Cycloid, RV reducer, Robot

Abstract

The application provides a cycloid wheel, an RV reducer and a robot, wherein the cycloid wheel comprises a cycloid wheel body, a bearing hole penetrating through the axial direction of the cycloid wheel body is formed on the cycloid wheel body, a containing groove is formed on the hole wall of the bearing hole, a magnetic piece is arranged in the containing groove, a discharge hole is formed on the cycloid wheel body, and the discharge hole is communicated with the containing groove. According to the application, the bearing hole of the cycloid wheel is used for mounting an eccentric shaft assembly, and in the process of rotating the eccentric shaft assembly, the mixture of lubricating grease and iron filings in the bearing hole and the eccentric shaft bearing can enter the containing groove by using centrifugal force and extrusion. The magnetic piece in the containing groove adsorbs the iron filings in the lubricating grease, cleans the lubricating grease, and the subsequent mixture extrudes the cleaned lubricating grease, so that the cleaned lubricating grease is discharged through the discharge hole. Since the iron filings are collected in the containing groove, too much iron filings cannot cause abnormal wear of the eccentric shaft and the bearing roller.

Description

Cycloidal wheel, RV reducer, robot Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a cycloidal wheel, an RV reducer, and a robot. Background Technology

[0002] With the transformation and upgrading of intelligent manufacturing, higher precision and reliability requirements have been placed on the high-precision transmission of RV reducers for industrial robots. RV reducers are one of the core components of robot transmission. Compared with other reduction methods, RV reducers have advantages such as large reduction ratio, coaxial transmission, high transmission accuracy, high rigidity, high load capacity, and compact structure, and are widely used in aerospace, robotics, and other industries. The structure of a robot RV reducer is complex. The first stage of reduction is a spur gear reducer mechanism that reduces speed according to the tooth ratio, and the second stage of reduction is a cycloidal gear reducer mechanism that reduces speed according to the difference in the number of teeth, for a total of two stages of reduction. The RV reducer is mainly composed of a cycloidal wheel, pin gear housing, needle rollers, eccentric shaft assembly, planetary carrier, and rigid disk. Among them, the cycloidal wheel is the core connecting and meshing part of the RV reducer, which connects and supports the eccentric shaft assembly and directly meshes with the pin gear housing and needle rollers to form the small tooth difference transmission of the second stage of reduction.

[0003] In existing technical solutions, the cycloidal wheel has bearing holes, and the eccentric shaft assembly is inserted into these holes. The eccentric shaft assembly includes an eccentric shaft and an eccentric shaft bearing, with the bearing fitted onto the eccentric shaft. The eccentric shaft bearing has multiple spaced mounting slots along its circumference, each housing a bearing needle roller. The RV reducer transmits motion via rigid meshing, and the bearing needle rollers are in line contact with the eccentric shaft. During the rotation of the eccentric shaft assembly, stress concentration occurs between the bearing needle rollers and the eccentric shaft, resulting in dry friction. This easily causes wear on both the bearing needle rollers and the eccentric shaft, producing metal filings. When these metal filings accumulate, abnormal wear on the eccentric shaft and bearing needle rollers occurs, severely affecting the service life of the eccentric shaft bearing, and consequently impacting the performance and lifespan of the RV reducer. Summary of the Invention

[0004] Therefore, the present invention provides a cycloidal wheel that can solve the technical problem that, during the rotation of the eccentric shaft assembly of the existing RV reducer, stress concentration occurs between the bearing needle rollers and the eccentric shaft, resulting in dry friction. This dry friction easily causes wear of the bearing needle rollers and the eccentric shaft, producing iron filings. Excessive iron filings can lead to abnormal wear of the eccentric shaft and bearing needle rollers, seriously affecting the service life of the eccentric shaft bearing, and consequently affecting the performance of the RV reducer and shortening its service life.

[0005] To solve the above problems, the present invention provides a cycloidal wheel, comprising: a cycloidal wheel body, wherein a bearing hole is formed on the cycloidal wheel body through its axial direction, a receiving groove is formed on the wall of the bearing hole, a magnetic element is disposed in the receiving groove, and a discharge hole is formed on the cycloidal wheel body, the discharge hole communicating with the receiving groove.

[0006] In some embodiments, the receiving groove includes a channel and a collecting cavity, a first end of the channel is connected to the bearing hole, a second end of the channel is connected to the collecting cavity, the volume of the collecting cavity is larger than the volume of the channel, the magnetic element is disposed in the collecting cavity, and the discharge hole is connected to the collecting cavity.

[0007] In some embodiments, the cycloidal wheel body is further provided with a central hole, which is spaced apart from the bearing hole. Along the radial direction of the cycloidal wheel body, the bearing hole is located outside the central hole, and the channel is constructed at the narrowest point of the wall between the bearing hole and the central hole.

[0008] In some embodiments, the cycloidal wheel body is provided with an enlarged structure on the wall of the central hole, the enlarged structure having a cavity, the enlarged structure and the wall of the central hole together forming the collecting cavity, and the discharge hole is constructed on the enlarged structure.

[0009] In some embodiments, the enlarged structure has an arcuate inner surface, both sides of which are in contact with the wall of the central hole, the arcuate inner surface bulging away from the channel, and the arcuate inner surface extending from one side of the second end of the channel to the other side.

[0010] In some embodiments, the collecting chamber includes an oil collecting chamber and a chip collecting chamber, the oil collecting chamber being in communication with the chip collecting chamber, the magnetic component being installed in the chip collecting chamber, and the volume of the chip collecting chamber being larger than the volume of the magnetic component.

[0011] In some embodiments, the channel is connected to the chip collection chamber via the oil collection chamber, and the chip collection chamber is directly opposite the channel.

[0012] In some embodiments, the bearing hole is used to mount an eccentric shaft assembly with an angular velocity of w during rotation, the radius of the bearing hole is r, the mass of a single iron filings entering the receiving groove is M1, and the centrifugal force experienced by the iron filings is Fdisplacement, where Fdisplacement = M1 * w. 2 *r; The mass of the magnetic component is M2, the distance between the magnetic component and the first end of the channel is L, and the attractive force of the magnetic component on the iron filings is Fattractive. According to Coulomb's law, Fattractive = K*(M1*M2) / L 2The resistance of the lubricating grease to the iron filings is F_resistance. To ensure that the iron filings can be attracted out of the grease by the magnetic component, F_displacement + F_attraction > F_resistance.

[0013] In some embodiments, the discharge port is located between the chip collection cavity and the channel, and the discharge port is close to the magnetic element.

[0014] In some embodiments, the diameter of the channel is φ1, where 0.1mm ≤ φ1 ≤ 0.2mm.

[0015] In some embodiments, the thickness of the cycloidal wheel body is H, and the length of the channel is L1, where 1 / 3H ≤ L1 ≤ 2 / 3H.

[0016] In some embodiments, the diameter of the discharge hole is φ2, where 0.05mm ≤ φ2 ≤ 0.1mm.

[0017] The present invention also provides an RV reducer, including the aforementioned cycloidal wheel.

[0018] The present invention also provides a robot including the aforementioned RV reducer.

[0019] The cycloidal wheel, RV reducer, and robot provided by this invention have the following beneficial effects:

[0020] The bearing hole of the cycloidal wheel is used to install the eccentric shaft assembly. Both the cycloidal wheel and the eccentric shaft assembly are coated with lubricating grease. During the rotation of the eccentric shaft assembly, centrifugal force and the squeezing action of the eccentric shaft bearing force the mixture of lubricating grease and iron filings in the bearing hole and the eccentric shaft bearing to enter the receiving groove. The magnetic component in the receiving groove attracts and removes the iron filings from the lubricating grease, cleaning it. Simultaneously, the subsequently entering mixture of lubricating grease and iron filings further squeezes the cleaned lubricating grease, causing it to be discharged through the discharge hole. Because the iron filings generated during the friction between the bearing needle rollers and the eccentric shaft are attracted to and collected by the magnetic component in the receiving groove, this application can solve the problem of excessive iron filings accumulating between the eccentric shaft and the bearing needle rollers, leading to abnormal wear of the eccentric shaft and bearing needle rollers, severely affecting the service life of the eccentric shaft bearing, and consequently affecting the performance and shortening the service life of the RV reducer. Furthermore, during the rotation of the eccentric shaft assembly, it also drives the cycloidal wheel to move within the relatively enclosed space enclosed by the planetary carrier, the pin tooth housing, and the rigid disc. Therefore, as the lubricating grease in the bearing hole and the eccentric shaft bearing continuously enters the receiving groove, the grease sinking in the bearing hole will cause the clean lubricating grease discharged from the self-discharge hole to replenish the bearing hole and the eccentric shaft bearing under the movement of the cycloidal wheel and the mutual adsorption of the grease, thus forming a self-cleaning cycle for the lubricating grease. Attached Figure Description

[0021] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0022] Figure 1 is a top view of the cycloidal wheel according to an embodiment of the present invention;

[0023] Figure 2 is an enlarged schematic diagram of point A of the cycloidal wheel in Figure 1, which is an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the cycloidal wheel according to an embodiment of the present invention;

[0025] Figure 4 is a cross-sectional view of the cycloidal wheel according to an embodiment of the present invention;

[0026] Figure 5 is an exploded view of the RV reducer according to an embodiment of the present invention;

[0027] Figure 6 is a structural schematic diagram of the eccentric shaft assembly of the RV reducer according to an embodiment of the present invention;

[0028] Figure 7 is a cross-sectional view of the RV reducer according to an embodiment of the present invention;

[0029] Figure 8 is a half-sectional view of the RV reducer according to an embodiment of the present invention.

[0030] The reference numerals in the attached figures are as follows:

[0031] 1. Cycloidal wheel body; 2. Bearing hole; 3. Discharge hole; 4. Channel; 5. Collection chamber; 51. Oil collection chamber; 52. Chip collection chamber; 6. Center hole; 7. Expansion structure; 8. Arc-shaped inner surface; 9. Eccentric shaft assembly; 91. Eccentric shaft; 92. Eccentric shaft bearing; 93. Bearing needle roller; 10. Planetary carrier; 11. Main bearing; 12. Input shaft; 13. Needle gear housing; 14. Needle gear housing needle roller; 15. Planetary gear; 16. Rigid disc; 17. Snap ring. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] Referring to Figures 1 to 8, according to an embodiment of the present invention, a cycloidal wheel is provided, comprising: a cycloidal wheel body 1, a bearing hole 2 extending through its axial direction on the cycloidal wheel body 1, a receiving groove formed on the wall of the bearing hole 2, a magnetic element disposed in the receiving groove, and a discharge hole 3 formed on the cycloidal wheel body 1, the discharge hole 3 communicating with the receiving groove.

[0037] In this technical solution, the bearing hole 2 of the cycloidal wheel is used to install the eccentric shaft assembly 9. Lubricating grease is applied to both the cycloidal wheel and the eccentric shaft assembly 9. During the rotation of the eccentric shaft assembly 9, centrifugal force and the squeezing action of the eccentric shaft bearing 92 cause the mixture of lubricating grease and iron filings in the bearing hole 2 and the eccentric shaft bearing 92 to enter the receiving groove. The magnetic component in the receiving groove attracts and removes the iron filings from the lubricating grease, cleaning it. Simultaneously, the subsequently entering mixture of lubricating grease and iron filings further squeezes the cleaned lubricating grease, causing it to be discharged through the discharge hole 3. Since the iron filings generated during the friction between the bearing needle roller 93 and the eccentric shaft 91 are attracted to the magnetic component in the receiving groove and collected, this application can solve the problem of excessive iron filings accumulating between the eccentric shaft 91 and the bearing needle roller 93, leading to abnormal wear of the eccentric shaft 91 and the bearing needle roller 93, severely affecting the service life of the eccentric shaft bearing 92, and consequently affecting the performance of the RV reducer and shortening its service life. Furthermore, during the rotation of the eccentric shaft assembly 9, it also drives the cycloidal wheel to move within the relatively enclosed space enclosed by the planetary carrier 10, the pin tooth housing 13, and the rigid disk 16. Therefore, when the lubricating grease in the bearing hole 2 and the eccentric shaft bearing 92 continuously enters the receiving groove, the grease at the bearing hole 2 sinks and causes the clean lubricating grease discharged from the self-discharge hole 3 to replenish the bearing hole 2 and the eccentric shaft bearing 92 under the movement of the cycloidal wheel and the mutual adsorption of the grease, thus forming a self-cleaning cycle for the lubricating grease.

[0038] Referring to Figures 1 and 2, the receiving tank includes a channel 4 and a collecting cavity 5. The first end of the channel 4 is connected to the bearing hole 2, and the second end of the channel 4 is connected to the collecting cavity 5. The volume of the collecting cavity 5 is greater than the volume of the channel 4. A magnetic component is disposed in the collecting cavity 5, and the discharge hole 3 is connected to the collecting cavity 5.

[0039] In this embodiment, since the volume of the collecting chamber 5 is larger than that of the channel 4, when the mixture of lubricating grease and iron filings enters the collecting chamber 5 from the channel 4, the increased space slows down the mixture, thus helping the magnetic component to attract the iron filings and preventing them from being ejected directly from the discharge hole 3 due to excessive speed. It is understood that the first end of the channel 4 can be flared to facilitate the entry of the mixture of lubricating grease and iron filings from the bearing hole 2 into the channel 4. Similarly, the second end of the channel 4 can also be flared to better slow down the mixture of lubricating grease and iron filings entering the collecting chamber 5.

[0040] Referring to Figures 1 and 2, the cycloidal wheel body 1 is also provided with a central hole 6. The central hole 6 and the bearing hole 2 are spaced apart. Along the radial direction of the cycloidal wheel body 1, the bearing hole 2 is located outside the central hole 6. The channel 4 is constructed at the narrowest point of the wall between the bearing hole 2 and the central hole 6.

[0041] In this technical solution, since the volume of the collecting chamber 5 is larger than that of the channel 4, and the collecting chamber 5 is a relatively enclosed space, it is very difficult to directly construct the channel 4 and the collecting chamber 5 sequentially on the cycloidal wheel body 1. The central hole 6 is an existing hole on the cycloidal wheel body 1, located in the central area of ​​the cycloidal wheel body 1. Therefore, the channel 4 can be constructed first using the central hole 6, and the issue of the collecting chamber 5 can be considered separately. When the channel 4 is constructed at its narrowest point between the bearing hole 2 and the central hole 6, the length of the channel 4 is minimized, thus facilitating the entry of the mixture of lubricating grease and iron filings into the collecting chamber 5 from the channel 4. There are two bearing holes 2, located on either side of the central hole 6, and the two bearing holes 2 are symmetrical with respect to the central hole 6.

[0042] Referring to Figure 2, the cycloidal wheel body 1 is provided with an enlarged structure 7 on the wall of the central hole 6. The enlarged structure 7 has a cavity, and the enlarged structure 7 and the wall of the central hole 6 together form a collection cavity 5. The discharge hole 3 is constructed on the enlarged structure 7.

[0043] In this embodiment, the enlarged structure 7 can be hollowed out from one side, and then the enlarged structure 7 is fixed to the wall of the central hole 6 at the position corresponding to the channel 4. The enlarged structure 7 and the wall of the central hole 6 will then together form the collecting cavity 5, which makes the design of the collecting cavity 5 easier to realize. The enlarged structure 7 is partially cylindrical in shape, and the upper and lower end faces of the enlarged structure 7 are flush with the upper and lower end faces of the cycloidal wheel body 1. Both the upper and lower end faces of the enlarged structure 7 can be used to construct discharge holes 3 that communicate with the collecting cavity 5.

[0044] Referring to Figure 2, the enlarged structure 7 has an arc-shaped inner surface 8, both sides of which are in contact with the hole wall of the central hole 6. The arc-shaped inner surface 8 bulges away from the channel 4 and extends from one side of the second end of the channel 4 to the other side.

[0045] In this technical solution, the arc-shaped inner surface 8 is less likely to cause lubricating grease and iron filings to accumulate in the dead corners of the collection chamber 5 compared to other structures with sharp edges. This helps the magnetic components to attract iron filings and also helps the cleaned lubricating grease to be discharged from the discharge hole 3.

[0046] Referring to Figure 2, the collecting chamber 5 includes an oil collecting chamber 51 and a chip collecting chamber 52. The channel 4 is connected to the chip collecting chamber 52 through the oil collecting chamber 51. The magnetic component is installed in the chip collecting chamber 52, and the volume of the chip collecting chamber 52 is larger than the volume of the magnetic component.

[0047] In this embodiment, by dividing the collecting chamber 5 into an oil collecting chamber 51 and a chip collecting chamber 52, and installing a magnetic component in the chip collecting chamber 52, the iron chips adsorbed by the magnetic component can be located within the chip collecting chamber 52, thereby effectively separating the lubricating grease and iron chips and preventing them from always being mixed together. The chip collecting chamber 52 is constructed on the arc-shaped inner surface 8.

[0048] As shown in Figure 2, channel 4 is connected to chip collection chamber 52 through oil collection chamber 51, and chip collection chamber 52 is directly opposite channel 4.

[0049] In this technical solution, when channel 4 is connected to chip collection cavity 52 via oil collection cavity 51, and chip collection cavity 52 is directly opposite channel 4, it indicates that chip collection cavity 52 is relatively far from channel 4. Therefore, when the mixture of lubricating grease and iron filings reaches chip collection cavity 52, its speed is already relatively slow. This makes it easier for the magnetic component installed in chip collection cavity 52 to attract the iron filings. Simultaneously, when the mixture of lubricating grease and iron filings enters collection cavity 5 from channel 4, although the increased space causes the mixture to diffuse, most of the mixture will still travel along the direction of channel 4 under the action of inertial force. When chip collection cavity 52 is directly opposite channel 4, the magnetic component located in chip collection cavity 52 is on the path of most of the mixture, thus making it easier for the magnetic component to quickly attract most of the iron filings, resulting in higher adsorption efficiency. The chip collection cavity 52 divides the arc-shaped inner surface 8 into two symmetrical segments.

[0050] As shown in Figure 2, the discharge hole 3 is located between the chip collection chamber 52 and the channel 4, and the discharge hole 3 is close to the magnetic component. This ensures that the clean lubricating grease after the magnetic component has adsorbed iron chips is discharged through the discharge hole 3.

[0051] In one specific implementation, when the angular velocity of the eccentric shaft assembly 9 in the rotating state is w, the radius of the bearing hole 2 is r, and the mass of a single iron chip entering the receiving groove is M1, the centrifugal force on the iron chip is Fdispersion, where Fdispersion = M1 * w. 2 *r; When the mass of the magnetic component is M2, the distance between the magnetic component and the first end of channel 4 is L, and the attraction force of the magnetic component on the iron filings is Fattract, according to Coulomb's law, Fattract = K * M1 * M2 / L 2 The resistance of the lubricating grease to iron filings is F_resistance. To ensure that the iron filings can be attracted out of the grease by the magnetic component, F_displacement + F_attraction > F_resistance. That is to say, the chip collection cavity 52 is directly opposite the channel 4, and only when Only when the thickness of the cycloidal wheel body 1 is H, and the thickness of the magnetic component is 0.1 mm, the length is Y mm, 2 / 3H≤Y≤4 / 5H, and the width is X mm, X=0.1Y. The magnetic component is made of N35 neodymium iron boron magnet material. Based on experience, the attraction force of neodymium iron boron magnets is 600 times their own weight, so the weight of the magnetic component is M2=0.1*X*Y*0.0075=0.00075*X*Y. Furthermore, when the thickness of the cycloidal wheel body 1 is H, the length of the channel 4 is L1, 1 / 3H≤L1≤2 / 3H. When the length of the channel 4 meets this condition, it can ensure the efficiency of the entry of the mixture of lubricating grease and iron filings into the channel 4 while reducing the impact on the strength of the cycloidal wheel.

[0052] Specifically, the diameter of channel 4 is φ1, 0.1mm≤φ1≤0.2mm. During the operation of the RV reducer, the diameter of the iron filings generated by dry friction is basically less than 0.1mm. When the diameter φ1 of channel 4 is greater than or equal to 0.1mm and less than or equal to 0.2mm, it can ensure that the iron filings and grease flow smoothly from channel 4 into the collection chamber 5, and at the same time, it can prevent channel 4 from opening too large, thereby reducing the impact of channel 4 on the operation of the eccentric shaft bearing 92.

[0053] More specifically, the diameter of the discharge hole 3 is φ2, 0.05mm≤φ2≤0.1mm. When the diameter φ2 of the discharge hole 3 is greater than or equal to 0.05mm and less than or equal to 0.1mm, it indicates that the diameter of the discharge hole 3 is smaller than the diameter of the iron filings. This can further prevent the iron filings from mixing with the lubricating grease and being discharged from the discharge hole 3 together.

[0054] This invention also provides an RV reducer, including the aforementioned cycloidal wheels. The cycloidal wheels are two in number, stacked in a staggered manner with a certain gap between them. When the eccentric shaft assembly 9 rotates, the two cycloidal wheels move in a staggered manner, discharging lubricating grease from the discharge hole 3 into the bearing hole 2 between the two cycloidal wheels. The RV reducer also includes a planetary carrier 10, two main bearings 11, an input shaft 12, a pin gear housing 13, multiple pin gear housing rollers 14, two planetary gears 15, a rigid disc 16, and two retaining rings 17. The assembly of these components to form the RV reducer is a relatively mature existing technology and will not be described in detail here.

[0055] Finally, it should be noted that existing RV reducers are used in medium- and heavy-duty applications, which exacerbates the stress concentration between the eccentric shaft 91 and the bearing needle roller 93, further increasing wear and metal filings. This leads to rapid wear of the bearing needle roller 93 and the eccentric shaft 91, resulting in accelerated abnormal wear, increased noise, and reduced accuracy and service life of the RV reducer. In contrast, the RV reducer of this application, by employing the aforementioned cycloidal wheel, not only collects the metal filings generated by dry friction between the bearing needle roller 93 and the eccentric shaft 91, but also performs self-cleaning and recycling of the lubricating grease. This achieves lubricating grease cleaning without disassembly, thus ensuring the operational stability of the eccentric shaft bearing 92 and improving the operational stability and service life of the RV reducer.

[0056] The present invention also provides a robot including the aforementioned RV reducer.

[0057] It will be readily understood by those skilled in the art that, without conflict, the advantageous technical features of the above-mentioned methods can be freely combined and superimposed.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The above are merely preferred embodiments of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the protection scope of the present invention.

Claims

1. A cycloidal wheel, characterized in that, The cycloidal wheel includes a cycloidal wheel body (1), on which a bearing hole (2) is constructed through its axial direction. A receiving groove is formed on the wall of the bearing hole (2), and a magnetic component is disposed in the receiving groove. The cycloidal wheel body (1) also has a discharge hole (3) that communicates with the receiving groove. The receiving groove includes a channel (4) and a collecting chamber (5). The first end of the channel (4) communicates with the bearing hole (2), and the second end of the channel (4) communicates with the collecting chamber (5). The magnetic component is disposed in the collecting chamber (5), and the discharge hole (3) communicates with the collecting chamber (5). The collecting chamber (5) includes an oil collecting chamber (51) and a chip collecting chamber (52). The oil collecting chamber (51) is connected to the chip collecting chamber (52). The magnetic component is installed in the chip collecting chamber (52). The channel (4) is connected to the chip collecting chamber (52) through the oil collecting chamber (51), and the chip collecting chamber (52) is directly opposite the channel (4). The bearing hole (2) is used to install the eccentric shaft assembly (9). The angular velocity of the eccentric shaft assembly (9) in the rotating state is w. The radius of the bearing hole (2) is r. The mass of a single iron chip entering the receiving groove is M1. The centrifugal force on the iron chip is F_displacement, F_displacement = M1 * w. 2 *r; The mass of the magnetic component is M2, the distance between the magnetic component and the first end of the channel (4) is L, and the attraction force of the magnetic component on the iron filings is F_attractive. According to Coulomb's law, F_attractive = K * (M1 * M2) / L 2 The resistance of the lubricating grease to the iron filings is F_resistance. To ensure that the iron filings can be attracted out of the lubricating grease by the magnetic component, F_displacement + F_attraction > F_resistance, thus L < 0. 。 2. The cycloidal wheel according to claim 1, characterized in that, The volume of the collection chamber (5) is greater than the volume of the channel (4).

3. The cycloidal wheel according to claim 2, characterized in that, The cycloidal wheel body (1) is also provided with a central hole (6), which is spaced apart from the bearing hole (2). Along the radial direction of the cycloidal wheel body (1), the bearing hole (2) is located outside the central hole (6), and the channel (4) is constructed at the narrowest point of the wall between the bearing hole (2) and the central hole (6).

4. The cycloidal wheel according to claim 3, characterized in that, The cycloidal wheel body (1) is provided with an enlarged structure (7) on the hole wall of the central hole (6). The enlarged structure (7) has a cavity. The enlarged structure (7) and the hole wall of the central hole (6) together form the collecting cavity (5). The discharge hole (3) is constructed on the enlarged structure (7).

5. The cycloidal wheel according to claim 4, characterized in that, The enlarged structure (7) has an arc-shaped inner surface (8), both sides of which are in contact with the hole wall of the central hole (6). The arc-shaped inner surface (8) bulges away from the channel (4) and extends from one side of the second end of the channel (4) to the other side.

6. The cycloidal wheel according to claim 2, characterized in that, The volume of the chip collection cavity (52) is greater than the volume of the magnetic component.

7. The cycloidal wheel according to claim 1, characterized in that, The discharge hole (3) is located between the chip collection cavity (52) and the channel (4), and the discharge hole (3) is close to the magnetic component.

8. The cycloidal wheel according to any one of claims 1 to 7, characterized in that, The diameter of the channel (4) is φ1, 0.1mm≤φ1≤0.2mm.

9. The cycloidal wheel according to any one of claims 1 to 7, characterized in that, The thickness of the cycloidal wheel body (1) is H, and the length of the channel (4) is L1, where 1 / 3H≤L1≤2 / 3H.

10. The cycloidal wheel according to claim 1, characterized in that, The diameter of the discharge hole (3) is φ2, 0.05mm≤φ2≤0.1mm.

11. An RV reducer, characterized in that, Includes the cycloidal wheel as described in any one of claims 1 to 10.

12. A robot, characterized in that, Includes the RV reducer as described in claim 11.

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