Cycloidal speed reducer

Abstract

The invention discloses a cycloidal speed reducer, which belongs to the field of robot joints and comprises a pin wheel housing, an input disc and an output disc which are respectively and rotatably mounted at two ends of the pin wheel housing, a cycloidal disc which rotates in the pin wheel housing and is meshed with the pin wheel housing, and an eccentric shaft which sequentially penetrates through the input disc and the cycloidal disc and is connected with the output disc, the eccentric shaft is rotationally connected with the input disc, the cycloid disc and the output disc, and the input disc and the output disc are each provided with a first bearing making contact with the pin wheel housing. The first bearing comprises a retainer, containing grooves formed in the retainer in an annular array mode and pin rollers rotationally installed in the containing grooves. According to the cycloidal speed reducer, the retainers and the pin rollers are arranged between the input disc and the pin wheel housing and between the output disc and the pin wheel housing to replace traditional crossed roller bearings, the overall length and diameter of the cycloidal speed reducer can be effectively reduced, and therefore the cost of the cycloidal speed reducer can be effectively reduced while the size, consumables and weight of the cycloidal speed reducer are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of robot joints, and in particular to a cycloid reducer. Background Art

[0002] The cycloid reducer, also known as the cycloid pinwheel reducer, is a novel transmission device that uses cycloid pinwheel meshing and is widely used as a robot joint module.

[0003] The Chinese utility model patent with the publication number CN220994516U discloses a compact cycloid joint module, which includes a pin gear housing, an input disk and an output disk respectively rotatably mounted at both ends of the pin gear housing, a cycloid disk rotating in the pin gear housing and meshing with the pin gear housing, an eccentric shaft sequentially passing through the input disk and the cycloid disk and connected to the output disk, and an input mechanism arranged on the pin gear housing corresponding to one end of the input disk, wherein the eccentric shaft is rotatably connected to the input disk, the cycloid disk and the output disk; the input mechanism includes a motor stator fixedly mounted on the outer side of the pin gear housing and a rotor member mounted on the outer side of the motor stator and fixedly connected to the eccentric shaft. The motor stator and the rotor member are sequentially mounted on the outer side of the pin gear housing of the deceleration part, thereby reducing the volume of the robot and improving the overall aesthetics of the robot. However, the second bearing is mounted on the input disk and the output disk so that the input disk and the output disk can rotate on the pin gear housing, thereby increasing the overall length and diameter, and the overall consumables are large and the weight is large, which affects the overall volume of the joint module and the cost of the joint module.

[0004] Therefore, the present application provides a cycloid reducer with small size, light weight and low cost to solve the above problems. Summary of the invention

[0005] The present application provides a cycloid reducer, aiming to solve the problems of the existing cycloid reducer mentioned in the background technology, which has bearings installed on the input disc and the output disc, resulting in large size, large consumables, heavy weight, high cost, etc.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a cycloid reducer, comprising a pinion gear housing, an input disc and an output disc rotatably mounted at two ends of the pinion gear housing, a cycloid disc rotating in the pinion gear housing and meshing with the pinion gear housing, an eccentric shaft sequentially passing through the input disc and the cycloid disc and connected to the output disc, the eccentric shaft being rotatably connected with the input disc, the cycloid disc and the output disc, and the input disc and the output disc being provided with a first bearing in contact with the pinion gear housing; wherein, in order to enable the input disc and the output disc to rotate on the pinion gear housing while reducing the volume and consumables of the input disc and the output disc; the first bearing comprises a retaining frame, a containing groove arranged in an annular array on the retaining frame, and a roller rotatably mounted in the containing groove; a pinion meshing with the cycloid disc and in contact with the outer wall of the input disc and the output disc is rotatably mounted inside the pinion gear housing.

[0007] Preferably, the receiving groove passes through the retaining frame, and the diameter of the roller is at least greater than the thickness of the retaining frame.

[0008] Preferably, the needle tooth housing comprises a shell, a first end cover located at an end of the shell corresponding to the output disk, and a second end cover detachably mounted on an end of the shell corresponding to the input disk; wherein the two ends of the needle tooth are rotatably connected to the first end cover and the second end cover respectively.

[0009] Preferably, the pin gear housing further comprises at least three bolts arranged in an annular array on the second end cover for fixing the second end cover to the housing.

[0010] Preferably, the first end cover and the shell are integrally formed.

[0011] Preferably, a plurality of lightweight grooves distributed in a circular array are provided on a side of the shell close to the second end cover and / or a side of the second end cover close to the shell.

[0012] Preferably, the output disc is provided with at least two pins distributed in a ring array, and the pins penetrate the cycloid disc and are connected to the input disc.

[0013] Preferably, an eccentric sleeve is mounted on the eccentric shaft at a position corresponding to the cycloid disk, and second bearings are mounted on the eccentric shaft at positions corresponding to the input disk and the output disk.

[0014] The cycloid reducer has a simple structure and is easy to use. By arranging a cage and a roller between the input disk, the output disk and the pin gear housing, and making the rotating pin gear contact the input disk and the output disk, the traditional cross roller bearing is replaced, which can effectively reduce the overall length and diameter of the cycloid reducer, thereby reducing the volume of the cycloid reducer, reducing consumables, reducing weight, and effectively reducing the cost of the cycloid reducer.

[0015] The cycloid reducer can effectively reduce the weight of the pin gear housing by arranging the lightweight groove, thereby reducing the weight of the cycloid reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is the structural schematic diagram of the cycloid reducer;

[0017] Figure 2 for Figure 1 Schematic diagram of the cross-sectional structure along the AA direction;

[0018] Figure 3 It is a schematic diagram of the exploded structure of the cycloid reducer;

[0019] Figure 4 This is a schematic diagram of the structure of the first bearing in the cycloid reducer.

[0020] In the figure:

[0021] 1. Needle tooth shell;

[0022] 11. Shell; 12. First end cover; 13. Second end cover; 14. Bolt; 15. Lightweight groove;

[0023] 2. Input disk;

[0024] 3. Output disk;

[0025] 4. Cycloid disc;

[0026] 5. Eccentric shaft;

[0027] 51. eccentric sleeve; 52. second bearing;

[0028] 6. First bearing;

[0029] 61. cage; 62. groove; 63. roller;

[0030] 7. Needle teeth;

[0031] 8. Pin. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] Example 1

[0034] This embodiment provides a cycloid reducer, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the cycloid reducer comprises a pin gear housing 1, an input disc 2 and an output disc 3 rotatably mounted at both ends of the pin gear housing 1, a cycloid disc 4 rotating in the pin gear housing 1 and meshing with the pin gear housing 1, and an eccentric shaft 5 sequentially penetrating the input disc 2 and the cycloid disc 4 and connected to the output disc 3, wherein the eccentric shaft 5 is rotatably connected to the input disc 2, the cycloid disc 4 and the output disc 3, wherein at least two pins 8 distributed in an annular array are provided on the output disc 3, the pins 8 penetrating the cycloid disc 4 and connected to the input disc 2; an eccentric sleeve 51 is provided on the eccentric shaft 5 at a position corresponding to the cycloid disc 4, and a second bearing 52 is provided on the eccentric shaft 5 at a position corresponding to the input disc 2 and the output disc 3. The input disc 2 and the output disc 3 are both provided with a first bearing 6 in contact with the pin gear housing 1.

[0035] Different from the prior art, the first bearing 6 includes a retainer 61, a containing groove 62 formed in an annular array on the retainer 61, and a roller 63 rotatably mounted in the containing groove 62; the pin gear housing 1 is rotatably mounted with pin gears 7 that mesh with the cycloid disc 4 and contact with the outer walls of the input disc 2 and the output disc 3. In order to enable the input disc 2 and the output disc 3 to rotate on the pin gear housing 1, the containing groove 62 penetrates the retainer 61, and the diameter of the roller 63 is at least greater than the thickness of the retainer 61.

[0036] like Figure 2 , Figure 3 and Figure 4As shown, the input disk 2 and the output disk 3 have supporting edges that contact the rollers 63 on the retaining frame 61, and the needle gear housing 1 has a pressing portion at the position corresponding to the supporting edge. The pressing portion presses the input disk 2 and the output disk 3 inside the needle gear housing 1 while contacting the rollers 63 on the retaining frame 61, and the needle teeth 7 contact the outer walls of the input disk 2 and the output disk 3, effectively preventing the needle gear housing 1 from affecting the rotation of the input disk 2 and the output disk 3, so that the input disk 2 and the output disk 3 can rotate on the needle gear housing 1 under the contact between the rollers 63 and the supporting portion and the supporting edge of the needle gear housing 1, thereby transmitting power.

[0037] It can be understood that a support edge is provided at one end of the input disk 2 close to the needle gear housing 1 and at the other end of the output disk close to the needle gear housing 1, so that the annular retaining frame 61 is mounted on the support edges of the input disk 2 and the output disk 3, which can effectively shorten the length of the input disk 2 and the output disk 3 and reduce their volume, while effectively reducing the overall diameter of the reducer, thereby reducing its volume, reducing its quality, and reducing consumables and costs.

[0038] Example 2

[0039] In order to facilitate assembly, the difference from Example 1 is that Figure 1 , Figure 2 and Figure 3 As shown, the needle tooth housing 1 includes a shell 11, a first end cover 12 located at one end of the shell 11 corresponding to the output disk 3, and a second end cover 13 detachably installed at one end of the shell 11 corresponding to the input disk 3; wherein, in order to enable the needle tooth 7 to contact with the outer walls of the input disk 2 and the output disk 3 while keeping the needle tooth 7 stable, the two ends of the needle tooth 7 are rotatably connected to the first end cover 12 and the second end cover 13 respectively.

[0040] It is understandable that the second end cover 13 and the housing 11 can be disassembled so that components such as the output disc 3, the cycloid disc 4, the eccentric shaft 5 and the input disc 5 can be loaded into the cavity formed by the housing 11 and the first end cover 12, thereby realizing the assembly of the reducer.

[0041] It should be noted that, in order to enable the second end cover 13 to be disassembled and assembled from the housing 11, the pin gear housing 1 further includes at least three bolts 14 arranged in an annular array on the second end cover 13 for fixing the second end cover 13 on the housing 11. The bolts 14 pass through the second end cover 13 from one end of the second end cover 13 away from the housing 11 and are screwed to the screw holes on the housing 11.

[0042] The existing pin gear housing adopts a design with separate end caps at both ends. When assembling, the end caps at both ends need to be installed separately. At the same time, the installation of the end caps must be connected with connectors, thereby increasing the overall length of the reducer. In order to facilitate assembly and further shorten the length of the reducer, different from the prior art, the first end cap 12 is integrally formed with the housing 11.

[0043] Example 3

[0044] Different from Example 2, Figure 3 As shown, a plurality of lightweight grooves 15 distributed in a circular array are provided on one side of the shell 11 close to the second end cover 13; by providing the lightweight grooves 15 on one side of the shell 11 close to the second end cover 13, the weight of the pin gear housing 1 can be effectively reduced, thereby further reducing the weight of the cycloid reducer.

[0045] Example 4

[0046] What is different from Example 3 is that a plurality of lightweight grooves 15 (not shown) distributed in a circular array are provided on a side of the second end cover 13 close to the shell 11; by providing lightweight grooves 15 on a side of the second end cover 13 close to the shell 11, the weight of the pin gear housing 1 can be effectively reduced, thereby reducing the weight of the cycloid reducer.

[0047] Example 5

[0048] In order to further reduce the weight of the pin gear housing 1, thereby reducing the weight of the cycloid reducer, unlike Examples 3 and 4, a side of the shell 11 close to the second end cover 13 and a side of the second end cover 13 close to the shell 11 are both provided with a plurality of lightweight grooves 15 (not shown) distributed in a circular array.

[0049] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A cycloid reducer, comprising a pin gear housing (1), an input disc (2) and an output disc (3) rotatably mounted at two ends of the pin gear housing (1), a cycloid disc (4) rotating in the pin gear housing (1) and meshing with the pin gear housing (1), an eccentric shaft (5) sequentially penetrating the input disc (2) and the cycloid disc (4) and connected to the output disc (3), the eccentric shaft (5) being rotatably connected to the input disc (2), the cycloid disc (4) and the output disc (3), and a first bearing (6) in contact with the pin gear housing (1) being provided on each of the input disc (2) and the output disc (3); Features: The first bearing (6) comprises a retaining frame (61), grooves (62) arranged in an annular array on the retaining frame (61), and rollers (63) rotatably mounted in the grooves (62); The needle gear housing (1) is rotatably mounted with needle gears (7) meshing with the cycloid disc (4) and contacting the outer walls of the input disc (2) and the output disc (3).

2. The cycloid reducer according to claim 1, characterized in that: The receiving groove (62) passes through the retaining frame (61), and the diameter of the roller (63) is at least greater than the thickness of the retaining frame (61).

3. The cycloid reducer according to claim 1, characterized in that: The needle tooth housing (1) comprises a housing (11), a first end cover (12) located at an end of the housing (11) corresponding to the output disk (3), and a second end cover (13) detachably mounted on an end of the housing (11) corresponding to the input disk (3); wherein the two ends of the needle tooth (7) are rotatably connected to the first end cover (12) and the second end cover (13), respectively.

4. The cycloid reducer according to claim 3, characterized in that: The pin gear housing (1) further comprises at least three bolts (14) arranged in an annular array on the second end cover (13) for fixing the second end cover (13) on the housing (11).

5. The cycloid reducer according to claim 3, characterized in that: The first end cover (12) and the housing (11) are integrally formed.

6. The cycloid reducer according to claim 3, characterized in that: A plurality of lightweight grooves (15) distributed in an annular array are provided on one side of the shell (11) close to the second end cover (13) and / or on one side of the second end cover (13) close to the shell (11).

7. The cycloid reducer according to claim 1, characterized in that: The output disc (3) is provided with at least two pins (8) distributed in a ring array, and the pins (8) penetrate the cycloid disc (4) and are connected to the input disc (2).

8. The cycloid reducer according to claim 1, characterized in that: An eccentric sleeve (51) is mounted on the eccentric shaft (5) at a position corresponding to the cycloid disc (4), and a second bearing (52) is mounted on the eccentric shaft (5) at positions corresponding to the input disc (2) and the output disc (3).

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