A cycloid wheel structure and a reducer including the same

Abstract

The present invention provides a cycloid wheel structure and a reducer including the same, which relates to the technical field of reducers and solves the technical problems of abnormal wear and high noise caused by the axial adhesion of two cycloid wheel bodies. The cycloid wheel structure includes a first cycloid wheel piece and a second cycloid wheel piece with two identical structures; the first cycloid wheel piece or the second cycloid wheel piece includes a cycloid wheel body and an anti-sticking component provided on the cycloid wheel body, and the distance between the two cycloid wheel pieces is maintained by the anti-sticking component; the anti-sticking component includes a magnetic part, and the magnetic part includes a magnetic ring and a fan-shaped magnetic block. The two cycloid wheel pieces of the present invention cannot be adhered together under the action of magnetic force, and the friction resistance during operation is eliminated. At the same time, the gap between the two cycloid wheel pieces is greatly increased, and lubrication is more sufficient, which effectively improves the problems of dry friction, noise and abnormal wear between the two cycloid wheel pieces.

Description

Technical Field

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

[0002] The transformation and upgrading of intelligent manufacturing has placed higher demands on the precision and reliability of the high-precision transmission of industrial robot RV reducers. RV reducers are a core component of robotic transmissions. They offer advantages such as a large reduction ratio, coaxial transmission, high transmission accuracy, high rigidity, large load capacity, and a compact structure. They are widely used in industries such as aerospace and robotics. Robot RV reducers have a complex structure: the first stage is a spur gear reducer that reduces speed based on the gear ratio, and the second stage is a cycloid gear reducer that reduces speed based on the gear difference, for a total of two stages of reduction.

[0003] The RV reducer consists of a pinion housing, planetary gears, needle rollers, a cycloid wheel, spacers, an eccentric shaft assembly, and a planetary carrier rigid disc assembly. The cycloid wheel is the core component of the RV reducer's second-stage reduction. Its epicycloid meshes with the needle rollers installed in the pinion holes, forming the small-tooth-difference transmission for the second-stage reduction.

[0004] The applicant has found that the existing technology has at least the following technical problems: in the existing technology, the cycloid wheel is divided into two pieces, a and b, and the eccentric shaft is installed in the bearing hole of the cycloid wheel through a rolling bearing. When the two cycloid wheels are assembled, the two end faces are usually fitted together. During operation, there is a large friction resistance between the two cycloid wheels, causing abnormal wear and noise pollution; at the same time, since the thickness of the cycloid 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 cycloid wheels are usually fitted together, and it is difficult to ensure that each cycloid wheel is axially located in the middle position of each rolling bearing, which makes the contact position of the cycloid wheel bearing hole and the rolling bearing relatively biased, resulting in uneven force on the rolling bearing and the internal roller, 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 cycloid 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 adhesion of two cycloid wheel bodies.

[0006] To achieve the above objectives, 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 cycloid wheel piece and the second cycloid wheel piece are the same.

[0010] As a further improvement of the present invention, the magnetic member includes 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 cycloid wheel structure 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, and a fan-shaped magnetic block. The structures of the two cycloid 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 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 lubrication is more sufficient, effectively improving the problems of dry friction, noise and abnormal wear between the two cycloid 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 specifications of the magnetic ring should satisfy the following formula:

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

[0025] Inner diameter of magnetic ring 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 specifications 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] Inner diameter r4 of sector magnetic block: 0.9*ro<r4<1.9*rx2-ro;

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

[0032] Sector magnetic block thickness 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, the present invention provides a reducer, which is an RV reducer, comprising an eccentric shaft assembly and the cycloid wheel structure; the eccentric shaft assembly is inserted into the cycloid wheel bearing hole in the cycloid 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 cycloid wheel bearing hole through a rolling bearing. The rolling bearing and the cycloid wheel are axially centered, solving 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any 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 diagram showing the dimensions of the first cycloid wheel segment in the cycloid wheel structure of the present invention;

[0040] Figure 4 This is the dimensional specification diagram (2) of the first cycloid wheel piece in the cycloid wheel structure of the present invention;

[0041] Figure 5 It 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 speed 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 is the pinion housing; 2 is the planetary gear; 3 is the needle roller; 4 is the cycloid wheel structure; 4a is the first cycloid wheel piece; 4b is the second cycloid wheel piece; 401 is the magnetic ring; 402 is the fan-shaped magnetic block; 403 is the center hole of the cycloid wheel; 404 is the bearing hole of the cycloid wheel; 405 is the pin hole of the cycloid wheel; 406 is the outer cycloid tooth; 5 is the angular contact bearing; 6 is the planetary carrier; 7 is the rigid disk; 8 is the eccentric shaft assembly; 801 is the eccentric shaft; 802 is the rolling bearing. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within 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, including two cycloidal wheel pieces 4a and 4b with completely identical structures; the first cycloidal wheel piece 4a or the second cycloidal wheel piece 4b includes a cycloidal wheel body and an anti-sticking component arranged on the cycloidal wheel body, and the anti-sticking component is used to maintain the distance between the two cycloidal wheel pieces.

[0048] The cycloid wheel structure 4 provided by the present invention prevents the two cycloid wheel pieces from being fitted together by providing anti-sticking components on both pieces, 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 assembly includes a magnetic member; the magnetic member located on the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b has the same magnetic poles, for example, both surfaces may be north poles. Because the magnetic members on the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b have the same magnetic poles, a repulsive force is generated between them, preventing the first cycloidal wheel piece 4a and the second cycloidal wheel piece 4b from contacting each other, maintaining a certain distance at all times. This avoids problems such as high friction, abnormal wear, and loud 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 sector-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 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 sufficient 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. 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 the surface of the first cycloid wheel piece 4a facing the second cycloid wheel piece 4b. The magnetic ring 401 and the sector-shaped magnetic block 402 are both embedded in the fixed groove, thereby forming a structure embedded in the surface of the cycloid wheel body.

[0056] This structural setting not only achieves non-contact control between the two cycloid wheels, 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 cycloid wheel center hole 403.

[0058] Furthermore, the cycloid wheel body is further 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 epicycloid teeth 406 are arranged along the entire circumference of the cycloid wheel body;

[0060] The cycloid wheel center hole 403 is set 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 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 sector-shaped magnetic block 402 and the cycloid center hole 403, cycloid bearing hole 404, cycloid pin hole 405, outer cycloid tooth 406 and other structures of the cycloid wheel body, while ensuring 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 sector-shaped magnetic block 402, such as Figure 3 and Figure 4 As shown, specifically:

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

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

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

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

[0069] Wherein: rx1 is the center distance of the cycloid wheel pin hole 405 at the maximum diameter; rg is the root diameter of the epicycloid 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 is: 1.9*ro-rx2<r3<0.9*rx2;

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

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

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

[0075] Wherein: 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] The present invention provides a reducer, which is an RV reducer, including an eccentric shaft assembly 8 and a cycloid wheel structure 4 ; the eccentric shaft assembly 8 is inserted into a cycloid wheel bearing hole 404 in the cycloid wheel structure 4 .

[0077] The cycloid wheel structure 4 is a thin-walled structure with multiple hollowed-out sections. It contains a cycloid center hole 403, multiple cycloid bearing holes 404, and multiple cycloid pin holes 405. Externally, it features a toothed structure with epicycloid teeth 406. A magnetic ring 401 and two sector-shaped magnetic blocks 402 are located on one end face of the cycloid wheel. These two magnetic structures prevent the two cycloid wheels from clinging together due to a lack of axial restraint during operation, eliminating frictional resistance. Furthermore, the gap between the two cycloid wheels is significantly increased, ensuring more lubrication and effectively reducing 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 meet the following requirements:

[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 sector 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, the magnetic ring 401 and the fan-shaped magnetic block 402 can avoid interference with the center hole, bearing hole, pin hole, epicycloid and other structures of the cycloid wheel body, while ensuring that the structural strength of the cycloid wheel body is not affected, 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 of the rolling bearings 802 and the internal rollers, thereby reducing the rolling error of the rolling bearings 802, the load-bearing working condition is more stable, and the accuracy and life of the RV reducer as a whole can be greatly improved, solving the problems of large rolling error of the rolling bearings 802 and unstable load-bearing working condition.

[0090] In this embodiment, the eccentric shaft assembly 8 and the cycloidal wheel are matched, and 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 and the two rolling bearings 802 are axially aligned in the center, and the contact position is more reasonable. It can effectively improve the uneven force of the rolling bearing 802 and the internal roller, thereby reducing the rolling error of the rolling bearing 802, making the load-bearing condition more stable, and the service life of the rolling bearing 802 can be greatly improved.

[0091] First of all, it should be noted 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", "transverse", "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] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0094] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0095] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0096] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

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

Claims

1. A cycloid wheel structure, characterized in that: It comprises a first cycloidal wheel piece and a second cycloidal wheel piece with 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; the anti-sticking component comprises a magnetic part; the magnetic poles of the magnetic parts located on the first cycloidal wheel piece and the second cycloidal wheel piece are the same.

2. The cycloid wheel structure according to claim 1, characterized in that: The magnetic member includes 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.

3. The cycloid wheel structure according to claim 2, characterized in that: The magnetic ring is embedded in the surface of the cycloid wheel body.

4. The cycloid wheel structure according to claim 2, characterized in that: The sector-shaped magnetic block is embedded in the surface of the cycloid wheel body.

5. The cycloid wheel structure according to claim 2, characterized in that: The centers of the two magnetic rings coincide with the center of the cycloid wheel body.

6. The cycloid wheel structure according to claim 2, 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.

7. The cycloid wheel structure according to claim 6, characterized in that: The size specifications of the magnetic ring should meet the following formula: Magnetic ring outer diameter r1: 1.99*rx1-rg<r1<0.99*rg; Inner diameter of magnetic ring 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.

8. The cycloid wheel structure according to claim 6, characterized in that: The dimensions of the sector magnetic block should satisfy the following formula: The outer diameter of the sector magnetic block r3: 1.9*ro-rx2<r3<0.9*rx2; Inner diameter r4 of sector magnetic block: 0.9*ro<r4<1.9*rx2-ro; The arc diameter r5 of the sector magnetic block: 1.15*rz<r5<rg-rs; Sector magnetic block thickness 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.

9. A reducer, characterized in that: The invention relates to an RV reducer, comprising an eccentric shaft assembly and a cycloid wheel structure as described in any one of claims 1 to 8; the eccentric shaft assembly is arranged in a cycloid wheel bearing hole in the cycloid wheel structure.

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