Integrated cycloidal-pin wheel speed reducer and regulation and control method

Abstract

The invention discloses an integrated cycloidal-pin wheel speed reducer and a regulation and control method, and particularly relates to the technical field of speed reducers. The speed reducer comprises a frameless torque motor assembly and a cycloidal-pin wheel speed reduction assembly; the frameless torque motor assembly comprises a driving unit and a motor tail supporting seat. The cycloidal-pin gear speed reduction assembly comprises a first cycloidal gear, a second cycloidal gear, a pin gear shell and an eccentric shaft. Needle teeth are mounted on the inner wall of the needle tooth shell; the driving unit is connected with the cycloidal-pin wheel speed reduction assembly through an eccentric shaft. The eccentric position of the eccentric shaft is sleeved with the first cycloidal gear and the second cycloidal gear through the first needle bearing and the second needle bearing respectively, and the pin gear shell is arranged on the surface of the first cycloidal gear and the surface of the second cycloidal gear. The first cycloidal gear and the second cycloidal gear are arranged in a 180-degree symmetrical structure. The input flange and the shell of the frameless torque motor assembly are integrally designed, the coaxiality of the input end and the output end is improved, the operation stability is improved, and therefore more space is saved on the whole.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and more specifically, to an integrated cycloid pinwheel reducer and a control method thereof. Background Art

[0002] It is known that the continuous optimization of automatic guided vehicles (AGVs) is the key to promoting the progress of the entire industry; traditionally, planetary reducers are widely used in AGVs due to their compact structure and high transmission efficiency; however, as the requirements for heavy-load capacity and continuous operation reliability in application scenarios continue to increase, the temperature rise, wear, transmission accuracy and power density of planetary reducers under high loads are becoming increasingly prominent. The cycloid pinwheel transmission, with its unique mechanical structure, can not only achieve higher power density, that is, transmit more power in a smaller space, but also has higher transmission accuracy, effectively buffer impact loads, reduce wear, and improve the durability of the overall system; by improving power density, the volume and weight of AGVs can be optimized, thereby increasing cargo space or improving endurance, creating greater economic value for users; therefore, AGV carts are constantly developing towards miniaturization, and products with low overall height and compact structure can better meet the development needs of the market; compared with traditional planetary reducers, cycloid pinwheel reducers can transmit a larger reduction ratio in a smaller space; currently there are two types of AGV reducer drives on the market, motor-reducer split type and integrated structure.

[0003] However, the integration degree of the cycloidal pinwheel reducer in the prior art is generally not high, and the installation space utilization rate is low, so the corresponding AGV reducer design integration degree is generally not high. Therefore, an integrated cycloidal pinwheel reducer and a control method are proposed as a further improvement, so as to utilize the integrated structure to reduce the number of installations and improve the transmission accuracy. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides an integrated cycloid pinwheel reducer to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an integrated cycloid pinwheel reducer, the reducer comprising: a frameless torque motor assembly and a cycloid pinwheel reducer assembly;

[0006] The cycloid pinwheel reduction assembly comprises: an input flange, an output flange and a cycloid wheel transmission assembly.

[0007] The frameless torque motor assembly is fixedly installed in the input flange, and the cycloid wheel transmission assembly is movably sleeved on the surface of the output flange; the output shaft of the frameless torque motor assembly is fixedly connected to the cycloid wheel transmission assembly; the input flange is fixedly connected to the output flange.

[0008] Further, the frameless torque motor assembly comprises: a drive unit and a motor tail support seat;

[0009] The driving unit and the motor tail support seat are both fixedly mounted on the inner wall of the input flange, and the motor rotor of the driving unit is connected to the cycloid gear transmission assembly.

[0010] Further, the cycloid wheel transmission assembly comprises: a first cycloid wheel, a second cycloid wheel, a pin-tooth housing and an eccentric shaft;

[0011] The motor rotor of the driving unit is fixedly connected to the eccentric shaft;

[0012] The first cycloid wheel and the second cycloid wheel are both arranged at the eccentric position of the eccentric shaft through a bearing sleeve, and a cylindrical shaft for limiting is arranged inside the first cycloid wheel and the second cycloid wheel, and two ends of the cylindrical shaft are fixedly connected to the input flange and the output flange respectively;

[0013] The needle-tooth housing is arranged on the outer surfaces of the first cycloidal wheel and the second cycloidal wheel, and a plurality of evenly distributed needle teeth are fixedly installed on the inner wall of the needle-tooth housing. The gear ring at the outer edge of the first cycloidal wheel and the gear ring at the outer edge of the second cycloidal wheel are respectively engaged with the corresponding needle teeth; an output end cover is installed at one end of the needle-tooth housing close to the output flange by screws.

[0014] Furthermore, the first cycloidal wheel and the second cycloidal wheel are symmetrically distributed with the axial center line of the eccentric shaft as the symmetry axis, and a rubber-coated wheel is fixedly sleeved on the outer surface of the pin-tooth housing.

[0015] Furthermore, the frameless torque motor assembly further comprises: an encoder and a tail cover;

[0016] The tail cover is fixedly mounted on one end of the input flange, the motor tail support seat is located on the inner wall of the input flange between the drive unit and the tail cover, and the encoder is fixedly mounted on a side of the motor tail support seat close to the tail cover.

[0017] Furthermore, a first deep groove ball bearing is installed at the rear end shaft stop portion of the eccentric shaft, and the eccentric shaft is rotatably connected to the rear support seat of the motor through the first deep groove ball bearing;

[0018] The input flange and the output flange are respectively fixedly sleeved with a first cycloid center axis bearing and a second cycloid center axis bearing, and the sides of the first cycloid center axis bearing and the second cycloid center axis bearing that are close to each other are respectively in contact with the sides of the first cycloid wheel and the second cycloid wheel that are away from each other;

[0019] The surfaces of the eccentric parts of the eccentric shaft are respectively sleeved with a second deep groove ball bearing and a third deep groove ball bearing. The second deep groove ball bearing and the third deep groove ball bearing clamp the first cycloid gear and the second cycloid gear. The input flange and the output flange are respectively sleeved on the outer sides of the second deep groove ball bearing and the third deep groove ball bearing.

[0020] A first retaining ring for limiting is installed in the middle of the second deep groove ball bearing, and a second retaining ring for limiting is installed in the middle of the two third deep groove ball bearings.

[0021] Furthermore, uniformly distributed annular through holes are respectively formed inside the first cycloid gear and the second cycloid gear. Bushings are installed inside the annular through holes, and the cylindrical shaft passes through the inside of the bushings.

[0022] The cylindrical shaft includes: a first cylindrical shaft and a second cylindrical shaft. The second cylindrical shaft passes through the output flange. One end of the second cylindrical shaft is clamped with the output flange, and the other end of the second cylindrical shaft is threadedly connected with the input flange.

[0023] Furthermore, a first skeleton oil seal is installed at the upper ends of the two first cycloid center shaft bearings.

[0024] A second skeleton oil seal is installed on one side of the third deep groove ball bearing close to the drive unit.

[0025] A regulation method for an integrated cycloid pinwheel speed reducer includes the described integrated cycloid pinwheel speed reducer. The regulation method includes the following steps:

[0026] S1: A pressure sensor is embedded between the rubber-coated wheel and the output end cover. The pressure sensor feeds the pressure value F back to the data processor.

[0027] S2: Judge whether the pressure value F exceeds the maximum pressure value F that the speed reducer can withstand; if it exceeds, enter S3; if it does not exceed, enter S4. max ; If it exceeds, then enter S3; if not, then enter S4.

[0028] S3: Control the output power of the drive unit to be zero and stop running; then return to S1.

[0029] S4: Judge the magnitude of the pressure value F and the rated pressure value Fe: if F>Fe, enter S5; if F = Fe, enter S6; if F<Fe, enter S7.

[0030] S5: Set the temperature sensor to obtain the current temperature value every minute, and feed the currently obtained temperature data back to the data processor for S8; at the same time, set the rated output power Pe of the drive unit, calculate the ratio data according to P / Pe = F / Fe, calculate the ratio exceeding the rated pressure value Fe, and increase the output power of the drive unit according to the ratio; then return to S1.

[0031] S6: The output power of the drive unit remains unchanged; then returns to S1;

[0032] S7: Set the temperature sensor to obtain the current temperature value every 10 minutes, and feed back the currently obtained temperature data to the data processor to perform S9; at the same time, set the rated output power Pe of the drive unit (11), calculate the proportion data according to P / Pe=F / Fe, calculate the proportion of pressure below the rated pressure value Fe, and reduce the output power of the drive unit according to the proportion; then return to S1;

[0033] S8: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S5; if it does not exceed, it directly returns to S5;

[0034] S9: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S7; if it does not exceed, it directly returns to S7.

[0035] An AGV includes an integrated cycloid pinwheel reducer.

[0036] Technical effects and advantages of the present invention:

[0037] 1. Compared with the prior art, the frameless torque motor assembly and the cycloidal pinwheel reduction assembly are integrated into one product, and the input flange is used to replace the original motor housing to become the connection medium between the frameless torque motor assembly and the cycloidal pinwheel reduction assembly. The integrated design is conducive to saving space, improving the compactness of the overall structure, and is more conducive to achieving smooth operation and improving the internal space utilization rate. The eccentric shaft of the cycloidal wheel transmission assembly is connected to transmit the output power, and after the first cycloidal wheel and the second cycloidal wheel are connected to the pin-tooth housing for deceleration, the power is transmitted by the pin-tooth to the pin-tooth housing for output, and the pin-tooth housing output is utilized, so that the energy loss is small and the transmission efficiency is high. A large output torque is generated while decelerating, thereby ensuring the reliability of the equipment at work. Therefore, its combined design can achieve smoother operation, reduce vibration and noise, and enable the system to respond quickly to control signals, which is suitable for application scenarios that require quick start and stop. Thus, the high integration of the cycloidal pinwheel reducer is achieved.

[0038] 2. Compared with the existing technology, the input flange and the housing of the frameless torque motor assembly are integrated into an integrated design to improve the coaxiality of the input and output ends, increase the smoothness of operation, and make the overall system structure more compact and save space; while ensuring its output torque, transmission efficiency and rated speed, the overall design has a smaller volume and lighter weight, and can withstand larger loads, run smoothly, and have low noise, providing a more stable working environment; a larger reduction ratio is achieved in a smaller volume, reducing the relative displacement and vibration between components, thereby improving the stability of the motor, effectively reducing the distortion, deformation and instability factors during high-load or high-speed operation, and facilitating lightweight integration into the AGV system.

[0039] 3. By setting the bearing on the eccentric part of the eccentric shaft, both needle bearings and sliding bearings can be used, which effectively saves costs; the first cycloid center axis bearing and the second cycloid center axis bearing are assembled with the input flange and the output flange respectively, and the input flange and the output flange are respectively arranged on both sides of the first cycloid wheel and the second cycloid wheel, thereby having a limiting effect on the first cycloid wheel and the second cycloid wheel, preventing them from jumping during operation, and improving the stability of operation.

[0040] 4. The present invention reasonably distributes the torque between each driving wheel according to a preset calculation formula P=T*n*k: P is power, T is torque, n is speed, and k is coefficient, thereby increasing the output power P of the AGV rear wheel motor to increase the driving force to prevent the front wheel from slipping; on the contrary, under light load conditions, the output power P of the AGV rear wheel motor is appropriately reduced to avoid unnecessary energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0042] Figure 2 It is a schematic diagram of the cross-sectional structure of the present invention.

[0043] Figure 3 It is a schematic diagram of the exploded structure of the cylindrical shaft and the pin gear housing of the present invention.

[0044] Figure 4 It is a schematic exploded view of the three-dimensional structure of the eccentric shaft driving the pin gear housing of the present invention.

[0045] Figure 5 It is a schematic diagram of the pressure sensor and the temperature sensor in the present invention.

[0046] Figure 6 The figure is a flow chart of the control method of the integrated cycloid pinwheel reducer.

[0047] The accompanying drawings are marked as follows:

[0048] 1. Frameless torque motor assembly;

[0049] 11. Drive unit; 12. Motor tail support seat; 13. Encoder; 14. Tail cover;

[0050] 2. Cycloidal pinwheel reduction assembly;

[0051] 21. Input flange; 22. Output flange;

[0052] 23. Cycloidal gear transmission assembly;

[0053] 231, first cycloid wheel; 232, second cycloid wheel; 233, needle tooth housing; 2331, needle tooth groove;

[0054] 234, eccentric shaft; 235, needle teeth; 236, output end cover;

[0055] 24, cylindrical axis; 241, first cylindrical axis; 242, second cylindrical axis;

[0056] 3. First cycloid center axis bearing; 4. Second cycloid center axis bearing; 41. First skeleton oil seal;

[0057] 5. The first deep groove ball bearing;

[0058] 6. Second deep groove ball bearing; 61. First retaining ring;

[0059] 7. The third deep groove ball bearing; 71. The second retaining ring; 72. The second skeleton oil seal;

[0060] 8. Annular through hole; 9. Shaft sleeve;

[0061] 20. Rubber-coated wheels;

[0062] a. Pressure sensor; b. Temperature sensor. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0064] As attached Figure 1-4 An integrated cycloid pinwheel reducer is shown, the reducer comprises: a frameless torque motor assembly 1 and a cycloid pinwheel reducer assembly 2;

[0065] The cycloid pinwheel reduction assembly 2 comprises: an input flange 21, an output flange 22 and a cycloid wheel transmission assembly 23.

[0066] The frameless torque motor assembly 1 is fixedly installed in the input flange 21, and the cycloid wheel transmission assembly 23 is movably sleeved on the surface of the output flange 22; the output shaft of the frameless torque motor assembly 1 is fixedly connected to the cycloid wheel transmission assembly 23; the input flange 21 is fixedly connected to the output flange 22.

[0067] Among them, the frameless torque motor assembly 1 serves as the power unit of the entire reducer, and the input flange 21 replaces the original motor housing to become the connection medium between the frameless torque motor assembly 1 and the cycloid pinwheel reduction assembly 2, so that the integrated design is conducive to saving space, improving the compactness of the overall structure, and is more conducive to achieving stable operation and improving the internal space utilization rate;

[0068] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the frameless torque motor assembly 1 includes: a drive unit 11 and a motor tail support seat 12;

[0069] The drive unit 11 and the motor tail support seat 12 are both fixedly mounted on the inner wall of the input flange 21 , and the motor rotor of the drive unit 11 is connected to the cycloid gear transmission assembly 23 , so that the drive unit 11 transmits power to the cycloid gear transmission assembly 23 .

[0070] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the cycloid wheel transmission assembly 23 includes: a first cycloid wheel 231, a second cycloid wheel 232, a pin-tooth housing 233 and an eccentric shaft 234;

[0071] The motor rotor of the drive unit 11 is fixedly connected to the eccentric shaft 234;

[0072] The drive unit 11 includes a motor stator and a motor rotor; the drive unit 11 transmits the motor power to the eccentric shaft 234 to operate;

[0073] The first cycloid wheel 231 and the second cycloid wheel 232 are both arranged at the eccentric position of the eccentric shaft 234 through bearing sleeves. A cylindrical shaft 24 for limiting is arranged inside the first cycloid wheel 231 and the second cycloid wheel 232. Both ends of the cylindrical shaft 24 are fixedly connected to the input flange 21 and the output flange 22 respectively.

[0074] The needle-tooth housing 233 is arranged on the outer surfaces of the first cycloidal wheel 231 and the second cycloidal wheel 232, and a plurality of evenly distributed needle teeth 235 are fixedly installed on the inner wall of the needle-tooth housing 233. The gear rings at the outer edges of the first cycloidal wheel 231 and the gear rings at the outer edges of the second cycloidal wheel 232 are respectively engaged with the corresponding needle teeth 235; an output end cover 236 is installed at one end of the needle-tooth housing 233 close to the output flange 22 by screws.

[0075] The inner wall of the needle tooth housing 233 is provided with a plurality of evenly distributed needle tooth grooves 2331, and the needle teeth 235 are inserted into the corresponding needle tooth grooves 2331;

[0076] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the first cycloid wheel 231 and the second cycloid wheel 232 are symmetrically distributed with the axial center line of the eccentric shaft 234 as the symmetry axis, so as to balance the eccentric load generated by the movement of the first cycloid wheel 231 and the second cycloid wheel 232;

[0077] The outer surface of the pin-tooth housing 233 is fixedly sleeved with a rubber-coated wheel 20; therefore, the driving unit 11 of the frameless torque motor assembly 1 drives the first cycloidal wheel 231 and the second cycloidal wheel 232 to rotate by driving the eccentric shaft 234 to rotate, and then the first cycloidal wheel 231 and the second cycloidal wheel 232 drive the rubber-coated wheel 20 to rotate through the pin-tooth housing 233.

[0078] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the frameless torque motor assembly 1 further includes: an encoder 13 and a tail cover 14;

[0079] The tail cover 14 is fixedly mounted on one end of the input flange 21 , the motor tail support seat 12 is located on the inner wall of the input flange 21 between the drive unit 11 and the tail cover 14 , and the encoder 13 is fixedly mounted on one side of the motor tail support seat 12 close to the tail cover 14 .

[0080] Among them, the tail cover 14 is beneficial to protect the internal components; the cycloid pinwheel reduction assembly 2, the drive unit 11 and the encoder 13 are connected through the eccentric shaft 234;

[0081] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the rear end shaft stop portion of the eccentric shaft 234 is installed with a first deep groove ball bearing 3, and the eccentric shaft 234 is rotatably connected to the motor rear support seat 12 through the first deep groove ball bearing 3; so that the motor rear support seat 12 limits the rear end of the eccentric shaft 234.

[0082] The first cycloid center axis bearing 4 and the second cycloid center axis bearing 5 are respectively fixedly sleeved on the input flange 21 and the output flange 22, and the sides of the first cycloid center axis bearing 4 and the second cycloid center axis bearing 5 that are close to each other are respectively in contact with the sides of the first cycloid wheel 231 and the second cycloid wheel 232 that are away from each other;

[0083] The surface of the eccentric part of the eccentric shaft 234 is respectively sleeved with the second deep groove ball bearing 6 and the third deep groove ball bearing 7, the second deep groove ball bearing 6 and the third deep groove ball bearing 7 clamp the first cycloidal wheel 231 and the second cycloidal wheel 232, and the input flange 21 and the output flange 22 are respectively sleeved on the outer sides of the second deep groove ball bearing 6 and the third deep groove ball bearing 7.

[0084] In order to improve the running stability and reduce the noise, the first cycloid center axis bearing 4, the second cycloid center axis bearing 5, the second deep groove ball bearing 6 and the third deep groove ball bearing 7 are used to limit the first cycloid wheel 231 and the second cycloid wheel 232 to prevent them from jumping during operation and improve the running stability;

[0085] In the embodiment, two second deep groove ball bearings 6 and two third deep groove ball bearings 7 are installed on the eccentric shaft 234 .

[0086] A first retaining ring 61 for limiting position is installed in the middle of the second deep groove ball bearing 6, and a second retaining ring 71 for limiting position is installed in the middle of the two third deep groove ball bearings 7; so that the designed first retaining ring 61 and the second retaining ring 71 are used for limiting position;

[0087] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, the first cycloid wheel 231 and the second cycloid wheel 232 are both provided with evenly distributed annular through holes 8, and the annular through holes 8 are both provided with shaft sleeves 9, and the cylindrical shaft 24 is passed through the shaft sleeves 9;

[0088] The cylindrical shaft 24 includes: a first cylindrical shaft 241 and a second cylindrical shaft 242 . The second cylindrical shaft 242 passes through the output flange 22 . One end of the second cylindrical shaft 242 is clamped with the output flange 22 , and the other end of the second cylindrical shaft 242 is threadedly connected with the input flange 21 .

[0089] Among them, some embodiments: the first cycloidal wheel 231 and the second cycloidal wheel 232 are each provided with 8 annular through holes 8, each annular through hole 8 is installed with a shaft sleeve 9, so that the four first cylindrical shafts 241 and the four second cylindrical shafts 242 pass through the inner side of the eight shaft sleeves 9 respectively, and the two ends of the cylindrical shaft 24 are respectively fixedly connected to the input flange 21 and the output flange 22, wherein the tail end of the second cylindrical shaft 242 is provided with a thread to assemble with the threaded hole of the input flange 21 to prevent loosening.

[0090] In a preferred embodiment, as shown in the attached Figure 1-4 As shown, first skeleton oil seals 41 are installed on the upper ends of the two first cycloid central axis bearings 4 so as to utilize the first skeleton oil seals 41 to prevent oil leakage during the operation of the cycloid pinwheel reduction assembly 2 .

[0091] A second skeleton oil seal 72 is installed on a side of the third deep groove ball bearing 7 close to the drive unit 11 so that the second skeleton oil seal 72 can prevent oil leakage.

[0092] Working principle of the present invention: During use, the driving unit 11 on the frameless torque motor assembly 1 drives the eccentric shaft 234 to rotate, and the eccentric shaft 234 receives the input torque; the eccentric shaft 234 drives the first cycloid gear 231 and the second cycloid gear 232 to perform staggered circular swings. By using the toothed rings at the outer edges of the first cycloid gear 231 and the second cycloid gear 232, which are respectively engaged with the corresponding pin teeth 235, and the pin teeth 235 are inserted into a plurality of uniformly distributed pin tooth grooves 2331 formed on the inner wall of the pin tooth housing 233, the torque is transmitted to the pin tooth housing 233; and the pin tooth housing 233 is driven to rotate, and finally the torque is delivered to the rubber-coated wheel 20.

[0093] A regulation method for an integrated cycloid pinwheel speed reducer includes the following steps:

[0094] S1: Insert a pressure sensor a between the rubber-coated wheel 20 and the output end cover 236, and the pressure sensor a feeds back the pressure value F to the data processor;

[0095] S2: Determine whether the pressure value F exceeds the maximum pressure value F that the speed reducer can withstand; if it exceeds, enter S3; if not, enter S4; max ; if it exceeds, enter S3; if not, enter S4;

[0096] S3: Control the output power P of the driving unit 11 to be zero and stop running; then return to S1;

[0097] S4: Judge the magnitude relationship between the pressure value F and the rated pressure value Fe: if F > Fe, enter S5; if F = Fe, enter S6; if F < Fe, enter S7;

[0098] S5: Set the temperature sensor b to obtain the current temperature value every minute, and feed back the currently obtained temperature data to the data processor for S8; at the same time, set the rated output power Pe of the driving unit 11, calculate the ratio data according to P / Pe = F / Fe, and increase the output power P of the driving unit 11 according to the ratio; then return to S1:

[0099] S6: Keep the output power P of the driving unit 11 unchanged; then return to S1;

[0100] S7: Set the temperature sensor b to obtain the current temperature value every 10 minutes, and feed back the currently obtained temperature data to the data processor for S9; at the same time, set the rated output power Pe of the driving unit 11, calculate the ratio data according to P / Pe = F / Fe, and decrease the output power P of the driving unit 11 according to the ratio; then return to S1;

[0101] S8: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S5; if it does not exceed, it directly returns to S5;

[0102] S9: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S7; if it does not exceed, it directly returns to S7.

[0103] Example:

[0104] Taking the AGV transmission assembly with a speed ratio of 21 on the market as a comparison object, the diameter of the cycloid pinwheel transmission assembly is 115cm and the width is 85cm; while the improved cycloid pinwheel reduction assembly 2 has a diameter of 95cm and a width of 67.5cm; after calculation, compared with the transmission assembly before the improvement, the speed ratio is the same, and the size of the cycloid pinwheel transmission scheme is reduced by about 24.1% under the same installation size. In addition, the cycloid pinwheel transmission has high precision and high durability: it can withstand 5 times the rated torque; high acceleration performance: 2.5 times the rated torque;

[0105] Among them, Figure 5 and Figure 6 As shown, since load changes will affect the change of reducer efficiency, matching the output power P of the drive unit 11 according to different loads is beneficial to improving the reducer operating performance, extending the life of the equipment, reducing energy consumption to a certain extent, and improving resource utilization;

[0106] Therefore, the present invention embeds a pressure sensor a between the rubber-coated wheel 20 and the output end cover 236. The pressure sensor a feeds back the pressure value F to the data processor to determine whether the pressure value F exceeds the maximum pressure value Fmax. If it exceeds, the output power P of the drive unit 11 is controlled to be zero and the operation is stopped. If it does not exceed, the feedback is continued to determine the size of the rated pressure value Fe.

[0107] In order to maintain the stability of the reducer during operation, according to Newton's second law, the calculation formula is P = FV, V is the speed, and when the pressure value F changes, the output power P of the control drive unit 11 changes accordingly;

[0108] When the pressure sensor a detects that the pressure value F is greater than the rated pressure value Fe, the output power P of the drive unit 11 is increased according to the proportion data calculated based on P / Pe=F / Fe;

[0109] When the pressure sensor a detects that the pressure value F is less than the rated pressure value Fe, the output power P of the drive unit 11 is reduced according to the proportion data;

[0110] If the pressure value F detected by the pressure sensor a is equal to the rated pressure value Fe, the output power remains unchanged, thus ensuring that the AGV can maintain good performance and smooth operation regardless of whether it is unloaded or fully loaded;

[0111] The data feedback time is set by integrating and comparing the data detected by the pressure sensor a: if the load exceeds the rated pressure value Fe, the current temperature value is obtained every one minute; if the load is lower than the rated pressure value Fe, the current temperature value is obtained every 10 minutes; the interval time of temperature detection can be set according to the actual situation to ensure the control response while reasonably allocating and utilizing system resources to improve system efficiency.

[0112] Among them, since the temperature of a conventional reducer should be controlled within a reasonable range, too high temperature affects the performance and life of the equipment. Under long-term operation or heavy load conditions, the phenomenon of excessive temperature rise of the reducer is more serious. Therefore, considering that the size of the reducer load is proportional to the temperature of the reducer, in order to optimize resource allocation and avoid the system's continuous judgment and response to detection data, resulting in waste of resources; the present invention embeds the input flange into the temperature sensor b, and uses the data processor to judge whether the rated temperature range is exceeded by the feedback temperature value. If exceeded, the heat dissipation module is started until the temperature returns to the rated temperature range.

[0113] Among them, the above-mentioned data processor includes an analysis module, a control module and a feedback module; the analysis module has high-precision data acquisition and fast data transmission speed, which is used for detection and judgment of various signals, and transmits the judgment results to the control module; the control module accurately issues generator control instructions according to the judgment results; the feedback module realizes closed-loop control by comparing the control signal with the actual result.

[0114] An AGV includes an integrated cycloid pinwheel reducer.

[0115] Among them, considering that the present invention is applied to multi-wheel drive AGVs, in known multi-wheel drive AGVs, when the AGV is loaded with heavy objects and traveling, the pressure sensor located on the chassis running wheel will detect that the pressure on the chassis increases, which indicates that the vehicle is currently in a heavy-loaded state. If the torque is distributed in a conventional manner at this time, the front wheel may slip due to excessive load. In order to avoid this situation, the present invention reasonably distributes the torque between the driving wheels through a pre-set calculation formula to improve the overall performance of the vehicle:

[0116] Pre-set calculation formula: P = T*n*k;

[0117] Where P represents the output power of the motor, T represents the torque acting on the wheel, n is the motor speed, and k is a constant or coefficient related to the system efficiency.

[0118] Furthermore, according to this relationship, when the existing pressure sensor located on the chassis running wheel detects that the chassis pressure increases, the data processor will increase the output power P of the drive unit 11 of the AGV rear wheel motor, thereby increasing the driving torque provided by the rear wheel, which helps to balance the traction distribution between the front and rear wheels and effectively prevents the problem of front wheel slippage. On the contrary, when the AGV is in an unloaded or lightly loaded state, the same pressure sensing technology can identify that the pressure exerted by the vehicle on the ground is relatively small at this time. This means that there is no need to maintain a high rear wheel driving force. Therefore, by reducing the output power P of the drive unit 11 of the AGV rear wheel motor, not only can the traction demand required under the current working conditions be met, but also the energy consumption can be significantly reduced to achieve the purpose of energy saving. This method not only ensures the stability and safety of the AGV under various working conditions, but also improves the energy utilization efficiency, which is in line with the trend of modern logistics automation equipment pursuing efficient and green development.

[0119] This system automatically adjusts torque output to the front and rear drive wheels as vehicle load changes to optimize traction and energy efficiency.

[0120] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0121] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated cycloid pinwheel reducer, characterized in that: The reducer comprises: a frameless torque motor assembly (1) and a cycloid pinwheel reduction assembly (2); The cycloid pinwheel reduction assembly (2) comprises: an input flange (21), an output flange (22) and a cycloid wheel transmission assembly (23). The frameless torque motor assembly (1) is fixedly mounted in an input flange (21), and the cycloid wheel transmission assembly (23) is movably sleeved on a surface of an output flange (22); the output shaft of the frameless torque motor assembly (1) is fixedly connected to the cycloid wheel transmission assembly (23); and the input flange (21) is fixedly connected to the output flange (22).

2. The integrated cycloid pinwheel reducer according to claim 1, characterized in that: The frameless torque motor assembly (1) comprises: a drive unit (11) and a motor tail support seat (12); The drive unit (11) and the motor tail support seat (12) are both fixedly mounted on the inner wall of the input flange (21), and the motor rotor of the drive unit (11) is connected to the cycloid gear transmission assembly (23).

3. The integrated cycloid pinwheel reducer according to claim 2, characterized in that: The cycloid wheel transmission assembly (23) comprises: a first cycloid wheel (231), a second cycloid wheel (232), a pin-tooth housing (233) and an eccentric shaft (234); The motor rotor of the drive unit (11) is fixedly connected to the eccentric shaft (234); The first cycloid wheel (231) and the second cycloid wheel (232) are both arranged at an eccentric position of the eccentric shaft (234) through a bearing sleeve, and a cylindrical shaft (24) for limiting is arranged inside the first cycloid wheel (231) and the second cycloid wheel (232), and two ends of the cylindrical shaft (24) are respectively fixedly connected to the input flange (21) and the output flange (22); The pin-tooth housing (233) is arranged on the outer surfaces of the first cycloidal wheel (231) and the second cycloidal wheel (232); a plurality of evenly distributed pin-tooths (235) are fixedly mounted on the inner wall of the pin-tooth housing (233); the gear ring at the outer edge of the first cycloidal wheel (231) and the gear ring at the outer edge of the second cycloidal wheel (232) are respectively meshed with the corresponding pin-tooths (235); and an output end cover (236) is mounted on one end of the pin-tooth housing (233) close to the output flange (22) by means of screws.

4. The integrated cycloid pinwheel reducer according to claim 3, characterized in that: The first cycloid wheel (231) and the second cycloid wheel (232) are symmetrically distributed with the axial center line of the eccentric shaft (234) as the symmetry axis, and the outer surface of the pin-tooth housing (233) is fixedly sleeved with a rubber-coated wheel (20).

5. The integrated cycloid pinwheel reducer according to claim 1, characterized in that: The frameless torque motor assembly (1) further comprises: an encoder (13) and a tail cover (14); The tail cover (14) is fixedly mounted on one end of the input flange (21), the motor tail support seat (12) is located on the inner wall of the input flange (21) between the drive unit (11) and the tail cover (14), and the encoder (13) is fixedly mounted on a side of the motor tail support seat (12) close to the tail cover (14).

6. The integrated cycloid pinwheel reducer according to claim 3, characterized in that: A first deep groove ball bearing (3) is installed at the end shaft stop part of the eccentric shaft (234), and the eccentric shaft (234) is rotationally connected to the motor tail support seat (12) through the first deep groove ball bearing (3); A first cycloid center shaft bearing (4) and a second cycloid center shaft bearing (5) are respectively fixedly sleeved on the input flange (21) and the output flange (22), and the sides of the first cycloid center shaft bearing (4) and the second cycloid center shaft bearing (5) close to each other are respectively in contact with the sides of the first cycloid wheel (231) and the second cycloid wheel (232) far from each other; The surfaces of the eccentric parts of the eccentric shaft (234) are respectively sleeved with a second deep groove ball bearing (6) and a third deep groove ball bearing (7), the second deep groove ball bearing (6) and the third deep groove ball bearing (7) clamp the first cycloid wheel (231) and the second cycloid wheel (232), and the input flange (21) and the output flange (22) are respectively sleeved on the outer sides of the second deep groove ball bearing (6) and the third deep groove ball bearing (7); A first retaining ring (61) for limiting is installed in the middle of the second deep groove ball bearing (6), and a second retaining ring (71) for limiting is installed in the middle of the two third deep groove ball bearings (7).

7. The integrated cycloid pinwheel reducer according to claim 3, characterized in that: Uniformly distributed annular through holes (8) are respectively formed inside the first cycloid wheel (231) and the second cycloid wheel (232), bushings (9) are installed inside the annular through holes (8), and the cylindrical shaft (24) passes through the inside of the bushings (9); The cylindrical shaft (24) includes: a first cylindrical shaft (241) and a second cylindrical shaft (242), the second cylindrical shaft (242) passes through the output flange (22), one end of the second cylindrical shaft (242) is clamped with the output flange (22), and the other end of the second cylindrical shaft (242) is threadedly connected to the input flange (21).

8. The integrated cycloid pinwheel reducer according to claim 6, characterized in that: First skeleton oil seals (41) are installed at the upper ends of the two first cycloid center shaft bearings (4); A second skeleton oil seal (72) is installed on the side of the third deep groove ball bearing (7) close to the drive unit (11).

9. A control method for an integrated cycloid pinwheel reducer, comprising an integrated cycloid pinwheel reducer as claimed in any one of claims 1 to 8, characterized in that: It includes the following steps: S1: A pressure sensor (a) is embedded between the rubber-coated wheel (20) and the output end cover (236), and the pressure sensor (a) feeds the pressure value F back to the data processor; S2: Determine whether the pressure value F exceeds the maximum pressure value F that the reducer can withstand max ; If exceeded, enter S3; if not exceeded, enter S4; S3: Control the output power P of the drive unit (11) to be zero and stop running; then return to S1; S4: Judge the magnitude of the pressure value F and the rated pressure value Fe: If F>Fe, enter S5; if F = Fe, enter S6; if F<Fe, enter S7; S5: Set the temperature sensor (b) to obtain the current temperature value every minute, feed the currently obtained temperature data back to the data processor for S8; at the same time, set the rated output power Pe of the drive unit (11), calculate the ratio data according to P / Pe = F / Fe, calculate the ratio exceeding the rated pressure value Fe, and increase the output power P of the drive unit (11) according to the ratio; then return to S1: S6: The output power P of the drive unit (11) remains unchanged; then return to S1; S7: Setting the temperature sensor (b) to obtain the current temperature value every 10 minutes, and feeding back the currently obtained temperature data to the data processor to perform S9; at the same time, setting the rated output power Pe of the drive unit (11), calculating the proportion data according to P / Pe=F / Fe, calculating the proportion of the pressure value Fe below the rated pressure value, and reducing the output power P of the drive unit (11) according to the proportion; then returning to S1; S8: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S5; if it does not exceed, it directly returns to S5; S9: The data processor determines whether the temperature exceeds the rated temperature range based on the feedback temperature value: if it exceeds, the heat dissipation module is started until the temperature returns to the rated temperature range and then returns to S7; if it does not exceed, it directly returns to S7.

10. An AGV, comprising an integrated cycloid pinwheel reducer as claimed in any one of claims 1 to 8.

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