Cycloidal-pin wheel planetary transmission device capable of improving torque density and machine equipment

Abstract

The invention relates to a cycloidal-pin wheel planetary transmission device capable of improving torque density and machine equipment. The cycloidal-pin wheel planetary transmission device comprises a machine shell, a roller pin, a first bearing, a second bearing, a first supporting disc, a second supporting disc, a middle supporting disc, an input shaft, a cycloidal wheel and a force transmission column. The first supporting disc comprises a first disc body and a first boss, and the first disc body is provided with a first supporting hole and a first center hole; the second supporting disc comprises a second disc body and a second boss, and the second disc body is provided with a second supporting hole and a second center hole; the middle supporting disc is provided with a third supporting hole, and the first boss and the second boss abut against the middle supporting disc. The two ends of the force transmission column are supported in the first bearing hole and the second bearing hole respectively, the two ends of the force transmission column are supported in the third bearing hole, and the first bearing disc, the second bearing disc and the middle bearing disc jointly support the force transmission column. According to the cycloidal-pin wheel planetary transmission device, the torque density can be improved, and then miniaturization of the transmission device is achieved.

Description

Technical Field

[0001] The present application relates to the field of mechanical transmission technology, and in particular to a cycloid pinwheel planetary transmission device and machine equipment capable of improving torque density. Background Art

[0002] In the related technologies, harmonic reducers are often used in high-precision and high-torque density transmission fields such as industrial robots, humanoid robots, machine tools, medical testing equipment, and satellites. Harmonic reducers have the advantages of small size, light weight (high torque density), high motion accuracy, small transmission backlash, and large reduction ratio. They are suitable for miniaturization and low and medium load applications, but harmonic reducers have low fatigue strength and stiffness, short life, and poor impact resistance. Compared with harmonic reducers, RV cycloid reducers have higher fatigue strength, stiffness, and life, and stable backlash accuracy, but RV cycloid reducers are not easy to miniaturize, and their torque density and bidirectionality are not as good as harmonic reducers, which limits the application of RV cycloid reducers in aerospace, humanoid robots and other fields. Summary of the invention

[0003] In view of this, the embodiments of the present application hope to provide a cycloidal pinwheel planetary transmission device and machine equipment, which can improve the torque density, fatigue strength, structural stiffness, service life and impact resistance of the transmission device, and facilitate the miniaturization of the transmission device.

[0004] According to a first aspect of an embodiment of the present application, a cycloid pinwheel planetary transmission device capable of improving torque density is provided, comprising:

[0005] A housing having a pin tooth groove;

[0006] A rolling needle is arranged in the needle tooth groove;

[0007] a first bearing and a second bearing;

[0008] A first supporting plate, comprising a first plate body and a first boss disposed on the first plate body, wherein the first plate body has a first supporting hole and a first center hole;

[0009] A second supporting plate, comprising a second plate body and a second boss disposed on the second plate body, the second plate body having a second supporting hole and a second center hole, the first supporting plate and the second supporting plate are respectively connected to two ends of the housing through the first bearing, and the first center hole and the second center hole are respectively provided with the second bearing;

[0010] An intermediate support plate, having a third support hole, disposed between the first support plate and the second support plate, wherein the first boss and the second boss abut against the intermediate support plate;

[0011] An input shaft, two ends of which are supported on the first support plate and the second support plate respectively through the second bearing;

[0012] A cycloid wheel having a third center hole and a pin hole, wherein the cycloid wheel comprises a first cycloid wheel, a second cycloid wheel, a third cycloid wheel and a fourth cycloid wheel, which are sequentially sleeved on the input shaft through the third center hole;

[0013] A force transmission column is passed through the corresponding column pin holes of the first cycloidal wheel, the second cycloidal wheel, the third cycloidal wheel and the fourth cycloidal wheel, and both ends of the force transmission column are respectively supported in the first supporting hole and the second supporting hole, and the space between the two ends of the force transmission column is supported in the third supporting hole, so that the first supporting plate, the second supporting plate and the middle supporting plate jointly provide support for the force transmission column.

[0014] In some embodiments, the first support plate has a first mounting hole, the second support plate has a second mounting hole, the intermediate support plate has a third mounting hole, the cycloidal wheel has a through hole, and the cycloidal pinwheel planetary transmission device also includes a fastener; the fastening screw is passed through the first mounting hole, the third mounting hole and the second mounting hole to lock the first support plate, the second support plate and the intermediate support plate.

[0015] In some embodiments, the first mounting hole is in the first disk body and the first boss, the second mounting hole passes through the second disk body, the second boss and the third mounting hole, and the fastener is passed through the through hole to abut the first boss and the second boss against the intermediate support disk.

[0016] In some embodiments, the first supporting hole and the first mounting hole are alternately distributed on the first supporting disk, the second supporting hole and the second mounting hole are alternately distributed on the second supporting disk, the third supporting hole and the third mounting hole are alternately distributed on the intermediate supporting disk, and the pin hole and the through hole are alternately distributed on the cycloid wheel.

[0017] In some embodiments, the cross-sections of the first boss and the second boss are both trapezoidal or circular.

[0018] In some embodiments, the cross-section of the needle tooth groove is larger than a semicircle, and the roller needle is at least partially exposed from the needle tooth groove so as to be able to contact the cycloid wheel.

[0019] In some embodiments, the tooth profile of the cycloid wheel is divided into a first non-working area located at the tooth top, a second non-working area located at the tooth root, and a working area located between the tooth top and the tooth root. The working area is finely machined, and the tooth shape of the working area is a theoretical tooth shape of the rotation angle or a combined tooth shape that approximates the theoretical tooth shape.

[0020] In some embodiments, the first non-working area and the second non-working area are rough-machined or semi-finished, and the tooth profile of the first non-working area is a concentric circular arc of a cycloid wheel or an equidistant tooth profile of a theoretical tooth profile; or,

[0021] The second non-working area is semi-finished; the tooth shape of the second non-working area is an equidistant tooth shape of a theoretical tooth shape; or,

[0022] The second non-working area and the working area are finely machined together; the tooth profile of the second non-working area and the tooth profile of the working area are both combined tooth profiles that approximate the theoretical tooth profile.

[0023] In some embodiments, the needle tooth groove is formed by wire cutting or coordinate grinding.

[0024] In some embodiments, the cycloid pinwheel planetary transmission device further includes a force transmission sleeve, which is sleeved on the force transmission column, and the force transmission column has an oil groove to lubricate the force transmission sleeve and the force transmission column.

[0025] In some embodiments, the needle roller includes a first needle roller and a second needle roller, the first needle roller is located between the needle tooth groove and the first cycloidal wheel and the second cycloidal wheel, and the second needle roller is located between the needle tooth groove and the third cycloidal wheel and the fourth cycloidal wheel.

[0026] In some embodiments, the cycloid pinwheel planetary transmission device includes a third bearing, the input shaft has a first eccentric wheel, a second eccentric wheel, a third eccentric wheel and a fourth eccentric wheel, the eccentricities of the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the first eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the second eccentric wheel and the third eccentric wheel are the same, and the difference between the two sets of phase angles is 180 degrees, and the first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are respectively mounted on the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel through the third bearing.

[0027] In some embodiments, the diameters of the first eccentric wheel and the fourth eccentric wheel are the same, the diameters of the second eccentric wheel and the third eccentric wheel are the same, and the diameter of the first eccentric wheel is smaller than the diameter of the second eccentric wheel; the third center hole diameters of the first cycloidal wheel and the fourth cycloidal wheel are the same, the third center hole diameters of the second cycloidal wheel and the third cycloidal wheel are the same, and the diameter of the third center hole of the first cycloidal wheel is smaller than the diameter of the third center hole of the second cycloidal wheel.

[0028] In some embodiments, the diameters of the second eccentric wheel and the third eccentric wheel are the same, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel;

[0029] The third center hole aperture of the second cycloidal wheel and the third cycloidal wheel is the same, the third center hole aperture of either the first cycloidal wheel or the fourth cycloidal wheel is smaller than the third center hole aperture of the second cycloidal wheel, and the third center hole aperture of the other of the first cycloidal wheel and the fourth cycloidal wheel is equal to the third center hole aperture of the second cycloidal wheel.

[0030] In some embodiments, the diameters of the second eccentric wheel and the third eccentric wheel are the same, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel;

[0031] The cycloid pinwheel planetary transmission device further includes a sleeve, the outer diameter of which is equal to the diameter of the second eccentric wheel, the sleeve is sleeved on one of the first eccentric wheel and the fourth eccentric wheel, the diameter of which is smaller than the diameter of the second eccentric wheel, and is located in the corresponding third bearing;

[0032] The diameters of the third central holes of the first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are all the same.

[0033] In some embodiments, the cycloid pinwheel planetary transmission device includes a first eccentric bearing, a second eccentric bearing, a third eccentric bearing and a fourth eccentric bearing which are sequentially mounted on the input shaft, the eccentricities of the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the first eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the second eccentric bearing and the third eccentric bearing are the same, and the difference between the two sets of phase angles is 180 degrees, and the first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are respectively mounted on the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing.

[0034] The cycloid pinwheel planetary transmission device provided in the embodiment of the present application forms a stable output mechanism through the first support disk, the second support disk and the intermediate support disk, thereby improving the bearing capacity of the transmission device to bear the transmission load of the four cycloid wheels. The structure of the four cycloid wheels can achieve dynamic balance, and the first bearing and the second bearing are selected to be smaller, which can reduce the volume and mass required for the first bearing and the second bearing, thereby improving the torque density. Furthermore, the transmission device can stably transmit torque, improve fatigue strength, structural rigidity and impact resistance, and increase service life. Therefore, under the same conditions, fewer force transmission columns, smaller first bearings and smaller second bearings can be used to achieve miniaturization of the transmission device.

[0035] A second aspect of an embodiment of the present application provides a machine device, comprising a cycloidal pinwheel planetary transmission device as described in any one of the above items.

[0036] In some embodiments, the machine device is a humanoid robot, a precision machine tool, a medical device or an aerospace device.

[0037] The machine equipment provided in the embodiment of the present application has the same beneficial effects as the above-mentioned cycloid pinwheel planetary transmission device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic structural diagram of a cycloid pinwheel planetary reducer in the first embodiment of the present application;

[0039] Figure 2 for Figure 1 AA section structure schematic diagram in;

[0040] Figure 3 This is a structural schematic diagram of a cycloid pinwheel planetary reducer in the second embodiment of the present application;

[0041] Figure 4 for Figure 1 The schematic diagram of the local structure of the cycloid pinwheel planetary reducer shown;

[0042] Figure 5 This is a schematic structural diagram of a first supporting plate in one embodiment of the present application;

[0043] Figure 6 for Figure 5 A schematic structural diagram of a second viewing angle of the first supporting plate shown;

[0044] Figure 7 for Figure 6 A schematic diagram of the BB cross-sectional structure of the first supporting plate shown;

[0045] Figure 8 for Figure 6 An enlarged schematic diagram of point C of the first supporting disk is shown;

[0046] Fig. 9 for Figure 5 A schematic structural diagram of the first supporting plate from a third viewing angle;

[0047] Fig.10 for Figure 5 A schematic structural diagram of the first supporting plate from a fourth viewing angle;

[0048] Fig.11 This is a schematic structural diagram of a second supporting plate in one embodiment of the present application;

[0049] Fig.12 for Fig.11 A schematic structural diagram of a second supporting plate from a second viewing angle is shown;

[0050] Fig.13 for Fig.11 A schematic structural diagram of the second supporting plate from a third viewing angle;

[0051] Fig.14 for Fig.13 A schematic diagram of the DD cross-sectional structure of the first supporting plate shown;

[0052] Fig.15 for Fig.11 A schematic structural diagram of the first supporting plate from a fourth viewing angle;

[0053] Fig.16 This is a schematic structural diagram of an intermediate support plate in an embodiment of the present application;

[0054] Fig.17 for Fig.16 EE cross-sectional structural diagram of the intermediate support plate shown;

[0055] Fig.18 It is the force analysis diagram of the two-cycloid wheel;

[0056] Fig.19 This is the force analysis diagram of the four-cycloid wheel;

[0057] Fig. 20 This is another force analysis diagram of the two-cycloid wheel;

[0058] Fig.21 This is another force analysis diagram of the four-cycloid wheel;

[0059] Fig. 22 It is a structural schematic diagram of a force transmission column in an embodiment of the present application;

[0060] Fig.23 for Fig. 22 FF cross-sectional structural diagram of the force transmission column shown;

[0061] Fig.24 for Fig. 22 A schematic diagram of the cross-sectional structure of the force transmission column GG shown;

[0062] Fig.25 It is a structural schematic diagram of a cycloid wheel in the related art;

[0063] Fig.26 It is a structural schematic diagram of a casing in the related art;

[0064] Fig. 27 It is a schematic diagram of the structure of a casing in an embodiment of the present application;

[0065] Fig.28 It is a structural schematic diagram of a cycloid wheel in an embodiment of the present application;

[0066] Fig.29 It is a schematic structural diagram of a tooth profile in an embodiment of the present application;

[0067] Fig.30 This is a schematic structural diagram of a cycloid pinwheel planetary reducer in a third embodiment of the present application;

[0068] Fig.31 This is a schematic structural diagram of a cycloid pinwheel planetary reducer in the fourth embodiment of the present application.

[0069] Description of Reference Numerals

[0070] Housing 10; Needle tooth groove 10a; First housing 11; Second housing 12; Needle roller 20; First needle roller 21; Second needle roller 22; First bearing 31; Second bearing 32; Third bearing 33; First support plate 40; First plate body 41; First support hole 41a; First center hole 41b; First mounting hole 41c; First boss 42; Second support plate 50; Second plate body 51; Second support hole 51a; Second center hole 51b; Second mounting hole 51c; second boss 52; intermediate support plate 60; third support hole 60a; third mounting hole 60b; input shaft 70; cycloidal wheel 80; first cycloidal wheel 81; second cycloidal wheel 82; third cycloidal wheel 83; fourth cycloidal wheel 84; tooth profile 85; first non-working area 851; second non-working area 852; working area 853; force transmission column 90; oil groove 90a; force transmission sleeve 100; eccentric pin 110; set screw 120; bushing 130. DETAILED DESCRIPTION

[0071] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0072] It should be noted that in the embodiments of the present application, the "left" and "right" orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings. It should be understood that these orientation terms are only for the convenience of describing the present application and simplifying the description, and 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 therefore cannot be understood as a limitation on the present application. The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0073] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0074] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature "on" a second feature may mean that the first feature is in direct contact with the second feature, or the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, a first feature "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

[0075] In the description of this specification, the description with reference to the terms "some embodiments", "exemplarily", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine different embodiments or examples described in this application and the features of different embodiments or examples without contradiction.

[0076] In the related technologies, harmonic reducers are often used in high-precision and high-torque density transmission fields such as industrial robots, humanoid robots, machine tools, medical testing equipment, and satellites. Harmonic reducers have the advantages of small size, light weight (high torque density), high motion accuracy, small transmission backlash, and large reduction ratio. They are suitable for miniaturization and low and medium load applications, but harmonic reducers have low fatigue strength and stiffness, short life, and poor impact resistance. Compared with harmonic reducers, RV cycloid reducers have higher fatigue strength, stiffness, and life, and stable backlash accuracy, but RV cycloid reducers are not easy to miniaturize, and their torque density and bidirectionality are not as good as harmonic reducers, which limits their application in aerospace, humanoid robots, and other fields. In recent years, the development momentum of humanoid robots has been strong, so a large number of new reducers with high precision, high torque density, good bidirectionality, strong load capacity and impact resistance, and compact and lightweight are needed.

[0077] In view of this, the embodiment of the present application provides a cycloid pinwheel planetary transmission device, which can improve torque density, fatigue strength, structural rigidity, service life and impact resistance, and is easy to realize the miniaturization of the transmission device. The cycloid pinwheel planetary transmission device can be a cycloid pinwheel planetary reducer, a cycloid pinwheel planetary speed increaser, or a cycloid pinwheel planetary transmission with a speed increase and speed decrease combination switching function.

[0078] In the following embodiments, the cycloid planetary transmission device is described by taking the cycloid planetary reducer as an example, but it does not mean that it is limited to the cycloid planetary reducer, and is also applicable to the cycloid planetary speed increaser or cycloid planetary transmission.

[0079] See also Figure 1-Figure 3 The cycloid pinwheel planetary reducer comprises a housing 10, a needle roller 20, a first bearing 31, a second bearing 32, a first support plate 40, a second support plate 50, an intermediate support plate 60, an input shaft 70, a cycloid wheel 80 and a force transmission column 90. The housing 10 has a needle tooth groove 10a; the needle roller 20 is arranged in the needle tooth groove 10a; see Figure 4-Figure 10 The first supporting plate 40 includes a first plate body 41 and a first boss 42 disposed on the first plate body 41. The first plate body 41 has a first supporting hole 41a and a first center hole 41b; see Figure 11-Figure 15 The second support plate 50 includes a second plate body 51 and a second boss 52 disposed on the second plate body 51. The second plate body 51 has a second support hole 51a and a second center hole 51b. The first support plate 40 and the second support plate 50 are connected to both ends of the housing 10 through the first bearing 31, respectively. The first center hole 41b and the second center hole 51b are respectively provided with a second bearing 32; see Figure 16-17 The intermediate support plate 60 has a third support hole 60a, which is disposed between the first support plate 40 and the second support plate 50, and the first boss 42 and the second boss 52 abut against the intermediate support plate 60; see Figure 2 , the two ends of the input shaft 70 are supported on the first supporting disk 40 and the second supporting disk 50 respectively through the second bearing 32; the cycloid wheel 80 has a third center hole and a pin hole, and the cycloid wheel 80 includes a first cycloid wheel 81, a second cycloid wheel 82, a third cycloid wheel 83 and a fourth cycloid wheel 84, which are sequentially sleeved on the input shaft 70 through the third center hole; the force transmission column 90 is penetrated through the corresponding pin holes of the first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84, and the two ends of the force transmission column 90 are respectively supported in the first supporting hole 41a and the second supporting hole 51a, and the two ends of the force transmission column 90 are supported in the third supporting hole 60a, so that the first supporting disk 40, the second supporting disk 50 and the intermediate supporting disk 60 jointly provide support for the force transmission column 90.

[0080] The force transmission column 90, also known as the force transmission pin, is passed through the support hole of the cycloidal wheel 80. The cycloidal wheel 80, which rotates at a low speed, drives the output mechanism assembled by the first support plate 40, the second support plate 50 and the intermediate support plate 60 to rotate and output torque through the force transmission column 90.

[0081] See also Figure 4 , through the first boss 42 and the second boss 52 abutting against the intermediate support disk 60, the first support disk 40, the intermediate support disk 60 and the second support disk 50 can form a stable output mechanism, which can improve the bidirectionality of the cycloidal pinwheel planetary reducer. Among them, the bidirectionality of the cycloidal pinwheel planetary reducer refers to the performance of transmitting the transmission from the input shaft 70 to the output shaft for forward deceleration, and from the output shaft to the input shaft 70 for reverse acceleration. At the same time, the first support disk 40, the intermediate support disk 60 and the second support disk 50 as the output mechanism can improve the bearing capacity and structural rigidity, thereby improving the fatigue strength and impact resistance of the cycloidal pinwheel planetary reducer, and thus can improve the torque density of the cycloidal pinwheel planetary reducer. Among them, the torque density refers to the rated torque output per unit volume or unit mass of the cycloidal pinwheel planetary transmission device.

[0082] In the related art, the output mechanism adopts a cantilever force transmission column, which is generally a cantilever plus a load-balancing ring structure. The cantilever force transmission column will lead to insufficient fatigue resistance and balance stability, and the span of the force transmission pin is relatively long, resulting in insufficient bearing capacity. When the torque to be transmitted is large, a large number of cantilever force transmission columns are required to transmit the torque. A large number of cantilever force transmission columns will affect the structural rigidity. The load-balancing ring is only set to balance the load on one end of the force transmission column. However, since the force transmission column is cantilevered, the load-balancing ring is located at one end of the cantilever of the force transmission column, and no stable support is formed, which will also affect the rigidity of the output mechanism.

[0083] The cycloid pinwheel planetary reducer provided in the embodiment of the present application is provided with an intermediate support disk 60, which is provided between the first support disk 40 and the second support disk 50, and can reduce the span of the force transmission column 90. For example, when the force transmission column 90 is provided at the middle position between the first support disk 40 and the second support disk 50, the span of the force transmission column 90 is half of the span of the force transmission column 90 when the intermediate support disk 60 is not provided. Under the same load, the maximum bending moment of the force transmission column 90 is one-fifth of the maximum bending moment of the force transmission column 90 when the intermediate support disk 60 is not provided, and therefore, the torque transmission capacity of the cycloid pinwheel planetary reducer can be significantly improved, and the torque density can be improved.

[0084] Furthermore, the cycloidal pinwheel planetary reducer provided in the embodiment of the present application can achieve dynamic balance by setting the phase angles of the first cycloidal wheel 81, the second cycloidal wheel 82, the third cycloidal wheel 83 and the fourth cycloidal wheel 84, and can be in a completely balanced state. For example, the phase angles of the first cycloidal wheel 81 and the fourth cycloidal wheel 84 are set to be the same, and the phase angles of the second cycloidal wheel 82 and the third cycloidal wheel 83 are set to be the same, and the difference between the two sets of phase angles is 180 degrees. The first bearing 31 and the second bearing 32 are theoretically not subjected to the force of the input shaft 70, so the first bearing 31 and the second bearing 32 can adopt a smaller model to withstand the additional force generated when the first cycloidal wheel 81, the second cycloidal wheel 82, the third cycloidal wheel 83 and the fourth cycloidal wheel 84 are unevenly stressed. In this way, the torque density of the cycloidal pinwheel planetary reducer can be effectively improved. Exemplarily, the first bearing 31 can be an angular contact ball bearing, and the second bearing 32 can be an angular contact ball bearing or a deep groove ball bearing.

[0085] The following is a force comparison analysis of a reducer with two cycloidal wheels and four cycloidal wheels to illustrate how the first cycloidal wheel 81, the second cycloidal wheel 82, the third cycloidal wheel 83 and the fourth cycloidal wheel 84 in this application achieve dynamic balance. The reducer with two cycloidal wheels is called a two-cycloidal wheel machine, and the reducer with four cycloidal wheels 80 is called a four-cycloidal wheel machine.

[0086] Please refer to Fig.18 and Fig.19 , set the input shaft length of the two-cycloid turbine and the four-cycloid turbine to be the same, where R represents the force of a single cycloid wheel in the two-cycloid turbine on the input shaft; R / 2 represents the force of a single cycloid wheel in the four-cycloid turbine on the input shaft; Ra represents the force of the input shaft on bearing a; Rb represents the force of the input shaft on bearing b; where bearing a refers to the bearing on the left, and bearing b refers to the bearing on the right.

[0087] See also Fig. 20, shows the couple diagram and force condition after the radial force R of the two-cycloid turbine is balanced. The couple M of the two-cycloid turbine always exists, and the balance of the radial force R is called static balance. When the two-cycloid turbine is at high speed, vibration will occur, resulting in unstable transmission, so it is necessary to limit the speed of the input shaft 70 of the two-cycloid turbine.

[0088] See also Fig.21 , shows the force diagram to express the force condition of the four-cycloid turbine after the radial force R / 2 is balanced. The two couples M1 and M2 of the four-cycloid turbine are equal in magnitude and opposite in direction, and are in a completely balanced state. The balance of the radial force R / 2 is called dynamic balance. Therefore, the input shaft of the four-cycloid turbine can achieve high-speed input.

[0089] Calculate the bearing forces of the two-cycloid turbine and the four-cycloid turbine by moment balance:

[0090] In a two-cycloid turbine:

[0091] Ra * 47-R * 32.5+R * 14.5 = 0Ra = R (18 / 47);

[0092] R * 47-R * 32.5+R * 14.5 = 0Rb = R (18 / 47);

[0093] In a four-cycloid engine:

[0094] Ra * 47 - (R / 2) * 37+(R / 2) * 28+(R / 2) * 19-(R / 2) * 10=0Ra=0;

[0095] R * 47 - (R / 2) * 37+(R / 2) * 28+(R / 2) * 19-(R / 2) * 10=0Rb=0;

[0096] When the two-cycloid turbine reaches static balance, bearings a and b are subjected to the force of the input shaft due to the action of the couple M. When the four-cycloid turbine reaches dynamic balance and is in a completely balanced state, bearings a and b are theoretically not subjected to the force of the input shaft.

[0097] The cycloid pinwheel planetary reducer provided in the embodiment of the present application adopts a structure of four cycloid wheels 80 to achieve dynamic balance. The first bearing 31 and the second bearing 32 are selected to be smaller, which can reduce the volume and mass required by the first bearing 31 and the second bearing 32, thereby improving the torque density and helping to achieve the miniaturization of the reducer. At the same time, a stable output mechanism is formed by the first support plate 40, the second support plate 50 and the intermediate support plate 60, which can stably transmit torque, improve the fatigue strength, structural rigidity and impact resistance of the reducer, and improve the service life of the reducer. Therefore, under the same conditions, fewer force transmission columns 90 can be used to further achieve the miniaturization of the reducer.

[0098] Exemplarily, the cross-sections of the first boss 42 and the second boss 52 are both circular.

[0099] Thus, the circular cross-sectional resistance moment of the first boss 42 is more than twice that of the force transmission column 90, which can significantly improve the structural rigidity and thus improve the torque density of the reducer. The cross-sectional resistance moment refers to the ratio of the moment of inertia of the cross section to its centroidal axis to the distance from the farthest point on the cross section to the centroidal axis.

[0100] For example, see Figure 4-Figure 6 The cross sections of the first boss 42 and the second boss 52 are both trapezoidal. For example, the cross sections of the first boss 42 and the second boss 52 are both arc trapezoidal.

[0101] In this way, the resistance moment of the trapezoidal cross section of the first boss 42 is more than three times that of the force transmission column 90, which can significantly improve the structural rigidity and thus improve the torque density of the reducer.

[0102] In order to improve the structural strength between the first support plate 40, the second support plate 50 and the intermediate support plate 60, the force transmission column 90 can be respectively interference fit with the first support plate 40 and the second support plate 50. Alternatively, threaded holes are formed at both ends of the force transmission column 90, and bolts are connected to the threaded holes of the force transmission column 90 to tightly connect the first support plate 40, the second support plate 50 and the intermediate support plate 60. Alternatively, fasteners such as bolts are inserted between the first support plate 40, the second support plate 50 and the intermediate support plate 60 to tightly connect them. The above connection methods can improve the load-bearing and overload capacity, structural rigidity and impact resistance of the cycloidal pinwheel planetary reducer.

[0103] For example, see Figure 2 , Figure 5 , Fig.11 as well as Fig.16The first support plate 40 has a first mounting hole 41c, for example, the first mounting hole 41c is formed on the first plate body 41. The second support plate 50 has a second mounting hole 51c, for example, the second mounting hole 51c is formed on the second plate body 51. The intermediate support plate 60 has a third mounting hole 60b, and the cycloid wheel 80 has a through hole. The cycloid pinwheel planetary reducer also includes a fastener; the fastener is penetrated through the first mounting hole 41c, the third mounting hole 60b and the second mounting hole 51c to lock the first support plate 40, the second support plate 50 and the intermediate support plate 60.

[0104] Exemplarily, the fastener is a fastening bolt.

[0105] Exemplarily, the first mounting hole is an assembly screw hole, and the second mounting hole is an assembly hole. In other embodiments, the first mounting hole is an assembly hole, and the second mounting hole is an assembly screw hole.

[0106] In this embodiment, the first support plate 40, the second support plate 50 and the intermediate support plate 60 are locked by fasteners, so that the first support plate 40, the second support plate 50 and the intermediate support plate 60 form a stable force transmission output mechanism. The load and overload capacity, structural rigidity and impact resistance of the cycloid pinwheel planetary reducer can be improved, and it is easy to disassemble and assemble.

[0107] In some embodiments, the first mounting hole 41 c is in the first boss 42 , the second mounting hole 51 c passes through the second boss 52 , and the fastener is passed through the through hole to abut the first boss 42 and the second boss 52 against the intermediate support plate 60 .

[0108] In this way, the fasteners will not occupy extra space, making the structural layout more compact and improving the torque density. At the same time, the first boss 42 and the second boss 52 abut against the intermediate support disk 60, and the fasteners are inserted through the first boss 42, the intermediate support disk 60 and the second boss 52 and fastened with the fastening nut to lock the first support disk 40, the second support disk 50 and the intermediate support disk 60, which can further improve the load and overload capacity, structural rigidity and impact resistance of the cycloid pinwheel planetary reducer.

[0109] In some embodiments, the first support hole 41a and the first mounting hole 41c are alternately distributed on the first support disk 40, the second support hole 51a and the second mounting hole 51c are alternately distributed on the second support disk 50, the third support hole 60a and the third mounting hole 60b are alternately distributed on the middle support disk 60, and the pin hole and the through hole are alternately distributed on the cycloid wheel 80.

[0110] Thus, the force transmission column 90 is installed between the two first bosses and the corresponding two second bosses 52, and the force transmission column 90 and the first boss 42, and the force transmission column 90 and the second boss 52 are installed at intervals. Thus, the structural rigidity of the reducer can be improved while ensuring the force transmission output effect.

[0111] For some examples, see Figure 2 , Figure 22-Figure 24 The cycloid pinwheel planetary reducer also includes a force transmission sleeve 100, which is sleeved on the force transmission column 90. The force transmission column 90 has an oil groove 90a to lubricate the force transmission sleeve 100 and the force transmission sleeve 100.

[0112] The force transmission column 90 and the force transmission sleeve 100 are inserted into the support hole of the cycloid wheel 80. The cycloid wheel 80 rotates at a low speed, and the output mechanism assembled by the first support disk 40, the second support disk 50 and the intermediate support disk 60 is driven to rotate and output torque through the force transmission sleeve 100 and the force transmission column 90. The force transmission sleeve 100 is used to improve the stability and accuracy of torque transmission, reduce friction, reduce energy loss, and improve the working efficiency of the reducer.

[0113] A certain amount of lubricating oil is stored or circulated in the oil groove 90a. When the force transmission column 90 rotates, it can reduce friction and thus reduce structural wear, extend the service life of the force transmission column 90, and improve the transmission efficiency of the reducer.

[0114] In the related art, due to the limitation of the force conditions of the force transmission column, it is impossible to open an oil groove on the force transmission column to avoid affecting the strength and rigidity of the force transmission column; in order to reduce the jamming between the force transmission column and the force transmission sleeve, the installation clearance between the force transmission column and the force transmission sleeve will be increased, thus reducing the transmission accuracy and transmission efficiency. In this application, the first boss 42 and the second boss 52 are used to abut against the intermediate support disk 60, so that the first support disk 40, the intermediate support disk 60 and the second support disk 50 can form a stable output mechanism; and the reasonable arrangement of the cycloid wheel 80 to achieve dynamic balance, the force conditions of the force transmission column 90 are significantly improved, and the conditions for opening an oil groove are met under the same conditions. By opening an oil groove, the installation clearance between the force transmission column 90 and the force transmission sleeve 100 can be reduced, and the transmission accuracy and transmission efficiency can be improved.

[0115] For some examples, see Figure 2 The needle roller 20 includes a first needle roller 21 and a second needle roller 22. The first needle roller 21 is located between the needle tooth groove 10a and the first and second cycloidal wheels 81 and 82, and the second needle roller 22 is located between the needle tooth groove 10a and the third and fourth cycloidal wheels 83 and 84.

[0116] When the cycloid pinwheel planetary reducer is in operation, if a needle roller 20 is passed through each pin tooth groove 10a, each needle roller 20 is simultaneously subjected to the force of two cycloid wheels 80. When the two cycloid wheels 80 simultaneously exerting force on the same needle roller 20 move asynchronously or are subjected to uneven force, the transmission accuracy and transmission efficiency will be affected. Setting the needle roller 20 as a separate first needle roller 21 and a second needle roller 22 can reduce the possibility of affecting the transmission accuracy and transmission efficiency, and can meet the zero backlash adjustment requirements of the cycloid pinwheel planetary reducer.

[0117] For some examples, see Figure 3 The housing 10 includes a first housing 11 and a second housing 12, and the cycloid pinwheel planetary reducer also includes a connecting bolt, an eccentric pin 110 and a set screw 120. The eccentric pin 110 is mounted on the second housing 12; the first housing 11 and the second housing 12 are fastened together by the connecting bolt; the set screw 120 is used to press the eccentric pin 110 to achieve zero backlash transmission.

[0118] For some examples, see Figure 2 The cycloid pinwheel planetary reducer includes a third bearing 33, and the input shaft 70 has a first eccentric wheel, a second eccentric wheel, a third eccentric wheel and a fourth eccentric wheel. The eccentric distances of the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the first eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the second eccentric wheel and the third eccentric wheel are the same, and the difference between the two sets of phase angles is 180 degrees. The first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84 are respectively sleeved on the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel through the third bearing 33.

[0119] In this way, the input shaft 70 has an eccentric wheel, and the third bearing 33 does not need to use an eccentric bearing. Since the eccentric wheel is integrated on the input shaft 70, there is no need to set a keyway on the input shaft 70, which can improve the torque density and will not affect the change of the phase angle of each cycloid wheel 80, which is conducive to further miniaturization. The eccentric force is generated during rotation by the eccentricity. The first eccentric wheel drives the first cycloid wheel 81 to rotate through the third bearing 33, the second eccentric wheel drives the second cycloid wheel 82 to rotate through the third bearing 33, the third eccentric wheel drives the third cycloid wheel 83 to rotate through the third bearing 33, and the fourth eccentric wheel drives the fourth cycloid wheel 84 to rotate through the third bearing 33. The second cycloid wheel 82 and the third cycloid wheel 83 move synchronously, and the first cycloid wheel 81 and the fourth cycloid wheel 84 move synchronously, so that the first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84 achieve dynamic balance. For example, the third bearing 33 adopts a roller bearing, the outer ring of the eccentric wheel of the input shaft 70 fits with the inner ring of the roller of the third bearing 33, and the outer ring of the roller of the third bearing 33 fits with the cycloid wheel 80, which can reduce the space occupied by the input shaft 70 and the third bearing 33, thereby improving the torque density and facilitating miniaturization.

[0120] For example, the third bearing is a cage roller bearing to improve the load-bearing capacity of the third bearing, reduce friction and wear, and extend the service life of the third bearing. In addition, the cage roller bearing occupies a small space, which is conducive to improving the torque density of the cycloid pinwheel planetary reducer and further miniaturization.

[0121] In some embodiments, the diameters of the first eccentric wheel and the fourth eccentric wheel are the same, the diameters of the second eccentric wheel and the third eccentric wheel are the same, and the diameter of the first eccentric wheel is smaller than the diameter of the second eccentric wheel; the third center hole diameters of the first cycloidal wheel 81 and the fourth cycloidal wheel 84 are the same, the third center hole diameters of the second cycloidal wheel 82 and the third cycloidal wheel 83 are the same, and the diameter of the third center hole of the first cycloidal wheel 81 is smaller than the diameter of the third center hole of the second cycloidal wheel 82.

[0122] In this way, when the cycloid pinwheel planetary reducer is assembled, it is possible to prevent the first eccentric wheel from interfering with the installation process of the second cycloid wheel 82 , and prevent the fourth eccentric wheel from interfering with the installation process of the third cycloid wheel 83 .

[0123] For some examples, see Fig.30 , the diameters of the second eccentric wheel and the third eccentric wheel are the same, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel;

[0124] The third center hole aperture of the second cycloidal wheel 82 and the third cycloidal wheel 83 is the same, the third center hole aperture of either the first cycloidal wheel 81 or the fourth cycloidal wheel 84 is smaller than the third center hole aperture of the second cycloidal wheel 82, and the third center hole aperture of the other of the first cycloidal wheel 81 and the fourth cycloidal wheel 84 is smaller than the third center hole aperture of the second cycloidal wheel 82.

[0125] In this way, when the cycloid pinwheel planetary reducer is assembled, it is possible to prevent the larger diameter of the first eccentric wheel or the fourth eccentric wheel from hindering the installation process of the second cycloid wheel 82 and the third cycloid wheel 83.

[0126] For example, Fig.30 As shown, the third center hole diameters of the first cycloidal wheel 81 , the second cycloidal wheel 82 and the third cycloidal wheel 83 are the same, and the third center hole diameter of the fourth cycloidal wheel 84 is smaller than the third center hole diameter of the second cycloidal wheel 82 .

[0127] In some other embodiments not shown, the third center hole diameters of the second cycloidal wheel 82 , the third cycloidal wheel 83 and the fourth cycloidal wheel 84 are the same, and the third center hole diameter of the first cycloidal wheel 81 is smaller than the third center hole diameter of the second cycloidal wheel 82 .

[0128] It can be understood that the third bearing 33 corresponding to the cycloid wheel with a larger third center hole diameter has a greater load-bearing capacity, and the third bearing 33 corresponding to the cycloid wheel with a smaller third center hole diameter has a relatively shorter life. When the eccentricity difference is small, the load-bearing capacity of the cycloid wheel with a smaller third center hole diameter and its corresponding third bearing 33 can be increased to extend the service life of the cycloid pinwheel planetary reducer.

[0129] For some examples, see Fig.31 , the diameters of the second eccentric wheel and the third eccentric wheel are the same, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel; the cycloid pinwheel planetary reducer also includes a sleeve 130, the outer diameter of the sleeve 130 is equal to the diameter of the second eccentric wheel, the sleeve 130 is sleeved on the one of the first eccentric wheel and the fourth eccentric wheel whose diameter is smaller than the diameter of the second eccentric wheel, and is located in the corresponding third bearing 33. The third center hole diameters of the first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84 are all the same.

[0130] In this way, the bearing capacity of the four identical cycloid wheels and the corresponding third bearings 33 is balanced, and the service life of each third bearing 33 is the same, which is beneficial to improving the torque density of the cycloid pinwheel planetary reducer. Fig.31 The shaft sleeve 130 is sleeved on the first eccentric wheel.

[0131] In some other embodiments not shown, the sleeve 130 is sleeved on the fourth eccentric wheel.

[0132] In other embodiments not shown, the third bearing 33 is a roller bearing. When the eccentricity of the cycloidal pinwheel planetary reducer is small, the four cycloidal wheels 80 can also be made into the same third center hole, and the third bearing 33 matching the smaller eccentric wheel on the input shaft 70 can be matched by increasing the diameter of the roller. In this way, the design and processing of the cycloidal wheel 80 can be simplified, and the load-bearing capacity and service life of the third bearing 33 can be improved.

[0133] In some embodiments not shown, the cycloid pinwheel planetary reducer includes a first eccentric bearing, a second eccentric bearing, a third eccentric bearing and a fourth eccentric bearing which are sequentially mounted on the input shaft 70, the eccentricities of the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the first eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the second eccentric bearing and the third eccentric bearing are the same, and the difference between the two sets of phase angles is 180 degrees, and the first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84 are respectively mounted on the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing.

[0134] In this way, the input shaft 70 does not need to be designed as an eccentric shaft. A keyway can be provided on the input shaft 70, and the key can be used to install and connect the eccentric bearing so that the eccentric bearing and the input shaft 70 rotate synchronously, and the relative rotation between the eccentric bearing and the input shaft 70 is prevented, thereby improving the stability of the phase angle of each cycloid wheel 80. The eccentric force is generated during rotation by the eccentricity, and the first eccentric bearing drives the first cycloid wheel 81 to rotate, the second eccentric bearing drives the second cycloid wheel 82 to rotate, the third eccentric bearing drives the third cycloid wheel 83 to rotate, and the fourth eccentric bearing drives the fourth cycloid wheel 84 to rotate. The second cycloid wheel 82 and the third cycloid wheel 83 move synchronously, and the first cycloid wheel 81 and the fourth cycloid wheel 84 move synchronously, thereby achieving dynamic balance of the first cycloid wheel 81, the second cycloid wheel 82, the third cycloid wheel 83 and the fourth cycloid wheel 84. In some embodiments, the first housing 11, the second housing 12, the first support plate 40, and the second support plate 50 with larger mass are functionally decomposed. For example, the parts where the first housing 11 and the second housing 12 form the needle tooth groove 10a, the parts where the first support plate 40 forms the first support hole 41a, and the parts where the second support plate 50 forms the second support hole 51a are made of wear-resistant materials, and the parts where the first housing 11 and the second housing 12 are not engaged and the parts where the first support plate 40 and the second support plate 50 are not frictional are made of lightweight materials, so that the mass of the transmission device is reduced and the torque density of the transmission device can be further improved.

[0135] The different parts of the first housing 11, the second housing 12, the first support plate 40 and the second support plate 50 for functional decomposition may be integrally manufactured with different materials, or may be manufactured separately and then installed together.

[0136] For related technologies, see Fig.25 Considering factors such as manufacturing error, lubrication, thermal expansion and contraction, the theoretical curve of the cycloid wheel 801 needs to be corrected so that there is a gap between the tooth top, tooth root and needle roller of the tooth profile of the cycloid wheel 801, so that the curve of the working area of ​​the cycloid wheel 801 is as close to the theoretical curve as possible, so the processing difficulty and cost are relatively high. Fig.26 In order to improve the bearing capacity and rigidity of the needle roller in the RV cycloid reducer, the needle roller is installed in the needle tooth groove 10a1 of the housing 101, wherein the needle tooth groove 10a1 is processed by a grinding process. Therefore, the cross-section of the needle tooth groove 10a1 can only be less than or equal to a semicircle. When the RV cycloid reducer is running, the needle roller cannot maintain the designed center position of the needle tooth groove, and more than half of the needle rollers roll ineffectively relative to the cycloid wheel 801, resulting in poor torque transmission effect of the needle roller.

[0137] In view of this, in some embodiments, please refer to Fig. 27 The cross section of the needle tooth groove 10 a is larger than a semicircle, and the needle roller 20 is at least partially exposed from the needle tooth groove 10 a so as to be able to contact the cycloid wheel 80 .

[0138] After the needle tooth groove 10a is processed, the cross section of the needle tooth groove 10a is larger than a semicircle, that is, the cross section contour line of the needle tooth groove 10a is a major arc. The needle roller 20 can rotate at the designed center position in the needle tooth groove 10a, and can mesh with the cycloid wheel 80 for transmission, which can prevent the needle roller 20 from falling out of the needle tooth groove 10a during operation, reduce the possibility of ineffective rolling of the needle roller 20, and improve the effect of the needle roller 20 in transmitting torque.

[0139] Exemplarily, the needle tooth groove 10a is formed by wire cutting finishing or coordinate grinding finishing. The use of wire cutting finishing can reduce the difficulty of processing and improve processing efficiency. The use of coordinate grinding finishing can improve the processing accuracy of the needle tooth groove 10a and improve processing efficiency. Since the cycloidal pinwheel planetary reducer provided in the embodiment of the present application can be miniaturized, the housing 10 is miniaturized, and the processing area of ​​the needle tooth groove 10a is greatly reduced, so a more expensive wire cutting process can be used, and the processing cost is within a controllable range under the same conditions. In the related art, the volume of the RV cycloidal reducer is relatively large. In order to control the processing cost and improve the processing accuracy, the needle tooth groove 10a1 is processed by a forming grinding process. The grinding process determines that the cross-section of the needle tooth groove 10a can only be less than or equal to a semicircle.

[0140] For some examples, see Fig.28 and Fig.29 The tooth profile 85 of the cycloid wheel 80 is divided into a first non-working area 851 located at the tooth top, a second non-working area 852 located at the tooth root, and a working area 853 located between the tooth top and the tooth root. The tooth shape of the working area 853 is a theoretical tooth shape of the rotation angle or a combined tooth shape that approximates the theoretical tooth shape, and the working area 853 is finely processed.

[0141] The working area 853 refers to the area meshing with the needle roller 20, and is finely processed using a theoretical curve for corner shaping.

[0142] It can be understood that, since the cross section of the needle tooth groove 10a is larger than a semicircle, the needle roller 20 can maintain and rotate at the designed center position.

[0143] In some embodiments, the first non-working area 851 and the second non-working area 852 are rough-machined or semi-finished, and the tooth profile of the first non-working area 851 is a concentric circular arc of a cycloid wheel or an equidistant tooth profile of a theoretical tooth profile.

[0144] The first non-working area 851 is an arc, and the center of the circle is the center of the entire cycloid wheel, that is, the first non-working area 851 is a concentric arc of the cycloid wheel. The first non-working area 851 is a concentric arc of the cycloid wheel, and the rough machining can be formed by turning technology, which can reduce the material cutting cost and processing cost of the cycloid wheel 80, and there is no need to leave a margin for fine machining of the first non-working area 851.

[0145] In some embodiments, the working area 853 may be processed using a theoretical curve for corner shaping, and the first non-working area 851 and the second non-working area 852 may be processed using an equidistant shaping curve.

[0146] Exemplarily, the second non-working area 852 is semi-finished, and the tooth shape of the second non-working area 852 is an equidistant tooth shape of the theoretical tooth shape. The cycloid wheel 80 is rough-machined to form the first non-working area 851 and the second non-working area 852 of the cycloid wheel 80, and after leaving a machining allowance for the working area 853, the second non-working area 852 is semi-finished when the working area 853 is fine-machined.

[0147] In some embodiments, the first non-working area 851 is a concentric arc of the cycloid wheel, and the working area 853 is formed by forming grinding together with the second non-working area 852. The tooth profiles of the working area 853 and the second non-working area 852 are both combined tooth profiles that approximate the theoretical tooth profile, such as a combination of positive equal distance modification and positive displacement modification.

[0148] A second aspect of an embodiment of the present application provides a machine device, comprising any one of the cycloid pinwheel planetary transmission devices described above.

[0149] The machinery and equipment may be aircraft, automobiles, ships, precision machine tools, medical equipment, aerospace equipment or industrial robots, etc.

[0150] In some embodiments, the machine device is a humanoid robot. When the humanoid robot performs actions such as jumping and somersaults, the output end of the reducer will be strongly impacted. The cycloid pinwheel planetary reducer has good bidirectionality and can transmit the impact force to the motor through reverse transmission, and reduce the possibility of damage to the transmission structure by electromagnetic force buffering.

[0151] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cycloid pinwheel planetary transmission device capable of improving torque density, characterized in that: include: A housing having a pin tooth groove; A rolling needle is arranged in the needle tooth groove; a first bearing and a second bearing; A first supporting plate, comprising a first plate body and a first boss disposed on the first plate body, wherein the first plate body has a first supporting hole and a first center hole; A second supporting plate, comprising a second plate body and a second boss disposed on the second plate body, the second plate body having a second supporting hole and a second center hole, the first supporting plate and the second supporting plate are respectively connected to two ends of the housing through the first bearing, and the first center hole and the second center hole are respectively provided with the second bearing; An intermediate support plate, having a third support hole, disposed between the first support plate and the second support plate, wherein the first boss and the second boss abut against the intermediate support plate; An input shaft, two ends of which are supported on the first support plate and the second support plate respectively through the second bearing; A cycloid wheel having a third center hole and a pin hole, wherein the cycloid wheel comprises a first cycloid wheel, a second cycloid wheel, a third cycloid wheel and a fourth cycloid wheel, which are sequentially sleeved on the input shaft through the third center hole; A force transmission column is passed through the corresponding column pin holes of the first cycloidal wheel, the second cycloidal wheel, the third cycloidal wheel and the fourth cycloidal wheel, and both ends of the force transmission column are respectively supported in the first supporting hole and the second supporting hole, and the space between the two ends of the force transmission column is supported in the third supporting hole, so that the first supporting plate, the second supporting plate and the middle supporting plate jointly provide support for the force transmission column.

2. The cycloid pinwheel planetary transmission device according to claim 1, characterized in that: The first supporting plate has a first mounting hole, the second supporting plate has a second mounting hole, the intermediate supporting plate has a third mounting hole, the cycloid wheel has a through hole, and the cycloid pinwheel planetary transmission device also includes a fastener; the fastener is passed through the first mounting hole, the third mounting hole and the second mounting hole to lock the first supporting plate, the second supporting plate and the intermediate supporting plate.

3. The cycloid pinwheel planetary transmission device according to claim 2, characterized in that: The first mounting hole is in the first disk body and the first boss, and the second mounting hole passes through the second disk body, the second boss and the third mounting hole; the fastener is inserted into the through hole to abut the first boss and the second boss against the intermediate support disk.

4. The cycloid pinwheel planetary transmission device according to claim 3, characterized in that: The first supporting hole and the first mounting hole are alternately distributed on the first supporting disk, the second supporting hole and the second mounting hole are alternately distributed on the second supporting disk, the third supporting hole and the third mounting hole are alternately distributed on the intermediate supporting disk, and the pin hole and the through hole are alternately distributed on the cycloid wheel.

5. The cycloid pinwheel planetary transmission device according to claim 1, characterized in that: The cross sections of the first boss and the second boss are both trapezoidal or circular.

6. The cycloid pinwheel planetary transmission device according to any one of claims 1 to 5, characterized in that: The cross section of the needle tooth groove is larger than a semicircle, and the needle roller is at least partially exposed from the needle tooth groove so as to be able to contact the cycloid wheel.

7. The cycloid pinwheel planetary transmission device according to claim 6, characterized in that: The tooth profile of the cycloid wheel is divided into a first non-working area located at the tooth top, a second non-working area located at the tooth root, and a working area located between the tooth top and the tooth root. The working area is finely machined, and the tooth shape of the working area is a theoretical tooth shape of the rotation angle or a combined tooth shape that approximates the theoretical tooth shape.

8. The cycloid pinwheel planetary transmission device according to claim 7, characterized in that: The first non-working area and the second non-working area are formed by rough machining or semi-finishing machining, and the tooth profile of the first non-working area is a concentric circular arc of a cycloid wheel or an equidistant tooth profile of a theoretical tooth profile; or, The second non-working area is semi-finished; the tooth shape of the second non-working area is an equidistant tooth shape of a theoretical tooth shape; or, The second non-working area and the working area are finely machined together; the tooth shape of the second non-working area and the tooth shape of the working area are both combined tooth shapes that approximate the theoretical tooth shape.

9. The cycloid pinwheel planetary transmission device according to claim 6, characterized in that: The needle tooth groove is formed by wire cutting or coordinate grinding.

10. The cycloid pinwheel planetary transmission device according to any one of claims 1 to 5, characterized in that: The cycloid pinwheel planetary transmission device also includes a force transmission sleeve, which is sleeved on the force transmission column. The force transmission column is provided with an oil groove to lubricate the force transmission sleeve and the force transmission column.

11. The cycloid pinwheel planetary transmission device according to any one of claims 1 to 5, characterized in that: The needle roller includes a first needle roller and a second needle roller, the first needle roller is located between the needle tooth groove and the first cycloidal wheel and the second cycloidal wheel, and the second needle roller is located between the needle tooth groove and the third cycloidal wheel and the fourth cycloidal wheel.

12. The cycloid pinwheel planetary transmission device according to any one of claims 1 to 5, characterized in that: The cycloid pinwheel planetary transmission device includes a third bearing, and the input shaft has a first eccentric wheel, a second eccentric wheel, a third eccentric wheel and a fourth eccentric wheel. The eccentric distances of the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the first eccentric wheel and the fourth eccentric wheel are the same, the phase angles of the second eccentric wheel and the third eccentric wheel are the same, and the difference between the two sets of phase angles is 180 degrees. The first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are respectively mounted on the first eccentric wheel, the second eccentric wheel, the third eccentric wheel and the fourth eccentric wheel through the third bearing.

13. The cycloid pinwheel planetary transmission device according to claim 12, characterized in that: The first eccentric wheel and the fourth eccentric wheel have the same diameter, the second eccentric wheel and the third eccentric wheel have the same diameter, and the diameter of the first eccentric wheel is smaller than the diameter of the second eccentric wheel; The third center holes of the first cycloidal wheel and the fourth cycloidal wheel have the same aperture, the third center holes of the second cycloidal wheel and the third cycloidal wheel have the same aperture, and the third center hole of the first cycloidal wheel has a smaller aperture than the third center hole of the second cycloidal wheel.

14. The cycloid pinwheel planetary transmission device according to claim 12, characterized in that: The diameters of the second eccentric wheel and the third eccentric wheel are the same, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel; The third center hole aperture of the second cycloidal wheel and the third cycloidal wheel is the same, the third center hole aperture of either the first cycloidal wheel or the fourth cycloidal wheel is smaller than the third center hole aperture of the second cycloidal wheel, and the third center hole aperture of the other of the first cycloidal wheel and the fourth cycloidal wheel is equal to the third center hole aperture of the second cycloidal wheel.

15. The cycloid pinwheel planetary transmission device according to claim 12, characterized in that: The second eccentric wheel and the third eccentric wheel have the same diameter, the diameter of either the first eccentric wheel or the fourth eccentric wheel is smaller than the diameter of the second eccentric wheel, and the diameter of the other of the first eccentric wheel and the fourth eccentric wheel is equal to the diameter of the second eccentric wheel; The cycloid pinwheel planetary transmission device further includes a sleeve, the outer diameter of which is equal to the diameter of the second eccentric wheel, the sleeve is sleeved on one of the first eccentric wheel and the fourth eccentric wheel, the diameter of which is smaller than the diameter of the second eccentric wheel, and is located in the corresponding third bearing; The diameters of the third central holes of the first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are all the same.

16. The cycloid pinwheel planetary transmission device according to any one of claims 1 to 5, characterized in that: The cycloid pinwheel planetary transmission device includes a first eccentric bearing, a second eccentric bearing, a third eccentric bearing and a fourth eccentric bearing which are sequentially sleeved on the input shaft, the eccentric distances of the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the first eccentric bearing and the fourth eccentric bearing are the same, the phase angles of the second eccentric bearing and the third eccentric bearing are the same, and the difference between the two sets of phase angles is 180 degrees, and the first cycloid wheel, the second cycloid wheel, the third cycloid wheel and the fourth cycloid wheel are respectively sleeved on the first eccentric bearing, the second eccentric bearing, the third eccentric bearing and the fourth eccentric bearing.

17. A machine device, characterized in that: A cycloid pinwheel planetary transmission device comprising any one of claims 1 to 16.

18. The machine device according to claim 17, characterized in that: The machine equipment is a humanoid robot, a precision machine tool, a medical device or an aerospace device.

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