Rv reduction device and robot

Abstract

The application relates to the technical field of speed reducers, and provides an RV speed reduction device and a robot, wherein the RV speed reduction device comprises an output frame, a supporting flange, a primary speed reduction mechanism, a secondary speed reduction mechanism and a pin gear shell; the output frame is provided with a central connecting shaft and a circumferential connecting shaft; the supporting flange is provided with a central through hole and a circumferential through hole; a first fastener passes through the central through hole and the central connecting shaft, and a second fastener passes through the circumferential through hole and the circumferential connecting shaft, so as to connect the output frame and the supporting flange; the planetary gear of the primary speed reduction mechanism is installed on the supporting flange; the crank shaft of the secondary speed reduction mechanism is connected with the planetary gear and the output frame at two ends; the upper cycloid wheel and the lower cycloid wheel are rotationally connected with the first eccentric part and the second eccentric part of the crank shaft; the pin gear shell is sleeved outside the upper cycloid wheel and the lower cycloid wheel and is in meshing connection with the upper cycloid wheel and the lower cycloid wheel; and the RV speed reduction device has the effects of large torsional stiffness and strong bearing capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed reducer, in particular to an RV speed reduction device and a robot. BACKGROUND

[0002] The RV reducer is a kind of reducer developed on the basis of traditional needle pendulum planetary transmission, which generally includes a first-stage cylindrical gear planetary reduction mechanism and a second-stage cycloid pin wheel reduction mechanism, has a series of advantages such as small volume, light weight, large transmission ratio range, long service life, stable precision retention, high efficiency and stable transmission, and is widely used in the field of robots and the like.

[0003] The existing RV speed reduction device has the defects of small torsional stiffness of the output structure and weak bearing capacity. SUMMARY

[0004] In view of the problems existing in the prior art, the purpose of the embodiments of the present application is to provide an RV speed reduction device and a robot, and the RV speed reduction device provided by the embodiments of the present application has the effects of large torsional stiffness, strong bearing capacity and strong impact resistance.

[0005] In a first aspect, the embodiments of the present application provide an RV speed reduction device, comprising: a planet carrier comprising an output carrier and a support flange, the output carrier being provided with a central connecting shaft and a circumferential connecting shaft, the central connecting shaft and the circumferential connecting shaft being respectively provided with a first threaded hole and a second threaded hole on the side facing the support flange, the support flange being respectively provided with a central through hole and a circumferential through hole corresponding to the first threaded hole and the second threaded hole, a first fastener passing through the central through hole and the first threaded hole and a second fastener passing through the circumferential through hole and the second threaded hole to connect the output carrier and the support flange; a first-stage reduction mechanism comprising an input gear and a planet gear meshingly connected with the input gear, the planet gear being installed on the support flange; a second-stage reduction mechanism comprising a crankshaft, an upper cycloid wheel and a lower cycloid wheel arranged adjacent to the upper cycloid wheel, one end of the crankshaft being connected with the support flange and connected with the planet gear, the other end of the crankshaft being connected with the output carrier, the middle part of the crankshaft being provided with a first eccentric part and a second eccentric part, the upper cycloid wheel and the lower cycloid wheel being rotatably connected with the first eccentric part and the second eccentric part respectively; a pin gear housing, the pin gear housing being sleeved outside the upper cycloid wheel and the lower cycloid wheel and being meshingly connected with the upper cycloid wheel and the lower cycloid wheel.

[0006] The RV speed reduction device provided by the embodiment of the present application comprises a planet carrier, a first-stage speed reduction mechanism, a second-stage speed reduction mechanism and a pin gear shell; wherein the planet carrier comprises an output carrier and a support flange connected with the output carrier; specifically, a central connecting shaft and a circumferential connecting shaft are arranged on the side of the output carrier facing the support flange; the central connecting shaft is coaxially arranged with the output carrier; a first threaded hole is arranged on the central connecting shaft and extends along the axial direction of the central connecting shaft; a second threaded hole is arranged on the circumferential connecting shaft and extends along the axial direction of the circumferential connecting shaft; a central through hole and a circumferential through hole are respectively arranged on the support flange corresponding to the first threaded hole and the second threaded hole; a first fastener passes through the central through hole and the first threaded hole, and a second fastener passes through the circumferential through hole and the second threaded hole, so as to connect the output carrier with the support flange; the first-stage speed reduction mechanism comprises an input gear and a planet gear meshingly connected with the input gear; the input gear and the planet gear are mutually meshed when the input gear rotates, so as to drive the planet gear to rotate; it should be noted that the RV speed reduction device needs to be connected with an external power mechanism (such as a motor) when it operates; the input gear is installed on the output end of the power mechanism; the output end of the power mechanism rotates to drive the input gear to rotate; the second-stage speed reduction mechanism comprises a crankshaft, an upper cycloid wheel and a lower cycloid wheel; the upper cycloid wheel and the lower cycloid wheel are adjacently arranged and are both located between the output carrier and the support flange; a central connecting hole and a circumferential connecting hole are arranged on the upper cycloid wheel and the lower cycloid wheel; the central connecting hole and the circumferential connecting hole are respectively arranged corresponding to the central connecting shaft and the circumferential connecting shaft, so that the central connecting shaft and the circumferential connecting shaft pass through, so that the first threaded hole and the second threaded hole are in communication after abutting against the central through hole and the circumferential through hole; in addition, a crankshaft hole is arranged on the upper cycloid wheel and the lower cycloid wheel; a bearing hole is arranged on the output carrier corresponding to the crankshaft hole; one end of the crankshaft is connected with the support flange and is connected with the planet gear at the same time; the other end of the crankshaft is connected with the output carrier; specifically, the other end of the crankshaft passes through the crankshaft hole and the bearing hole in sequence and is connected with the output carrier; the middle part of the crankshaft is further provided with a first eccentric part and a second eccentric part; the first eccentric part is located at the crankshaft hole of the upper cycloid wheel and is rotationally connected with the upper cycloid wheel; the second eccentric part is located at the crankshaft hole of the lower cycloid wheel and is rotationally connected with the lower cycloid wheel; the pin gear shell is sleeved on the outer periphery of the upper cycloid wheel and the lower cycloid wheel; an internal gear is arranged on the pin gear shell; an external gear is arranged on the upper cycloid wheel and the lower cycloid wheel; the pin gear shell is meshingly connected with the upper cycloid wheel and the lower cycloid wheel. When the input gear rotates, the planet gear is driven to rotate; the input gear and the planet gear realize first-stage speed reduction; after the planet gear rotates, the crankshaft connected with the planet gear also rotates; the first eccentric part and the second eccentric part of the crankshaft drive the upper cycloid wheel and the lower cycloid wheel to rotate relative to the pin gear shell, so as to realize second-stage speed reduction.

[0007] The RV speed reduction device provided by the embodiment of the present application is provided with a center connecting shaft and a circumferential connecting shaft on the output frame, so that the output frame and the support flange are connected through the center connecting shaft and the circumferential connecting shaft. During the operation of the RV speed reduction device, that is, when the primary speed reduction mechanism and the secondary speed reduction mechanism rotate under the condition of bearing load, the center connecting shaft and the circumferential connecting shaft together bear the load borne by the RV speed reduction device. In the prior art, the output structure, that is, only the circumferential connecting shaft is provided on the output frame of the prior art, and the output frame and the support flange are connected only through the circumferential connecting shaft, and a center hole is formed in the middle of the output frame for the lubricating material to pass through. Under the condition of bearing load, the RV speed reduction device of the prior art bears the load only through the circumferential connecting shaft of the output frame. Therefore, compared with the RV speed reduction device of the prior art, the load bearing capacity of the output frame of the RV speed reduction device provided by the present application is enhanced.

[0008] Meanwhile, the RV speed reduction device provided by the application is characterized in that the output frame and the support flange are connected through the central connecting shaft and the circumferential connecting shaft, and the central connecting shaft and the circumferential connecting shaft together bear the load borne by the RV speed reduction device. Compared with the prior art in which only the circumferential connecting shaft bears the load, the circumferential connecting shaft of the output frame of the RV speed reduction device provided by the application bears a smaller load than the circumferential connecting shaft of the output frame of the prior art under the condition that the RV speed reduction device bears the same load. Therefore, the size of the circumferential connecting shaft can be appropriately reduced, i.e., the diameter of the circumferential connecting shaft can be appropriately reduced, when the output frame of the RV speed reduction device provided by the application is produced. When the diameter of the circumferential connecting shaft is appropriately reduced, the design theoretical value of the diameter of the circumferential connecting hole through which the circumferential connecting shaft passes on the upper and lower cycloid wheels can be appropriately reduced. In this way, the spacing between the circumferential connecting holes on the upper and lower cycloid wheels, i.e., the wall thickness between the circumferential connecting holes, is increased. Similarly, the wall thickness between the circumferential connecting hole and the central connecting hole is also increased, thereby enhancing the overall rigidity of the upper and lower cycloid wheels and making them less likely to deform. It should be noted that the circumferential connecting shaft of the output frame passes through the circumferential connecting holes on the upper and lower cycloid wheels, and the outer wall of the circumferential connecting shaft does not contact the inner wall of the circumferential connecting hole. Therefore, when the diameter of the circumferential connecting shaft is appropriately reduced under the condition that the diameter of the circumferential connecting hole remains unchanged, the clearance of the through hole, i.e., the spacing between the outer wall of the circumferential connecting shaft and the inner wall of the circumferential connecting hole when the circumferential connecting shaft passes through the circumferential connecting hole on the upper and lower cycloid wheels, is increased. Generally, in order to improve the load bearing capacity of the output frame, the diameter of the circumferential connecting shaft needs to be as large as possible, while in order to increase the rigidity of the upper and lower cycloid wheels, the diameter of the circumferential connecting hole needs to be as small as possible. Therefore, the clearance of the through hole between the circumferential connecting shaft and the circumferential connecting hole is very small, and during the operation of the RV speed reduction device, the upper and lower cycloid wheels perform eccentric motion, further reducing the clearance of the through hole. In order to reduce the processing cost, the two are usually non-processed surfaces, i.e., blank surfaces, so the dimensional tolerance is large. If the design size of the circumferential connecting shaft and the circumferential connecting hole is not controlled well, the two may interfere with each other. When the clearance of the through hole is increased, the processing tolerance range is increased during the processing of the upper and lower cycloid wheels, thereby reducing the processing precision and the processing cost.

[0009] In addition, the output frame of the prior art has a central hole in the middle, which sacrifices the rigidity of the output frame, while the output frame of the RV speed reduction device of the application does not have a hole in the middle, but has a central connecting shaft, so that the rigidity of the output frame of the application is greater, and the torsional rigidity is also greater. When the RV speed reduction device is under load, it not only bears torque but also bending moment. The central hole of the output frame of the prior art is empty when a large bending moment is applied, and the deformation is also large. However, the middle part of the output frame of the application is provided with a central connecting shaft, so that the middle part of the output frame is supported, and the overall rigidity is also improved. Meanwhile, the central connecting shaft is provided with a first threaded hole, the first fastener passes through the central through hole on the support flange and the first threaded hole on the central connecting shaft, and a friction force is generated between the first fastener and the central through hole and the first threaded hole, so that the RV speed reduction device can transmit greater torque, and the overall resistance to torsional deformation is increased, that is, the torsional rigidity is increased.

[0010] In a possible implementation, the second fastener is a bolt; and the planet carrier further comprises a bolt connecting sleeve, which is at least partially embedded in the second threaded hole, and the second fastener passes through the circumferential through hole, the bolt connecting sleeve and the second threaded hole to connect the output frame and the support flange.

[0011] In the above implementation, the second threaded hole is provided with a bolt connecting sleeve. Specifically, the bolt connecting sleeve is coaxially arranged with the second threaded hole, and a part of the bolt connecting sleeve is embedded in the second threaded hole, and another part of the bolt connecting sleeve is embedded in the circumferential through hole in communication with the second threaded hole. The second fastener is a bolt, which passes through the circumferential through hole, the bolt connecting sleeve and the second threaded hole to connect the output frame and the support flange. By arranging the bolt connecting sleeve, the second fastener is less likely to fail when facing a large impact load, thereby enhancing the impact resistance of the RV speed reduction device. When the RV speed reduction device is subjected to external impact during operation, a large torque is applied to the RV speed reduction device. At this time, a large shear force is generated on the second fastener at the connecting surface between the output frame and the support flange. The bolt connecting sleeve can increase the shear resistance of the second fastener. When facing a large impact load, the second fastener is less likely to fail.

[0012] In a possible implementation, the bolt connecting sleeve is cylindrical or conical, the second threaded hole is in communication with the circumferential through hole, and defines a connecting sleeve hole matched with the bolt connecting sleeve.

[0013] In the implementation process, the bolt connecting sleeve can be cylindrical, conical or circular truncated conical, the second threaded hole is in abutment and communication with the circumferential through hole, and defines a connecting sleeve hole matched with the bolt connecting sleeve. In other words, the inner wall surface of the second threaded hole cooperates with the inner wall surface of the circumferential through hole to define a connecting surface matched with the outer wall surface of the bolt connecting sleeve, so that the outer wall surface of the bolt connecting sleeve is in abutment with the inner wall surface of the second threaded hole and the inner wall surface of the circumferential through hole. Of course, after the second threaded hole is in abutment and communication with the circumferential through hole, the bolt connecting sleeve matched with the connecting surface defined by the inner wall surface of the second threaded hole and the inner wall surface of the circumferential through hole can also be selected according to the specific structure of the connecting surface.

[0014] In a possible implementation, the second fastener is a stepped bolt, the second threaded hole is in communication with the circumferential through hole, and defines a stepped hole matched with the stepped bolt.

[0015] In the implementation process, the second fastener can be a stepped bolt, the stepped bolt includes a bolt head and a stepped bolt rod, wherein the stepped bolt rod includes a first stepped rod and a second stepped rod connected with the first stepped rod, the first stepped rod and the second stepped rod are coaxially arranged, and the diameter of the first stepped rod is greater than the diameter of the second stepped rod, the bolt head is coaxially arranged and connected with the first stepped rod, and the diameter of the bolt head is greater than the diameter of the first stepped rod; correspondingly, the second threaded hole is in abutment and communication with the circumferential through hole after abutment, and the second threaded hole and the circumferential through hole define a stepped hole for the stepped bolt to pass through. Specifically, the second threaded hole includes a first step hole and a second step hole coaxially arranged and communicated with the first step hole, wherein the diameter of the first step hole is matched with the diameter of the first stepped rod of the stepped bolt, the diameter of the second step hole is matched with the diameter of the second stepped rod of the stepped bolt, and the depth of the second step hole is equal to the length of the second stepped rod. The circumferential through hole includes a bolt head hole and a connecting hole coaxially arranged and communicated with the bolt head hole, wherein the diameter and length of the bolt head hole are matched with the diameter and length of the bolt head of the stepped bolt, the connecting hole is in abutment and communication with the first step hole, the diameter of the connecting hole is the same as that of the first step hole, and the sum of the length of the connecting hole and the first step hole is equal to the length of the first stepped rod. The first step hole, the second step hole, the connecting hole and the bolt head hole together form the stepped hole, and the stepped bolt is embedded in the stepped hole to connect the output frame and the support flange.

[0016] In a possible implementation, the support flange is provided with a fixing hole matched with the central connecting shaft, the diameter of the central connecting shaft is greater than the diameter of the fixing hole, the outer side wall of the central connecting shaft is tightly connected with the inner side wall of the fixing hole, and the first fastener passes through the central through hole and the first threaded hole on the central connecting shaft to connect the output frame and the support flange.

[0017] In the implementation process, the diameter of the center connecting shaft is greater than the diameter of the fixing hole, the outer side wall of the center connecting shaft is tightly connected with the inner side wall of the fixing hole, and the first fastener passes through the center through hole and the first threaded hole on the center connecting shaft to connect the output frame with the support flange, thereby enhancing the rigidity of the planetary carrier, and the center connecting shaft and the fixing hole are in interference fit, so that the output frame and the support flange can be connected more tightly, and the greater the tightness of the connection between the output frame and the support flange, the greater the torque that can be borne by the planetary carrier as a whole, and the better the rigidity of the whole.

[0018] In a possible implementation, the number of the first threaded holes is three, the three first threaded holes are arranged on the side of the center connecting shaft facing the support flange and extend along the axial direction of the center connecting shaft, and the three first threaded holes are arranged along the circumferential direction of the center connecting shaft.

[0019] In the implementation process, by arranging three first threaded holes on the center connecting shaft and arranging the three first threaded holes along the circumferential direction of the center connecting shaft, the stability of the connection can be ensured after the first fastener passes through the center through hole and the first threaded hole to connect the output frame with the support flange, and the center connecting shaft is uniformly stressed during the operation of the RV speed reducer, and is not prone to damage, thereby prolonging the service life of the RV speed reducer.

[0020] In a possible implementation, a center oil passage is arranged on the center connecting shaft, the center oil passage extends along the axial direction of the center connecting shaft and penetrates the output frame.

[0021] In the implementation process, the center oil passage is arranged on the center connecting shaft and penetrates the output frame, lubricating substances such as lubricating oil or grease are injected into the center oil passage from the side of the center oil passage away from the support flange, and the lubricating substances such as lubricating oil or grease flow to the support flange along the center oil passage, thereby ensuring the smoothness of the input gear and the planetary gear during rotation.

[0022] In a possible implementation, at least one lateral oil passage is further arranged on the center connecting shaft, the lateral oil passage is arranged on the side wall of the center connecting shaft and extends along the radial direction of the center connecting shaft, and the lateral oil passage is in communication with the center oil passage.

[0023] In the implementation process, at least one lateral oil passage hole is further formed in the center connecting shaft, the lateral oil passage hole is perpendicular to the center oil passage hole and communicates with the center oil passage hole, specifically, when the output frame is connected with the support flange through the center connecting shaft and the circumferential connecting shaft after the center connecting shaft sequentially passes through the center connecting holes of the upper and lower cycloid wheels, the lateral oil passage hole is located adjacent to the upper and lower cycloid wheels, that is, located at the abutting position of the center connecting hole of the upper cycloid wheel and the center connecting hole of the lower cycloid wheel, one end of the lateral oil passage hole communicates with the center oil passage hole, and the other end faces the adjacent position of the upper and lower cycloid wheels, so that part of the lubricating oil or grease in the center oil passage hole can flow to the lateral oil passage hole and then flow to the upper and lower cycloid wheels from the lateral oil passage hole, thereby ensuring the smoothness of the upper and lower cycloid wheels during rotation.

[0024] It should be noted that the number of lateral oil passage holes can be one or multiple, and when the lateral oil passage holes are multiple, the multiple lateral oil passage holes are arranged at intervals along the circumferential direction of the side wall of the center connecting shaft.

[0025] In a possible implementation, at least one circumferential oil passage hole is formed in the output frame, the circumferential oil passage hole is arranged in the axial direction of the output frame and penetrates the output frame.

[0026] In the implementation process, the circumferential oil passage hole is arranged beside the center connecting shaft and extends in the circumferential direction of the output frame and penetrates the output frame, when the center connecting shaft sequentially passes through the center connecting holes of the upper and lower cycloid wheels to connect the output frame with the support flange through the center connecting shaft and the circumferential connecting shaft, one end of the circumferential oil passage hole located beside the center connecting shaft faces the end surface of the lower cycloid wheel, and the lubricating oil or grease is injected into the circumferential oil passage hole from the side of the circumferential oil passage hole away from the support flange, so that the lubricating oil or grease flows to the end surface of the lower cycloid wheel along the circumferential oil passage hole, thereby further improving the smoothness of the upper and lower cycloid wheels during rotation.

[0027] In a second aspect, the embodiments of the present application provide a robot, comprising: a robot body and the RV speed reduction device according to any one of the embodiments of the first aspect.

[0028] In the implementation process, the RV speed reduction device can be applied to a mechanical arm of the robot body, and can also be applied to a head of the robot body and the like, and a user can install the RV speed reduction device provided in the first aspect of the present application at any position of the robot body according to the specific structure of the robot body and actual needs.

[0029] The robot provided by the second aspect of the embodiment has the technical effects of any of the above-mentioned embodiments, and details are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0031] Figure 1 Part structure schematic diagram of the RV speed reducer provided by the embodiment of the present application;

[0032] Figure 2 A-A sectional view in Figure 1

[0033] Figure 3 Schematic diagram of the three-dimensional structure of the output frame provided by the embodiment of the present application;

[0034] Figure 4 Structure schematic diagram of the connection between the support flange and the output frame at the connection position of the circumferential connecting shaft when the second fastener is a stepped bolt provided by the embodiment of the present application;

[0035] Figure 5 Schematic diagram of the three-dimensional structure of the support flange provided by the embodiment of the present application.

[0036] Figure legend: 100-RV speed reducer; 1-needle tooth shell; 2-output frame; 3-support flange; 4-center connecting shaft; 5-circumferential connecting shaft; 401-first threaded hole; 501-second threaded hole; 502-positioning hole; 301-center through hole; 302-circumferential through hole; 303-positioning pin hole; 304-fixing hole; 6-first fastener; 7-second fastener; 8-positioning pin; 701-bolt head; 702-first stepped rod; 703-second stepped rod; 5011-first step hole; 5012-second step hole; 3021-bolt head hole; 3022-connection hole; 9-input gear; 10-planetary gear; 11-crank shaft; 12-upper cycloid wheel; 13-lower cycloid wheel; 1101-crank shaft hole; 1102-bearing hole; 1103-first eccentric part; 1104-second eccentric part; 14-bolt connection sleeve; 402-center oil passage; 403-lateral oil passage; 404-circumferential oil passage; 15-main bearing; 16-bearing; 17-needle bearing. DETAILED DESCRIPTION

[0037] ​The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0038] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0039] In a first aspect, as Figure 1 and Figure 2As shown, the RV speed reducer 100 provided by the embodiment of the application comprises a planet carrier, a first-stage speed reduction mechanism, a second-stage speed reduction mechanism and a pin gear shell 1; wherein the planet carrier comprises an output carrier 2 and a support flange 3 connected with the output carrier 2, specifically, the output carrier 2 is provided with a central connecting shaft 4 and a circumferential connecting shaft 5 on the side facing the support flange 3, wherein the central connecting shaft 4 is coaxially arranged with the output carrier 2, the central connecting shaft 4 is provided with a first threaded hole 401 extending in the axial direction of the central connecting shaft 4, the circumferential connecting shaft 5 is provided with a second threaded hole 501 and a positioning hole 502 extending in the axial direction of the circumferential connecting shaft 5, the support flange 3 is provided with a central through hole 301, a circumferential through hole 302 and a positioning pin hole 303 corresponding to the first threaded hole 401, the second threaded hole 501 and the positioning hole 502, respectively, the first fastener 6 passes through the central through hole 301 and the first threaded hole 401, the second fastener 7 passes through the circumferential through hole 302 and the second threaded hole 501, and the positioning pin 8 passes through the positioning pin hole 303 and the positioning hole 502, so as to connect the output carrier 2 with the support flange 3; the first-stage speed reduction mechanism comprises an input gear 9 and a planet gear 10 engaged with the input gear 9, the input gear 9 is engaged with the planet gear 10 when rotating to drive the planet gear 10 to rotate, it should be noted that the RV speed reducer 100 needs to be connected with an external power mechanism (such as a motor) when running, and the input gear 9 is installed on the output end of the power mechanism, the output end of the power mechanism rotates to drive the input gear 9 to rotate;The secondary speed reduction mechanism comprises a crank shaft 11, an upper cycloid wheel 12 and a lower cycloid wheel 13, wherein the upper cycloid wheel 12 and the lower cycloid wheel 13 are adjacently arranged and are located between the output frame 2 and the support flange 3, the upper cycloid wheel 12 and the lower cycloid wheel 13 are provided with a central connecting hole and a circumferential connecting hole, the central connecting hole and the circumferential connecting hole are respectively provided with the central connecting shaft 4 and the circumferential connecting shaft 5, the central connecting shaft 4 and the circumferential connecting shaft 5 pass through the central connecting hole and the circumferential connecting hole, so that the first threaded hole 401 and the second threaded hole 501 are in communication after abutting with the central through hole 301 and the circumferential through hole 302, in addition, the upper cycloid wheel 12 and the lower cycloid wheel 13 are provided with a crank shaft hole 1101, the output frame 2 is provided with a bearing hole 1102 corresponding to the crank shaft hole 1101, one end of the crank shaft 11 is connected with the planetary gear 10, the other end of the crank shaft 11 passes through the crank shaft hole 1101 and the bearing hole 1102 in sequence and is connected with the output frame 2, specifically, the part of the crank shaft 11 located in the crank shaft hole 1101 is connected with the upper cycloid wheel 12 and the lower cycloid wheel 13 through the needle bearing 17, the part of the crank shaft 11 located in the bearing hole 1102 is connected with the output frame 2 through the bearing 16, and the middle part of the crank shaft 11 is further provided with a first eccentric part 1103 and a second eccentric part 1104, the first eccentric part 1103 is located at the crank shaft hole 1101 of the upper cycloid wheel 12 and is rotationally connected with the upper cycloid wheel 12, the second eccentric part 1104 is located at the crank shaft hole 1101 of the lower cycloid wheel 13 and is rotationally connected with the lower cycloid wheel 13, the pin gear shell 1 is sleeved on the outer periphery of the upper cycloid wheel 12 and the lower cycloid wheel 13, the pin gear shell 1 is provided with an internal gear, the upper cycloid wheel 12 and the lower cycloid wheel 13 are provided with an external gear, the pin gear shell 1 is gear meshed and connected with the upper cycloid wheel 12 and the lower cycloid wheel 13, at the same time, the planet carrier is supported in the pin gear shell 1 through the main bearing 15 and can perform coaxial rotary motion relative to the pin gear shell 1; when the input gear 9 rotates, the planetary gear 10 is driven to rotate, the input gear 9 and the planetary gear 10 realize primary speed reduction, after the planetary gear 10 rotates, the crank shaft 11 connected with the planetary gear 10 also rotates, the first eccentric part 1103 and the second eccentric part 1104 of the crank shaft 11 drive the upper cycloid wheel 12 and the lower cycloid wheel 13 to rotate relative to the pin gear shell 1, thereby realizing secondary speed reduction.

[0040] The RV speed reduction device 100 provided by the embodiment of the present application is provided with the central connecting shaft 4 and the circumferential connecting shaft 5 on the output frame 2, so that the output frame 2 and the support flange 3 are connected through the central connecting shaft 4 and the circumferential connecting shaft 5. During the operation of the RV speed reduction device 100, that is, when the primary speed reduction mechanism and the secondary speed reduction mechanism rotate under the condition of bearing load, the central connecting shaft 4 and the circumferential connecting shaft 5 share the load borne by the RV speed reduction device 100 together. In the prior art, the output structure, that is, the output frame is provided with only the circumferential connecting shaft, and the output frame and the support flange are connected only through the circumferential connecting shaft, and a central hole is formed in the middle of the output frame for the lubricating material to pass through. Under the condition of bearing load, the RV speed reduction device in the prior art bears the load only through the circumferential connecting shaft of the output frame. Therefore, compared with the RV speed reduction device in the prior art, the load bearing capacity of the output frame 2 of the RV speed reduction device 100 provided by the present application is enhanced.

[0041] Meanwhile, the RV speed reduction device 100 provided by the application is characterized in that the output frame 2 and the support flange 3 are connected through the central connecting shaft 4 and the circumferential connecting shaft 5, and the central connecting shaft 4 and the circumferential connecting shaft 5 together share the load borne by the RV speed reduction device 100. Compared with the prior art in which only the circumferential connecting shaft bears the load, in the case where the RV speed reduction device 100 bears the same load, the circumferential connecting shaft 5 of the output frame 2 of the RV speed reduction device 100 provided by the application bears a smaller load than the circumferential connecting shaft of the output frame of the prior art, so that the size of the circumferential connecting shaft 5 can be appropriately reduced, i.e., the diameter of the circumferential connecting shaft 5 can be appropriately reduced. When the diameter of the circumferential connecting shaft 5 is appropriately reduced, the design theoretical value of the diameter of the circumferential connecting hole through which the circumferential connecting shaft 5 passes on the upper and lower cycloid wheels 12 and 13 can be appropriately reduced, so that the spacing between the circumferential connecting holes on the upper and lower cycloid wheels 12 and 13 is increased, i.e., the wall thickness between the circumferential connecting holes is increased, and the wall thickness between the circumferential connecting holes and the central connecting hole is also increased, so that the overall rigidity of the upper and lower cycloid wheels 12 and 13 is increased and deformation is less likely to occur. It should be noted that the circumferential connecting shaft 5 of the output frame 2 passes through the circumferential connecting holes on the upper and lower cycloid wheels 12 and 13, and the outer wall of the circumferential connecting shaft 5 does not contact the inner wall of the circumferential connecting hole, so that, in the case where the diameter of the circumferential connecting hole is unchanged, when the diameter of the circumferential connecting shaft 5 is appropriately reduced, the clearance of the through hole, i.e., the spacing between the outer wall of the circumferential connecting shaft 5 and the inner wall of the circumferential connecting hole when the circumferential connecting shaft 5 passes through the circumferential connecting hole on the upper and lower cycloid wheels 12 and 13, is increased. Generally, in order to increase the load bearing capacity of the output frame 2, the diameter of the circumferential connecting shaft 5 needs to be as large as possible, and in order to increase the rigidity of the upper and lower cycloid wheels 12 and 13, the diameter of the circumferential connecting hole needs to be as small as possible, so that the clearance of the through hole between the circumferential connecting shaft 5 and the circumferential connecting hole is very small, and the upper and lower cycloid wheels 12 and 13 perform eccentric motion during the operation of the RV speed reduction device 100, so that the clearance of the through hole is further reduced. In order to reduce the machining cost, the two are usually non-machined surfaces, i.e., blank surfaces, so that the dimensional tolerance is large. If the design size of the circumferential connecting shaft 5 and the circumferential connecting hole is not controlled well, the two may interfere with each other. When the clearance of the through hole is increased, the machining tolerance range is increased, so that the machining precision is reduced and the machining cost is also reduced.

[0042] In addition, the output frame of the prior art has a central hole in the middle, which sacrifices the rigidity of the output frame, while the output frame 2 of the RV speed reduction device 100 of the present application does not have a central hole in the middle, but is provided with a central connecting shaft 4, so that the rigidity of the output frame 2 of the RV speed reduction device 100 is greater, and the torsional stiffness is also greater. When the RV speed reduction device 100 is under load, it not only bears torque but also bending moment. The central hole of the output frame of the prior art is empty when a large bending moment is applied, and the deformation is also large. However, the output frame 2 of the present application has a central connecting shaft 4 in the middle, which provides support for the middle of the output frame 2, and the overall rigidity is also improved. Meanwhile, the central connecting shaft 4 is provided with a first threaded hole 401, the first fastener 6 passes through the central through hole 301 on the support flange 3 and the first threaded hole 401 on the central connecting shaft 4, and a frictional force is generated between the first fastener 6 and the central through hole 301 and the first threaded hole 401, so that the RV speed reduction device 100 can transmit greater torque, and the overall resistance to torsional deformation is increased, that is, the torsional stiffness is increased.

[0043] In a possible implementation, the second fastener 7 is a bolt; the carrier further comprises a bolt connecting sleeve 14, the bolt connecting sleeve 14 is at least partially embedded in the second threaded hole 501, and the second fastener 7 passes through the circumferential through hole 302, the bolt connecting sleeve 14 and the second threaded hole 501 to connect the output frame 2 and the support flange 3.

[0044] In the above implementation process, the bolt connecting sleeve 14 is arranged in the second threaded hole 501. Specifically, the bolt connecting sleeve 14 is coaxially arranged with the second threaded hole 501, and a part of the bolt connecting sleeve 14 is embedded in the second threaded hole 501, and another part is embedded in the circumferential through hole 302 in abutment communication with the second threaded hole 501. The second fastener 7 is a bolt, which passes through the circumferential through hole 302, the bolt connecting sleeve 14 and the second threaded hole 501 to connect the output frame 2 and the support flange 3. By arranging the bolt connecting sleeve 14, the second fastener 7 is not easy to fail when facing a large impact load, thereby enhancing the impact resistance of the RV speed reduction device 100. When the RV speed reduction device 100 is subjected to external impact during operation, a large torque will be applied to the RV speed reduction device 100. At this time, a large shear force will be generated on the second fastener 7 at the connecting surface between the output frame 2 and the support flange 3. The addition of the bolt connecting sleeve 14 can increase the shear resistance of the second fastener 7, and the second fastener 7 is not easy to fail when facing a large impact load.

[0045] In a possible implementation, the bolt connecting sleeve 14 is cylindrical or conical, the second threaded hole 501 is in communication with the circumferential through hole 302, and defines a connecting sleeve hole matched with the bolt connecting sleeve 14.

[0046] In the implementation process, the bolt connecting sleeve 14 can be cylindrical, conical or frustoconical, and the second threaded hole 501 is in abutting communication with the circumferential through hole 302 and defines a sleeve hole adapted to the bolt connecting sleeve 14. In other words, the inner wall surface of the second threaded hole 501 cooperates with the inner wall surface of the circumferential through hole 302 to define a connecting surface adapted to the outer wall surface of the bolt connecting sleeve 14, so that the outer wall surface of the bolt connecting sleeve 14 abuts against the inner wall surface of the second threaded hole 501 and the inner wall surface of the circumferential through hole 302. Of course, after the second threaded hole 501 is in abutting communication with the circumferential through hole 302, the bolt connecting sleeve 14 can also be selected according to the specific structure of the connecting surface defined by the inner wall surface of the second threaded hole 501 and the inner wall surface of the circumferential through hole 302.

[0047] As shown in Figure 4 In a possible implementation, the second fastener 7 is a stepped bolt, and the second threaded hole 501 is in communication with the circumferential through hole 302 and defines a stepped hole adapted to the stepped bolt.

[0048] In the implementation process, the second fastener 7 can be a stepped bolt, which includes a bolt head 701 and a stepped bolt rod. The stepped bolt rod includes a first stepped rod 702 and a second stepped rod 703 connected to the first stepped rod 702. The first stepped rod 702 and the second stepped rod 703 are coaxially arranged, and the diameter of the first stepped rod 702 is greater than the diameter of the second stepped rod 703. The bolt head 701 is coaxially arranged and connected with the first stepped rod 702, and the diameter of the bolt head 701 is greater than the diameter of the first stepped rod 702. Correspondingly, the second threaded hole 501 is in abutting communication with the circumferential through hole 302 after abutting against each other. The second threaded hole 501 and the circumferential through hole 302 define a stepped hole for the stepped bolt to pass through. Specifically, the second threaded hole 501 includes a first step hole 5011 and a second step hole 5012 coaxially arranged and in communication with the first step hole 5011. The diameter of the first step hole 5011 is adapted to the diameter of the first stepped rod 702 of the stepped bolt, and the diameter of the second step hole 5012 is adapted to the diameter of the second stepped rod 703 of the stepped bolt. The depth of the second step hole 5012 is equal to the length of the second stepped rod 703. The circumferential through hole 302 includes a bolt head hole 3021 and a connecting hole 3022 coaxially arranged and in communication with the bolt head hole 3021. The diameter and length of the bolt head hole 3021 are adapted to the diameter and length of the bolt head 701 of the stepped bolt. The connecting hole 3022 is in abutting communication with the first step hole 5011, and the diameter of the connecting hole 3022 is the same as that of the first step hole 5011. The sum of the length of the connecting hole 3022 and the length of the first step hole 5011 is equal to the length of the first stepped rod 702. The first step hole 5011, the second step hole 5012, the connecting hole 3022 and the bolt head hole 3021 together form a stepped hole, and the stepped bolt is embedded in the stepped hole to connect the output frame 2 and the support flange 3.

[0049] As Figure 5 shown in a possible implementation, the support flange 3 is provided with a fixed hole 304 matched with the center connecting shaft 4, the diameter of the center connecting shaft 4 is larger than that of the fixed hole 304, the outer side wall of the center connecting shaft 4 is tightly connected with the inner side wall of the fixed hole 304, and the first fastener 6 passes through the center through hole 301 and the first threaded hole 401 on the center connecting shaft 4 to connect the output frame 2 with the support flange 3.

[0050] In the above implementation process, the diameter of the center connecting shaft 4 is larger than that of the fixed hole 304, the outer side wall of the center connecting shaft 4 is tightly connected with the inner side wall of the fixed hole 304, and the first fastener 6 passes through the center through hole 301 and the first threaded hole 401 on the center connecting shaft 4 to connect the output frame 2 with the support flange 3, thereby enhancing the rigidity of the planetary carrier. The center connecting shaft 4 and the fixed hole 304 are in interference fit, so that the output frame 2 and the support flange 3 can be connected more tightly. The more tightly the output frame 2 and the support flange 3 are connected, the greater the torque that the planetary carrier as a whole can withstand, and the better the rigidity of the whole.

[0051] As Figure 3 shown in a possible implementation, the number of the first threaded holes 401 is three, the three first threaded holes 401 are arranged on the side of the center connecting shaft 4 facing the support flange 3 and extend along the axial direction of the center connecting shaft 4, and the three first threaded holes 401 are arranged along the circumference of the center connecting shaft 4.

[0052] In the above implementation process, by arranging three first threaded holes 401 on the center connecting shaft 4 and arranging the three first threaded holes 401 along the circumference of the center connecting shaft 4, the stability of the connection can be ensured after the first fastener 6 passes through the center through hole 301 and the first threaded hole 401 to connect the output frame 2 with the support flange 3, and the center connecting shaft 4 is evenly stressed during the operation of the RV speed reducer 100, so that damage is less likely to occur, thereby prolonging the service life of the RV speed reducer 100.

[0053] As Figure 2 shown in a possible implementation, the center connecting shaft 4 is provided with a center oil passage 402, the center oil passage 402 extends along the axial direction of the center connecting shaft 4 and penetrates the output frame 2.

[0054] In the implementation process, a central oil passage hole 402 is formed on the central connecting shaft 4 and penetrates the output frame 2. Lubricating substances such as lubricating oil or grease are poured into the central oil passage hole 402 from the side of the central oil passage hole 402 away from the support flange 3, and the lubricating substances flow along the central oil passage hole 402 to the support flange 3, thereby ensuring the smoothness of the input gear 9 and the planetary gear 10 during rotation.

[0055] In a possible implementation, at least one lateral oil passage hole 403 is further formed on the central connecting shaft 4. The lateral oil passage hole 403 is arranged on the side wall of the central connecting shaft 4 and extends along the radial direction of the central connecting shaft 4. The lateral oil passage hole 403 is in communication with the central oil passage hole 402.

[0056] In the implementation process, at least one lateral oil passage hole 403 is further formed on the central connecting shaft 4. The lateral oil passage hole 403 is perpendicular to the central oil passage hole 402 and is in communication with the central oil passage hole 402. Specifically, when the output frame 2 and the support flange 3 are connected by the central connecting shaft 4 and the circumferential connecting shaft 5 after the central connecting shaft 4 sequentially passes through the central connecting hole of the upper trochoid wheel 12 and the central connecting hole of the lower trochoid wheel 13, the lateral oil passage hole 403 is located adjacent to the upper trochoid wheel 12 and the lower trochoid wheel 13, that is, at the abutting position of the central connecting hole of the upper trochoid wheel 12 and the central connecting hole of the lower trochoid wheel 13. One end of the lateral oil passage hole 403 is in communication with the central oil passage hole 402, and the other end faces the adjacent position of the upper trochoid wheel 12 and the lower trochoid wheel 13. In this way, part of the lubricating substances in the central oil passage hole 402 can flow to the lateral oil passage hole 403 and then flow to the upper trochoid wheel 12 and the lower trochoid wheel 13 from the lateral oil passage hole 403, thereby ensuring the smoothness of the upper trochoid wheel 12 and the lower trochoid wheel 13 during rotation.

[0057] It should be noted that the number of lateral oil passage holes 403 can be one or more. When the lateral oil passage holes 403 are multiple, the multiple lateral oil passage holes 403 are arranged at intervals along the circumferential direction of the side wall of the central connecting shaft 4.

[0058] In a possible implementation, at least one circumferential oil passage hole 404 is formed on the output frame 2. The circumferential oil passage hole 404 extends along the axial direction of the output frame 2 and penetrates the output frame 2.

[0059] In the implementation process, the circumferential oil passage 404 is arranged on the output frame 2, specifically, the circumferential oil passage 404 is arranged on the side of the center connecting shaft 4 and extends along the circumferential direction of the output frame 2 and penetrates the output frame 2, when the center connecting shaft 4 penetrates the center connecting hole of the upper trochoid wheel 12 and the center connecting hole of the lower trochoid wheel 13 in sequence and connects the output frame 2 and the support flange 3 through the center connecting shaft 4 and the circumferential connecting shaft 5, at this time, one end of the circumferential oil passage 404 on the side of the center connecting shaft 4 faces the end surface of the lower trochoid wheel 13, and the lubricating material such as lubricating oil or grease is poured into the circumferential oil passage 404 from the side of the circumferential oil passage 404 away from the support flange 3, and the lubricating material such as lubricating oil or grease flows to the end surface of the lower trochoid wheel 13 along the circumferential oil passage 404, thereby further improving the smoothness of the upper trochoid wheel 12 and the lower trochoid wheel 13 during rotation.

[0060] In the second aspect, the embodiment of the present application provides a robot, comprising: a robot body and the RV speed reduction device 100 according to any one of the embodiments of the first aspect, and the RV speed reduction device 100 is installed on the robot body.

[0061] In the implementation process, the RV speed reduction device 100 can be applied to a mechanical arm of the robot body, and can also be applied to a head of the robot body and the like, and a user can install the RV speed reduction device 100 according to the first aspect of the present application at any position of the robot body according to the specific structure of the robot body and actual needs.

[0062] The robot provided by the second aspect of the present application has the technical effects of any one of the above-mentioned embodiments because it comprises the RV speed reduction device 100 according to the first aspect of the present application, and details are not repeated here.

[0063] The above only describes the embodiments of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0064] The above only describes the embodiments of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0065] It is to be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" can include a combination of two or more components. Additionally, the terms "comprise," "comprises," and "comprising," or any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, unless otherwise indicated herein, the terms "first," "second," "third," etc., are used herein merely as labels, and are not intended to impose ordinal import.

Claims

1. An RV reduction gear, characterized in that, include: A planetary carrier includes an output frame and a support flange. The output frame is provided with a central connecting shaft and a circumferential connecting shaft. The central connecting shaft and the circumferential connecting shaft are respectively provided with a first threaded hole and a second threaded hole on the side facing the support flange. The support flange is provided with a central through hole and a circumferential through hole corresponding to the first threaded hole and the second threaded hole. A first fastener passes through the central through hole and the first threaded hole, and a second fastener passes through the circumferential through hole and the second threaded hole to connect the output frame to the support flange. A primary reduction mechanism includes an input gear and a planetary gear meshing with the input gear, the planetary gear being mounted on the support flange; A two-stage reduction mechanism includes a crankshaft, an upper cycloidal wheel, and a lower cycloidal wheel adjacent to the upper cycloidal wheel. One end of the crankshaft is connected to the support flange and the planetary gear, and the other end of the crankshaft is connected to the output frame. The middle part of the crankshaft is provided with a first eccentric part and a second eccentric part. The upper cycloidal wheel and the lower cycloidal wheel are rotatably connected to the first eccentric part and the second eccentric part, respectively. A needle tooth housing is fitted over the outside of the upper and lower cycloidal wheels and meshes with them.

2. The RV reduction gear according to claim 1, characterized in that, The second fastener is a bolt; The planetary carrier further includes a bolted connecting sleeve, which is at least partially embedded in the second threaded hole. The second fastener passes through the circumferential through hole, the bolted connecting sleeve, and the second threaded hole to connect the output frame to the support flange.

3. The RV reduction gear according to claim 2, characterized in that, The bolt connecting sleeve is cylindrical or conical, and the second threaded hole is connected to the circumferential through hole, defining a connecting sleeve hole that is compatible with the bolt connecting sleeve.

4. The RV reduction gear according to claim 1, characterized in that, The second fastener is a stepped bolt, and the second threaded hole is connected to the circumferential through hole, defining a stepped hole that is compatible with the stepped bolt.

5. The RV reduction gear according to any one of claims 1 to 4, characterized in that, The support flange is provided with a fixing hole that matches the central connecting shaft. The diameter of the central connecting shaft is larger than the diameter of the fixing hole. A portion of the outer sidewall of the central connecting shaft is tightly connected to the inner sidewall of the fixing hole. The first fastener passes through the central through hole and the first threaded hole on the central connecting shaft to connect the output frame to the support flange.

6. The RV reduction gear according to any one of claims 1 to 4, characterized in that, The number of first threaded holes is three. The three first threaded holes are arranged on the side of the central connecting shaft facing the support flange and extend along the axial direction of the central connecting shaft. The three first threaded holes are arranged around the circumference of the central connecting shaft.

7. The RV reduction gear according to any one of claims 1 to 4, characterized in that, A central oil passage hole is provided on the central connecting shaft, the central oil passage hole extends along the axial direction of the central connecting shaft and passes through the output frame.

8. The RV reduction gear according to claim 7, characterized in that, At least one lateral oil passage is also provided on the central connecting shaft. The lateral oil passage is located on the side wall of the central connecting shaft and extends radially along the central connecting shaft. The lateral oil passage is connected to the central oil passage.

9. The RV reduction gear according to any one of claims 1 to 4, characterized in that, The output frame is provided with at least one circumferential oil passage hole, which extends along the axial direction of the output frame and penetrates the output frame.

10. A robot, characterized in that, include: The robot itself; The RV deceleration device as described in any one of claims 1 to 9, wherein the RV deceleration device is mounted on the robot body.

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