Small displacement cycloidal hydraulic motor

Abstract

The application discloses a small-displacement cycloid hydraulic motor, which comprises a distribution valve, wherein the distribution valve comprises a first end face, a side face and a second end face, the first end face is provided with N oil cavities, the second end face is provided with m first oil holes and n third oil holes, the side face is provided with m second oil holes and n fourth oil holes, an adjusting piece is arranged in each of the m first oil holes or the second oil holes, the number of the adjusting pieces is N / 2, and m+n=3N / 4. The thickness of a rotor-stator pair is not reduced, the number of high and low cavities of the oil cavities is changed, and the purpose of reducing the motor displacement is achieved through the improvement of the structure of the distribution valve and the cooperation of the adjusting pieces.

Description

Technical Field

[0001] This invention relates to the field of hydraulic motor technology, and specifically to a small-displacement cycloidal hydraulic motor. Background Technology

[0002] A hydraulic motor is an actuator in a hydraulic system that converts the pressure energy of a hydraulic pump into the mechanical energy (torque and speed) of its output shaft. The fluid is the medium for transmitting force and motion. A cycloidal hydraulic motor is a type of hydraulic motor; it is a small, low-speed, high-torque hydraulic motor with an internally meshing cycloidal gear mechanism.

[0003] The displacement of a cycloidal hydraulic motor is related to its speed; the smaller the displacement, the higher the speed, and vice versa. In some applications, high speeds are required, necessitating a reduction in motor displacement. Currently, the main method for reducing motor displacement is by decreasing the thickness of the rotor-stator assembly. However, when the motor displacement is reduced from 80cc to below 60cc, reducing the thickness of the rotor-stator assembly can cause interference between transmission components. Furthermore, reducing the thickness of the rotor-stator assembly also reduces the overall size of the motor, leading to a decrease in the rated pressure the motor can withstand. Summary of the Invention

[0004] The technical problem this invention aims to solve is how to reduce the motor displacement without compromising motor performance. To this end, this invention provides a small-displacement cycloidal hydraulic motor, which reduces the motor displacement through improvements in the motor's flow distribution method.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a small displacement cycloidal hydraulic motor, comprising: a distribution valve, the distribution valve comprising a first end face, a side face, and a second end face, the first end face having N oil chambers, the second end face having m first oil holes and n third oil holes, the side face having m second oil holes and n fourth oil holes, wherein adjusting components are installed in the m first oil holes or second oil holes, the number of adjusting components being N / 2, where m+n=3N / 4.

[0006] Furthermore, the plurality of regulating elements and the fourth oil hole form a flow distribution unit, and the plurality of flow distribution units are evenly distributed along the circumference of the flow distribution valve.

[0007] Furthermore, the plurality of the adjusting elements and the third oil hole form a flow distribution unit, and the plurality of flow distribution units are evenly distributed on the second end face.

[0008] Furthermore, the adjusting component includes an adjusting body and a ball, wherein the adjusting body is embedded in the second oil hole and forms an adjusting cavity between the adjusting body and the second oil hole, and the ball is located in the adjusting cavity.

[0009] Furthermore, one end of the adjusting body is provided with an oil inlet hole, and the other end of the adjusting body is provided with a first receiving cavity. The second oil hole has a second receiving cavity. The oil inlet hole is connected to the first receiving cavity. The first receiving cavity and the second receiving cavity are connected to each other and together form the adjusting cavity.

[0010] Furthermore, the first receiving cavity includes a first flow portion and a first blocking portion. Let the diameter of the first flow portion be d1, the diameter of the first blocking portion gradually decreases in the direction away from the first flow portion, the diameter of the end of the first blocking portion near the first flow portion is d1, and the diameter of the end of the first blocking portion away from the first flow portion is d2, where d2 < d1.

[0011] Furthermore, the second receiving cavity includes a second flow section and a second blocking section. The diameter of the second flow section is d1, and the diameter of the second blocking section gradually decreases in the direction away from the second flow section. The diameter of the end of the second blocking section near the second flow section is d1, and the diameter of the end of the second blocking section away from the second flow section is d2, where d2 < d1.

[0012] Furthermore, the diameter of the sphere is D, where d2 < D < d1.

[0013] Furthermore, the distribution valve is also provided with a first flow channel and a second flow channel. The first flow channel is used to connect the first oil hole and the regulating chamber, and the second flow channel is used to connect the regulating chamber and the oil chamber.

[0014] Furthermore, it also includes: a front housing, a rotor-stator pair, a rear cover, a main shaft, a linkage shaft, and a connecting plate. The rotor-stator pair is located between the front housing and the rear cover. A flow distribution valve is provided inside the rear cover. The flow distribution valve is connected to the rotor-stator pair via a transmission shaft. The connecting plate is located between the front housing and the rotor-stator pair. One end of the main shaft is located inside the front housing. One end of the linkage shaft is installed inside the main shaft. The other end of the linkage shaft passes through the connecting plate and is connected to the rotor-stator pair.

[0015] Furthermore, the rear cover has a first oil port and a second oil port, and a distribution pressure plate is also installed inside the rear cover. A first cavity is formed between the distribution pressure plate and the rear cover. The first cavity is connected to the first oil port and the first oil hole.

[0016] Furthermore, a second cavity is formed between the distribution valve and the rear cover, the second cavity is connected to the second oil port, and the second cavity is connected to the second oil hole.

[0017] Furthermore, it also includes: a first bearing and a second bearing, both of which are sleeved on the main shaft. The first bearing is located inside the front housing, and a portion of the second bearing is located inside the front housing, while another portion is located inside the connecting plate.

[0018] Furthermore, a spacer is provided between the first bearing and the second bearing, and a locking nut is provided at the end of the second bearing away from the spacer, the locking nut being connected to the main shaft.

[0019] Furthermore, a retaining ring is provided on the inner wall of the rotor-stator pair.

[0020] The beneficial effects of this invention are that, by improving the structure of the distribution valve and cooperating with the adjusting component, this invention can change the number of high and low chambers of the oil chamber without reducing the thickness of the rotor-stator pair, thereby achieving the purpose of reducing the motor displacement without reducing the radial load bearing capacity of the motor; while reducing the displacement, the torque is not reduced, and the total transmission power is increased. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a cross-sectional view of the cycloidal hydraulic motor of the present invention.

[0023] Figure 2 This is a side view of the flow distribution valve of the present invention.

[0024] Figure 3 This is a rear view of the distribution valve of the present invention.

[0025] Figure 4 This is a front view of the distribution valve of the present invention.

[0026] Figure 5 This is a cross-section of the side of the distribution valve of the present invention.

[0027] Figure 6 This is an overall schematic diagram of the cycloidal hydraulic motor of the present invention.

[0028] Figure 7 This is a cross-sectional view of the distribution valve of the present invention (oil inlet through the second oil hole).

[0029] Figure 8 This is a cross-sectional view of the distribution valve of the present invention (oil inlet through the first oil hole).

[0030] Figure 9 This is a schematic diagram of the structure of the adjusting component of the present invention.

[0031] Figure 10 This is a schematic diagram of the distribution disk of the present invention.

[0032] Figure 11This is a cross-sectional view of the rotor-stator pair of the present invention.

[0033] In the diagram: 1. Front housing; 2. Stator assembly; 3. Rear cover; 4. Flow control valve; 5. Drive shaft; 6. Adjusting component; 7. Flow control plate; 8. Main shaft; 9. Linkage shaft; 10. Connecting plate; 11. First bearing; 12. Second bearing; 13. Spacer; 14. Locking nut; 15. Retaining ring; 16. Flow control plate; 21. Volumetric cavity; 31. First oil port; 32. Second oil port; 33. First cavity; 34. Second cavity; 41. First end face; 42. Side face; 43. Two end faces; 44, distribution unit; 45, first flow channel; 46, second flow channel; 411, oil cavity; 421, second oil hole; 431, first oil hole; 4211, second receiving cavity; 42111, second flow section; 42112, second blocking section; 61, adjusting body; 62, ball; 63, adjusting cavity; 611, oil inlet hole; 612, first receiving cavity; 6121, first flow section; 6122, first blocking section; 71, channel; 161, distribution port. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] like Figures 1 to 11 As shown, the small-displacement cycloidal hydraulic motor of the present invention includes: a distribution valve 4, which includes a first end face 41, a side face 42, and a second end face 43. The first end face 41 has N oil chambers 411, the second end face 43 has m first oil holes 431 and n third oil holes 432, and the side face 42 has m second oil holes 421 and n fourth oil holes 422. An adjusting element 6 is installed in each of the m first oil holes 431 or second oil holes 421, and the number of adjusting elements 6 is N / 2, where m + n = 3N / 4. By improving the structure of the distribution valve 4 and cooperating with the adjusting elements 6, the present invention can change the number of high and low chambers of the oil chambers 411, thereby achieving the purpose of reducing the motor displacement.

[0038] It should be noted that when the adjusting element 6 is installed in the first oil hole 431, there is no adjusting element 6 in the second oil hole 421. When the adjusting element 6 is installed in the second oil hole 421, there is no adjusting element 6 in the first oil hole 431. That is, in practical applications, the adjusting element 6 can be installed in the side 42 or the second end face 43 of the distribution valve 4.

[0039] For example, the third oil hole 432 is directly connected to the oil cavity 411, and the fourth oil hole 422 is also directly connected to the oil cavity 411.

[0040] It should be noted that the installation positions of the N / 2 = m regulating components 6 are evenly distributed according to a certain pattern. For example, when the regulating component 6 is installed on the side 42, multiple regulating components 6 and a fourth oil hole 422 form a flow distribution unit 44, and the multiple flow distribution units 44 are evenly distributed along the circumference of the flow distribution valve 4. For example, when the regulating component 6 is installed on the second end face 43, multiple regulating components 6 and a third oil hole 432 form a flow distribution unit 44, and the multiple flow distribution units 44 are evenly distributed on the second end face 43.

[0041] For example, the number of oil chambers 411 is N=12, the number of first oil holes 431 and second oil holes 421 is m=6, the number of regulating components 6 is N / 2=6, 3N / 4=9, that is, n=9-6=3. Taking the regulating component 6 installed in the second oil hole 421 as an example, two regulating components 6 and one fourth oil hole 422 form a flow distribution unit 44, forming a total of three flow distribution units 44. The overall distribution pattern of the side 42 of the flow distribution valve 4 is "regulating component 6, regulating component 6, fourth oil hole 422, regulating component 6, regulating component 6, fourth oil hole 422, regulating component 6, regulating component 6, fourth oil hole 422". The purpose of this arrangement is to ensure that the 12 oil chambers 411 are evenly distributed in a "three high and one low" pattern.

[0042] In practical applications, the adjusting member 6 can be installed on the side 42 or the second end face 43. However, installing it on the second end face 43 will occupy the axial space inside the motor to some extent. Therefore, it is preferable to install the adjusting member 6 on the side 42. The following is a specific explanation using the example of the adjusting member 6 being installed on the side 42.

[0043] It should be noted that the conventional structure of the existing distribution valve is as follows: 12 oil chambers are provided on the first end face, 6 oil holes E are provided on the side, and 6 oil holes F are provided on the second end face. The 6 oil holes E are directly connected to 6 of the oil chambers, and the 6 oil holes F are directly connected to the remaining 6 oil chambers. Furthermore, the connections between the oil holes E, oil holes F and the oil chambers are spaced out (i.e., the 12 oil chambers are distributed in alternating high and low pressure zones). In this conventional structure, 6 high-pressure chambers and 6 low-pressure chambers are formed among the 12 oil chambers. However, this invention, through improvements to the structure of the distribution valve 4, forms 9 high-pressure chambers and 3 low-pressure chambers among the 12 oil chambers, and these are distributed in a "three high and one low" pattern, which can reduce the motor displacement.

[0044] Since the total number of oil holes on the side 42 and the second end face 43 of the distribution valve 4 of the present invention is 3N / 4, after the change in quantity, if the conventional arrangement is still followed, the side oil holes, end face oil holes and oil chambers 411 cannot be connected one by one (if they are still connected one by one, then 18 oil chambers are needed, which will lead to an increase in the overall diameter of the distribution valve). In order to solve this problem, the present invention provides an adjusting element 6 in the oil holes of the distribution valve 4, and improves the structure of the flow channel and oil hole C inside the distribution valve 4.

[0045] Specifically, the adjusting component 6 includes an adjusting body 61 and a ball 62. The adjusting body 61 is embedded in the second oil hole 421 and forms an adjusting cavity 63 with the second oil hole 421. The ball 62 is located in the adjusting cavity 63. One end of the adjusting body 61 has an oil inlet hole 611, and the other end of the adjusting body 61 has a first receiving cavity 612. The second oil hole 421 has a second receiving cavity 4211. The oil inlet hole 611 is connected to the first receiving cavity 612. The first receiving cavity 612 and the second receiving cavity 4211 are connected and together form the adjusting cavity 63. The distribution valve 4 also has a first flow channel 45 and a second flow channel 46. The first flow channel 45 is used to connect the first oil hole 431 and the adjusting cavity 63, and the second flow channel 46 is used to connect the adjusting cavity 63 and the oil cavity 411. That is to say, the first oil hole 431 and the second oil hole 421 correspond to the same oil cavity 411, so that it is not necessary to increase the number of oil cavities 411. However, since the first oil hole 431 and the second oil hole 421 correspond to the same oil chamber 411, it is necessary to consider how to prevent high-pressure oil leakage when oil is being introduced.

[0046] It should be noted that the ball 62 (e.g., a steel ball) can move within the adjusting cavity 63. When high-pressure oil is introduced into the oil inlet 611, the high-pressure oil pushes the ball 62 towards the second receiving cavity 4211. At this time, the high-pressure oil can flow through the second flow channel 46 to the oil cavity 411, which then becomes a high-pressure cavity. When high-pressure oil enters through the first oil hole 431, the high-pressure oil pushes the ball 62 towards the first receiving cavity 612. At this time, the high-pressure oil can flow through the first flow channel 45, the second receiving cavity 4211, and the second flow channel 46 to the oil cavity 411, which then becomes a high-pressure cavity. In other words, by improving the internal flow channel structure of the distribution valve 4 and cooperating with the adjusting component 6, this invention can increase the number of high-pressure cavities regardless of whether oil is introduced from the end face or the side.

[0047] For example, the first receiving cavity 612 includes a first flow portion 6121 and a first blocking portion 6122. Let the diameter of the first flow portion 6121 be d1, the diameter of the first blocking portion 6122 gradually decreases in the direction away from the first flow portion 6121, the diameter of the end of the first blocking portion 6122 closest to the first flow portion 6121 be d1, and the diameter of the end of the first blocking portion 6122 away from the first flow portion 6121 be d2, where d2 < d1. The second receiving cavity 4211 includes a second flow portion 42111 and a second blocking portion 42112. The diameter of the second flow portion 42111 is d1, the diameter of the second blocking portion 42112 gradually decreases in the direction away from the second flow portion 42111, the diameter of the end of the second blocking portion 42112 closest to the second flow portion 42111 be d1, and the diameter of the end of the second blocking portion 42112 away from the second flow portion 42111 be d2, where d2 < d1. The diameter of sphere 62 is D, where d2 < D < d1.

[0048] In other words, when the ball 62 is within the first flow section 6121 or the second flow section 42111, the ball 62 can move freely. When the ball 62 is pushed towards the first blocking section 6122 by high-pressure oil, the ball 62 will eventually abut against the inner wall of the first blocking section 6122, achieving a seal and preventing high-pressure oil from flowing out of the second oil hole 421. When the ball 62 is pushed towards the second blocking section 42112 by high-pressure oil, the ball 62 will eventually abut against the inner wall of the second blocking section 42112, achieving a seal and preventing high-pressure oil from flowing out of the first oil hole 431. Through the structural design of the adjusting body 61 and the improvement of the oil hole structure, this invention can prevent high-pressure oil from leaking from the other side, whether oil is introduced from the side or the end face, thereby ensuring the working efficiency of the motor.

[0049] Specifically, the cycloidal hydraulic motor of the present invention further includes: a front housing 1, a rotor-stator pair 2, a rear cover 3, a main shaft 8, a linkage shaft 9, and a connecting plate 10. The rotor-stator pair 2 is located between the front housing 1 and the rear cover 3. The flow distribution valve 4 is located inside the rear cover 3. The flow distribution valve 4 is connected to the rotor-stator pair 2 through a transmission shaft 5. The connecting plate 10 is located between the front housing 1 and the rotor-stator pair 2. One end of the main shaft 8 is located inside the front housing 1. One end of the linkage shaft 9 is installed inside the main shaft 8. The other end of the linkage shaft 9 passes through the connecting plate 10 and is connected to the rotor-stator pair 2.

[0050] For example, the rear cover 3 has a first oil port 31 and a second oil port 32. A distribution pressure plate 7 is also installed inside the rear cover 3, forming a first cavity 33 between the distribution pressure plate 7 and the rear cover 3. The first cavity 33 communicates with the first oil port 31 and the first oil hole 431. A second cavity 34 is formed between the distribution valve 4 and the rear cover 3, communicating with the second oil port 32 and the second oil hole 421. It should be noted that when oil enters through the first oil port 31, the second oil port 32 is the return port; conversely, when oil enters through the second oil port 32, the first oil port 31 is the return port. The distribution pressure plate 7 is located to the right of the distribution valve 4, and a channel 71 is provided inside the distribution pressure plate 7, which connects the first oil hole 431 and the first cavity 33. The left side of the distribution valve 4 is also provided with a distribution plate 16, which has seven distribution ports 161. The distribution ports 161 are connected to the oil chamber 411, and the right end face of the distribution plate 16 is in close contact with the first end face 41 of the distribution valve 4.

[0051] In other words, the motor structure, from left to right, consists of a front housing 1, a connecting plate 10, a rotor-stator pair 2, a distribution plate 16, and a rear cover 3. The distribution valve 4 and the distribution pressure plate 7 are both located within the rear cover 3. The right end of the drive shaft 5 is connected to the distribution valve 4, and the left end of the drive shaft 5 is connected to the rotor of the rotor-stator pair 2. The drive shaft 5 also passes through the distribution plate 16. The right end of the linkage shaft 9 is connected to the rotor, and the left end of the linkage shaft 9 is connected to the main shaft 8. When the distribution valve 4 rotates under the drive of high-pressure oil, it drives the rotor to oscillate and rotate via the drive shaft 5. The rotor then drives the main shaft 8 to rotate via the linkage shaft 9. Multiple volumetric cavities 21 are formed between the rotor and stator in the rotor-stator pair 2. After high-pressure oil enters the volumetric cavities 21, the volume of the cavities changes under pressure, thereby achieving rotor rotation.

[0052] Taking 12 oil chambers 411 as an example, 9 are high-pressure chambers and 3 are low-pressure chambers, evenly distributed in a three-high-one-low pattern along the circumference of the first end face 41. When the distribution valve 4 rotates one revolution, the 7 distribution ports 161 can complete 3 high-low pressure conversions, that is, a total of 7*3=21 high-low pressure conversions, or 21 changes in motor volume. In the prior art, the distribution valve rotates one revolution, and the 7 distribution ports complete 6 high-low pressure conversions, that is, a total of 7*6=42 high-low pressure conversions, or 42 changes in motor volume. 21÷42=50%, thus halving the motor displacement. If the existing motor displacement is 80cc, the structure of this invention can achieve a displacement of 40cc.

[0053] It should be noted that this invention does not change the original dimensions of the distribution valve 4, but only improves its structure. Thus, while reducing the motor displacement, the original dimensions of the motor are not altered, and there is no need to reduce the thickness of the rotor-stator assembly. Under the same specifications (e.g., 40cc), compared to existing motors (which reduce the thickness of the rotor-stator assembly), the motor of this invention can withstand higher strength and provide greater torque, making it suitable for high-speed applications.

[0054] Furthermore, the motor of the present invention also includes: a first bearing 11 and a second bearing 12, both of which are sleeved on the main shaft 8. The first bearing 11 is located inside the front housing 1, and a portion of the second bearing 12 is located inside the front housing 1, while the other portion is located inside the connecting plate 10. A spacer 13 is provided between the first bearing 11 and the second bearing 12, and a locking nut 14 is provided at the end of the second bearing 12 away from the spacer 13. The locking nut 14 is connected to the main shaft 8. A retaining ring 15 is provided on the inner wall of the rotor-stator assembly 2. For example, both the first bearing 11 and the second bearing 12 are tapered roller bearings.

[0055] In the existing motor structure, the first bearing 11 and the second bearing 12 are both located entirely within the front housing 1, which results in a small gap between the two bearings and a low radial load capacity of the motor.

[0056] In this invention, by increasing the axial dimension of the connecting plate 10 and placing a portion of the second bearing 12 inside the connecting plate 10, the distance between the two bearings can be increased. A spacer 13 is provided between the two bearings, with its left and right ends respectively in close contact with the first bearing 11 and the second bearing 12. A locking nut 14 is then placed at the right end of the second bearing 12 to lock the first bearing 11, spacer 13, and second bearing 12 as a whole. The locking nut 14 provides axial preload. Placing a portion of the second bearing 12 inside the connecting plate 10 has the following advantages: firstly, it increases the distance between the two bearings, allowing for a larger length of the linkage shaft 9, thereby improving the radial load capacity of the motor; secondly, the second bearing 12 is located outside the front housing 1, making its assembly and maintenance more convenient and improving its interchangeability. Furthermore, increasing the axial dimension of the connecting plate 10 facilitates the installation of sensors to monitor the shaft output. The retaining ring 15 effectively prevents the linkage shaft 9 from slipping out, thus improving the stability of the motor operation.

[0057] In summary, this invention, through improvements to the structure of the distribution valve 4 and the coordination of the adjusting component 6, enables a change in the number of high and low pressure chambers in the motor, thereby reducing the motor displacement. The structural improvements of this invention do not reduce the overall axial length of the motor, ensuring that the motor still has a high bearing load capacity. Furthermore, by increasing the distance between the two bearings, the radial load capacity of the motor can be further enhanced, resulting in a significant improvement in the overall performance of the motor.

[0058] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A small-displacement cycloidal hydraulic motor, characterized in that, include: The distribution valve (4) includes a first end face (41), a side face (42) and a second end face (43). The first end face (41) has N oil chambers (411). The second end face (43) has m first oil holes (431) and n third oil holes (432). The side face (42) has m second oil holes (421) and n fourth oil holes (422). An adjusting member (6) is installed in each of the m first oil holes (431) or second oil holes (421). The number of adjusting members (6) is N / 2, where m+n=3N / 4. The adjusting component (6) includes an adjusting body (61) and a ball (62). The adjusting body (61) is embedded in the second oil hole (421) and forms an adjusting cavity (63) with the second oil hole (421). The ball (62) is located in the adjusting cavity 63. One end of the adjusting body (61) is provided with an oil inlet hole (611), and the other end of the adjusting body (61) is provided with a first receiving cavity (612). The second oil hole (421) has a second receiving cavity. The oil inlet hole (611) is connected to the first receiving cavity (612), and the first receiving cavity (612) is connected to the second receiving cavity (4211) to form the regulating cavity (63). The distribution valve (4) is also provided with a first flow channel (45) and a second flow channel (46). The first flow channel (45) is used to connect the first oil hole (431) and the regulating cavity (63), and the second flow channel (46) is used to connect the regulating cavity (63) and the oil cavity (411). The first receiving cavity (612) includes a first flow portion (6121) and a first blocking portion (6122). Let the diameter of the first flow portion (6121) be d1, the diameter of the first blocking portion (6122) gradually decreases in the direction away from the first flow portion (6121), the diameter of the end of the first blocking portion (6122) close to the first flow portion (6121) is d1, and the diameter of the end of the first blocking portion (6122) away from the first flow portion (6121) is d2, where d2 < d1. The second receiving cavity (4211) includes a second flow portion (42111) and a second blocking portion (42112). The diameter of the second flow portion (42111) is d1, and the diameter of the second blocking portion (42112) gradually decreases in the direction away from the second flow portion (42111). The diameter of the end of the second blocking portion (42112) near the second flow portion (42111) is d1, and the diameter of the end of the second blocking portion (42112) away from the second flow portion (42111) is d2, where d2 < d1. The diameter of the sphere (62) is D, where d2 < D < d1.

2. The small-displacement cycloidal hydraulic motor as described in claim 1, characterized in that, Multiple regulating elements (6) and a fourth oil hole (422) form a distribution unit (44), and the multiple distribution units (44) are evenly distributed along the circumference of the distribution valve (4).

3. The small-displacement cycloidal hydraulic motor as described in claim 1, characterized in that, Multiple adjustment elements (6) and a third oil hole (432) form a distribution unit (44), and the multiple distribution units (44) are evenly distributed on the second end face (43).

4. The small-displacement cycloidal hydraulic motor as described in claim 1, characterized in that, Also includes: The front housing (1), the rotor-stator pair (2), the rear cover (3), the main shaft (8), the linkage shaft (9), and the connecting plate (10) are provided. The rotor-stator pair (2) is located between the front housing (1) and the rear cover (3). The rear cover (3) is provided with a flow distribution valve (4). The flow distribution valve (4) is connected to the rotor-stator pair (2) through the transmission shaft (5). The connecting plate (10) is located between the front housing (1) and the rotor-stator pair (2). One end of the main shaft (8) is located inside the front housing (1). One end of the linkage shaft (9) is installed inside the main shaft (8). The other end of the linkage shaft (9) passes through the connecting plate (10) and is connected to the rotor-stator pair (2).

5. The small-displacement cycloidal hydraulic motor as described in claim 4, characterized in that, The rear cover (3) is provided with a first oil port (31) and a second oil port (32). A distribution pressure plate (7) is also installed inside the rear cover (3). A first cavity (33) is formed between the distribution pressure plate (7) and the rear cover (3). The first cavity (33) is connected to the first oil port (31) and the first cavity (33) is connected to the first oil hole (431).

6. The small-displacement cycloidal hydraulic motor as described in claim 5, characterized in that, A second cavity (34) is formed between the distribution valve (4) and the rear cover (3), the second cavity (34) is connected to the second oil port (32), and the second cavity (34) is connected to the second oil hole (421).

7. The small-displacement cycloidal hydraulic motor as described in claim 4, characterized in that, Also includes: The first bearing (11) and the second bearing (12) are both sleeved on the main shaft (8). The first bearing (11) is located inside the front housing (1), and a part of the second bearing (12) is located inside the front housing (1) and the other part is located inside the connecting plate (10).

8. The small-displacement cycloidal hydraulic motor as described in claim 7, characterized in that, A spacer (13) is provided between the first bearing (11) and the second bearing (12). A locking nut (14) is provided at the end of the second bearing (12) away from the spacer (13). The locking nut (14) is connected to the main shaft (8).

9. The small-displacement cycloidal hydraulic motor as described in claim 4, characterized in that, A retaining ring (15) is provided on the inner wall of the rotor-stator pair (2).

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