Cycloidal gear structure and speed reducer comprising same

Abstract

The invention provides a cycloidal gear structure and a speed reducer comprising the cycloidal gear structure, relates to the technical field of speed reducers, and solves the technical problems of abnormal wear and loud noise caused by axial attachment of two cycloidal gear main bodies. The cycloidal gear structure comprises a first cycloidal gear piece and a second cycloidal gear piece which are identical in structure. The first cycloidal gear piece or the second cycloidal gear piece comprises a cycloidal gear body and an anti-sticking assembly arranged on the cycloidal gear body, and the distance between the two cycloidal gear pieces is kept through the anti-sticking assembly. The anti-sticking assembly comprises a magnetic piece, and the magnetic piece comprises a magnetic ring and a fan-shaped magnetic block. The two cycloidal gear pieces cannot be attached together under the action of magnetic force, frictional resistance in the running process is eliminated, meanwhile, the gap between the two cycloidal gear pieces is greatly increased, lubrication is more sufficient, and the problems of dry friction, noise, abnormal abrasion and the like between the two cycloidal gear pieces are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a cycloid wheel structure and a reducer comprising the same. Background Art

[0002] With the transformation and upgrading of intelligent manufacturing, higher accuracy and reliability requirements are put forward for the high-precision transmission of industrial robot RV reducers. RV reducers are one of the core components of robot transmission. They have the advantages of large reduction ratio, coaxial transmission, high transmission accuracy, large rigidity, large load, compact structure, etc. They are widely used in aerospace, robotics and other industries. The structure of robot RV reducers is complex. The first stage reduction is a spur gear reducer structure that reduces speed according to the gear ratio, and the second stage reduction is a cycloid gear reducer structure that reduces speed according to the gear difference, with a total of two stages of reduction.

[0003] The RV reducer as a whole includes pinion housing, planetary gears, needle rollers, cycloid wheels, gaskets, eccentric shaft components, planet carrier rigid disc components, etc. The cycloid wheel is the core component of the second stage of the RV reducer. Its outer cycloid meshes with the needle roller installed in the pinion hole to form a small tooth difference transmission for the second stage of reduction.

[0004] The applicant has found that the prior art has at least the following technical problems: in the prior art, the cycloidal wheel is divided into two pieces, a and b, and the eccentric shaft is installed in the bearing hole of the cycloidal wheel through a rolling bearing. When the two cycloidal wheels are assembled, the two end faces are usually fitted together. During operation, there is a large friction resistance between the two cycloidal wheels, causing abnormal wear and noise pollution; at the same time, since the thickness of the cycloidal wheel is less than the height of the rolling bearing, there is a large gap between the two eccentric parts of the eccentric shaft. During assembly, the two cycloidal wheels are usually fitted together, and it is difficult to ensure that each cycloidal wheel is axially located in the middle of each rolling bearing, which makes the contact position of the cycloidal wheel bearing hole and the rolling bearing relatively biased, resulting in uneven force on the rolling bearing and the internal rollers, resulting in rolling error and unstable load-bearing working conditions of the rolling bearing, reducing the accuracy and service life of the RV reducer. Summary of the invention

[0005] The object of the present invention is to provide a cycloidal wheel structure and a reducer including the same, so as to solve the technical problems existing in the prior art of abnormal wear and high noise caused by axial fitting of two cycloidal wheel bodies.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a cycloidal wheel structure, comprising a first cycloidal wheel piece and a second cycloidal wheel piece with completely identical structures; the first cycloidal wheel piece or the second cycloidal wheel piece comprises a cycloidal wheel body and an anti-sticking component arranged on the cycloidal wheel body, and the distance between the two cycloidal wheel pieces is maintained by the anti-sticking component.

[0008] The cycloid wheel structure provided by the present invention prevents the two cycloid wheel pieces from being fitted together by arranging anti-sticking components on both cycloid wheel pieces, thereby solving the problems of abnormal wear and high noise caused by axial fitting of the cycloid wheels.

[0009] As a further improvement of the present invention, the anti-sticking component includes a magnetic member; the magnetic poles of the magnetic member located on the first cycloidal wheel piece and the second cycloidal wheel piece are the same.

[0010] As a further improvement of the present invention, the magnetic member comprises a magnetic ring and a sector-shaped magnetic block, wherein:

[0011] The magnetic ring is an annular structure and is arranged on the outer ring of the cycloid wheel body;

[0012] There are two sector-shaped magnetic blocks, which are symmetrically arranged on the inner ring of the cycloid wheel body.

[0013] The cycloidal wheel structure of the present invention is divided into two cycloidal wheel pieces a and b, which are composed of a cycloidal wheel body, a magnetic ring, and a fan-shaped magnetic block. The structures of the two cycloidal wheel pieces are completely consistent, and the surfaces of the magnetic ring and the fan-shaped magnetic block are both N grade. Under the action of magnetic force, the two cycloidal wheel pieces cannot fit together, and the friction resistance during operation is eliminated. At the same time, the gap between the two cycloidal wheel pieces is greatly increased, and the lubrication is more sufficient, which effectively improves the problems of dry friction, noise and abnormal wear between the two cycloidal wheel pieces.

[0014] As a further improvement of the present invention, the magnetic ring is embedded in the surface of the cycloid wheel body.

[0015] As a further improvement of the present invention, the sector-shaped magnetic block is embedded in the surface of the cycloid wheel body.

[0016] As a further improvement of the present invention, the centers of the two magnetic rings coincide with the center of the cycloid wheel body.

[0017] As a further improvement of the present invention, the cycloid wheel body is further provided with epicycloid teeth, a cycloid wheel bearing hole, a cycloid wheel center hole, and a cycloid wheel pin hole; wherein:

[0018] The epicycloid teeth are arranged along the entire circumference of the cycloid wheel body;

[0019] The cycloid wheel center hole is arranged at the center position of the cycloid wheel body;

[0020] The cycloid wheel bearing holes and the cycloid wheel pin holes are arranged alternately;

[0021] The magnetic ring is arranged outside the cycloid wheel pin hole and the bearing hole;

[0022] The sector-shaped magnetic block is arranged between the cycloid wheel center hole, the cycloid wheel bearing hole and the cycloid wheel pin hole.

[0023] As a further improvement of the present invention, the size specification of the magnetic ring should satisfy the following formula:

[0024] Magnetic ring outer diameter r1: 1.99*rx1-rg<r1<0.99*rg;

[0025] Magnetic ring inner diameter r2: 0.99*rx1<r2<1.99*rg-rx1;

[0026] Magnetic ring thickness h1: 0.1*hb

[0027] Among them: rx1 is the center distance of the cycloid wheel pin hole with the maximum diameter; rg is the root diameter of the epicycloid tooth; hb is the thickness of the cycloid wheel body.

[0028] As a further improvement of the present invention, the size specification of the sector-shaped magnetic block should satisfy the following formula:

[0029] The outer diameter of the sector magnetic block r3: 1.9*ro-rx2<r3<0.9*rx2;

[0030] The inner diameter of the sector magnetic block r4: 0.9*ro<r4<1.9*rx2-ro;

[0031] The arc diameter r5 of the fan-shaped magnetic block: 1.15*rz<r5<rg-rs;

[0032] The thickness of the fan-shaped magnetic block h2: 0.1*hb<h2<0.2*hb;

[0033] Among them: rx2 is the center distance of the cycloid wheel pin hole at the minimum diameter; ro is the radius of the cycloid wheel center hole; rz is the radius of the cycloid wheel bearing hole; rs is the distance between the cycloid wheel center hole and the bearing hole.

[0034] In a second aspect, a reducer provided by the present invention is an RV reducer, comprising an eccentric shaft assembly and the cycloidal wheel structure; the eccentric shaft assembly is inserted into a cycloidal wheel bearing hole in the cycloidal wheel structure.

[0035] ​The present invention provides a reducer, which is an RV reducer, which is composed of a pinion housing, a needle roller, a planetary gear, an eccentric shaft assembly, a planetary carrier rigid disk assembly and the cycloid wheel structure as described above. The eccentric shaft is installed in the bearing hole of the cycloid wheel through a rolling bearing, and the rolling bearing and the cycloid wheel are axially centered, which solves the problems of large rolling error of the rolling bearing and unstable load-bearing working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 is a top view of the first cycloid wheel piece in the cycloid wheel structure of the present invention;

[0038] Figure 2 is a side cross-sectional view of the first cycloid wheel piece in the cycloid wheel structure of the present invention;

[0039] Figure 3 1 is a dimension specification diagram of the first cycloid wheel piece in the cycloid wheel structure of the present invention (I);

[0040] Figure 4 It is the dimension specification diagram (II) of the first cycloid wheel piece in the cycloid wheel structure of the present invention;

[0041] Figure 5 is an axonometric view of the cycloid wheel structure of the present invention;

[0042] Figure 6 This is a diagram showing the coordination of the cycloid wheel structure and the eccentric shaft assembly in the reducer of the present invention;

[0043] Figure 7 It is a schematic diagram of the exploded structure of the reducer of the present invention;

[0044] Figure 8 It is a front cross-sectional view of the reducer of the present invention.

[0045] In the figure, 1, pin gear housing; 2, planetary gear; 3, needle roller; 4, cycloidal wheel structure; 4a, first cycloidal wheel piece; 4b, second cycloidal wheel piece; 401, magnetic ring; 402, fan-shaped magnetic block; 403, cycloidal wheel center hole; 404, cycloidal wheel bearing hole; 405, cycloidal wheel pin hole; 406, outer cycloidal tooth; 5, angular contact bearing; 6, planetary carrier; 7, rigid disk; 8, eccentric shaft assembly; 801, eccentric shaft; 802, rolling bearing. DETAILED DESCRIPTION

[0046] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0047] like Figure 1-Figure 5 As shown, the present invention provides a cycloidal wheel structure 4, comprising a first cycloidal wheel piece 4a and a second cycloidal wheel piece 4b with completely identical structures; the first cycloidal wheel piece 4a or the second cycloidal wheel piece 4b comprises a cycloidal wheel body and an anti-sticking component arranged on the cycloidal wheel body, and the distance between the two cycloidal wheel pieces is maintained by the anti-sticking component.

[0048] The cycloid wheel structure 4 provided by the present invention provides anti-sticking components on both cycloid wheel pieces, so that the two cycloid wheel pieces cannot be fitted together, thereby solving the problems of abnormal wear and high noise caused by axial fitting of the cycloid wheels.

[0049] As an optional embodiment of the present invention, the anti-sticking component includes a magnetic member; the magnetic member on the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b has the same magnetic pole, for example, the surface can be N pole. Since the magnetic member on the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b has the same magnetic pole, a repulsive force will be generated between the two, so that the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b do not contact each other, and always maintain a certain distance, thereby avoiding the problems of high friction, abnormal wear and high noise when in contact.

[0050] Considering that the cycloid wheel structure 4 is a disc-shaped structure, in order to balance the repulsive force between the cycloid wheel pieces and maintain stability, in this embodiment, the magnetic member includes a magnetic ring 401 and a fan-shaped magnetic block 402, wherein:

[0051] The magnetic ring 401 is an annular structure and is arranged on the outer ring of the cycloid wheel body;

[0052] There are two sector-shaped magnetic blocks 402, which are symmetrically arranged on the inner ring of the cycloid wheel body.

[0053] The cycloid wheel structure 4 of the present invention is divided into two cycloid wheel pieces a and b, which are composed of a cycloid wheel body, a magnetic ring 401, and a fan-shaped magnetic block 402. The structures of the two cycloid wheel pieces are completely consistent. The surfaces of the magnetic ring 401 and the fan-shaped magnetic block 402 are both N grade. Under the action of magnetic force, the two cycloid wheel pieces cannot fit together, and the friction resistance during operation is eliminated. At the same time, the gap between the two cycloid wheel pieces is greatly increased, and the lubrication is more sufficient, which effectively improves the problems of dry friction, noise and abnormal wear between the two cycloid wheel pieces.

[0054] Taking into account that as long as there is enough repulsive force between the two cycloid wheel pieces without contact, and also taking into account cost factors, in this embodiment, the thickness of the magnetic ring 401 and the fan-shaped magnetic block 402 are both smaller than the thickness of the first cycloid wheel piece 4a, and in order not to affect the original motion structure, in this embodiment, after the magnetic ring 401 and the fan-shaped magnetic block 402 are installed, the surface does not protrude from the first cycloid wheel piece 4a.

[0055] A fixed groove is formed on one side of the first cycloidal wheel piece 4a facing the second cycloidal wheel piece 4b, and the magnetic ring 401 and the fan-shaped magnetic block 402 are both embedded in the fixed groove, thereby forming a structure embedded in the surface of the cycloidal wheel body.

[0056] This structural setting not only realizes non-contact control between the two cycloid wheel pieces, but also does not damage the structure of the reducer, does not interfere with the operation of the reducer, and is easy to install.

[0057] In order to ensure the stability of the magnetic repulsion, in this embodiment, the centers of the two magnetic rings 401 coincide with the center of the cycloid wheel body, and the two magnetic blocks are symmetrically distributed around the center hole 403 of the cycloid wheel.

[0058] Furthermore, the cycloid wheel body is also provided with an outer cycloid tooth 406, a cycloid wheel bearing hole 404, a cycloid wheel center hole 403, and a cycloid wheel pin hole 405; wherein:

[0059] The outer cycloid teeth 406 are arranged along the entire circumference of the cycloid wheel body;

[0060] The cycloid wheel center hole 403 is arranged at the center of the cycloid wheel body;

[0061] The cycloid wheel bearing holes 404 and the cycloid wheel pin holes 405 are arranged alternately;

[0062] The magnetic ring 401 is arranged outside the cycloid wheel pin hole 405 and the bearing hole;

[0063] The sector-shaped magnetic block 402 is disposed between the cycloid wheel center hole 403 , the cycloid wheel bearing hole 404 and the cycloid wheel pin hole 405 .

[0064] In order to avoid interference between the magnetic ring 401 and the fan-shaped magnetic block 402 and the structures of the cycloid wheel body, such as the cycloid wheel center hole 403, the cycloid wheel bearing hole 404, the cycloid wheel pin hole 405, and the outer cycloid tooth 406, and to ensure that the strength of the cycloid wheel is not affected, it is necessary to restrict the size and position of the magnetic ring 401 and the fan-shaped magnetic block 402, such as Figure 3 and Figure 4 As shown, specifically:

[0065] The size specification of the magnetic ring 401 should satisfy the following formula:

[0066] The outer diameter r1 of the magnetic ring 401: 1.99*rx1-rg<r1<0.99*rg;

[0067] The inner diameter r2 of the magnetic ring 401: 0.99*rx1<r2<1.99*rg-rx1;

[0068] The thickness of the magnetic ring 401 is h1: 0.1*hb

[0069] Among them: rx1 is the center distance of the cycloid wheel pin hole 405 at the maximum diameter; rg is the root diameter of the outer cycloid tooth 406; hb is the thickness of the cycloid wheel body.

[0070] The dimensions of the sector magnetic block 402 should satisfy the following formula:

[0071] The outer diameter r3 of the sector-shaped magnetic block 402: 1.9*ro-rx2<r3<0.9*rx2;

[0072] The inner diameter r4 of the sector-shaped magnetic block 402: 0.9*ro<r4<1.9*rx2-ro;

[0073] The arc diameter r5 of the sector-shaped magnetic block 402: 1.15*rz<r5<rg-rs;

[0074] The thickness h2 of the fan-shaped magnetic block 402 is: 0.1*hb<h2<0.2*hb;

[0075] Among them: rx2 is the center distance of the cycloid wheel pin hole 405 at the minimum diameter; ro is the radius of the cycloid wheel center hole 403; rz is the radius of the cycloid wheel bearing hole 404; rs is the distance between the cycloid wheel center hole 403 and the bearing hole.

[0076] A reducer provided by the present invention is an RV reducer, which includes an eccentric shaft assembly 8 and a cycloidal wheel structure 4; the eccentric shaft assembly 8 is inserted into a cycloidal wheel bearing hole 404 in the cycloidal wheel structure 4.

[0077] The cycloid wheel structure 4 is a thin-walled structure with multiple hollows inside, and is provided with a cycloid wheel center hole 403, multiple cycloid wheel bearing holes 404, and multiple cycloid wheel pin holes 405 inside, and is provided with outer cycloid teeth 406 of a toothed structure outside. A magnetic ring 401 and two fan-shaped magnetic blocks 402 are distributed on one end face of the cycloid wheel piece. The existence of the two magnetic structures can prevent the two cycloid wheel pieces from fitting together due to the lack of axial constraints during operation, and the friction resistance is eliminated. At the same time, the gap between the two cycloid wheel pieces is greatly increased, and the lubrication is more sufficient, which effectively improves the problems of dry friction, noise, and abnormal wear between the two cycloid wheels.

[0078] ​In the magnetic structure, the outer diameter r1, inner diameter r2, and thickness h1 of the magnetic ring 401, and the outer diameter r3, inner diameter r4, arc diameter r5, and thickness h2 of the sector-shaped magnetic block 402 need to satisfy:

[0079] Magnetic ring 401 outer diameter: 1.99*rx1-rg<r1<0.99*rg

[0080] Inner diameter of magnetic ring 401: 0.99*rx1<r2<1.99*rg-rx1

[0081] Magnetic ring 401 thickness: 0.1*hb

[0082] The outer diameter of the fan-shaped magnetic block 402: 1.9*ro-rx2<r3<0.9*rx2

[0083] Inner diameter of sector magnetic block 402: 0.9*ro<r4<1.9*rx2-ro

[0084] Sector magnetic block 402 arc diameter: 1.15*rz<r5<rg-rs

[0085] Thickness of fan-shaped magnetic block 402: 0.1*hb<h2<0.2*hb

[0086] Among them, rx1 is the center distance of the cycloid wheel pin hole 405 at the maximum diameter, rg is the root diameter of the outer cycloid tooth 406, hb is the thickness of the cycloid wheel, rx2 is the center distance of the cycloid wheel pin hole 405 at the minimum diameter, ro is the radius of the cycloid wheel center hole 403, rz is the radius of the cycloid wheel bearing hole 404, and rs is the distance between the cycloid wheel center hole 403 and the bearing hole.

[0087] Within the above value range, interference between the magnetic ring 401 and the fan-shaped magnetic block 402 and the center hole, bearing hole, pin hole, epicycloid and other structures of the cycloid wheel body can be avoided, while ensuring that the structural strength of the cycloid wheel body is not affected, thereby meeting the operating requirements of the RV reducer.

[0088] like Figure 6-Figure 8 As shown, the present invention provides a reducer, which is an RV reducer, which consists of a pinion housing 1, a needle roller 3, a planetary gear 2, an eccentric shaft assembly 8, an angular contact bearing 5, a planetary carrier 6 rigid disk 7 assembly and the above cycloid wheel structure 4, and the eccentric shaft 801 is installed in the cycloid wheel bearing hole 404 through a rolling bearing 802.

[0089] ​During operation, due to the effect of the magnetic parts in the cycloid wheel structure 4, the two cycloid wheel pieces will not produce axial movement and will fit together, and the dry friction between the two is eliminated. At the same time, due to the increase in the gap in the middle area, lubrication is more sufficient, and wear and noise are greatly reduced; in addition, since the two cycloid wheel pieces are axially aligned with the two rolling bearings 802, the contact position is more reasonable, which can effectively improve the uneven force on the rolling bearings 802 and the internal rollers, thereby reducing the rolling error of the rolling bearings 802, and the load-bearing condition is more stable. The accuracy and life of the RV reducer can also be greatly improved, and the problems of large rolling error of the rolling bearings 802 and unstable load-bearing condition are solved.

[0090] In this embodiment, the eccentric shaft assembly 8 and the cycloidal wheel are matched with each other. The eccentric shaft 801 is matched with the bearing hole of the cycloidal wheel by connecting the eccentric shaft rolling bearing 802. The two cycloidal wheel pieces are axially centered with the two rolling bearings 802. The contact position is more reasonable, which can effectively improve the uneven force of the rolling bearing 802 and the internal rollers, thereby reducing the rolling error of the rolling bearing 802, making the load-bearing condition more stable, and the life of the rolling bearing 802 can be greatly improved.

[0091] First of all, it should be explained here that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0092] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0093] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0094] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0095] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0097] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A cycloid wheel structure, It is characterized in that It comprises a first cycloidal wheel piece and a second cycloidal wheel piece of two identical structures; the first cycloidal wheel piece or the second cycloidal wheel piece comprises a cycloidal wheel body and an anti-sticking component arranged on the cycloidal wheel body, and the distance between the two cycloidal wheel pieces is maintained by the anti-sticking component.

2. The cycloid wheel structure according to claim 1, It is characterized in that The anti-sticking component includes a magnetic component; the magnetic poles of the magnetic component located on the first cycloid wheel piece and the second cycloid wheel piece are the same.

3. The cycloid wheel structure according to claim 2, It is characterized in that The magnetic member comprises a magnetic ring and a sector-shaped magnetic block, wherein: The magnetic ring is an annular structure and is arranged on the outer ring of the cycloid wheel body; There are two sector-shaped magnetic blocks, which are symmetrically arranged on the inner ring of the cycloid wheel body.

4. The cycloid wheel structure according to claim 3, It is characterized in that The magnetic ring is embedded in the surface of the cycloid wheel body.

5. The cycloid wheel structure according to claim 3, It is characterized in that The sector-shaped magnetic block is embedded in the surface of the cycloid wheel body.

6. The cycloid wheel structure according to claim 3, It is characterized in that The centers of the two magnetic rings coincide with the center of the cycloid wheel body.

7. The cycloid wheel structure according to claim 3, It is characterized in that The cycloid wheel body is also provided with epicycloid teeth, a cycloid wheel bearing hole, a cycloid wheel center hole, and a cycloid wheel pin hole; wherein: The epicycloid teeth are arranged along the entire circumference of the cycloid wheel body; The cycloid wheel center hole is arranged at the center position of the cycloid wheel body; The cycloid wheel bearing holes and the cycloid wheel pin holes are arranged alternately; The magnetic ring is arranged outside the cycloid wheel pin hole and the bearing hole; The sector-shaped magnetic block is arranged between the cycloid wheel center hole, the cycloid wheel bearing hole and the cycloid wheel pin hole.

8. The cycloid wheel structure according to claim 7, It is characterized in that The size specifications of the magnetic ring should satisfy the following formula: Magnetic ring outer diameter r1: 1.99*rx1-rg<r1<0.99*rg; Magnetic ring inner diameter r2: 0.99*rx1<r2<1.99*rg-rx1; Magnetic ring thickness h1: 0.1*hb<h1<0.2*hb; Among them: rx1 is the center distance of the cycloid wheel pin hole with the maximum diameter; rg is the root diameter of the epicycloid tooth; hb is the thickness of the cycloid wheel body.

9. The cycloid wheel structure according to claim 7, It is characterized in that The dimensions of the fan-shaped magnetic block should satisfy the following formula: The outer diameter of the sector magnetic block r3: 1.9*ro-rx2<r3<0.9*rx2; The inner diameter of the sector magnetic block r4: 0.9*ro<r4<1.9*rx2-ro; The arc diameter r5 of the fan-shaped magnetic block: 1.15*rz<r5<rg-rs; The thickness of the fan-shaped magnetic block h2: 0.1*hb<h2<0.2*hb; Among them: rx2 is the center distance of the cycloid wheel pin hole at the minimum diameter; ro is the radius of the cycloid wheel center hole; rz is the radius of the cycloid wheel bearing hole; rs is the distance between the cycloid wheel center hole and the bearing hole.

10. A reducer, It is characterized in that The invention is an RV reducer, comprising an eccentric shaft assembly and a cycloidal wheel structure as described in any one of claims 1 to 9; the eccentric shaft assembly is inserted into a cycloidal wheel bearing hole in the cycloidal wheel structure.

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