CN218488466U - Speed reducer and robot with same - Google Patents

Abstract

The speed reducer comprises a shell and a rigid wheel, wherein the shell is provided with a first circulation port and a second circulation port which are communicated with the outside, the inside of the shell is provided with a blade cavity and an installation cavity which are communicated, the blade cavity is communicated with the second circulation port, and the inner wall surface of the installation cavity is provided with a first installation part and a first flow channel part; the rigid wheel is provided with a second installation part and a second flow channel part, the second installation part is connected with the first installation part in a matched mode, the second flow channel part can be spliced with the first flow channel part to form a flow channel passage communicated with the first circulation port, a cooling medium circulates inside the flow channel passage, and the flow channel passage is communicated with the blade cavity through a flow channel branch. The reduction of the heating in the running process of the speed reducer can prolong the service life of the speed reducer and improve the performance stability of the speed reducer, thereby prolonging the service life and improving the performance of the robot.

Description

Speed reducer and robot with same

Technical Field

The application relates to the technical field of speed reduction equipment, in particular to a speed reducer and a robot with the same.

Background

The speed reducer is an indispensable part in the industrial robot composition, is installed at the joint position and provides high torque conversion, and the input is connected with the motor, and the output is connected with the arm. Along with the increase of the application time of the robot, the heating deformation of the speed reducer causes the meshing between teeth to change, the abrasion is increased, the metal fatigue is accelerated, the service life of the speed reducer is influenced, and the force transmission performance of the speed reducer is also influenced. The radiating mode of the reduction gear on the current robot is mostly natural cooling, relies on the armed lever casing or the motor casing completion heat transfer of hugging closely, relies on air circumstance exchange heat dissipation again, and this kind of cooling method efficiency is lower, in case the robot is in high frequency operating condition, can cause a large amount of heat accumulations, leads to the dead paralysis of robot card.

SUMMERY OF THE UTILITY MODEL

An object of this application is to provide a reduction gear and have its robot, has solved the heat accumulation of reduction gear operation in-process, improves reduction gear life, improves the stability of reduction gear performance.

To this end, in a first aspect, embodiments of the present application provide a retarder, comprising:

the fan comprises a shell, a first flow port and a second flow port, wherein the first flow port and the second flow port are communicated with the outside; and

the rigid wheel is provided with second installation portion and second runner portion on it, the second installation portion with first installation portion cooperation is connected, second runner portion can with first runner portion splice each other form with the runner passageway of first circulation mouth intercommunication, the inside circulation of runner passageway has cooling medium, the runner passageway pass through the runner branch road with the blade chamber is linked together.

In a possible implementation manner, the mounting cavity includes a first mounting cavity and a second mounting cavity which are communicated with each other, the first mounting cavity is located between the vane cavity and the second mounting cavity, and the first mounting portion and the first flow channel portion are formed in the second mounting cavity; the diameter of the first installation cavity is smaller than that of the second installation cavity, and a first annular sinking groove is formed in the end face, facing the first installation cavity, of the second installation cavity.

In a possible implementation manner, the rigid wheel includes a first connecting piece and a first transmission piece that are connected, the second installation portion and the second flow channel portion are disposed on the first transmission piece, and a second annular sinking groove communicated with the flow channel is formed in one side, away from the blade cavity, of the first transmission piece.

In a possible implementation manner, one of the first mounting part and the second mounting part is of an external thread structure, and the other one of the first mounting part and the second mounting part is of an internal thread structure; the first flow channel part and the second flow channel part are both in spiral flow channel structures, and the leads of the spiral flow channels are the same as those of the external threads.

In a possible implementation manner, the second installation cavity faces the end face of the first installation cavity, a first annular connecting groove is formed in the end face of the first installation cavity, the rigid wheel faces one side of the blade cavity, a second annular connecting groove matched with the first annular connecting groove is formed in one side of the blade cavity, the first annular connecting groove and the second annular connecting groove are mutually spliced to form an end face connecting channel, and a first sealing element is arranged in the end face connecting channel.

In one possible implementation manner, the method further includes:

the rotating shaft and the blade cavity are eccentrically arranged, the rotating shaft is sleeved with a wave generator rotating along with the rotating shaft, and the rigid wheel is sleeved on the rotating shaft and is rotatably arranged relative to the rotating shaft; and

the flexible gear comprises a second connecting piece and a second transmission piece which are connected, the second transmission piece is sleeved on the wave generator through a flexible bearing, and an outer gear ring of the second transmission piece is meshed with an inner gear ring of the rigid gear.

In a possible implementation manner, the rotating shaft is a stepped shaft, the rotating shaft is provided with a plurality of sliding vane grooves along the radial direction of the rotating shaft, sliding vanes are arranged in the sliding vane grooves, and arc-shaped parts are arranged at the end parts of the sliding vanes.

In a possible implementation manner, a driver is connected to an end of the rotating shaft, and the driver is used for driving the rotating shaft to rotate.

In one possible implementation manner, the method further includes:

a media tank in selective communication with the first flow port through a first switch, the media tank in selective communication with the second flow port through a second switch;

the encoder is arranged on the shell and used for detecting the position of the rotating shaft; and

a controller electrically connected to the encoder, the first switch, and the second switch.

In a second aspect, an embodiment of the present application provides a robot, including: a decelerator as claimed in the first aspect.

According to the reduction gear that this application embodiment provided and have its robot, this reduction gear is at the operation in-process, the rigid wheel produces the heat, cooling medium gets into the flow passage way from first circulation mouth in to through second circulation mouth outflow casing behind the blade chamber, the heat that the rigid wheel transmitted is taken away at the in-process that flows to cooling medium, the whole difference in temperature that produces of rigid wheel, heat flow concentrates on flow passage way department, cooling medium can realize good radiating effect at the in-process of circulation.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts. In addition, in the drawings, like parts are denoted by like reference numerals, and the drawings are not drawn to actual scale.

Fig. 1 is an exploded view illustrating an overall structure of a decelerator provided in an embodiment of the present application;

FIG. 2 shows a schematic cross-sectional view of FIG. 1;

FIG. 3 shows a schematic structural view of the housing of FIG. 1;

FIG. 4 shows a schematic structural view of the rigid wheel of FIG. 1;

FIG. 5 illustrates an exploded view of a reducer embodying a seal cover according to an embodiment of the present application;

FIG. 6 illustrates a partial cross-sectional view of a reducer provided in accordance with an embodiment of the present application;

FIG. 7 is a sectional view of a reducer provided by an embodiment of the present application for embodying a vane cavity;

FIG. 8 illustrates a cross-sectional view of a retarder according to another embodiment of the present application;

fig. 9 is a diagram illustrating a control system of a decelerator according to still another embodiment of the present application.

Description of reference numerals:

1. a housing; 101. a first circulation port; 102. a second flow port; 103. a blade cavity; 104. a first mounting cavity; 105. a second mounting cavity; 106. a first mounting portion; 107. a first flow path portion; 108. a first annular sink; 109. a first annular connecting groove;

2. a rigid wheel; 21. a first connecting member; 22. a first transmission member; 23. a second mounting portion; 24. a second flow path portion; 25. a second annular sink; 26. a second annular connecting groove; 27. an inner gear ring; 28. a second raceway;

3. a flow passage; 4. a flow passage branch; 5. a first electric pressure regulating valve; 6. a second electric pressure regulating valve;

7. a rotating shaft; 701. a slide groove;

8. a flexible gear; 81. a second connecting member; 82. a second transmission member; 83. an outer ring gear; 84. a first hole;

9. a support bearing; 10. a wave generator; 11. sliding blades; 111. an arc-shaped portion; 12. a compliant bearing;

13. a support disc; 131. a second hole; 132. a first sink tank; 133. a first raceway; 14. a ball bearing;

15. a sealing cover; 151. sealing the groove;

16. a driver; 17. a media tank; 18. an encoder; 19. a controller; 20. a first switch; 201. a second switch.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.

As shown in fig. 1 to 4, the present application provides a speed reducer, which includes a casing 1 and a rigid wheel 2, the casing 1 is provided with a first circulation port 101 and a second circulation port 102 which are communicated with the outside, the inside of the casing 1 is provided with a vane cavity 103 and a mounting cavity which are communicated with each other, the vane cavity 103 is communicated with the second circulation port 102, and the inner wall surface of the mounting cavity is provided with a first mounting portion 106 and a first flow channel portion 107; the rigid wheel 2 is provided with a second mounting portion 23 and a second flow channel portion 24, the second mounting portion 23 is connected with the first mounting portion 106 in a matching manner, the second flow channel portion 24 and the first flow channel portion 107 can be spliced with each other to form a flow channel 3 communicated with the first flow port 101, a cooling medium flows through the flow channel 3, and the flow channel 3 is communicated with the vane cavity 103 through the flow channel branch 4.

The speed reducer is at the operation in-process, and rigid wheel 2 produces the heat, and cooling medium gets into flow channel 3 from first circulation opening 101 to through second circulation opening 102 outflow casing 1 behind blade chamber 103, the heat that rigid wheel 2 transmitted is taken away at the in-process that flows to cooling medium, and rigid wheel 2 wholly produces the difference in temperature, and the heat flow is concentrated in flow channel 3 department, and cooling medium can realize good radiating effect at the in-process of circulation.

Alternatively, the cooling medium may be circulated from the outside into the flow channel 3 through the first circulation port 101, and may also be circulated from the outside into the flow channel 3 through the second circulation port 102. Further, the cooling medium may be a gaseous cooling medium including compressed air or the like or a liquid cooling medium including cooling water or cooling oil or the like. In this application, the cooling medium adopts compressed air, and a large amount of heats can be taken away in high-speed gas flow, and cooling rate is fast, efficient.

In addition, for convenience of description, in the embodiment of the present application, a structure of a speed reducer is described as an example of a harmonic speed reducer, and it should be understood that speed reducers of other specifications may also be structurally modified with reference to the solutions provided in the present application.

Referring to fig. 3-6, in some embodiments, the mounting cavity includes a first mounting cavity 104 and a second mounting cavity 105 that are in communication, the first mounting cavity 104 is located between the vane cavity 103 and the second mounting cavity 105, and the first mounting portion 106 and the first flow channel portion 107 are formed in the second mounting cavity 105; the diameter of the first installation cavity 104 is smaller than that of the second installation cavity 105, and a first annular sinking groove 108 is formed in an end face, facing the first installation cavity 104, of the second installation cavity 105. Through the arrangement of the first annular sinking groove 108, when the cooling medium flows through the flow passage 3, the first annular sinking groove 108 can play a role in temporarily storing the cooling medium, so that the cooling medium can be buffered and prevented from impacting.

In some embodiments, the rigid wheel 2 includes a first connecting member 21 and a first transmission member 22 connected to each other, the second mounting portion 23 and the second flow passage portion 24 are disposed on the first transmission member 22, and a second annular sinking groove 25 communicating with the flow passage 3 is formed on a side of the first transmission member 22 away from the vane chamber 103. The second annular sinking groove 25 can be understood as a tool withdrawal groove arranged on the rigid wheel 2, the second annular sinking groove 25 is used for modifying the flow channel 3 at the tail end of the mold, meanwhile, the buffer effect on the cooling medium in the flow channel 3 can be achieved, the impact is prevented, meanwhile, the second annular sinking groove can correspond to the first annular sinking groove 108, the front end and the rear end of the flow channel 3 can achieve the buffer effect, and the stable circulation of the cooling medium in the flow channel 3 is guaranteed.

Optionally, a first annular connecting groove 109 is formed in the end surface of the second mounting cavity 105 facing the first mounting cavity 104, a second annular connecting groove 26 matched with the first annular connecting groove 109 is formed in one side of the rigid wheel 2 facing the blade cavity 103, the first annular connecting groove 109 and the second annular connecting groove 26 are spliced with each other to form an end surface connecting channel, and a first sealing element is arranged in the end surface connecting channel. The stable connection between the rigid wheel 2 and the housing 1 is ensured by the arrangement of the first sealing member, and the leakage of the cooling medium can also be prevented.

Referring to fig. 1-6, in some embodiments, one of the first mounting portion 106 and the second mounting portion 23 is an external thread structure and the other is an internal thread structure; the first flow channel part 107 and the second flow channel part 24 are both of a spiral flow channel structure, and the lead of the spiral flow channel is the same as that of the external thread. Illustratively, the first mounting portion 106 is an internal thread structure, and the second mounting portion 23 is an external thread structure, so that the processing and preparation are facilitated, and meanwhile, the maintenance is facilitated. Meanwhile, the internal thread structure and the external thread structure are matched with each other, so that the rigid wheel 2 and the shell 1 can be conveniently mounted and dismounted. In addition, by making the helical flow channel the same as the lead of the external thread, it can be understood that the helical flow channel is also the same as the lead of the internal thread, which facilitates the preparation of the flow channel passage 3, and at the same time, can also ensure the uniform flow of the cooling medium outside the rigid wheel 2, and also does not affect the connection between the rigid wheel 2 and the housing 1.

Optionally, the cross section of the external thread structure is triangular, and correspondingly, the cross section of the internal thread structure is triangular correspondingly matched with the cross section of the external thread structure, so that the external thread structure can be in threaded fit with the internal thread structure; the first flow channel part 107 has a semicircular cross section, and correspondingly, the second flow channel part 24 has a semicircular cross section correspondingly matched with the second flow channel part 24, so that the two semicircular cross sections can be spliced with each other to form a complete circular flow channel 3. And since the external thread structure is different in shape from the first flow path part 107, the case of connecting the external thread structure into the first flow path part 107 can be effectively avoided at the time of connection.

In some embodiments, the reducer further comprises a rotating shaft 7 and a flexible gear 8, wherein the rotating shaft 7 and the blade cavity 103 are eccentrically arranged, the rotating shaft 7 is sleeved with a wave generator 10 which rotates along with the rotating shaft 7, and the rigid gear 2 is sleeved on the rotating shaft 7 and is rotatably arranged relative to the rotating shaft 7; the flexible gear 8 comprises a second connecting piece 81 and a second transmission piece 82 which are connected, the second transmission piece 82 is sleeved on the wave generator 10 through the flexible bearing 12, and an outer gear ring 83 of the second transmission piece 82 is meshed and connected with an inner gear ring 27 of the rigid gear 2; the wave generator 10 is an elliptical structure, and the wave generator 10 is tightly attached to the inner ring of the flexible bearing 12.

Specifically, the flexspline 8 is a thin-walled cylinder with a flange structure, is easy to deform radially, and is used for realizing differential gear transmission. The flexible gear 8 comprises a second connecting piece 81 and a second transmission piece 82, an outer gear ring 83 is arranged at one end of the second transmission piece 82, an inner gear ring 27 is arranged at the corresponding position of the first transmission piece 22 of the rigid gear 2, and the inner gear ring 27 and the outer gear ring 83 transmit force through tooth engagement. The second connecting piece 81 is the flange end of flexbile gear 8 promptly, is provided with first hole 84 on the second connecting piece 81, and first hole 84 is provided with a plurality ofly at flexbile gear 8's circumference interval, is provided with supporting disk 13 on the second connecting piece 81, be provided with a plurality ofly on the supporting disk 13 be used for with first hole 84 one-to-one second hole 131, cooperate realization flexbile gear 8 and supporting disk 13's dismantlement through screw and first hole 84 and second hole 131 in proper order and be connected, supporting disk 13 is annular disc structure for supporting flexbile gear 8.

Optionally, one side of the supporting disk 13 facing the flexible gear 8 is provided with a first sinking groove 132, and a sealing ring is embedded in the first sinking groove 132 and used for preventing grease leakage.

In some embodiments, the supporting plate 13 is sleeved outside the rigid wheel 2, a first raceway 133 is formed on one side of the supporting plate 13 facing the rigid wheel 2, a second raceway 28 is formed on one side of the rigid wheel 2 facing the supporting plate 13, the second raceway 28 and the first raceway 133 are correspondingly arranged, so that the first raceway 133 and the second raceway 28 are spliced to form a closed raceway, the ball 14 is arranged in the closed raceway, and the ball 14 and the closed raceway form a structure similar to a bearing to realize a rotating function, so that the supporting plate 13 is rotatably arranged relative to the rigid wheel 2.

Referring to fig. 1 to 7, specifically, the rotating shaft 7 is a stepped shaft, the rotating shaft 7 is provided with a plurality of sliding vane slots 701 along a radial direction thereof, sliding vanes are arranged in the sliding vane slots 701, and an arc-shaped portion 111 is arranged at an end of each sliding vane. The blade cavity 103 comprises a first blade cavity 103 and a second blade cavity 103, two ends of the second blade cavity 103 are respectively arranged between the first blade cavity 103 and the installation cavity, and the diameter of the first blade cavity 103 is smaller than that of the second blade cavity 103. The rotating shaft 7 located in the second blade cavity 103 is provided with the vane slot 701, the vane is of a smooth rectangular square structure, one side of the inner wall surface of the vane facing the second blade cavity 103 is an arc-shaped part 111, and when the vane moves, the arc-shaped part 111 of the vane contacts and slides with the inner wall of the second blade cavity 103.

The sliding vane can automatically extend out due to the rotation inertia, and the sliding vane can automatically retract under the constraint of the cavity structure of the second blade cavity 103; optionally, an elastic reset member, including a spring, is disposed in the sliding sheet slot 701, and the elastic reset member is used to connect the sliding sheet and the sliding sheet slot 701, and the sliding sheet extends out of the sliding sheet slot 701 under an elastic action of the elastic reset member.

In some embodiments, the casing 1 is a cylindrical structure, a stepped sinking platform is disposed inside the casing 1, the first vane cavity 103, the second vane cavity 103, the first mounting cavity 104 and the second mounting cavity 105 are sequentially separated from the inside of the casing 1 by a plurality of stepped sinking platforms, the corresponding plurality of stepped sinking platforms include a first step, a second step, a third step and a fourth step, and the second mounting portion 23 and the second flow channel portion 24 are both disposed inside the fourth step, so as to implement connection of the rigid wheel 2 and flow guiding of the cooling medium.

Optionally, the housing 1 is provided with a plurality of mounting threaded holes, and the housing 1 can be fixedly connected with other components through the mounting threaded holes.

Specifically, the flow channel branch 4 may be arranged in a right-angle structure, and the flow channel branch 4 may also be arranged in an arc-shaped structure, and of course, the flow channel branch 4 may also be arranged in a wave-shaped structure, and only the flow channel passage 3 needs to be ensured to be communicated with the blade cavity 103, and the specific structure of the flow channel branch 4 may not be limited.

As an example, in the present application, the flow path 4 includes a first flow path 4 and a second flow path 4, one end of the first flow path 4 is communicated with the first annular sinking groove 108, the first flow path 4 is linearly extended, and the other end of the first flow path 4 penetrates through the housing 1 to communicate with the outside. The first flow channel branch 4 is provided with a first plug, and the first plug is used for blocking the end part of the first flow channel branch 4 far away from the first annular sinking groove 108. The second flow channel branch 4 is also arranged in a linear structure, the axis of the second flow channel branch 4 is perpendicular to the axis of the first flow channel branch 4, and the first flow channel branch 4 is communicated with the second flow channel branch 4, so that the cooling medium is communicated with the blade cavity 103; one end of the second flow channel branch 4 is arranged on the second ladder and communicated with the second blade cavity 103, and the other end of the second flow channel branch 4 is communicated with the outside through a second plug; the mutual communication of the cooling medium with the external environment or the fitting is realized.

Referring to fig. 1 to 7, a sealing cover 15 is arranged in the mounting cavity, the sealing cover 15 is of an annular disc structure, a sealing groove 151 is formed in one side, facing the blade cavity 103, of the sealing cover 15, and a sealing ring is arranged in the sealing groove 151 and used for sealing the blade cavity 103. The inner side of the sealing cover 15 is provided with a supporting bearing 9, the supporting bearing 9 is matched with the rotating shaft 7 for supporting, and under the action of the supporting bearing 9, the rotating shaft 7 is arranged in the blade cavity 103 in a suspending way and realizes rotation.

The flexible gear 8 is fastened on a supporting disk 13 through a screw and rotates together with the supporting disk 13, and the tooth part of the outer gear ring 83 of the flexible gear 8 is meshed with the tooth part of the inner gear ring 27 of the rigid gear 2 to realize differential gear transmission; the rigid wheel 2 and the supporting disk 13 form a bearing structure through the ball 14, so that when one of the two structures of the rigid wheel 2 and the supporting disk 13 is fixed, the other structure can be arranged in a relative rotation mode. The rigid wheel 2 is fastened and connected with the shell 1 through the first mounting part 106 and the second mounting part 23, the sliding sheet is arranged in the sliding sheet groove 701 corresponding to the rotating shaft 7, and the sealing cover 15 is fastened on the shell 1 through screws to complete sealing. The rotating shaft 7 is connected with a wave generator 10 through a key, the outer elliptical surface of the wave generator 10 is in interference fit with a flexible bearing 12, and the outer ring of the flexible bearing 12 is in interference fit with the inner side wall corresponding to the tooth part of the outer gear ring 83 of the flexible gear 8; wherein, due to the interference deformation, the corresponding positions of the flexible bearing 12 and the flexible gear 8 are deformed into an elliptical shape of the wave generator 10.

When the speed reducer works, the shell 1 is fixedly arranged, a cooling medium, namely compressed air in the application, enters through the first circulation port 101, enters into the blade cavity 103 through the flow passage 3, the sliding piece is pushed to slide, so that the rotating shaft 7 is driven to rotate, original gas in the blade cavity 103 is discharged through the second circulation port 102, the whole process keeps uninterrupted airflow, the rotating shaft 7 continuously rotates, the wave generator 10 is driven to rotate, the wave generator 10 rotates inside the flexible bearing 12, due to the oval structure, the end point of the long shaft extrudes the flexible bearing 12 to deform, and further the flexible wheel 8 deforms, so that the flexible wheel 8 is only meshed with the tooth part of the rigid wheel 2 at two end parts, staggered teeth transmission is caused, the flexible wheel 8 is driven to rotate, torque output is realized, and heat generated by staggered teeth meshing friction is quickly taken away in gas flowing. When the reduction gear is operated, the cooling medium may be introduced into the flow channel 3 through the second circulation port 102, and discharged from the first circulation port 101 through the flow channel 3 to be moved in a direction.

Referring to fig. 1 to 8, in some embodiments, a driver 16 is connected to an end of the rotating shaft 7, and the driver 16 is used for driving the rotating shaft 7 to rotate. The driver 16 comprises a driving motor, and an output shaft of the driving motor is coaxially fixed with the rotating shaft 7 through a coupler; the movement of the output shaft of the driving motor drives the synchronous movement of the rotating shaft 7.

When the speed reducer operates, the driving motor drives the rotating shaft 7 to rotate clockwise 7, negative pressure can be generated in the blade cavity 103 through which the first circulation port 101 penetrates due to the rotation of the sliding sheet, air is sucked by the first circulation port 101, positive pressure is generated by gas compression in the blade cavity 103 through which the second circulation port 102 penetrates, the second circulation port 102 exhausts air, continuous air flow can be formed inside the flow passage 3 during continuous operation, and heat is taken away quickly. Similarly, when the driving motor drives the rotating shaft 7 to rotate counterclockwise, the working process is opposite to the above, the first circulation port 101 exhausts air, and the second circulation port 102 sucks air, so as to achieve self-cooling and heat dissipation. In this case, since both the first and second ports 101 and 102 can directly communicate with the outside, the outside ambient air flows through the flow channel 3. However, the temperature of the environment needs to be taken into consideration, otherwise, the heat is continuously dissipated to the environment to form a cycle, which presents a state of heating the environment, and causes the temperature of the environment to rise, and the heat dissipation effect is poor.

Referring to fig. 1-9, in some embodiments, the retarder further includes a media tank 17, an encoder 18, and a controller 19, wherein the media tank 17 is in selective communication with the first circulation port 101 through a first switch 20, and the media tank 17 is in selective communication with the second circulation port 102 through a second switch 201; the encoder 18 is arranged on the shell 1 and is used for detecting the position of the rotating shaft 7; the controller 19 is electrically connected to the encoder 18, the first switch 20, and the second switch 201.

Specifically, a cooling medium is provided in the medium tank 17, and the medium tank 17 communicates with both the first circulation port 101 and the second circulation port 102 to realize circulation of the cooling medium. The first switch 20 includes a first electromagnetic valve, the second switch 201 includes a second electromagnetic valve, the first circulation port 101 is further provided with a first electric pressure regulating valve 5 electrically connected to the controller 19, and the second circulation port 102 is provided with a second electric pressure regulating valve 6 electrically connected to the controller 19. The encoder 18 is used for feeding back the position of the rotating shaft 7 and transmitting a position signal to the controller 19, the position of the rotating shaft 7 is calculated in the controller 19, and the controller 19 sends a regulating and controlling instruction to the first electromagnetic valve and the second electromagnetic valve to change the on-off direction of the cooling medium and regulate the steering direction of the speed reducer. In addition, the controller 19 may also issue commands to the first electric pressure-regulating valve 5 and the second electric pressure-regulating valve 6 for changing the pressure of the cooling medium and regulating the rotational speed of the speed reducer in response to the position signal of the rotating shaft 7; thereby ensuring the reliability of the operation of the speed reducer.

Referring to fig. 1-9, the embodiment of the present application further provides a robot including a decelerator as described above.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

It should be readily understood that "on … …", "above … …" and "above … …" in this disclosure should be interpreted in the broadest manner such that "on … …" means not only "directly on something", but also "on something" with intermediate features or layers therebetween, and "above … …" or "above … …" includes not only the meaning of "above" or "above" something, but also the meaning of "above" or "above" without intermediate features or layers therebetween (i.e., directly on something).

Furthermore, spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly as well.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A speed reducer, comprising:

the fan comprises a shell (1), wherein a first circulation port (101) and a second circulation port (102) which are communicated with the outside are formed in the shell (1), a blade cavity (103) and an installation cavity which are communicated with each other are formed in the shell (1), the blade cavity (103) is communicated with the second circulation port (102), and a first installation part (106) and a first flow channel part (107) are arranged on the inner wall surface of the installation cavity; and

rigid wheel (2), be provided with second installation department (23) and second runner portion (24) on it, second installation department (23) with first installation department (106) cooperation is connected, second runner portion (24) can with first runner portion (107) splice each other form with runner passageway (3) of first circulation mouth (101) intercommunication, the inside circulation of runner passageway (3) has cooling medium, runner passageway (3) through runner branch road (4) with blade chamber (103) are linked together.

2. A decelerator according to claim 1, wherein the mounting cavities include a first mounting cavity (104) and a second mounting cavity (105) in communication, the first mounting cavity (104) being located between the vane cavity (103) and the second mounting cavity (105), the first mounting portion (106) and the first flow path portion (107) being formed in the second mounting cavity (105); the diameter of the first installation cavity (104) is smaller than that of the second installation cavity (105), and a first annular sinking groove (108) is formed in the end face, facing the first installation cavity (104), of the second installation cavity (105).

3. A reducer according to claim 1, in which the rigid wheel (2) comprises a first connecting member (21) and a first transmission member (22) which are connected, the second mounting portion (23) and the second flow path portion (24) are provided on the first transmission member (22), and a second annular recess (25) communicating with the flow path (3) is formed in a side of the first transmission member (22) remote from the vane chamber (103).

4. A reducer according to any one of claims 1 to 3, in which one of the first mounting portion (106) and the second mounting portion (23) is of externally threaded configuration and the other is of internally threaded configuration; the first flow channel part (107) and the second flow channel part (24) are both in a spiral flow channel structure, and the leads of the spiral flow channel and the external thread are the same.

5. The reducer according to claim 2, wherein a first annular connecting groove (109) is formed in an end face of the second mounting cavity (105) facing the first mounting cavity (104), a second annular connecting groove (26) matched with the first annular connecting groove (109) is formed in one side of the rigid wheel (2) facing the blade cavity (103), the first annular connecting groove (109) and the second annular connecting groove (26) are spliced with each other to form an end face connecting channel, and a first sealing element is arranged in the end face connecting channel.

6. The reducer of claim 1, further comprising:

the rotating shaft (7) and the blade cavity (103) are eccentrically arranged, the rotating shaft (7) is sleeved with a wave generator (10) rotating along with the rotating shaft (7), and the rigid wheel (2) is sleeved on the rotating shaft (7) and rotatably arranged relative to the rotating shaft (7); and

the flexible gear (8) comprises a second connecting piece (81) and a second transmission piece (82) which are connected, the second transmission piece (82) is sleeved on the wave generator (10) through a flexible bearing (12), and an outer gear ring (83) of the second transmission piece (82) is meshed with an inner gear ring (27) of the rigid gear (2) and connected with the flexible gear ring.

7. A decelerator according to claim 6, wherein the rotation shaft (7) is a stepped shaft, the rotation shaft (7) is provided with a plurality of sliding vane slots (701) along its radial direction, sliding vanes are arranged in the sliding vane slots (701), and the end parts of the sliding vanes are provided with arc parts (111).

8. Decelerator according to claim 6, characterized in that a driver (16) is connected to the end of the rotation shaft (7), which driver (16) is used to drive the rotation shaft (7) in rotation.

9. The reducer of claim 6, further comprising:

a media tank (17), said media tank (17) being in selective communication with said first flow port (101) through a first switch (20), said media tank (17) being in selective communication with said second flow port (102) through a second switch (201);

an encoder (18) disposed on the housing (1) and configured to detect a position of the rotating shaft (7); and

a controller (19) electrically connected to the encoder (18), the first switch (20), and the second switch (201).

10. A robot, comprising: a decelerator according to any one of claims 1 to 9.

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