CN216759881U - Robot harmonic speed reducer machine joint structure and robot - Google Patents

Abstract

The utility model discloses a robot harmonic speed reducer joint structure and a robot, wherein the robot harmonic speed reducer joint structure comprises a motor, a harmonic speed reducer, a first joint component and a second joint component, wherein the first joint component, a rigid wheel and the second joint component of the harmonic speed reducer are sequentially connected from top to bottom to form a lubricating grease cavity, and a wave generator and a flexible wheel of the harmonic speed reducer are both positioned in the lubricating grease cavity. The first joint component and the second joint component are respectively provided with an oil duct, the oil ducts respectively form an oil port on the outer surface of the corresponding joint component, one of the oil ports is selected to be filled with lubricating grease, the lubricating grease flows into the harmonic speed reducer through the corresponding oil duct, and the lubricating grease which completes a lubricating task can continuously flow and is discharged from the other oil port. The robot harmonic speed reducer joint structure can be maintained on the premise that the first joint component and the second joint component are not detached, and is simple to maintain and operate and low in maintenance cost.

Description

Robot harmonic speed reducer machine joint structure and robot

Technical Field

The utility model relates to the technical field of industrial robots, in particular to a robot harmonic speed reducer joint structure and a robot.

Background

An industrial robot is a multi-degree-of-freedom machine device with a multi-joint manipulator, and can meet the requirements of carrying, assembling, producing and the like under various conditions under the condition of high precision. The industrial robot has the characteristics of easiness in use, high intelligent level, high production efficiency, high safety and the like. As an important automation device in the intelligent manufacturing industry, at present, industrial robots are widely applied to the industries of automobiles, medical treatment, 3C, semiconductors, new energy and the like.

Wherein, the important component part of robot body as industrial robot adopts the harmonic speed reducer machine as transmission design usually, in order to guarantee joint transmission's reliability and high efficiency, need change the grease every 3000 hours of operation. Under the conventional condition, the joint of the robot body is usually maintained by disassembling parts and then replacing the grease of the joint of the harmonic speed reducer, and the method for replacing the grease causes that the maintenance operation of the joint structure of the harmonic speed reducer of the robot is complicated and the maintenance cost is high. Moreover, the accuracy and reliability of the robot are affected to a certain extent by performing the joint disassembly operation for a plurality of times.

SUMMERY OF THE UTILITY MODEL

The first purpose of the utility model is to provide a robot harmonic speed reducer joint structure, which is simple in maintenance operation and low in maintenance cost.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a robot harmonic speed reducer joint structure, includes: the harmonic speed reducer comprises a wave generator, a flexible gear and a rigid gear which are sequentially nested from inside to outside, and the motor is in transmission connection with the wave generator; the first joint component, the rigid wheel and the second joint component are sequentially connected from top to bottom to form a lubricating grease cavity, the wave generator and the flexible wheel are both positioned in the lubricating grease cavity, a first oil duct is arranged on the first joint component, one end of the first oil duct forms a first oil port on the outer surface of the first joint component, the other end of the first oil duct is communicated with the lubricating grease cavity and positioned above the wave generator and the flexible wheel, a second oil duct is arranged on the second joint component, one end of the second oil duct forms a second oil port on the outer surface of the second joint component, the other end of the second oil duct is communicated with the lubricating grease cavity and positioned below the wave generator and the flexible wheel, and one of the first oil port and the second oil port is used for oil injection, and the other for oil drainage.

Preferably, a first seal ring is provided between the first joint component and the rigid wheel.

Preferably, a second seal ring is provided between the rigid ring and the second joint component.

Preferably, the first oil port is connected with a detachable first sealing gasket plug.

Preferably, the second oil port is connected with a detachable second sealing gasket plug.

Preferably, a motor shaft of the motor is connected with the wave generator through a flat key.

Preferably, the robot harmonic reducer joint structure further comprises a cam cover plate, and the cam cover plate is covered at one end of the motor shaft and one end of the wave generator far away from the motor main body of the motor.

Preferably, the robot harmonic reducer joint structure further comprises a motor fixing plate, and a motor main body of the motor is connected to the first joint component through the motor fixing plate.

Preferably, a third sealing ring is arranged between the motor main body and the motor fixing plate; and/or

And a fourth sealing ring is arranged between the motor fixing plate and the first joint component.

A second object of the present invention is to provide a robot whose joint structure is maintained easily and at a low maintenance cost.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a robot comprises the robot harmonic speed reducer joint structure.

The utility model has the beneficial effects that:

the utility model provides a robot harmonic speed reducer joint structure which comprises a motor, a harmonic speed reducer, a first joint component and a second joint component, wherein the first joint component, a rigid wheel and the second joint component of the harmonic speed reducer are sequentially connected from top to bottom to form a lubricating grease cavity, and a wave generator and a flexible wheel of the harmonic speed reducer are both positioned in the lubricating grease cavity. A first oil duct is arranged in the first joint component, a first oil port is formed in the outer surface of the first joint component by the first oil duct, a second oil duct is arranged in the second joint component, and a second oil port is formed in the outer surface of the second joint component by the second oil duct. This harmonic speed reducer of robot joint structure can select one in first hydraulic fluid port and the second hydraulic fluid port oiling, and the lubricating grease of infusing can flow to the inside of harmonic speed reducer through the oil duct that corresponds to lubricate the harmonic speed reducer, and the lubricating grease of accomplishing the lubrication task can continue to flow and discharge from another in first hydraulic fluid port and the second hydraulic fluid port. The robot harmonic speed reducer joint structure can realize maintenance and repair on the premise of not disassembling the first joint component and the second joint component, thereby simplifying the maintenance operation and reducing the maintenance cost to a great extent.

Drawings

Fig. 1 is a schematic structural diagram of a robot harmonic reducer joint structure according to an embodiment of the present invention;

fig. 2 is a sectional view of a robot harmonic reducer joint structure according to an embodiment of the present invention.

In the figure:

1. a motor; 101. a motor main body; 102. a motor shaft;

2. a harmonic speed reducer; 201. a rigid wheel; 202. a flexible gear; 203. a wave generator;

3. a first joint component; 301. a first oil passage;

4. a second joint component; 401. a second oil passage;

5. a first seal ring; 6. a second seal ring; 7. a first gasket plug; 8. a second gasket plug; 9. a cam cover plate; 10. a motor fixing plate; 11. a third seal ring; 12. and a fourth sealing ring.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only 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 and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present embodiment, for convenience of description, two joint members are referred to as a first joint member 3 and a second joint member 4. In some embodiments, the first joint component 3 is a robot forearm and the second joint component 4 is a robot forearm, and in other embodiments, the first joint component 3 is a robot forearm and the second joint component 4 is a robot holder. In other words, any two joint components that can be connected to each other and constitute a joint structure of the robot may be referred to as the first joint component 3 and the second joint component 4.

As shown in fig. 1 and 2, the robot harmonic reducer joint structure includes a motor 1, a harmonic reducer 2, a first joint component 3, and a second joint component 4. The motor 1 is a driving member, and specifically includes a motor main body 101 and a motor shaft 102, and in this embodiment, the motor shaft 102 extends in a vertical direction and is connected below the motor main body 101.

The harmonic speed reducer 2 comprises a wave generator 203, a flexible gear 202 and a rigid gear 201 which are sequentially nested from inside to outside, wherein an inner gear ring is arranged on the inner ring surface of the rigid gear 201, an outer gear ring is arranged on the outer ring surface of the flexible gear 202, and the number of teeth on the outer gear ring is different from the number of teeth on the inner gear ring. The motor shaft 102 of the motor 1 is in transmission connection with the wave generator 203, the wave generator 203 can drive the flexible gear 202 to rotate under the driving of the motor 1, the flexible gear 202 has certain flexibility and can deform in the rotating process, the section of the flexible gear 202 is changed from an original circle to an ellipse, teeth near two ends of a long shaft of the flexible gear are completely meshed with teeth of the rigid gear 201, and teeth near two ends of a short shaft of the flexible gear are completely separated from the rigid gear 201. When the wave generator 203 continuously rotates, the flexible gear 202 is continuously deformed, and the state of engagement between the flexible gear 202 and the rigid gear 201 is continuously changed, and the flexible gear 202 is repeatedly engaged, disengaged, and re-engaged … …, thereby realizing slow rotation of the flexible gear 202 relative to the rigid gear 201 in the opposite direction of the wave generator 203.

The first joint component 3, the rigid wheel 201 and the second joint component 4 are sequentially connected from top to bottom to form a lubricating grease cavity, and the wave generator 203 and the flexible wheel 202 are both located in the lubricating grease cavity. The first joint component 3 is provided with a first oil duct 301, one end of the first oil duct 301 forms a first oil port on the outer surface of the first joint component 3, and the other end of the first oil duct 301 is communicated with the grease cavity and is located above the wave generator 203 and the flexspline 202. The second joint component 4 is provided with a second oil channel 401, one end of the second oil channel 401 forms a second oil port on the outer surface of the second joint component 4, and the other end of the second oil channel 401 is communicated with the grease cavity and is located below the wave generator 203 and the flexspline 202.

In some embodiments in which the first joint component 3 is a robot forearm and the second joint component 4 is a robot forearm, when the joint structure needs to be maintained, a worker may inject grease into the first oil passage 301 through the first oil port disposed on the outer surface of the first joint component 3, and the grease may flow into the grease chamber through the first oil passage 301 and flow into the harmonic reducer 2 from top to bottom. The grease introduced into the harmonic reducer 2 flows through the gap between the wave generator 203 and the flexspline 202 and the gap between the flexspline 202 and the ring gear 201, and the harmonic reducer 2 can be lubricated. The grease that completes the lubrication task can continue to flow downward and enter the second oil passage 401 from the inlet of the second oil passage 401, and is discharged from the second oil port provided on the outer surface of the second joint component 4 through the second oil passage 401. Because can directly through first hydraulic fluid port oiling and through the oil extraction of second hydraulic fluid port, consequently this joint structure can realize maintaining and maintaining under the prerequisite of not dismantling first joint component 3 and second joint component 4, has not only greatly simplified the maintenance operation and has reduced the maintenance cost, and can avoid many times the dismouting to produce adverse effect to the precision and the reliability of robot.

Of course, in another embodiment in which the first joint component 3 is a robot arm and the second joint component 4 is a robot holder, when the joint structure needs maintenance, a worker may inject grease into the second oil passage 401 through the second oil port disposed on the outer surface of the second joint component 4, and the grease may flow into the grease chamber through the second oil passage 401 and flow into the interior of the harmonic reducer 2 from bottom to top. The grease introduced into the harmonic reducer 2 flows through the gap between the wave generator 203 and the flexspline 202 and the gap between the flexspline 202 and the ring gear 201, and the harmonic reducer 2 can be lubricated. The grease that completes the lubrication task can continue to flow upward and enter the first oil passage 301 from the inlet of the first oil passage 301, and is discharged from the first oil port provided on the outer surface of the first joint component 3 through the first oil passage 301.

Specifically, the motor main body 101 of the motor 1 is connected to the first joint component 3, a through hole for allowing the motor shaft 102 to pass through is formed in a wall plate of the first joint component 3, the motor shaft 102 passes through an inner hole of the wave generator 203, and the key connection of the motor shaft 102 and the wave generator 203 is realized through a flat key. The flat key connection is easy to realize, the connection stability is high, the end face runout value of the wave generator 203 can be guaranteed to be within a reasonable range, the harmonic speed reducer 2 is convenient to install, and the working efficiency and the service life of the harmonic speed reducer 2 are improved.

Further, the lower end surface of the wall plate of the first joint component 3 abuts on the upper end surface of the rigid wheel 201, and optionally, a first seal ring 5 is provided between the first joint component 3 and the rigid wheel 201. First sealing washer 5 can improve the leakproofness between first joint component 3 and rigid wheel 201, avoids lubricating grease excessive to play dustproof guard action, thereby guarantee that harmonic speed reducer machine 2 can normal operating, prolong its life. Optionally, the first sealing ring 5 is an O-ring rubber. In order to position the first seal ring 5, a first positioning ring groove may be further provided on the lower end surface of the wall plate of the first joint component 3, and the depth of the first positioning ring groove is smaller than the thickness of the first seal ring 5, so that the upper portion of the first seal ring 5 is placed in the first positioning ring groove, and the lower portion of the first seal ring 5 is exposed to elastically abut against the upper end surface of the rigid wheel 201.

As shown in fig. 2, a second seal ring 6 is provided between the rigid ring 201 and the second joint component 4. The second sealing ring 6 can improve the sealing performance between the second joint component 4 and the rigid wheel 201, so that the purpose of avoiding grease overflow is achieved, the dustproof protection effect is achieved, the normal operation of the harmonic speed reducer 2 is guaranteed, and the service life of the harmonic speed reducer is prolonged. Optionally, the second sealing ring 6 is an O-ring rubber. In order to position the second seal ring 6, a second positioning ring groove may be further provided on the upper end surface of the wall plate of the second joint component 4, and the depth of the second positioning ring groove is smaller than the thickness of the second seal ring 6, so that the lower portion of the second seal ring 6 is placed in the second positioning ring groove, and the upper portion of the second seal ring 6 is exposed to elastically abut against the lower end surface of the rigid wheel 201.

Further, in order to avoid that external foreign matters enter the first oil duct 301 through the first oil port when the joint structure is in the non-maintenance period, the detachable first sealing gasket plug 7 is connected to the first oil port, the first sealing gasket plug 7 plugs the first oil port when the joint structure is in the non-maintenance period, so that the external foreign matters are prevented from entering the first oil duct 301, the first oil port is pulled out to open the first oil port during the maintenance period, and then the lubricating grease is injected into the first oil duct 301 through the first oil port.

Specifically, the first sealing gasket plug 7 includes a first plug and a first sealing gasket, the first plug has a first stepped shape, the small-diameter end of the first plug can be inserted into the first oil port, the large-diameter end of the first plug is exposed outside the first oil port, and the first sealing gasket is sleeved on the small-diameter end of the first plug and is pressed between the stepped surface of the first plug and the outer surface of the first joint component 3. Optionally, the small diameter end of the first plug may be stably connected in the first oil port through a size fit, that is, the size of the small diameter end of the first plug is the same as the size of the first oil port. Besides size matching, the small-diameter end of the first plug can be provided with an external thread structure, and the first oil port is provided with an internal thread structure, so that the small-diameter end of the first plug is in threaded connection with the first oil port.

Further, in order to avoid that external foreign objects enter the second oil passage 401 through the second oil port when the joint structure is in the non-maintenance period, as shown in fig. 1 and 2, a detachable second sealing gasket plug 8 is connected to the second oil port, and the second sealing gasket plug 8 plugs the second oil port when the joint structure is in the non-maintenance period, so that the external foreign objects are prevented from entering the second oil passage 401, and the external foreign objects are pulled out to open the second oil port during the maintenance period, and then the lubricating grease can be discharged out of the second oil passage 401 through the outlet. In principle, the amount of grease injected is the same as the amount of grease discharged.

Specifically, the second sealing gasket plug 8 includes a second plug and a second sealing gasket, the second plug has a second diameter end capable of being inserted into the second oil port, the second plug has a large diameter end exposed outside the second oil port, and the second sealing gasket is sleeved on the second plug and pressed between the stepped surface of the second plug and the outer surface of the second joint component 4. Optionally, the small-diameter end of the second plug may be stably connected in the second oil port through a size fit, that is, the size of the small-diameter end of the second plug is the same as the size of the second oil port. Besides size matching, the small-diameter end of the second plug can be provided with an external thread structure, and the second oil port is provided with an internal thread structure, so that the small-diameter end of the second plug is in threaded connection with the second oil port.

Further, as shown in fig. 2, the robot harmonic reducer joint structure further includes a cam cover plate 9, and the cam cover plate 9 covers the motor shaft 102 and one end of the wave generator 203 away from the motor main body 101 of the motor 1. Optionally, a boss is arranged at one end of the wave generator 203 away from the motor main body 101, the free end of the motor shaft 102 is arranged through the boss, and the cam cover plate 9 is covered on the boss and the free end of the motor shaft 102 and is fixedly connected through a connecting screw.

Further, the robot harmonic reducer joint structure further comprises a motor fixing plate 10, and a motor main body 101 of the motor 1 is connected to the first joint component 3 through the motor fixing plate 10.

Optionally, a third sealing ring 11 is provided between the motor main body 101 and the motor fixing plate 10. The third sealing ring 11 can improve the sealing performance between the motor main body 101 and the motor fixing plate 10, so that the purpose of avoiding grease from overflowing is achieved, a dustproof protection effect is achieved, the harmonic speed reducer 2 can normally operate, and the service life of the harmonic speed reducer is prolonged. Optionally, the third sealing ring 11 is an O-ring rubber ring. In order to position the third sealing ring 11, a third positioning ring groove may be further disposed on the upper end surface of the motor fixing plate 10, and the depth of the third positioning ring groove is smaller than the thickness of the third sealing ring 11, so that the lower portion of the third sealing ring 11 is disposed in the third positioning ring groove, and the upper portion of the third sealing ring 11 is exposed to elastically abut against the end surface of the motor main body 101.

Further optionally, a fourth sealing ring 12 is arranged between the motor fixing plate 10 and the first joint component 3. The fourth sealing ring 12 can improve the sealing performance between the motor fixing plate 10 and the first joint component 3, so that the purpose of avoiding grease from overflowing is achieved, the dustproof protection effect is achieved, the normal operation of the harmonic speed reducer 2 is guaranteed, and the service life of the harmonic speed reducer is prolonged. Optionally, the fourth sealing ring 12 is an O-ring rubber. In order to position the fourth seal ring 12, a fourth positioning ring groove may be further provided on the upper end surface of the first joint component 3, and the depth of the fourth positioning ring groove is smaller than the thickness of the fourth seal ring 12, so that the lower portion of the fourth seal ring 12 is placed in the fourth positioning ring groove, and the upper portion of the fourth seal ring 12 is exposed to elastically abut against the end surface of the motor fixing plate 10. Of course, the fourth positioning ring groove may also be disposed on the lower end surface of the motor fixing plate 10, which is not described herein.

The embodiment also provides a robot, which comprises the robot harmonic speed reducer joint structure. The robot can be a four-axis joint robot or a six-axis joint robot. By using the robot harmonic speed reducer joint structure, the robot can realize the maintenance of the robot harmonic speed reducer joint structure on the premise of the first joint component 3 and the second joint component 4 which are not detached, the operation steps of the maintenance are simplified to the great extent, the efficiency of the maintenance is improved, and the cost of the maintenance is reduced. Moreover, since the robot is not required to be frequently disassembled and assembled, the precision and reliability of the robot can be ensured.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a harmonic speed reducer of robot joint structure which characterized in that includes:

the harmonic reducer (2) comprises a wave generator (203), a flexible gear (202) and a rigid gear (201) which are sequentially nested from inside to outside, and the motor (1) is in transmission connection with the wave generator (203);

a first joint component (3) and a second joint component (4), wherein the first joint component (3), the rigid wheel (201) and the second joint component (4) are sequentially connected from top to bottom and form a lubricating grease cavity, the wave generator (203) and the flexible wheel (202) are both located in the lubricating grease cavity, a first oil duct (301) is arranged on the first joint component (3), one end of the first oil duct (301) is arranged on the outer surface of the first joint component (3) to form a first oil port, the other end of the first oil duct (301) is communicated with the lubricating grease cavity and is located above the wave generator (203) and the flexible wheel (202), a second oil duct (401) is arranged on the second joint component (4), one end of the second oil duct (401) is arranged on the outer surface of the second joint component (4) to form a second oil port, the other end of the second oil channel (401) is communicated with the lubricating grease cavity and is positioned below the wave generator (203) and the flexible gear (202), one of the first oil port and the second oil port is used for oil injection, and the other one of the first oil port and the second oil port is used for oil discharge.

2. The robot harmonic reducer joint structure according to claim 1,

a first sealing ring (5) is arranged between the first joint component (3) and the rigid wheel (201).

3. The robot harmonic reducer joint structure according to claim 1,

and a second sealing ring (6) is arranged between the rigid wheel (201) and the second joint component (4).

4. The robot harmonic reducer joint structure according to claim 1,

the first oil port is connected with a first detachable sealing gasket plug (7).

5. The robot harmonic reducer joint structure according to claim 1,

and a detachable second sealing gasket plug (8) is connected to the second oil port.

6. The robot harmonic reducer joint structure according to claim 1,

the motor shaft (102) of the motor (1) is connected with the wave generator (203) through a flat key.

7. The robot harmonic reducer joint structure according to claim 6,

the robot harmonic speed reducer joint structure further comprises a cam cover plate (9), wherein the cam cover plate (9) covers the motor shaft (102) and one end, far away from the motor main body (101) of the motor (1), of the wave generator (203).

8. The robot harmonic reducer joint structure according to claim 1,

the robot harmonic speed reducer joint structure further comprises a motor fixing plate (10), and a motor main body (101) of the motor (1) is connected to the first joint component (3) through the motor fixing plate (10).

9. The robot harmonic reducer joint structure according to claim 8,

a third sealing ring (11) is arranged between the motor main body (101) and the motor fixing plate (10); and/or a fourth sealing ring (12) is arranged between the motor fixing plate (10) and the first joint component (3).

10. A robot comprising the robot harmonic reducer joint structure according to any one of claims 1 to 9.

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