Cycloidal pin gear reducer with hollow structure

Abstract

The cycloidal-pin gear reducer with the hollow structure comprises a cycloidal gear, a pin gear and a rotating arm, the rotating arm comprises a body and a mounting shaft which are connected, the rotating arm is provided with an axial through hole, the axial through hole penetrates through the body and the mounting shaft, the cycloidal gear and the pin gear are arranged on the mounting shaft in a sleeving mode, and the body is configured to rotate; and the cycloidal gear and the pin gear are driven to rotate. The cycloidal gear and the pin gear are arranged on the mounting shaft in a sleeving mode, the motor drives the rotating arm to rotate, and therefore the cycloidal gear and the pin gear on the mounting shaft are driven to rotate through the mounting shaft. The cycloidal gear rotates around the axis of the cycloidal gear while rotating along with the rotating arm, and therefore speed reduction is achieved. And the rotating arm is provided with the axial through hole, and the axial through hole penetrates through the body and the mounting shaft, so that the axial hollow cycloidal-pin gear reducer can be used for structures with axial through requirements.

Description

Technical Field

[0001] The present application relates to the technical field of reducers, and in particular to a cycloid pin gear reducer with a hollow structure. Background Art

[0002] A reducer is a transmission device used for low speed and high torque, which plays the role of matching speed and transmitting torque. A cycloid pin gear reducer is a transmission device that uses the planetary transmission principle and cycloid pin gear meshing. The cycloid pin gear reducer has the characteristics of compact structure, small size, light weight, wide transmission ratio range, and high transmission efficiency. This type of reducer is widely used in all walks of life and has become an indispensable mechanical transmission device. However, the existing cycloid pin gear reducer cannot meet the design requirements in the mechanism with axial penetration requirements. Summary of the invention

[0003] Based on this, it is necessary to provide a cycloidal pin gear reducer with a hollow structure to address the problem that the existing cycloidal pin gear reducer cannot meet the axial penetration requirements.

[0004] A cycloid pin gear reducer with a hollow structure, the cycloid pin gear reducer with a hollow structure comprising:

[0005] Cycloid wheel;

[0006] Pin gear;

[0007] The rotating arm includes a main body and a mounting shaft connected to each other. The rotating arm is provided with an axial through hole, which passes through the main body and the mounting shaft. The cycloid wheel and the pin gear are both sleeved on the mounting shaft. The main body is configured to rotate to drive the cycloid wheel and the pin gear to rotate.

[0008] The above-mentioned cycloid pin gear reducer with a hollow structure has a rotating arm including a connected body and a mounting shaft, and the cycloid wheel and the pin gear are both mounted on the mounting shaft. The motor drives the rotating arm to rotate, thereby driving the cycloid wheel and the pin gear on the mounting shaft to rotate through the mounting shaft. The cycloid wheel revolves with the rotating arm while rotating around its own axis, thereby achieving deceleration. In addition, the present application provides an axial through hole on the rotating arm, and the axial through hole passes through the body and the mounting shaft, so that an axial hollow cycloid pin gear reducer of the present application can be used for devices with axial penetration requirements.

[0009] In one embodiment, the mounting shaft is a stepped shaft, and the mounting shaft includes a concentric shaft section and an eccentric shaft section, the concentric shaft section is located between the eccentric shaft section and the body, the needle gear is sleeved on the concentric shaft section, and the cycloid gear is sleeved on the eccentric shaft section.

[0010] The mounting shaft is set as a stepped shaft, the mounting shaft includes a concentric shaft section and an eccentric shaft section, the pin gear is sleeved on the concentric shaft section, and the cycloid wheel is sleeved on the eccentric shaft section, so that the pin gear is located between the body of the rotating arm and the cycloid wheel. Because the mounting shaft is a stepped shaft, it is easy to achieve the effect of reducing the speed and increasing the torque.

[0011] In one embodiment, the needle gear includes a needle wheel body and needle teeth connected to each other, the needle wheel body is sleeved on the coaxial shaft segment, and one end face of the needle wheel body is abutted against the body, and the other end face is provided with the needle teeth, and the axial dimension of the needle wheel body is equal to the axial dimension of the coaxial shaft segment.

[0012] The needle gear is sleeved on the coaxial shaft segment, and the axial dimension of the needle gear body is equal to the axial dimension of the coaxial shaft segment, that is, the end face of the needle gear is flush with the step surface of the coaxial shaft segment of the rotating arm, one end face of the needle gear body abuts against the body, and the other end face abuts against the cycloid wheel, and the other end face is provided with needle teeth, which cooperate with the cycloid wheel, so as to axially limit the needle gear.

[0013] In one embodiment, the axial dimension of the cycloid wheel is equal to the axial dimension of the eccentric shaft segment.

[0014] The cycloid wheel is sleeved on the eccentric shaft section of the rotating arm, and the axial dimension of the cycloid wheel is set to be equal to the axial dimension of the eccentric shaft section, that is, the end face of the cycloid wheel is flush with the step surface of the eccentric shaft section of the rotating arm.

[0015] In one embodiment, the cycloid wheel, the pin gear and the rotating arm are each provided in plurality, and the plurality of cycloid wheels, the plurality of pin gears and the plurality of rotating arms are connected in one-to-one correspondence.

[0016] An axial hollow cycloidal pinwheel reducer is provided with multiple cycloidal wheels, multiple pin gears and multiple rotating arms, and the multiple cycloidal wheels, multiple pin gears and multiple rotating arms are connected one by one, so that multi-stage reduction can be achieved by direct series connection to achieve the required reduction ratio.

[0017] In one embodiment, a cycloidal wheel, a needle gear and a rotating arm connected to each other form a transmission component, and multiple transmission components are provided. In any two adjacent transmission components, the cycloidal wheel of one transmission component is connected to the body of the rotating arm of the other transmission component.

[0018] Multiple transmission assemblies are arranged and connected in series to realize multi-stage reduction to achieve the required reduction ratio. In the series connection of two adjacent transmission assemblies, the cycloid wheel of one transmission assembly is connected to the body of the rotating arm of the other transmission assembly to realize multi-stage series connection.

[0019] In one embodiment, a mounting hole is provided on the cycloid wheel, and a mounting column is provided on a side of the body away from the mounting axis;

[0020] When two adjacent groups of the transmission components are connected, the mounting post is inserted into the mounting hole.

[0021] When two adjacent transmission assemblies need to be connected, the mounting column on the body of the rotating arm of one transmission assembly is inserted into the mounting hole of the cycloid wheel of the other transmission assembly to realize the series connection of the two adjacent transmission assemblies. The cycloid wheel at the end can be plugged with the output shaft through the mounting hole, and the rotating arm at the end can be plugged with the input shaft through the mounting column.

[0022] In one embodiment, the cycloid wheel is provided with N convex teeth, and the pin gear is provided with M pin teeth, wherein MN=1.

[0023] The cycloid wheel is provided with N convex teeth, and the pin gear is provided with M pin teeth. The convex teeth of the cycloid wheel and the pin teeth of the pin gear cooperate with each other to achieve deceleration motion. Moreover, by limiting the quantitative relationship between the pin teeth and the convex teeth, MN=1, that is, one convex tooth is provided between two adjacent pin teeth, thereby limiting the reduction ratio.

[0024] In one of the embodiments, it further comprises a shell, a matching block is arranged on the shell, a limiting groove is arranged on the pin wheel body of the pin gear, and the matching block and the limiting groove are snap-fitted.

[0025] A limiting groove is arranged on the outer peripheral surface of the pin wheel body of the pin gear, and the limiting groove and the matching block of the shell are plugged and matched, so that the pin gear and the shell are connected.

[0026] In one embodiment, a plurality of the limiting grooves are provided, and the plurality of limiting grooves are arranged at intervals around the circumference of the pin wheel body.

[0027] A plurality of limiting grooves are provided, and the plurality of limiting grooves are arranged at intervals around the circumference of the pinwheel body, and at least one of the plurality of limiting grooves can be plugged into and matched with the matching block of the shell, providing a plurality of connection positions of the shell and the pinwheel in different orientations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a schematic structural diagram from a first perspective of a cycloid pin gear reducer with a hollow structure provided in the present application.

[0029] FIG2 is a schematic structural diagram from a second perspective of a cycloid pin gear reducer with a hollow structure provided in the present application.

[0030] FIG3 is a cross-sectional view of a cycloid pin gear reducer with a hollow structure provided in the present application.

[0031] FIG. 4 is a schematic diagram of the structure of multiple transmission components provided in the present application.

[0032] In the figure:

[0033] 100, cycloid wheel; 110, mounting hole;

[0034] 200, needle gear; 210, needle wheel body; 211, limiting groove; 220, needle tooth;

[0035] 300, rotating arm; 310, body; 311, mounting column; 320, mounting shaft; 321, concentric shaft section; 322, eccentric shaft section; 330, axial through hole;

[0036] 400. Transmission assembly. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that if 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", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0039] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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 this application can be understood according to the specific circumstances.

[0041] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, 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 intermediate medium. Moreover, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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.

[0042] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0043] The reducer is a transmission device for low speed and high torque, which plays the role of matching speed and transmitting torque between the prime mover and the working or actuator. The cycloid pin gear reducer is a transmission device that uses the planetary transmission principle and adopts cycloid pin gear meshing. Book 1 "Modern Mechanical Design Manual" (Qin Datong et al. Chemical Industry Press. 1st edition in March 2011. P531) discloses its mechanism diagram. The motor drives the rotating arm to rotate, causing the two cycloid wheels to produce eccentric motion; when the pin gear is fixed (connected to the frame), the cycloid wheel revolves with the rotating arm while rotating around its own axis. Finally, the angular velocity of the cycloid wheel is transmitted to the output shaft at a constant speed through the output mechanism, thereby achieving deceleration. This type of cycloid pin gear reducer has the characteristics of compact structure, small size, light weight; large transmission ratio range; high transmission efficiency. This type of reducer is widely used in all walks of life and has become an indispensable mechanical transmission device. However, the existing cycloid pin gear reducer cannot meet the design requirements in the mechanism with axial penetration requirements.

[0044] In order to solve the deficiencies in the prior art, the purpose of the present invention is to provide a cycloidal pin gear reducer with a hollow structure to solve the problem that the traditional cycloidal pin gear 200 reducer cannot be applied to the mechanism with axial penetration requirements. As shown in Figures 1 to 4, a cycloidal pin gear reducer with a hollow structure includes a cycloidal wheel 100, a pin gear 200 and a rotating arm 300, the rotating arm 300 includes a connected body 310 and a mounting shaft 320, the rotating arm 300 is provided with an axial through hole 330, the axial through hole 330 passes through the body 310 and the mounting shaft 320, the cycloidal wheel 100 and the pin gear 200 are both sleeved on the mounting shaft 320, and the body 310 is configured to rotate to drive the cycloidal wheel 100 and the pin gear 200 to rotate.

[0045] The above-mentioned cycloidal pin gear reducer with a hollow structure, the rotating arm 300 includes a connected body 310 and a mounting shaft 320, the cycloidal wheel 100 and the pin gear 200 are both mounted on the mounting shaft 320, and the motor drives the rotating arm 300 to rotate, thereby driving the cycloidal wheel 100 and the pin gear 200 on the mounting shaft 320 to rotate through the mounting shaft 320. The cycloidal wheel 100 revolves with the rotating arm 300 while rotating around its own axis, thereby achieving deceleration. In addition, the present application is provided with an axial through hole 330 on the rotating arm 300, and the axial through hole 330 passes through the body 310 and the mounting shaft 320, so that an axial hollow cycloidal pin gear 200 reducer of the present application can be used for devices with axial penetration requirements.

[0046] Specifically, a cycloidal pin gear reducer with a hollow structure includes an input shaft, a motor connected to the output shaft, and the input shaft is connected to the body 310 of the rotating arm 300. The input shaft is driven to rotate by the motor, thereby driving the rotating arm 300 to rotate.

[0047] Specifically, a cycloidal pin gear reducer with a hollow structure includes an output shaft, which is connected to a cycloidal wheel 100. The cycloidal wheel 100 rotates to drive the output to rotate, thereby realizing power output. Since the cycloidal wheel 100 revolves with the rotating arm 300 while rotating around its own axis, the speed reduction output is realized.

[0048] In one embodiment, as shown in FIGS. 1 to 4 , the mounting shaft 320 is a stepped shaft, the mounting shaft 320 includes a concentric shaft section 321 and an eccentric shaft section 322, the concentric shaft section 321 is located between the eccentric shaft section 322 and the body 310, the pin gear 200 is sleeved on the concentric shaft section 321, and the cycloidal wheel 100 is sleeved on the eccentric shaft section 322. The mounting shaft 320 is set as a stepped shaft, the mounting shaft 320 includes a concentric shaft section 321 and an eccentric shaft section 322, the pin gear 200 is sleeved on the concentric shaft section 321, and the cycloidal wheel 100 is sleeved on the eccentric shaft section 322, so that the pin gear 200 is located between the body 310 of the rotating arm 300 and the cycloidal wheel 100. Because the mounting shaft 320 is a stepped shaft, it is easy to achieve the effect of reducing the rotation speed and increasing the torque.

[0049] Specifically, as shown in Fig. 1 to Fig. 4, the pin gear 200 includes a pin wheel body 210 and pin teeth 220 connected to each other, the pin wheel body 210 is sleeved on the concentric shaft section 321, and one end face of the pin wheel body 210 abuts against the body 310, and the other end face is provided with pin teeth 220, and the axial dimension of the pin wheel body 210 is equal to the axial dimension of the concentric shaft section 321. The pin gear 200 is sleeved on the concentric shaft section 321, and the axial dimension of the pin wheel body 210 is equal to the axial dimension of the concentric shaft section 321, that is, the end face of the pin gear 200 is flush with the step surface of the concentric shaft section 321 of the rotating arm 300, one end face of the pin wheel body 210 abuts against the body 310, and the other end face abuts against the cycloidal wheel 100, and the other end face is provided with pin teeth 220, and the pin teeth 220 cooperate with the cycloidal wheel 100, so as to limit the pin gear 200 in the axial direction.

[0050] Specifically, as shown in Figures 1 to 4, the axial dimension of the cycloid wheel 100 is equal to the axial dimension of the eccentric shaft segment 322. The cycloid wheel 100 is sleeved on the eccentric shaft segment 322 of the rotating arm 300, and the axial dimension of the cycloid wheel 100 is set to be equal to the axial dimension of the eccentric shaft segment 322, that is, the end face of the cycloid wheel 100 is flush with the step surface of the eccentric shaft segment 322 of the rotating arm 300.

[0051] It should be noted that the pin gear 200 is sleeved on the concentric shaft section 321 of the rotating arm 300, and the cycloidal wheel 100 is sleeved on the eccentric shaft section 322 of the rotating arm 300, that is, through holes are provided on both the pin gear 200 and the cycloidal wheel 100, so that the pin gear 200 can be inserted into the concentric shaft section 321 and the cycloidal wheel 100 can be inserted into the eccentric shaft section 322.

[0052] Specifically, as shown in Figures 1 to 4, the needle gear 200 includes a needle wheel body 210 and needle teeth 220 connected to each other, and a plurality of needle teeth 220 are provided. The plurality of needle teeth 220 are all arranged on the end surface of the needle wheel body 210 on the side of the body 310 away from the rotating arm 300, and the plurality of needle teeth 220 are arranged at intervals around the axial direction of the needle wheel body 210.

[0053] Further, the cycloid wheel 100 is provided with N convex teeth, and the pin gear 200 is provided with M pin teeth 220, wherein MN=1. The cycloid wheel 100 is provided with N convex teeth, and the pin gear 200 is provided with M pin teeth 220, and the convex teeth of the cycloid wheel 100 and the pin teeth 220 of the pin gear 200 cooperate with each other to achieve deceleration motion. Moreover, by limiting the quantitative relationship between the pin teeth 220 and the convex teeth, MN=1, that is, one convex tooth is provided between two adjacent pin teeth 220, thereby limiting the reduction ratio.

[0054] More specifically, in this embodiment, as shown in FIGS. 1 to 3 , the pin gear 200 is provided with six pin teeth 220 , and the cycloid wheel 100 is provided with five convex teeth.

[0055] In other embodiments, the number of needle teeth 220 of the needle gear 200 and the number of convex teeth of the cycloid wheel 100 can be any number as long as the relationship of the number of needle teeth 220 of the needle gear 200 minus the number of convex teeth of the cycloid wheel 100 = 1 is satisfied.

[0056] Furthermore, the rotating arm 300 is configured so that the cycloidal wheel 100 rotates an angle between the pin gears 200 for each rotation. The output speed of the input shaft enters the reducer through the rotating arm 300, and the eccentric shaft section 322 of the rotating arm 300 drives the cycloidal wheel 100 to swing, and the cycloidal wheel 100 rotates an angle between the pin gears 200 for each rotation of the rotating arm 300, driving the output shaft, and converting it into a circular motion as the output of the reducer, thereby achieving the effect of reducing the speed and increasing the torque. Moreover, due to the axial hollow design of the rotating arm 300, an axially hollow cycloidal pinwheel reducer provided in the embodiment of the present application can be used for structures with axial penetration requirements.

[0057] Further, as shown in Figures 1 to 4, a plurality of cycloid wheels 100, pin gears 200 and rotating arms 300 are provided, and the plurality of cycloid wheels 100, pin gears 200 and rotating arms 300 are connected one by one. An axial hollow cycloid pinwheel reducer is provided with a plurality of cycloid wheels 100, pin gears 200 and rotating arms 300, and the plurality of cycloid wheels 100, pin gears 200 and rotating arms 300 are connected one by one, so that multi-stage reduction can be achieved by direct series connection to achieve the required reduction ratio.

[0058] Specifically, as shown in FIGS. 1 to 4 , a cycloid wheel 100, a pin gear 200 and a rotating arm 300 connected to each other are used as a transmission assembly 400, and multiple transmission assemblies 400 are provided. In any two adjacent transmission assemblies 400, the cycloid wheel 100 of one transmission assembly 400 is connected to the body 310 of the rotating arm 300 of the other transmission assembly 400. Multiple transmission assemblies 400 are provided, and multiple transmission assemblies 400 are connected in series to achieve multi-stage reduction to achieve the required reduction ratio. In two adjacent transmission assemblies 400 connected in series, the cycloid wheel 100 of one transmission assembly 400 is connected to the body 310 of the rotating arm 300 of the other transmission assembly 400, so as to achieve multi-stage series connection.

[0059] It is understandable that the number of transmission assemblies 400 in an axial hollow cycloid pinwheel reducer is set according to actual operation requirements.

[0060] In this embodiment, as shown in FIG. 4 , two groups of transmission assemblies 400 are provided, and the two groups of transmission assemblies 400 are connected in series, wherein the cycloid wheel 100 of one group of transmission assemblies 400 is connected to the body 310 of the rotating arm 300 of the other group of transmission assemblies 400, and the cycloid wheel 100 at the end is connected to the output shaft, and the rotating arm 300 at the end is connected to the input shaft, so that the two groups of transmission assemblies 400 can be driven to move through the output shaft to achieve reduced speed output.

[0061] Specifically, as shown in FIG4 , a mounting hole 110 is provided on the cycloid wheel 100, and a mounting column 311 is provided on the side of the body 310 away from the mounting shaft 320; when connecting two adjacent transmission assemblies 400, the mounting column 311 is inserted into the mounting hole 110. When it is necessary to connect two adjacent transmission assemblies 400, the mounting column 311 on the body 310 of the rotating arm 300 of one transmission assembly 400 is inserted into the mounting hole 110 of the cycloid wheel 100 of the other transmission assembly 400, so that the two adjacent transmission assemblies 400 can be connected in series. The cycloid wheel 100 at the end can be plugged with the output shaft through the mounting hole 110, and the rotating arm 300 at the end can be plugged with the input shaft through the mounting column 311.

[0062] More specifically, as shown in FIGS. 1 to 4 , six mounting posts 311 are disposed on the body 310 of the rotating arm 300 .

[0063] It should be noted that, in the present embodiment, the mounting shaft 320 includes a concentric shaft segment 321 and an eccentric shaft segment 322. In other embodiments, the number of segments of the mounting shaft 320 is set according to actual operation needs, that is, multiple concentric shaft segments 321 and / or multiple eccentric shaft segments 322 may be provided, and the number of concentric shaft segments 321 and eccentric shaft segments 322 is limited according to actual operation needs.

[0064] Furthermore, the axial hollow cycloid pinwheel reducer also includes a housing, a matching block is provided on the housing, a limiting groove 211 is provided on the pinwheel body 210 of the pin gear 200, and the matching block and the limiting groove 211 are snap-fitted. By providing the limiting groove 211 on the outer peripheral surface of the pinwheel body 210 of the pin gear 200, the limiting groove 211 and the matching block of the housing are plug-fitted, thereby connecting the pin gear 200 and the housing.

[0065] Specifically, as shown in Figures 1 to 4, a plurality of limiting grooves 211 are provided on the outer circumferential surface of the pin wheel body 210 of the pin gear 200, and the plurality of limiting grooves 211 are arranged around the circumference of the pin wheel body 210. A plurality of limiting grooves are provided, and the plurality of limiting grooves are arranged at intervals around the circumference of the pin wheel body, and at least one of the plurality of limiting grooves can be plugged and matched with the matching block of the housing, providing a plurality of connection positions of the housing and the pin gear in different directions.

[0066] More specifically, in this embodiment, six limiting grooves 211 are provided. Other shapes and numbers of limiting grooves 211 may also be used.

[0067] More specifically, a plurality of matching blocks are provided on the housing, and the plurality of matching blocks are plugged into the plurality of limiting grooves 211 in a one-to-one correspondence, thereby improving the connection stability between the housing and the pin gear 200 .

[0068] In summary, compared with the prior art, the present invention adopts an axially hollow cycloidal pinwheel reducer that can be used inside a mechanism with axial penetration requirements, and can be directly connected in series to achieve the required reduction ratio, and can well realize the miniaturization and lightweight of the overall structure. For mechanisms with compact internal structures and reduction requirements, it can provide a better solution than the original technology.

[0069] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A cycloid pin gear reducer with a hollow structure, characterized in that: The cycloid pin gear reducer with a hollow structure comprises: Cycloid wheel (100); Pin gear (200); The rotating arm (300) comprises a main body (310) and a mounting shaft (320) connected to each other. The rotating arm (300) is provided with an axial through hole (330), and the axial through hole (330) passes through the main body (310) and the mounting shaft (320). The cycloid wheel (100) and the pin gear (200) are both sleeved on the mounting shaft (320). The main body (310) is configured to rotate to drive the cycloid wheel (100) and the pin gear (200) to rotate.

2. The cycloid pin gear reducer with a hollow structure according to claim 1, characterized in that: The installation shaft (320) is a stepped shaft, and the installation shaft (320) comprises a concentric shaft section (321) and an eccentric shaft section (322), wherein the concentric shaft section (321) is located between the eccentric shaft section (322) and the body (310), the pin gear (200) is sleeved on the concentric shaft section (321), and the cycloid wheel (100) is sleeved on the eccentric shaft section (322).

3. The cycloid pin gear reducer with a hollow structure according to claim 2, characterized in that: The pin gear (200) comprises a pin wheel body (210) and pin teeth (220) which are connected to each other. The pin wheel body (210) is sleeved on the coaxial shaft segment (321), and one end face of the pin wheel body (210) is in contact with the body (310), while the other end face is provided with the pin teeth (220). The axial dimension of the pin wheel body (210) is equal to the axial dimension of the coaxial shaft segment (321).

4. The cycloid pin gear reducer with a hollow structure according to claim 3, characterized in that: The axial dimension of the cycloid wheel (100) is equal to the axial dimension of the eccentric shaft section (322).

5. The cycloid pin gear reducer with a hollow structure according to claim 1, characterized in that: The cycloid wheel (100), the pin gear (200) and the rotating arm (300) are each provided in plurality, and the plurality of cycloid wheels (100), the plurality of pin gears (200) and the plurality of rotating arms (300) are connected in a one-to-one correspondence.

6. The cycloid pin gear reducer with a hollow structure according to claim 5, characterized in that: A cycloid wheel (100), a pin gear (200) and a rotating arm (300) connected to each other form a transmission assembly (400), and a plurality of transmission assemblies (400) are provided. In any two adjacent transmission assemblies (400), the cycloid wheel (100) of one transmission assembly (400) is connected to the body (310) of the rotating arm (300) of the other transmission assembly (400).

7. The cycloid pin gear reducer with a hollow structure according to claim 6, characterized in that: The cycloid wheel (100) is provided with a mounting hole (110), and a mounting column (311) is provided on a side of the body (310) away from the mounting shaft (320); When two adjacent groups of the transmission components (400) are connected, the mounting column (311) is inserted into the mounting hole (110).

8. The cycloid pin gear reducer with a hollow structure according to claim 1, characterized in that: The cycloid wheel (100) is provided with N convex teeth, and the pin gear (200) is provided with M pin teeth (220), wherein MN=1.

9. The cycloid pin gear reducer with a hollow structure according to claim 1, characterized in that: It also comprises a housing, on which a matching block is arranged, and on which a limiting groove (211) is arranged on a pin wheel body (210) of the pin gear (200), and the matching block and the limiting groove (211) are snap-fitted.

10. The cycloid pin gear reducer with a hollow structure according to claim 9, characterized in that: A plurality of the limiting grooves (211) are provided, and the plurality of limiting grooves (211) are arranged at intervals around the circumference of the pin wheel body (210).

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