving of the driving structure; the cavity is positioned between the driving structure and the speed reducing structure, and a lubricant is arranged in the cavity; if the utility model discloses the lubricating structure of arbitrary design of first aspect, lubricating structure set up in the cavity to be connected with the structure that slows down, the second end of rotatory body is located the top of first end.

The utility model provides a actuating mechanism includes drive structure, speed reduction structure, cavity and the utility model discloses the lubricating structure of the arbitrary design of first aspect. Therefore, the drive mechanism has all the advantages of the lubrication structure described above, and will not be discussed in detail here. In addition, the speed reducing structure is connected with the driving structure and can rotate under the driving of the driving structure; the cavity is located between the driving structure and the speed reducing structure, and the cavity is filled with lubricant to ensure the lubrication of the connection part of the driving structure and the speed reducing structure.

In particular, the lubricant does not fill the entire chamber (mainly considering the problems of expansion and contraction with heat, rotation efficiency, sealing, etc., and therefore does not add too much lubricant to the chamber). In the use process of the driving mechanism, the speed reducing structure and the driving structure are generally distributed up and down, so that the poor lubricating effect is caused due to the lack of the lubricant at the joint of the speed reducing structure and the driving structure after the driving mechanism is used for a period of time.

Therefore, the utility model discloses be provided with lubricating structure in the cavity to lubricating structure can rotate along with the reduction structure. Wherein the second end of the lubricating structure is located at the top of the first end and is arranged towards the joint of the driving structure and the speed reducing structure, and the first end of the lubricating structure is in contact with the lubricant in the cavity.

Like this, inside the passageway just can be inhaled from the import of passageway to the emollient in the cavity to flow from the export of passageway under the effect of centrifugal force, and thrown away to the junction of speed reduction structure and drive structure, and then solved the not good technical problem of effect of the junction lubrication of speed reduction structure and drive structure, promoted the life of speed reduction structure and drive structure in the very big degree. In addition, in the whole using process, the lubricant in the cavity can continuously flow to the joint of the speed reducing structure and the driving structure through the channel, and the continuous lubrication of the joint of the speed reducing structure and the driving structure is realized.

In some possible designs, the deceleration structure includes: the wave generator is arranged in the cavity and is connected with an output shaft of the driving structure; the bearing is sleeved on the wave generator; wherein the second end of the rotating body faces the wave generator and the outlet of the passage faces the bearing.

In this design, the deceleration structure includes a wave generator and a bearing. The wave generator is arranged in the cavity and is connected with an output shaft of the driving structure and can rotate under the driving of the driving structure. The bearing sleeve is arranged on the wave generator and is positioned at the joint of the speed reducing structure and the driving structure.

In particular, the second end of the rotating body is directed towards the wave generator and the outlet of the channel is directed towards the bearing. Like this, rotate the in-process at lubricating structure, inside the passageway just can be inhaled from the import of passageway to the emollient in the cavity to from the export outflow of passageway under the effect of centrifugal force, and by being got rid of to the bearing, and then solved the bearing because of lacking the not good technical problem of lubricated effect of emollient, promoted the life of bearing in the very big degree.

In this design, further, the utility model provides a reduction gear among actuating mechanism is harmonic speed reducer ware. The harmonic reducer has the advantages of simple structure, small volume and light weight, and is particularly suitable for joints of robots. Furthermore, the utility model provides a bearing is elastic bearing among the actuating mechanism.

In some possible designs, the drive structure includes: the mounting part is provided with the speed reducing structure; the motor is arranged on the mounting part, and an output shaft of the motor penetrates through the mounting part and is connected with the wave generator.

In this design, the drive structure includes a mounting portion and a motor. Wherein, the speed reduction structure sets up on the installation department, and the motor setting is on the installation department to the output shaft of motor wears to locate the installation department, and is connected with the wave generator. Like this, guarantee the installation of motor and reduction structure through the installation department, drive reduction structure through the motor and rotate, and then guarantee power take off.

In some possible designs, the deceleration structure further comprises: the steel wheel is connected with the mounting part, and the bearing is positioned between the wave generator and the steel wheel; the output part is rotationally connected with the steel wheel; the output piece is connected with the output part and can rotate under the drive of the output part.

In this design, the reduction structure further includes a steel wheel and an output. Wherein, the steel wheel is connected with the installation department, and the bearing is located between wave generator and the steel wheel, and the steel wheel guarantees the stable installation of whole speed reduction structure. In addition, output part and steel wheel rotate to be connected, and then use as the output of whole speed reduction structure. The output piece is connected with the output part and can rotate under the drive of the output part.

In some possible designs, the drive structure is located on top of the reduction structure; the chamber is located between the output and the wave generator.

In this design, the drive structure is located on top of the reduction structure; furthermore, a chamber is located between the output and the wave generator. At this point, a lubricating structure is disposed within the chamber and between the output and the wave generator, driving the lubricant to the location of the bearings.

In some possible designs, the retarding structure is located on top of the drive structure; the cavity is located between the mounting portion and the wave generator.

In this design, the retarding structure is located on top of the drive structure; further, a chamber is located between the mounting portion and the wave generator. At this point, the lubrication structure is disposed within the chamber and between the mounting portion and the wave generator, thereby driving the lubricant to the location where the bearing is located.

In some possible designs, the lubricant comprises a lubricating oil and/or a grease.

In this design, the lubricant may be a lubricating oil and/or a grease.

The utility model discloses the third aspect provides a robot, include: a lubrication structure according to any of the first aspect of the present invention; or a drive mechanism as designed in any of the second aspects of the present invention.

The utility model discloses the third aspect provides a robot, include like the utility model discloses the lubricating structure of arbitrary design of first aspect, or include like the utility model discloses the actuating mechanism of arbitrary design of second aspect. Therefore, all the advantages of the lubricating structure or the driving mechanism are provided, and are not discussed in detail.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is one of schematic structural views of a lubricating structure according to an embodiment of the present invention;

fig. 2 is a second schematic structural view of a lubricating structure according to an embodiment of the present invention;

fig. 3 is one of the schematic structural views of the driving mechanism according to an embodiment of the present invention;

FIG. 4 is a cross-sectional view A-A of the drive mechanism of FIG. 3;

FIG. 5 is an enlarged view of a portion of the drive mechanism shown in FIG. 4 at C;

fig. 6 is a second schematic structural view of a driving mechanism according to an embodiment of the present invention;

FIG. 7 is a cross-sectional view of the drive mechanism of FIG. 6 taken along B-B;

fig. 8 is a partial enlarged view of the driving mechanism shown in fig. 7 at D.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 8 is:

100 lubrication feature, 102 rotating body, 104 first end, 106 second end, 108 channels, 110 inlet, 112 outlet, 114 connection, 200 drive mechanism, 202 drive feature, 204 deceleration feature, 206 cavity, 208 wave generator, 210 bearing, 212 mount, 214 motor, 216 steel wheel, 218 output, 220 output, 222 first fastener, 224 second fastener, 226 third fastener, 228 fourth fastener, 300 lubrication.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The following describes a lubrication structure 100, a driving mechanism 200, and a robot provided according to some embodiments of the present invention with reference to fig. 1 to 8. Wherein L1 in fig. 4 and 5 indicates the liquid level of the lubricant 300, and L2 in fig. 7 and 8 indicates the liquid level of the lubricant 300; the dotted line L in fig. 4 and 7 indicates the axis of rotation of the rotating body 102.

The first embodiment of the present invention provides a lubrication structure 100, which includes a rotating body 102 and a channel 108.

Wherein the rotating body 102 includes a first end 104 and a second end 106 opposite each other along a rotational axis L of the rotating body 102, and wherein the rotating body 102 rotates about the rotational axis L during use of the lubrication structure 100. A passageway 108 is provided on the rotating body 102, and the passageway 108 includes an inlet 110 and an outlet 112.

Further, an inlet 110 of the passage 108 is located at the first end 104 of the rotating body 102 and an outlet 112 of the passage 108 is located at the second end 106 of the rotating body 102. Thus, during use, the rotating body 102 rotates and causes the lubricant 300 in the space in which the lubricating structure 100 is located to enter the interior of the channel 108 from the inlet 110 and flow out of the channel 108 from the outlet 112 under the influence of centrifugal force to drive the lubricant 300 from the first end 104 to the second end 106 of the rotating body 102.

The lubrication structure 100 of the present embodiment can be used in the driving mechanism 200, and effectively improves the lubrication effect at the connection between the speed reducing structure 204 and the driving structure 202 in the driving mechanism 200. Specifically, the chamber 206 of the speed reducing structure 204 is filled with the lubricant 300, but the lubricant 300 does not fill the entire chamber 206 (mainly considering the problems of expansion and contraction with heat, rotation efficiency, sealing, etc., so that too much lubricant 300 is not added into the chamber 206). During the use of the driving mechanism 200, the deceleration structure 204 and the driving structure 202 are generally distributed up and down, which results in poor lubrication effect at the connection between the deceleration structure 204 and the driving structure 202 due to the lack of the lubricant 300 after the driving mechanism 200 is used for a period of time.

The lubrication structure 100 proposed in this embodiment can be mounted in the chamber 206 and the lubrication structure 100 can rotate with the reduction structure 204. During use of the drive mechanism 200, the first end 104 of the lubricating structure 100 is in contact with the lubricant 300 in the chamber 206, and the second end 106 of the lubricating structure 100 faces the connection between the speed reducing structure 204 and the drive structure 202; further, the lubrication structure 100 rotates with the reduction structure 204.

Thus, in the rotation process of the lubrication structure 100, the lubricant 300 in the chamber 206 is sucked into the passage 108 from the inlet 110 of the passage 108, flows out from the outlet 112 of the passage 108 under the action of centrifugal force, and is thrown to the connection between the deceleration structure 204 and the driving structure 202, so that the technical problem of poor lubrication effect at the connection between the deceleration structure 204 and the driving structure 202 is solved, and the service lives of the deceleration structure 204 and the driving structure 202 are greatly prolonged. In addition, the structure of the lubricating structure 100 is simple, and only the lubricating structure 100 needs to be installed in the cavity 206, so that the structure of the driving mechanism 200 does not need to be greatly improved, and the lubricating structure is simple in cost and convenient to apply.

Therefore, the lubrication structure 100 of the present embodiment can be applied to the driving mechanism 200, and can effectively improve the lubrication effect at the connection between the deceleration structure 204 and the driving structure 202, and increase the service life of the deceleration structure 204 and the driving structure 202. And the entire lubricating structure 100 is simple in structure and convenient to manufacture and apply. Moreover, during the whole use process, the lubricant 300 in the chamber 206 continuously flows to the connection part of the speed reducing structure 204 and the driving structure 202 through the channel 108, so that the connection part of the speed reducing structure 204 and the driving structure 202 is continuously lubricated.

In one embodiment, the chamber 206 is defined by the lubrication structure 100.

In an embodiment, the connection between the deceleration structure 204 and the driving structure 202 is the location of the bearing 210.

The second embodiment of the present invention provides a lubrication structure 100, which further comprises:

the number of channels 108 is at least two. Wherein, at least two channels 108 are spirally distributed on the rotating body 102. In this way, the at least two channels 108 may ensure that the lubricant 300 in the chamber 206 may flow through the at least two channels 108 towards the junction of the reduction structure 204 and the drive structure 202, increasing the amount of lubricant 300 flowing towards the junction of the reduction structure 204 and the drive structure 202 and ensuring that the lubricant 300 evenly lubricates the junction of the reduction structure 204 and the drive structure 202.

Further, at least two channels 108 are helically distributed on the rotating body 102 such that for any channel 108 there is a certain inclination between the inlet 110 and the outlet 112 of that channel 108. In this way, when the rotation direction of the rotating body 102 is opposite to the spiral direction of the at least two channels 108, the lubricant 300 in the cavity 206 is more facilitated to enter the channel 108 from the inlet 110, and the lubricant 300 in the channel 108 is facilitated to be thrown to the connection between the speed reducing structure 204 and the driving structure 202, so as to improve the driving effect of the lubricating structure 100 on the lubricant 300.

In a specific embodiment, the number of the channels 108 can be set according to actual situations, and two, three, four, etc. can be implemented, as will be understood by those skilled in the art.

In a specific embodiment, the driving structure 202 is at the input end of the deceleration structure 204, and the application in the robot is generally high-speed forward and reverse rotation; when the driving structure 202 rotates in the opposite direction to the spiral direction of at least two channels 108 on the lubricating structure 100, the lubricant 300 continuously enters the channels 108 from the inlet 110, and the centrifugal force generated by high-speed rotation and the rotating direction of the driving structure 202 are opposite to the spiral direction of the channels 108 on the lubricating structure 100, so that the lubricant 300 is continuously supplied to the channels 108 and sprayed from the outlet 112 to the bearings 210 on the wave generator 208, and primary lubrication is realized; with this circulation, the lubrication effect of the deceleration structure 204 is improved, thereby improving the life thereof and further improving the reliability of the robot.

The third embodiment of the present invention provides a lubrication structure 100, which further comprises:

the rotating body 102 is conical and in use the conical shape is inverted. In this way, when the lubricant 300 flows along the channel 108 under the driving of the centrifugal force, the force direction of the lubricant 300 is ensured to be matched with the extending direction of the channel 108, and the flow of the lubricant 300 in the channel 108 is further facilitated.

Furthermore, when the lubricant 300 flows out of the channel 108 from the outlet 112, the lubricant 300 is diffused at the moment of flowing out, so that the lubricant 300 flowing out of the channel 108 travels toward the connection between the speed reducing structure 204 and the driving structure 202 and lubricates the connection between the speed reducing structure 204 and the driving structure 202.

Further in this embodiment, the cross-sectional area of the second end 106 is greater than the cross-sectional area of the first end 104. In this way, when the lubricant 300 flows along the channel 108 under the driving of the centrifugal force, the force direction of the lubricant 300 is ensured to be matched with the extending direction of the channel 108, and the flow of the lubricant 300 in the channel 108 is further facilitated.

The fourth embodiment of the present invention provides a lubrication structure 100, which further comprises:

the area of the inlet 110 is larger than the area of the outlet 112. Thus, on the one hand, increasing the area of the inlet 110 of the channel 108 allows more lubricant 300 to be sucked inside the channel 108; on the other hand, reducing the area of the outlet 112 allows the lubricant 300 to have a greater pressure at the outlet 112, and thus a greater velocity at the instant the lubricant 300 flows out of the outlet 112, to ensure that the lubricant 300 is thrown to the connection between the speed reducing structure 204 and the driving structure 202.

The fifth embodiment of the present invention provides a lubrication structure 100, which further comprises:

the interior of the rotating body 102 is hollow. The hollow inside of the rotating body 102 can reduce the material and weight of the rotating body 102. Thus, firstly, the cost of the rotating body 102 can be reduced, secondly, the load caused by the rotating body 102 can be reduced, and it is ensured that the rotating body 102 does not affect the driving deceleration result of the driving structure 202, and further, on the basis of ensuring the original driving force of the driving mechanism 200, the problem of poor lubrication effect at the joint of the deceleration structure 204 and the driving structure 202 is solved.

Further in this embodiment, a channel 108 is provided in the outer wall of the rotating body 102. Thus, firstly, the hollow inside of the rotating body 102 is ensured not to influence the arrangement of the channel 108, and on the other hand, a certain distance is ensured between the channel 108 and the rotation axis L of the rotating body 102, so that the centrifugal force applied to the lubricant 300 in the channel 108 is increased, and the driving effect on the lubricant 300 is further improved.

The sixth embodiment of the present invention provides a lubrication structure 100, which further comprises:

second end 106 is located on top of first end 104. That is, during use, the second end 106 of the rotating body 102 is located above and the first end 104 of the rotating body 102 is located below. Thus, in use, the rotating body 102 drives the channel 108 to rotate, so that the channel 108 drives the lubricant 300 at the bottom of the rotating body 102 to the top of the rotating body 102, thereby ensuring the lubricating effect at the joint at the top of the rotating body 102.

Specifically, during use of the drive mechanism 200, the lubricant 300 is at the bottom of the chamber 206 under the influence of gravity, resulting in less lubricant 300 at the junction of the speed reducing structure 204 and the drive structure 202 at the top of the chamber 206. The lubrication structure 100 of the present invention can drive the lubricant 300 located at the bottom of the chamber 206 to the top of the chamber 206, and then lubricate the connection between the deceleration structure 204 and the driving structure 202.

Further in this embodiment, the outlet 112 is located at the top of the inlet 110. That is, during use, the outlet 112 of the channel 108 is located above and the inlet 110 of the channel 108 is located below. Thus, in use, the rotating body 102 drives the channel 108 to rotate, so that the channel 108 drives the lubricant 300 at the bottom of the rotating body 102 to the top of the rotating body 102, thereby ensuring the lubricating effect at the joint at the top of the rotating body 102.

Further, in the first to sixth embodiments, the lubricating structure 100 further includes the connecting portion 114. Wherein the connecting portion 114 is disposed on the rotating body 102, and the rotating body 102 is connected with an external rotating structure (for example, the wave generator 208 connected with the speed reducing structure 204) through the connecting portion 114. In this way, the connecting portion 114 can ensure a stable connection of the rotating body 102 on the one hand, and can ensure that the rotating body 102 can rotate under the driving of the external rotating structure on the other hand, so that the channel 108 drives the lubricant 300 to flow.

In a specific embodiment, the connecting portion 114 is a mounting hole, and the rotating body 102 is connected to the wave generator 208 of the deceleration structure 204 by a third fastener 226.

The utility model discloses a seventh embodiment provides a driving mechanism 200, include: a drive structure 202, a speed reducing structure 204, a chamber 206 and a lubricating structure 100 according to any embodiment of the first aspect of the present invention.

The present invention provides a drive mechanism 200, including the lubrication structure 100 of any embodiment of the first aspect of the present invention. Therefore, during the rotation of the lubrication structure 100, the lubricant 300 in the chamber 206 is sucked into the passage 108 from the inlet 110 of the passage 108, flows out from the outlet 112 of the passage 108 under the action of centrifugal force, and is thrown to the connection between the deceleration structure 204 and the driving structure 202, so as to solve the technical problem of poor lubrication effect at the connection between the deceleration structure 204 and the driving structure 202, and greatly prolong the service life of the deceleration structure 204 and the driving structure 202. Moreover, the lubricating structure 100 is simple in structure, the lubricating structure 100 only needs to be installed in the cavity 206, the structure of the driving mechanism 200 does not need to be greatly improved, and the lubricating structure is simple in cost and convenient to apply.

Further, the deceleration structure 204 is connected to the driving structure 202 and can rotate under the driving of the driving structure 202; the chamber 206 is located between the drive structure 202 and the speed reducing structure 204, and the chamber 206 is filled with a lubricant 300 to ensure lubrication at the connection of the drive structure 202 and the speed reducing structure 204.

In particular, the lubricant 300 does not fill the entire chamber 206 (primarily due to thermal expansion and contraction, rotational efficiency, sealing, etc., and therefore does not add too much lubricant 300 to the chamber 206). During the use of the driving mechanism 200, the deceleration structure 204 and the driving structure 202 are generally distributed up and down, which results in poor lubrication effect at the connection between the deceleration structure 204 and the driving structure 202 due to the lack of the lubricant 300 after the driving mechanism 200 is used for a period of time.

Accordingly, the present invention provides the lubrication structure 100 within the chamber 206, and the lubrication structure 100 may rotate with the speed reduction structure 204. Wherein the second end 106 of the lubricating structure 100 is located at the top of the first end 104 and is disposed towards the junction of the driving structure 202 and the retarding structure 204, and the first end 104 of the lubricating structure 100 is in contact with the lubricant 300 in the chamber 206.

Thus, the lubricant 300 in the chamber 206 is sucked into the passage 108 from the inlet 110 of the passage 108, flows out from the outlet 112 of the passage 108 under the action of centrifugal force, and is thrown to the connection between the speed reducing structure 204 and the driving structure 202, so that the technical problem of poor lubricating effect at the connection between the speed reducing structure 204 and the driving structure 202 is solved, and the service lives of the speed reducing structure 204 and the driving structure 202 are greatly prolonged. Moreover, during the whole use process, the lubricant 300 in the chamber 206 continuously flows to the connection part of the speed reducing structure 204 and the driving structure 202 through the channel 108, so that the connection part of the speed reducing structure 204 and the driving structure 202 is continuously lubricated.

The eighth embodiment of the present invention provides a driving mechanism 200, further comprising:

the deceleration structure 204 includes a wave generator 208 and a bearing 210. Wherein the wave generator 208 is disposed in the chamber 206, and the wave generator 208 is connected to the output shaft of the driving structure 202 and can be driven by the driving structure 202 to rotate. The bearing 210 is sleeved on the wave generator 208 and is located at the connection between the speed reducing structure 204 and the driving structure 202.

In particular, the second end 106 of the rotating body 102 faces the wave generator 208, and the outlet 112 of the passage 108 faces the bearing 210. Thus, in the rotation process of the lubricating structure 100, the lubricant 300 in the chamber 206 is sucked into the passage 108 from the inlet 110 of the passage 108, flows out from the outlet 112 of the passage 108 under the action of centrifugal force, and is thrown towards the bearing 210, so that the technical problem that the lubricating effect of the bearing 210 is poor due to the lack of the lubricant 300 is solved, and the service life of the bearing 210 is greatly prolonged.

Further in this embodiment, the speed reducing structure 204 is a harmonic reducer. The harmonic reducer has the advantages of simple structure, small volume and light weight, and is particularly suitable for joints of robots. In addition, the bearing 210 in the driving mechanism 200 is an elastic bearing 210.

Further in this embodiment, the drive structure 202 includes a mounting portion 212 and a motor 214. The speed reducing structure 204 is disposed on the mounting portion 212, the motor 214 is disposed on the mounting portion 212, and an output shaft of the motor 214 penetrates through the mounting portion 212 and is connected to the wave generator 208. Thus, the installation of the motor 214 and the speed reducing structure 204 is ensured through the installation part 212, and the motor 214 drives the speed reducing structure 204 to rotate, so as to ensure the power output.

Further in this embodiment, the reduction structure 204 also includes a steel wheel 216 and an output 218. Wherein, the steel wheel 216 is connected with the mounting part 212, the bearing 210 is positioned between the wave generator 208 and the steel wheel 216, and the steel wheel 216 ensures the stable mounting of the whole speed reducing structure 204. Furthermore, an output 218 is rotatably connected to the steel wheel 216 and serves as an output for the entire reduction gear 204. The output member 220 is connected to the output portion 218 and can be driven by the output portion 218 to rotate.

In the specific embodiment, the motor 214 is located at the input end of the speed reducing structure 204, and the application in the robot is generally high-speed forward and reverse rotation; when the rotation direction of the motor 214 is opposite to the spiral direction of at least two channels 108 on the lubricating structure 100, the lubricant 300 continuously enters the channels 108 from the inlet 110, and the centrifugal force generated by high-speed rotation and the rotation direction of the motor 214 are opposite to the spiral direction of the channels 108 on the lubricating structure 100, so that the lubricant 300 is continuously supplied to the channels 108 and sprayed to the bearings 210 on the wave generator 208 from the outlet 112, and primary lubrication is realized; with this circulation, the lubrication effect of the deceleration structure 204 is improved, thereby improving the life thereof and further improving the reliability of the robot.

The utility model discloses the ninth embodiment provides a driving mechanism 200, on the basis of the eighth embodiment, further:

the drive structure 202 is located on top of the retarding structure 204; further, the chamber 206 is located between the output 220 and the wave generator 208. At this point, the lubrication structure 100 is disposed within the cavity 206 and between the output 220 and the wave generator 208, thereby driving the lubricant 300 to the location of the bearing 210.

Specifically, in this embodiment, the speed reduction structure 204 is a two-axis speed reducer.

The utility model discloses a tenth embodiment provides a driving mechanism 200, on the basis of the eighth embodiment, further:

the retarding structure 204 is located on top of the drive structure 202; further, the chamber 206 is located between the mounting portion 212 and the wave generator 208. At this point, the lubrication structure 100 is disposed within the cavity 206 and between the mounting portion 212 and the wave generator 208, thereby driving the lubricant 300 to the location of the bearing 210.

Further, in the seventh to tenth embodiments, the lubricant 300 may be a lubricating oil, a grease, or both of the lubricating oil and the grease.

The utility model discloses the eleventh embodiment provides a robot, include: the present invention relates to a lubrication structure 100 according to any embodiment of the first aspect, or a drive mechanism 200 according to any embodiment of the second aspect.

Therefore, the robot has all the advantages of the lubricating structure 100 or the driving mechanism 200, and will not be discussed in detail herein.

The utility model provides a drive mechanism 200 does not change present speed reduction structure 204 mounting structure basically to when motor 214 takes place high-speed rotation once, just can once lubricate speed reduction structure 204's wave generator 208, improved lubricated effect, guaranteed speed reduction structure 204's life-span, improve the reliability of robot.

As shown in fig. 4 and 5, and fig. 7 and 8, the reduction mechanism 204 is in two vertical assembled states in the robot joint. For example, the actual use state of the two-shaft reducer in the robot after being assembled is generally shown in fig. 4 and 5; the actual state of the robot after the first shaft reducer is assembled is generally shown in fig. 7 and 8. No matter the speed reducing structure 204 adopts oil lubrication or grease lubrication, the lubricant 300 in the speed reducing structure 204 in the middle and later periods of use is reduced to a certain extent along with the time, and is positioned at one end of the cavity 206, and even if the lubricant 300 works normally in the actual robot, the grease added in the lubricant 300 is changed into a liquid state.

Fig. 3 and 4 show the motor 214 at the upper end and the reduction structure 204 at the lower end, wherein the lubricating fluid (representing lubricating oil or liquefied grease) inside the reduction structure 204 is mainly accumulated in the cavity between the lower end surface of the wave generator 208 and the output member 220; fig. 6 and 7 show the motor 214 at the lower end and the reduction structure 204 at the upper end, with the lubricant in the reduction structure 204 accumulating primarily in the chamber 206 between the lower end of the wave generator 208 and the motor 214 and mounting portion 212. Obviously, the bearings 210 on the wave generator 208 cannot be lubricated by the lubricating fluid in both of the above-mentioned conditions, so that the life of the entire reduction structure 204 is rapidly reduced.

The utility model discloses increased lubricating structure 100 in the cavity that well emollient 300 was located, as shown in fig. 1 and fig. 2, lubricating structure 100 wholly is hollow frustum shape, is equipped with passageway 108 on the rotatory body 102 of lubricating structure 100, and the first end 104 of rotatory body 102 minor diameter is provided with the import 110 of passageway 108, and it invades in emollient 300 in the in-service use process; the second end 106 of the rotating body 102, which has a larger diameter, is provided with an outlet 112 of the channel 108, it being noted that the outlet 112 is notched, so that when the wave generator 208 rotates, the lubricant 300 inside it is ejected therefrom by the action of centrifugal force onto the bearing 210, thereby achieving a lubricating effect.

In a specific embodiment, fig. 4 and 7 are simplified states of application in an actual robot joint. Wherein, the mounting part 212 is an arm body of the robot; one side of the mounting portion 212 is provided with the motor 214, the mounting portion 212 and the motor 214 are connected through a number of first fasteners 222, and the other side of the mounting portion 212 and the steel wheel 216 of the speed reducing structure 204 are connected through a number of second fasteners 224. The output member 220 may be understood herein as another arm connected to the mounting portion 212, the output member 220 being connected to the output portion 218 of the reduction structure 204 by a number of third fasteners 226. The wave generator 208 of the reduction mechanism 204 is engaged with the output shaft of the drive motor 214 and connected thereto by a number of fourth fasteners 228.

In the actual production process of the robot, generally, the lubricant 300 is added to the upper end surface of the wave generator 208 (mainly considering the problems of expansion and contraction with heat, rotation efficiency, sealing and the like, and the excessive lubricant 300 is not allowed to be added), and when the deceleration structure 204 is used in the middle and later period, a state that the lubricant 300 is absent at the bearing 210 is easily generated (namely, the liquid level L1 of the lubricant 300 in fig. 4 and 5 is lower than the bearing 210, and the liquid level L2 of the lubricant 300 in fig. 7 and 8 is lower than the bearing 210).

Therefore, as shown in fig. 3, 4 and 5, the present invention installs the lubrication structure 100 to the lower end of the wave generator 208, the matching installation portion 212 is installed on the lubrication structure 100, and the lubrication structure 100 is connected to the wave generator 208 by a number of fourth fasteners 228. Lubricant 300 enters the interior of passage 108 through inlet 110. When the motor 214 rotates at a high speed in a direction opposite to the spiral direction of at least two channels 108, the lubricant 300 in the channels 108 is forced to be thrown out from the outlet 112 by centrifugal force and sprayed to the bearing 210, and meanwhile, the lubricant 300 in the channels 108 is continuously replenished from the inlet 110 by the rotation direction of the motor 214 opposite to the spiral direction, so that a continuous lubrication effect is achieved.

When in the state shown in fig. 6, 7 and 8, the lubricating structure 100 is similarly mounted to the lower end of the wave generator 208, and the other processes are similar to the state shown in fig. 3, 4 and 5 and will not be described again.

In a specific embodiment, the deceleration structure 204 is matched to one of the two states shown in fig. 4 or fig. 6 according to the vertical installation state in a certain joint of the robot. The motor 214 is arranged at the input end of the speed reducing structure 204, and the application in the robot is generally high-speed positive and negative rotation; when the rotation direction of the motor 214 is opposite to the spiral direction of at least two channels 108 on the lubricating structure 100, the lubricant 300 continuously enters the channels 108 from the inlet 110, and the centrifugal force generated by high-speed rotation and the rotation direction of the motor 214 are opposite to the spiral direction of the channels 108 on the lubricating structure 100, so that the lubricant 300 is continuously supplied to the channels 108 and sprayed to the bearings 210 on the wave generator 208 from the outlet 112, and primary lubrication is realized; with this circulation, the lubrication effect of the deceleration structure 204 is improved, thereby improving the life thereof and further improving the reliability of the robot.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A lubricating structure, characterized by comprising:

a rotating body along a rotational axis of the rotating body, the rotating body including opposing first and second ends;

a passageway disposed on the rotating body, an inlet of the passageway located at the first end, an outlet of the passageway located at the second end, the passageway configured to drive lubricant from the first end to the second end.

2. The lubrication structure according to claim 1,

the number of the channels is at least two, and the at least two channels are spirally distributed on the rotating body.

3. The lubrication structure according to claim 1,

the rotating body is conical; and/or

The cross-sectional area of the second end is greater than the cross-sectional area of the first end.

4. The lubrication structure according to any one of claims 1 to 3,

the area of the inlet is larger than the area of the outlet.

5. The lubrication structure according to any one of claims 1 to 3,

the rotating body is hollow inside; and/or

The channel is disposed in an outer wall of the rotating body.

6. The lubrication structure according to any one of claims 1 to 3,

the second end is located on top of the first end; and/or

The outlet is located at the top of the inlet.

7. The lubrication structure according to any one of claims 1 to 3, further comprising:

the connecting part is arranged on the rotating body and used for connecting the rotating structure.

8. A drive mechanism, comprising:

a drive structure;

the speed reducing structure is connected with the driving structure and can rotate under the driving of the driving structure;

the cavity is positioned between the driving structure and the speed reducing structure, and a lubricant is arranged in the cavity;

the lubrication structure as claimed in any one of claims 1 to 7, disposed within the chamber and connected to the speed reduction structure, the second end of the rotating body being located on top of the first end.

9. The drive mechanism as recited in claim 8, wherein the speed reducing structure comprises:

the wave generator is arranged in the cavity and is connected with an output shaft of the driving structure;

the bearing is sleeved on the wave generator;

wherein the second end of the rotating body faces the wave generator and the outlet of the passage faces the bearing.

10. The drive mechanism as recited in claim 9, wherein the drive structure comprises:

the mounting part is provided with the speed reducing structure;

the motor is arranged on the mounting part, and an output shaft of the motor penetrates through the mounting part and is connected with the wave generator.

11. The drive mechanism as recited in claim 10, wherein the speed reducing structure further comprises:

the steel wheel is connected with the mounting part, and the bearing is positioned between the wave generator and the steel wheel;

the output part is rotationally connected with the steel wheel;

and the output piece is connected with the output part and can be driven by the output part to rotate.

12. The drive mechanism as recited in claim 11,

the driving structure is positioned at the top of the speed reducing structure;

the chamber is located between the output and the wave generator.

13. The drive mechanism as recited in claim 11,

the speed reducing structure is positioned at the top of the driving structure;

the chamber is located between the mounting portion and the wave generator.

14. The drive mechanism as recited in any one of claims 8 to 13,

the lubricant comprises lubricating oil and/or grease.

15. A robot, comprising:

the lubricating structure according to any one of claims 1 to 7; or

A drive mechanism as claimed in any one of claims 8 to 14.