An RV reducer and a robot

Abstract

The present invention discloses an RV reducer and a robot. The RV reducer includes an input shaft and an eccentric shaft, and further includes a connecting rod. A first eccentric part is provided at the head of the input shaft, and a second eccentric part is provided at the head of the eccentric shaft. A first bearing is sleeved on the first eccentric part, and a second bearing is sleeved on the second eccentric part. One end of the connecting rod is connected to the input shaft through the first bearing, and the other end of the connecting rod is connected to the eccentric shaft through the second bearing. In this RV reducer, the input shaft and the eccentric shaft are rigidly connected by bearings and a connecting rod, without transmission clearance, with high transmission precision, small temperature rise, and low noise during high-speed rotation; the friction coefficient of the bearings is small, about 0.002, which is beneficial to improving the transmission efficiency of the RV reducer; the transmission structure is simple and easy to process; there is no need for high-precision and high-hardness ground gears, which is beneficial to reducing the manufacturing cost of the RV reducer; the working wear is small and the service life is long.

Description

Technical Field

[0001] The present invention relates to the technical field of joint reducers, and particularly to an RV reducer and a robot. Background Art

[0002] Most of the joint reducers of existing robots adopt RV reducers. As Figure 1 shown, in the existing RV reducer, the input gear 20 connected to the input shaft 1 drives the driven gear 21 to drive the eccentric shaft 2 to rotate. The rotation of the eccentric shaft 2 drives the cycloid gear 13 to swing, realizing the reduction rotation of the cycloid gear 13 and the pin teeth 12. Since the rotation speed of the input gear 20 is relatively high, generally 3000 revolutions per minute, and the gear transmission requires a certain backlash to rotate, the transmission accuracy of the existing RV reducer is not very high, and the noise during high-speed rotation is relatively large. The transmission efficiency is about 98%. In addition, the existing RV reducer also has the problem of high temperature rise, and high-precision and high-hardness ground gears are required, resulting in high production costs. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a high-precision RV reducer with low production costs and a robot with such an RV reducer.

[0004] To solve the above technical problem, the technical solution adopted by the present invention is: an RV reducer, including an input shaft and an eccentric shaft, and further including a connecting rod. The head of the input shaft is provided with a first eccentric portion, the head of the eccentric shaft is provided with a second eccentric portion. A first bearing is sleeved on the first eccentric portion, a second bearing is sleeved on the second eccentric portion. One end of the connecting rod is connected to the input shaft through the first bearing, and the other end of the connecting rod is connected to the eccentric shaft through the second bearing.

[0005] To solve the above technical problem, the present invention also adopts the following technical solution: a robot, including the above RV reducer.

[0006] The beneficial effects of the present invention are as follows: Different from the gear transmission between the input shaft and the eccentric shaft in the existing RV reducer, in this RV reducer, the input shaft and the eccentric shaft are rigidly connected by bearings and connecting rods, without transmission clearance, high transmission accuracy, small temperature rise, and low noise during high-speed rotation; the friction coefficient of the bearing is small, about 0.002, which is beneficial to improving the transmission efficiency of the RV reducer (about 99.8%); the transmission structure is simple and easy to process; there is no need for high-precision and high-hardness ground gears, which is beneficial to reducing the manufacturing cost of the RV reducer; the working wear is small and the service life is long. Description of the Drawings

[0007] Figure 1 It is a simplified structural schematic diagram of an RV reducer of the prior art;

[0008] Figure 2Schematic diagram of the simplified structure of the RV reducer according to the first embodiment of the present invention;

[0009] Figure 3 is Figure 2 an enlarged view of detail A in

[0010] Label description:

[0011] 1. Input shaft; 2. Eccentric shaft; 3. Connecting rod; 4. First eccentric part; 5. Second eccentric part; 6. First bearing; 7. Second bearing; 8. First end cover; 9. Second end cover; 10. Shoulder; 11. Housing; 12. Pin teeth; 13. Cycloid gear; 14. Third bearing; 15. Sealing cover; 16. Fourth bearing; 17. Fifth bearing; 20. Input gear; 21. Driven gear. Specific embodiments

[0012] In order to describe in detail the technical content, achieved purpose and effects of the present invention, the following is described in conjunction with the embodiments and with reference to the accompanying drawings.

[0013] The most critical concept of the present invention lies in: improving the gear transmission between the input shaft and the eccentric shaft to a bearing and connecting rod transmission.

[0014] Please refer to Figure 2 and Figure 3 , an RV reducer includes an input shaft 1 and an eccentric shaft 2, and also includes a connecting rod 3. A first eccentric part 4 is provided at the head of the input shaft 1, and a second eccentric part 5 is provided at the head of the eccentric shaft 2. A first bearing 6 is sleeved on the first eccentric part 4, and a second bearing 7 is sleeved on the second eccentric part 5. One end of the connecting rod 3 is connected to the input shaft 1 through the first bearing 6, and the other end of the connecting rod 3 is connected to the eccentric shaft 2 through the second bearing 7.

[0015] It can be seen from the above description that the beneficial effects of the present invention are as follows: Different from the gear transmission between the input shaft 1 and the eccentric shaft 2 in the existing RV reducer, in this RV reducer, the input shaft 1 and the eccentric shaft 2 are rigidly connected by bearings and the connecting rod 3, without transmission clearance, with high transmission accuracy, small temperature rise, and low noise during high-speed rotation; the friction coefficient of the bearing is small, about 0.002, which is beneficial to improving the transmission efficiency of the RV reducer (about 99.8%); the transmission structure is simple and easy to process; there is no need for high-precision and high-hardness ground gears, which is beneficial to reducing the manufacturing cost of the RV reducer; the working wear is small and the service life is long.

[0016] Further, the number of the first eccentric parts 4, the number of the eccentric shafts 2, and the number of the connecting rods 3 are all two, and the three are arranged in one-to-one correspondence.

[0017] Further, along the axial projection of the input shaft 1, the axis of the input shaft 1 passes through the center line of the two first eccentric parts 4.

[0018] As described above, in the axial projection along the input shaft 1, the two first eccentric portions 4 are spaced 180° around the axis of the input shaft 1.

[0019] Furthermore, a first end cap 8 for preventing the first bearing 6 from detaching from the input shaft 1 is provided at the end of the input shaft 1.

[0020] As described above, the provision of the first end cap 8 can improve the structural stability of the RV reducer. Optionally, the first end cap 8 is connected to the input shaft 1 by screws.

[0021] Furthermore, a second end cap 9 for preventing the second bearing 7 from detaching from the eccentric shaft 2 is provided at the end of the eccentric shaft 2.

[0022] As described above, the provision of the second end cap 9 can improve the structural stability of the RV reducer. Optionally, the second end cap 9 is connected to the eccentric shaft 2 by screws.

[0023] Furthermore, the two first eccentric portions 4 are arranged close to each other.

[0024] As described above, the two first eccentric portions 4 being arranged close to each other can make the structure of the RV reducer more compact.

[0025] Furthermore, it further includes a housing 11, the input shaft 1 and the eccentric shaft 2 respectively penetrate through the housing 11, a plurality of pin teeth 12 are provided inside the housing 11, and a cycloid gear 13 cooperating with the pin teeth 12 is provided on the eccentric shaft 2.

[0026] Furthermore, it further includes a third bearing 14, and the eccentric shaft 2 is connected to the cycloid gear 13 through the third bearing 14.

[0027] Furthermore, it further includes end caps 15 provided on both sides of the cycloid gear 13, and the end caps 15 are connected to the input shaft 1 through a fourth bearing 16 and connected to the eccentric shaft 2 through a fifth bearing 17.

[0028] A robot, including the above RV reducer.

[0029] As described above, the robot at least has all the advantages of the RV reducer.

[0030] Embodiment 1

[0031] Please refer to Figure 2 and Figure 3, Embodiment 1 of the present invention is as follows: a robot, including an RV reducer, the RV reducer includes an input shaft 1 and an eccentric shaft 2, and further includes a connecting rod 3. The head of the input shaft 1 is provided with a first eccentric portion 4, the head of the eccentric shaft 2 is provided with a second eccentric portion 5. A first bearing 6 is sleeved on the first eccentric portion 4, and a second bearing 7 is sleeved on the second eccentric portion 5. One end of the connecting rod 3 is connected to the input shaft 1 through the first bearing 6, and the other end of the connecting rod 3 is connected to the eccentric shaft 2 through the second bearing 7.

[0032] The number of the first eccentric portions 4, the number of the eccentric shafts 2, and the number of the connecting rods 3 are all two, and they are arranged in one-to-one correspondence.

[0033] In the axial projection along the input shaft 1, the axis of the input shaft 1 passes through the connection line of the centers of the two first eccentric portions 4. In other words, the axis of the input shaft 1 and the axes of the two first eccentric portions 4 are coplanar.

[0034] To ensure the structural stability of the RV reducer, a first end cover 8 for preventing the first bearing 6 from detaching from the input shaft 1 is provided at the end of the input shaft 1, and a second end cover 9 for preventing the second bearing 7 from detaching from the eccentric shaft 2 is provided at the end of the eccentric shaft 2.

[0035] The two first eccentric portions 4 are arranged close to each other. Optionally, the input shaft 1 includes a main body and a split body, the split body is connected to the head end of the main body. Among them, one first eccentric portion 4 is provided on the main body, and the other eccentric portion is provided on the split body. When assembling the RV reducer, first assemble a connecting rod 3 installed with a first bearing 6 onto the first eccentric portion 4 located on the main body, then install the split body on the main body, and finally assemble the other connecting rod 3 installed with a first bearing 6 onto the first eccentric shaft 2 located on the split body. Preferably, the main body and the split body are detachably connected, such as by screw connection. Further, at least two shoulders 10 are provided on the split body, both of the two shoulders 10 are located between the two first eccentric portions 4, one shoulder 10 abuts against one first bearing 6, and the other shoulder 10 abuts against the other first bearing 6.

[0036] Specifically, the RV reducer further includes an annular housing 11, the input shaft 1 and the eccentric shaft 2 respectively penetrate through the housing 11. A plurality of pin teeth 12 are provided inside the housing 11, a cycloid gear 13 matching with the pin teeth 12 is provided on the eccentric shaft 2, and further includes a third bearing 14, and the eccentric shaft 2 is connected to the cycloid gear 13 through the third bearing 14. More specifically, the RV reducer further includes end covers 15 provided on both sides of the cycloid gear 13, and the end covers 15 are connected to the input shaft 1 through fourth bearings 16 and connected to the eccentric shaft 2 through fifth bearings 17.

[0037] In summary, the RV reducer and the robot provided by the present invention are different from the prior art in that the input shaft and the eccentric shaft in the RV reducer are in gear transmission. In this RV reducer, the input shaft and the eccentric shaft are rigidly connected by bearings and connecting rods, without transmission clearance, with high transmission accuracy, small temperature rise, and low noise during high-speed rotation; the friction coefficient of the bearings is small, about 0.002, which is beneficial to improving the transmission efficiency of the RV reducer (about 99.8%); the transmission structure is simple and easy to process; there is no need for high-precision and high-hardness ground gears, which is beneficial to reducing the manufacturing cost of the RV reducer; the working wear is small and the service life is long.

[0038] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An RV reducer, comprising an input shaft and an eccentric shaft, characterized in that: It further includes a connecting rod. A first eccentric part is provided at the head of the input shaft, and a second eccentric part is provided at the head of the eccentric shaft. A first bearing is sleeved on the first eccentric part, and a second bearing is sleeved on the second eccentric part. One end of the connecting rod is connected to the input shaft through the first bearing, and the other end of the connecting rod is connected to the eccentric shaft through the second bearing; The number of the first eccentric parts, the number of the eccentric shafts, and the number of the connecting rods are each two, and the three are arranged in one-to-one correspondence; When projected axially along the input shaft, the axis of the input shaft passes through the connection line of the centers of the two first eccentric parts; The two first eccentric parts are arranged close to each other. The input shaft includes a main body and a split body. The split body is connected to the head end of the main body. Among them, one first eccentric part is provided on the main body, and the other eccentric part is provided on the split body; The main body and the split body are detachably connected; At least two shoulders are provided on the split body. Both of the two shoulders are located between the two first eccentric parts. One shoulder abuts against one first bearing, and the other shoulder abuts against the other first bearing.

2. The RV reducer according to claim 1, characterized in that: A first end cover for preventing the first bearing from detaching from the input shaft is provided at the end of the input shaft.

3. The RV reducer according to claim 1, wherein: A second end cover for preventing the second bearing from detaching from the eccentric shaft is provided at the end of the eccentric shaft.

4. The RV reducer according to claim 1, characterized in that: It further includes a housing. The input shaft and the eccentric shaft respectively penetrate through the housing. A plurality of pin teeth are provided in the housing, and a cycloid gear matched with the pin teeth is provided on the eccentric shaft.

5. The RV reducer according to claim 4, wherein: It further includes a third bearing. The eccentric shaft is connected to the cycloid gear through the third bearing.

6. The RV reducer according to claim 4, wherein: It further includes end covers arranged on both sides of the cycloid gear. The end covers are connected to the input shaft through a fourth bearing and connected to the eccentric shaft through a fifth bearing.

7. A robot, characterized in that: It includes the RV reducer according to any one of claims 1-6.

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