Speed reducer

Abstract

The speed reducer comprises a base shell used for being connected with an outer shell of a motor, and the base shell is provided with a mounting hole allowing an output shaft of the motor to be inserted therein; the eccentric shaft is rotationally connected to the inner circumferential surface of the mounting hole, the eccentric shaft can be coaxially connected to the output shaft in the first direction, and the eccentric shaft is provided with a first eccentric circumferential surface; the first cycloid gear is arranged in the base shell and provided with a first inner circumferential surface and a first outer tooth circumferential surface, and the first inner circumferential surface is in transmission connection with the first eccentric circumferential surface; the first linkage piece is arranged between the base shell and the first cycloid gear, and the first linkage piece can move relative to the first cycloid gear in the second direction and can move relative to the base shell in the third direction; wherein the first direction, the second direction and the third direction are perpendicular to one another; the output shell is rotationally connected to the base shell, the output shell is provided with a transmission inner circumferential surface, and the transmission inner circumferential surface and the first outer tooth circumferential surface are oppositely arranged; the N first roller pins are arranged between the transmission inner circumferential face and the first outer tooth circumferential face in a transmission mode.

Description

Technical Field

[0001] The present invention relates to the field of reducers, in particular to a reducer. Background Art

[0002] The reducer is the core component of industrial robots and is usually used in the driving joints or rotating parts of industrial robots. The performance of the reducer largely determines the accuracy, rigidity and life of the industrial robot. At present, the reducers for such applications are mostly harmonic reducers or RV reducers. Generally, the rigidity of harmonic reducers is relatively small, and the load cannot be too large; RV reducers are generally larger in size and heavier in weight, and the input end of the RV reducer generally adopts a key shaft structure or a gear shaft input structure. These two input structures themselves will have a certain matching clearance, so some transmission accuracy will be lost. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a reducer that can achieve transmission accuracy and improve service life.

[0004] A reducer according to an embodiment of the present invention includes: A base shell, used for connecting to the outer shell of the motor, the base shell having a mounting hole for inserting the output shaft of the motor; An eccentric shaft, rotatably connected to the inner circumference of the mounting hole, the eccentric shaft can be coaxially connected to the output shaft along a first direction, and the eccentric shaft has a first eccentric circumference; A first cycloid gear is disposed in the base housing, the first cycloid gear having a first inner peripheral surface and a first outer peripheral surface, the first inner peripheral surface being transmission-connected to the first eccentric peripheral surface; a first linkage member, disposed between the base housing and the first cycloid gear, the first linkage member being capable of moving relative to the first cycloid gear in a second direction and relative to the base housing in a third direction; Wherein, the first direction, the second direction and the third direction are perpendicular to each other; An output housing, rotatably connected to the base housing, the output housing having a transmission inner peripheral surface, the transmission inner peripheral surface being arranged opposite to the first outer gear peripheral surface; N first needle rollers, arranged between the transmission inner circumference and the first outer tooth circumference; Wherein, the output housing is configured such that when the eccentric shaft rotates one circle, the first cycloid gear performs non-self-rotating cycloid motion, and drives the output housing to rotate by an angle corresponding to the pitch of the first needle roller through the first needle roller.

[0005] The reducer according to the embodiment of the present invention has at least the following beneficial effects: 1. The base shell is directly fixed to the outer shell of the motor, so that the eccentric shaft and the motor output shaft can be directly connected, thereby shortening the transmission distance, improving the transmission accuracy, and the overall size of the reducer and the motor after assembly is smaller, occupying less space, which can improve space utilization; 2. When the motor output shaft drives the eccentric shaft to rotate in the first direction, the first eccentric circumference of the eccentric shaft rotates eccentrically and drives the first cycloid gear to move. The first cycloid gear is guided by the first linkage member to make non-rotating cycloid motion along the second direction and the third direction. The first cycloid gear drives the first needle roller to rotate through the cycloid motion, thereby driving the output housing to rotate. When the eccentric shaft rotates one circle, the output housing rotates by an angle corresponding to the pitch of a single first needle roller to achieve deceleration. The first cycloid gear does not need to rotate to achieve the rotation of the output housing, which simplifies the overall combination and effectively reduces the volume and weight of the reducer. 3. The first cycloid gear can move relative to the first linkage member in the second direction, and can also move relative to the base shell in the third direction together with the first linkage member. The first cycloid gear realizes cycloid movement in the second direction and the third direction through the guidance of the first linkage member, so that the movement of the cycloid gear is more precise and the transmission accuracy is higher; 4. There is no direct contact between the first cycloid gear and the base shell, thereby avoiding friction between the first cycloid gear and the base shell, and there is a relative movement stroke between the first cycloid gear and the first linkage member, so that the friction between the two is also smaller, while eliminating the friction heat between the first cycloid gear and the base shell, the friction heat between the first cycloid gear and the first linkage member can be reduced, thereby reducing the wear of the reducer and increasing the service life of the reducer.

[0006] According to some embodiments of the present invention, the eccentric shaft has a second eccentric circumferential surface, and the second eccentric circumferential surface and the first eccentric circumferential surface are sequentially distributed along the first direction; The reducer also includes: A second cycloid gear is disposed in the base housing, the second cycloid gear has a second inner peripheral surface and a second outer peripheral surface, the second inner peripheral surface is transmission-connected to the second eccentric peripheral surface, the second outer peripheral surface can swing eccentrically, and the second outer peripheral surface is transmission-connected to the output housing through N second needle rollers; The second linkage member is disposed between the base shell and the second cycloid gear. The second linkage member can move relative to the base shell along a second direction and can move relative to the second cycloid gear along a third direction.

[0007] According to some embodiments of the present invention, the base shell comprises: A wheel seat having a first connecting portion; A gland having a second connection portion, the second connection portion is aligned along the first direction and connected to the first connection portion; Wherein, the wheel seat, the first linkage member, the first cycloid gear, the second cycloid gear, the second linkage member, and the pressure cover are sequentially distributed along the first direction; The first cycloid gear is disposed in the first connection portion and can move relative to the first connection portion along the second direction and the third direction; the second cycloid gear is disposed in the second connection portion and can move relative to the second connection portion along the second direction and the third direction.

[0008] According to some embodiments of the present invention, the difference between the circumferential positions of the first eccentric surface and the second eccentric surface along the circumferential direction of the eccentric shaft is X, and the reducer satisfies: X=180°.

[0009] According to some embodiments of the present invention, the first outer tooth circumferential surface includes N+1 tooth circumferential surfaces.

[0010] According to some embodiments of the present invention, the first linkage member includes a first surface relative to the first cycloidal gear and a first guide portion arranged on the first surface and along the second direction, the first cycloidal gear includes a first end surface relative to the first surface and a second guide portion arranged on the first end surface and along the second direction, and the first guide portion and the second guide portion cooperate in guiding along the second direction.

[0011] According to some embodiments of the present invention, the first guide portion includes a plurality of first slide grooves provided on the first surface, and the plurality of first slide grooves are arranged in parallel along the second direction; The second guide portion includes a plurality of first sliding blocks protruding from the first end surface, the plurality of first sliding blocks are arranged in parallel along the second direction, and the first sliding block is slidably disposed in a first sliding groove along the second direction.

[0012] According to some embodiments of the present invention, the first linkage member includes a second surface relative to the base shell and a third guide portion arranged on the second surface and along the third direction, the base shell includes a first inner end surface relative to the second surface and a fourth guide portion arranged on the first inner end surface and along the third direction, and the third guide portion cooperates with the fourth guide portion to guide along the third direction.

[0013] According to some embodiments of the present invention, the first eccentric circumferential surface is provided with a first rotating groove along the circumferential direction of the eccentric shaft, and the first inner circumferential surface is provided with a second rotating groove along the circumferential direction of the first cycloid gear. The first rotating groove and the second rotating groove are slidingly connected by a plurality of rolling elements, and the first eccentric circumferential surface can rotate relative to the first inner circumferential surface.

[0014] According to some embodiments of the present invention, the eccentric shaft has a connecting hole, and the connecting hole is used to connect to the outer peripheral surface of the output shaft; The reducer further comprises a tightening sleeve, which is arranged on the inner circumference of the connecting hole and is used for interference connection between the inner circumference of the connecting hole and the outer circumference of the output shaft.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 It is a cross-sectional schematic diagram of a reducer installed on a motor according to an embodiment of the present invention; Figure 2 A cross-sectional schematic diagram of a reducer according to an embodiment of the present invention; Figure 3 A schematic top cross-sectional view of a reducer according to an embodiment of the present invention; Figure 4 This is an exploded schematic diagram of a reducer according to an embodiment of the present invention; Figure 5 A schematic diagram of the structure of an eccentric shaft in a reducer according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the exploded structure of a wheel seat, a first linkage member and a first cycloid gear in a reducer according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the assembly structure of a wheel seat and a first linkage member in a reducer according to an embodiment of the present invention; Figure 8 The figure is a schematic diagram of the assembly structure of the middle wheel seat, the first linkage member and the first cycloid gear in a reducer according to an embodiment of the present invention.

[0017] Figure Number: Motor 10; output shaft 11; Base shell 100; wheel seat 110; first connecting portion 111; gland 120; second connecting portion 121; locking hole 130; bolt 140; fourth guide portion 150; Eccentric shaft 200; first eccentric surface 210; first rotation groove 211; rolling element 212; second eccentric surface 220; connecting hole 230; half bearing 240; First cycloid gear 300; first inner circumferential surface 310; second rotation groove 311; first outer gear circumferential surface 320; second guide portion 330; First linkage member 400; first guide portion 410; third guide portion 420; Output housing 500; rotating bearing 510; sealing ring 520; First needle roller 600; A second cycloid gear 700; A second linkage member 800; Expansion sleeve 900. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0019] In the description of the present invention, it should be understood that descriptions involving orientation, such as orientation or positional relationship indicated as up, down, etc., are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0020] In the description of the present invention, "a number" refers to one or more than one, and "a plurality" refers to two or more than two. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0021] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0022] It should be noted that the rigidity of harmonic reducers is usually relatively small, and the load cannot be too large; RV reducers are generally large in size and heavy in weight. Traditional harmonic reducers and RV reducers generally cannot be directly connected to the motor, but must be connected through an adapter plate. For example, the input end of the RV reducer generally adopts a key shaft structure or a gear shaft input structure. These two input structures themselves will have a certain matching clearance, so some transmission accuracy will be lost.

[0023] Reference Figures 1 to 8 As shown, an embodiment of the present invention provides a reducer, including: a base housing 100 , an eccentric shaft 200 , a first cycloid gear 300 , a first linkage member 400 , an output housing 500 and N first needle rollers 600 .

[0024] The base housing 100 is used to connect to the housing of the motor 10 , and the base housing 100 has a mounting hole for inserting the output shaft 11 of the motor 10 .

[0025] In this embodiment, refer to Figure 1 and Figure 2 As shown, the base shell 100 includes a wheel seat 110 and a pressure cover 120, and the wheel seat 110 and the pressure cover 120 are spaced apart, and the spacing space forms an installation space for other parts, and the wheel seat 110 and the pressure cover 120 are basically disc-shaped, and the end of the wheel seat 110 is aligned with the end of the pressure cover 120 along a first direction, and the middle parts of the wheel seat 110 and the pressure cover 120 are both provided with through holes, and the wheel seat 110 and the pressure cover 120 are aligned to form a mounting hole.

[0026] The wheel seat 110 and the pressure cover 120 are fixed together on the housing of the motor 10 by means of bolts 140, and the output shaft 11 of the motor 10 is located in the mounting hole.

[0027] It is worth understanding that there is no need for the reducer and the output shaft 11 of the motor 10 to be connected via other structures, and the base shell 100 is directly fixed to the outer shell of the motor 10, so that the eccentric shaft 200 and the output shaft 11 of the motor 10 can be directly connected in transmission, thereby shortening the transmission spacing and improving the transmission accuracy. At the same time, the overall size of the reducer and the motor 10 after assembly is smaller, occupying less space, which can improve space utilization.

[0028] Reference Figure 2 and Figure 3 As shown, the eccentric shaft 200 is rotatably connected to the inner circumference of the mounting hole. The eccentric shaft 200 can be coaxially connected to the output shaft 11 along a first direction. The eccentric shaft 200 has a first eccentric circumference 210 .

[0029] The eccentric shaft 200 is installed in the mounting hole and connected to the output shaft 11. When the output shaft 11 rotates, the eccentric shaft 200 rotates relative to the base shell 100 and the mounting hole to achieve power transmission, and the first eccentric peripheral surface 210 of the eccentric shaft 200 will also perform eccentric motion.

[0030] The first eccentric circumferential surface 210 means that the outer circumferential surface is a circular surface, but the center line of the circular surface does not coincide with the rotation axis. During the rotation process, the first eccentric circumferential surface 210 will perform an eccentric swing similar to the cam motion.

[0031] Specifically, refer to Figure 2 , Figure 3 and Figure 5As shown, the outer circumferences of both ends of the eccentric shaft 200 are connected to the inner circumference of the mounting hole through the half bearings 240, and one end of the eccentric shaft 200 is in contact with the wheel seat 110 or the pressure cover 120, or the eccentric shaft 200 is suspended and limited in the installation through the bearing structure. Among them, the outer circumferences of both ends of the eccentric shaft 200 have a sliding step surface respectively, and the first sliding groove is set at the intersection of the sliding step surface and the outer circumference of the eccentric shaft 200. The first sliding groove will replace the inner ring of the bearing to contact the ball of the half bearing 240, forming a structure similar to a sliding bearing between the wheel seat 110 and the eccentric shaft 200, and playing the effect of reducing friction. At the same time, the second sliding groove and the half bearing 240 will also form a structure similar to a sliding bearing between the pressure cover 120 and the eccentric shaft 200, and play the effect of reducing friction. In addition, compared with directly setting a single bearing between the eccentric shaft 200 and the wheel seat 110, the first sliding groove of the eccentric shaft 200 replaces the inner ring of the single bearing, so that the size between the eccentric shaft 200 and the wheel seat 110 is smaller, which is more conducive to reducing the overall size of the reducer.

[0032] The first cycloid gear 300 is disposed inside the base shell 100. The first cycloid gear 300 has a first inner peripheral surface 310 and a first outer gear peripheral surface 320. The first inner peripheral surface 310 is transmission-connected to the first eccentric peripheral surface 210. The first linkage member 400 is disposed between the base shell 100 and the first cycloid gear 300. The first linkage member 400 can move relative to the first cycloid gear 300 along the second direction and can move relative to the base shell 100 along the third direction; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0033] In this embodiment, refer to Figure 6 , Figure 7 and Figure 8 As shown, the first cycloid gear 300 is guided and restricted by the first linkage 400, so that the first cycloid gear 300 moves along the second direction and the third direction, and the first cycloid gear 300 can perform a compound motion along the second direction and the third direction, so that when the first cycloid gear 300 is powered by the eccentric shaft 200, the first cycloid gear 300 performs a non-rotating cycloid motion. The non-rotating cycloid motion means that the first cycloid gear 300 does not rotate, and the second direction and the third direction have an upper end, a left end, a lower end and a right end respectively. The first cycloid gear 300 will perform telescopic motion at the four ends in turn in a clockwise or counterclockwise direction to realize a cycloid motion.

[0034] Reference Figure 2 and Figure 3 As shown, the output housing 500 is rotatably connected to the base housing 100 , and the output housing 500 has a transmission inner circumferential surface, which is arranged opposite to the first outer gear circumferential surface 320 ; N first needle rollers 600 are transmission-arranged between the transmission inner circumferential surface and the first outer gear circumferential surface 320 .

[0035] In this embodiment, the two ends of the output housing 500 along the first direction are respectively connected to the wheel seat 110 and the pressure cover 120 through two rotating bearings 510. Among them, there is also a sealing ring 520 between the wheel seat 110, the output housing 500 and the rotating bearings 510 therebetween to seal the grease in the output housing 500 to prevent leakage; the sealing ring 520 can also be provided between the pressure cover 120, the wheel seat 110, the output housing 500 and the rotating bearings 510 therebetween.

[0036] The first cycloid gear 300 performs cycloid motion and pushes the first needle roller 600 to move, and the first needle roller 600 drives the output housing 500 to rotate. The output housing 500 is configured as follows: when the eccentric shaft 200 rotates one circle, the first cycloid gear 300 performs non-self-rotating cycloid motion, and drives the output housing 500 to rotate an angle corresponding to the pitch of the first needle roller 600 through the first needle roller 600. Therefore, the transmission ratio of the reducer is: 1:N, that is, when the eccentric shaft 200 rotates N circles, the output housing 500 rotates one full circle to achieve deceleration.

[0037] It is worth understanding that when the output shaft 11 of the motor 10 drives the eccentric shaft 200 to rotate around the first direction, the first eccentric circumferential surface 210 of the eccentric shaft 200 rotates eccentrically and drives the first cycloidal gear 300 to move. The first cycloidal gear 300 is guided by the first linkage 400 and performs non-rotating cycloidal motion along the second direction and the third direction. The first cycloidal gear 300 drives the first needle roller 600 to rotate through the cycloidal motion, thereby driving the output housing 500 to rotate, and when the eccentric shaft 200 rotates one circle, the output housing 500 rotates by an angle corresponding to the pitch of a single first needle roller 600 to achieve deceleration. The first cycloidal gear 300 does not need to rotate to achieve the rotation of the output housing 500, which simplifies the overall combination and effectively reduces the volume and weight of the reducer.

[0038] Among them, the first cycloidal gear 300 can move in the second direction relative to the first linkage 400, and the first cycloidal gear 300 can also move in the third direction relative to the base shell 100 together with the first linkage 400. The first cycloidal gear 300 realizes cycloidal movement in the second direction and the third direction through the guidance of the first linkage 400, so that the movement of the cycloidal gear is more precise and the transmission accuracy is higher; there is no direct contact between the first cycloidal gear 300 and the base shell 100, thereby avoiding the friction between the first cycloidal gear 300 and the base shell 100, and the first cycloidal gear 300 and the first linkage 400 have a relative movement stroke, so that the friction between the two is also smaller, while eliminating the friction heat between the first cycloidal gear 300 and the base shell 100, the friction heat between the first cycloidal gear 300 and the first linkage 400 can be reduced, thereby reducing the wear of the reducer and increasing the service life of the reducer.

[0039] Reference Figure 2 , Figure 4 and Figure 5 As shown, in some specific embodiments of the present invention, the eccentric shaft 200 has a second eccentric peripheral surface 220, and the second eccentric peripheral surface 220 and the first eccentric peripheral surface 210 are sequentially distributed along the first direction; The reducer also includes: a second cycloidal gear 700 and a second linkage 800. The second cycloidal gear 700 is arranged inside the base shell 100. The second cycloidal gear 700 has a second inner peripheral surface and a second outer peripheral surface. The second inner peripheral surface is transmission-connected to the second eccentric peripheral surface 220. The second outer peripheral surface can swing eccentrically. The second outer peripheral surface is transmission-connected to the output shell 500 through N second needle rollers. The second linkage 800 is arranged between the base shell 100 and the second cycloidal gear 700. The second linkage 800 can move relative to the base shell 100 along the second direction, and can move relative to the second cycloidal gear 700 along the third direction.

[0040] Furthermore, the difference between the circumferential positions of the first eccentric surface 210 and the second eccentric surface 220 along the circumferential direction of the eccentric shaft 200 is X, and the reducer satisfies: X=180°.

[0041] In this embodiment, the specific movement mode of the second cycloid gear 700 and the second linkage member 800 is the same as the specific movement mode of the first cycloid gear 300 and the first linkage member 400, and will not be described in detail here. The difference between the two is that the circumferential position difference between the first eccentric surface 210 and the second eccentric surface 220 along the circumferential direction of the eccentric shaft 200 is 180°, so that the circumferential position difference between the first cycloid gear 300 and the second cycloid gear 700 along the circumferential direction of the eccentric shaft 200 is also 180°, then, the eccentric force formed by the first cycloid gear 300 is exactly opposite to the eccentric force formed by the second cycloid gear 700 and the magnitude is basically the same, so that the output shaft 11 of the motor 10 can be in a force balance state, thereby reducing the overload of the output shaft 11, increasing the service life of the output shaft 11 of the motor 10, and making the reducer less prone to damage.

[0042] Reference Figure 2 , Figure 3 and Figure 4 As shown, in some specific embodiments of the present invention, the base shell 100 includes: a wheel seat 110 and a pressure cover 120.

[0043] The wheel seat 110 has a first connecting portion 111; The pressure cover 120 has a second connection portion 121, and the second connection portion 121 is aligned along the first direction and connected to the first connection portion 111; Among them, the wheel seat 110, the first linkage member 400, the first cycloid gear 300, the second cycloid gear 700, the second linkage member 800, and the pressure cover 120 are sequentially distributed along the first direction; The first cycloid gear 300 is disposed in the first connection portion 111 and can move relative to the first connection portion 111 along the second direction and the third direction; the second cycloid gear 700 is disposed in the second connection portion 121 and can move relative to the second connection portion 121 along the second direction and the third direction.

[0044] In this embodiment, the wheel seat 110 and the gland 120 are butted together through the first connection part 111 and the second connection part 121, and the first connection part 111 has a through hole along the axial direction of the mounting hole, and the second connection part 121 also has a through hole along the axial direction of the mounting hole. After the wheel seat 110 and the gland 120 are assembled, the through hole of the first connection part 111 is aligned with the through hole of the second connection part 121 to form a locking hole 130, and the bolt 140 and other connecting parts can pass through the locking hole 130 and be locked to the housing of the motor 10 to achieve the fixation of the reducer and the housing of the motor 10, so that the connection between the reducer and the motor 10 is more reliable. Among them, the number of the locking holes 130 is multiple, and they are evenly spaced and distributed along the axial direction of the mounting hole, so that the locking force between the reducer and the motor 10 is evenly distributed.

[0045] Among them, the first cycloidal gear 300 is penetrated by the first connecting part 111, and there is a large gap between the first cycloidal gear 300 and the first connecting part 111, so that the first cycloidal gear 300 can move to the extreme position relative to the first connecting part 111 along the second direction and the third direction. In other words, the first connecting part 111 will not affect the cycloidal motion of the first cycloidal gear 300, so that the first cycloidal gear 300 can smoothly drive the output housing 500 to rotate, and the first cycloidal gear 300 will not collide and rub with the first connecting part 111 during the cycloidal motion to cause damage. Among them, the structure of the second cycloidal gear 700 passing through the second connecting part 121 is the same as the structure of the first cycloidal gear 300 passing through the first connecting part 111, which will not be repeated here. However, it should be noted that the first cycloidal gear 300, the second cycloidal gear 700, the first connecting part 111 and the second connecting part 121 all adopt the same structure, and the reducer can be regarded as a central axis symmetrical structure, so that the center of gravity of the reducer as a whole is basically coincident with the center line. The reducer has less separate eccentric force caused by its own weight distribution, and the eccentric load effect on the output shaft 11 is smaller, which can increase the service life of the reducer and the motor 10.

[0046] Reference Figure 3 As shown, in some specific embodiments of the present invention, the first outer toothed surface 320 includes N+1 toothed surfaces. In this embodiment, the first outer toothed surface 320 transmits the first needle roller 600 through the N+1 toothed surfaces, so that the first needle roller 600 can drive the output housing 500 to rotate under the drive of the first outer toothed surface 320.

[0047] Reference Figure 6 , Figure 7 and Figure 8 As shown, in some embodiments of the present invention, the first linkage 400 includes a first surface relative to the first cycloidal gear 300 and a first guide portion 410 arranged on the first surface and along the second direction, the first cycloidal gear 300 includes a first end surface relative to the first surface and a second guide portion 330 arranged on the first end surface and along the second direction, and the first guide portion 410 cooperates with the second guide portion 330 for guiding along the second direction.

[0048] In this embodiment, the first linkage member 400 and the first cycloid gear 300 are guided together by the first guide portion 410 and the second guide portion 330 along the second direction, so that the first cycloid gear 300 can move along the second direction.

[0049] Furthermore, in some specific embodiments of the present invention, the first guide portion 410 includes a plurality of first slide grooves provided on the first surface, and the plurality of first slide grooves are arranged in parallel along the second direction; the second guide portion 330 includes a plurality of first sliders protruding from the first end surface, and the plurality of first sliders are arranged in parallel along the second direction, and the first slider is arranged in a first slide groove to slide along the second direction.

[0050] In this embodiment, the first linkage 400 and the first cycloidal gear 300 are moved along the second direction by the guiding cooperation of the first slide groove and the first slider, and the reducer is also filled with grease, and the first slider and the first slide groove can be lubricated by the grease, thereby reducing the friction between the first slide groove and the first slider, and reducing the friction heat. Among them, the number of the first slide grooves can be one or more, and the number of the first sliders can also be one or more. When the number of the first slide grooves and the first sliders are both multiple, the relative movement of the first linkage 400 and the first cycloidal gear 300 along the second direction is more precise, and the first cycloidal gear 300 can accurately move relative to the first linkage 400 along the second direction. The movement accuracy of the first cycloidal gear 300 is higher, so that the overall transmission accuracy of the reducer is higher.

[0051] In addition, the first guide portion 410 may be a first sliding block, and the second guide portion 330 may be a first sliding groove, and the specific configuration may be selected according to actual needs.

[0052] As another embodiment, the first guide portion 410 and the second guide portion 330 can also achieve movement along the second direction through the structure of a linear guide rail. The first guide portion 410 can be a linear guide rail, and the second guide portion 330 can be a slider arranged on the linear guide rail and slides along the second direction, or the second guide portion 330 can be a linear guide rail and the first guide portion 410 can be a slider.

[0053] Reference Figure 6 , Figure 7 and Figure 8 As shown, in some specific embodiments of the present invention, the first linkage 400 includes a second surface relative to the base shell 100 and a third guide portion 420 arranged on the second surface and along a third direction, the base shell 100 includes a first inner end surface relative to the second surface and a fourth guide portion 150 arranged on the first inner end surface and along the third direction, and the third guide portion 420 cooperates with the fourth guide portion 150 for guiding along the third direction.

[0054] In this embodiment, the base shell 100 includes a wheel seat 110 and a pressure cover 120. The side of the wheel seat 110 opposite to the pressure cover 120 is a first inner end face. The first inner end face has a fourth guide portion 150. The first linkage member 400 and the wheel seat 110 are guided along the third direction by the third guide portion 420 and the fourth guide portion 150, so that the first linkage member 400 can move along the third direction relative to the base shell 100. In other words, the first cycloid gear 300 can move along the third direction relative to the base shell 100 together with the first linkage member 400, thereby realizing the movement of the first cycloid gear 300 along the third direction.

[0055] The guiding matching structure between the third guiding portion 420 and the fourth guiding portion 150 is the same as the guiding matching structure between the first guiding portion 410 and the second guiding portion 330 , and will not be described in detail herein.

[0056] Reference Figure 4 As shown, in some embodiments of the present invention, the second linkage 800 includes a third surface relative to the second cycloidal gear 700 and a fifth guide portion arranged on the third surface and along the second direction, the second cycloidal gear 700 includes a second end surface relative to the third surface and a sixth guide portion arranged on the second end surface and along the second direction, and the fifth guide portion and the sixth guide portion are guided and matched along the second direction.

[0057] In this embodiment, the second linkage member 800 and the second cycloid gear 700 are guided and matched along the second direction by the fifth guide portion and the sixth guide portion, so that the second cycloid gear 700 can move along the second direction.

[0058] Furthermore, in some specific embodiments of the present invention, the fifth guide portion includes a plurality of second slide grooves provided on the first surface, and the plurality of second slide grooves are arranged in parallel along the second direction; the sixth guide portion includes a plurality of second sliders protruding from the second end surface, the plurality of second sliders are arranged in parallel along the second direction, and the second slider is slidably provided in a second slide groove along the second direction.

[0059] In this embodiment, the second linkage 800 and the second cycloidal gear 700 are moved along the second direction through the guiding cooperation of the second slide groove and the second slider, and the reducer is also filled with grease, and the second slider and the second slide groove can be lubricated by the grease, thereby reducing the friction between the second slide groove and the second slider, and reducing friction heat. Among them, the number of second slide grooves can be one or more, and the number of second sliders can also be one or more. When the number of second slide grooves and second sliders is multiple, the relative movement of the second linkage 800 and the second cycloidal gear 700 along the second direction is more precise, and the second cycloidal gear 700 can accurately move relative to the second linkage 800 along the second direction. The movement accuracy of the second cycloidal gear 700 is higher, so that the overall transmission accuracy of the reducer is higher.

[0060] In addition, the fifth guide portion may be the second sliding block, and the sixth guide portion may be the second sliding groove. The specific arrangement may be selected according to actual needs.

[0061] As another embodiment, the fifth guide part and the sixth guide part can also achieve movement along the second direction through the structure of a linear guide rail. The fifth guide part can be a linear slide rail, and the sixth guide part can be a slider arranged on the linear slide rail and slide along the second direction, or the sixth guide part can be a linear slide rail and the fifth guide part can be a slider.

[0062] Reference Figure 4 As shown, in some specific embodiments of the present invention, the second linkage member 800 includes a fourth surface relative to the base shell 100 and a seventh guide portion arranged on the fourth surface and along the third direction, the base shell 100 includes a second inner end surface relative to the fourth surface and an eighth guide portion arranged on the second inner end surface and along the third direction, and the seventh guide portion and the eighth guide portion are guided and matched along the third direction.

[0063] In this embodiment, the base shell 100 includes a wheel seat 110 and a pressure cover 120. The side of the wheel seat 110 opposite to the pressure cover 120 is a second inner end face. The second inner end face has an eighth guide portion. The second linkage member 800 and the wheel seat 110 are guided along the third direction by the seventh guide portion and the eighth guide portion, so that the second linkage member 800 can move along the third direction relative to the base shell 100. In other words, the second cycloid gear 700 can move along the third direction relative to the base shell 100 together with the second linkage member 800, thereby realizing the movement of the second cycloid gear 700 along the third direction.

[0064] Reference Figure 5 As shown, in some specific embodiments of the present invention, the first eccentric circumferential surface 210 is provided with a first rotating groove 211 along the circumferential direction of the eccentric shaft 200, and the first inner circumferential surface 310 is provided with a second rotating groove 311 along the circumferential direction of the first cycloidal gear 300, and the first rotating groove 211 and the second rotating groove 311 are slidingly connected by a plurality of rolling elements 212, and the first eccentric circumferential surface 210 can rotate relative to the first inner circumferential surface 310.

[0065] It is worth understanding that the first eccentric circumferential surface 210 of the eccentric shaft 200 and the first inner circumferential surface 310 of the first cycloidal gear 300 are slidably connected by the rolling element 212. When the first cycloidal gear 300 is subjected to the eccentric rotation thrust applied by the eccentric shaft 200, the rolling element 212 can reduce the friction between the eccentric shaft 200 and the first cycloidal gear 300, thereby reducing wear and friction heat. At the same time, the rolling element 212 absorbs the rotational kinetic energy of the eccentric shaft 200, so that the eccentric shaft 200 and the rolling element 212 rotate relative to the first cycloidal gear 300, and the first cycloidal gear 300 is mainly subjected to the linear thrust along the second direction and the third direction. The rolling element 212 absorbs the rotational kinetic energy, so that the first cycloidal gear 300 is less likely to be damaged, thereby increasing the service life of the first cycloidal gear 300.

[0066] It should be noted that the first eccentric circumferential surface 210 has a first rotation groove 211, the first cycloid gear 300 has a second rotation groove 311, a rolling element 212 is arranged between the first rotation groove 211 and the second rotation groove 311, and the eccentric shaft 200 is rotated relative to the first cycloid gear 300 by the rolling element 212, so that the overall part of the eccentric shaft 200 and the first cycloid gear 300 is more compact, and the eccentric rotation of the eccentric shaft 200 is transmitted to the first cycloid gear 300 in the second direction and the third direction through the rolling element 212, so as to realize the non-rotational cycloid motion of the first cycloid gear 300. In this embodiment, the rolling element 212 is a ball, the first rotation groove 211 is a circular arc groove, and the second rotation groove 311 is also a circular arc groove.

[0067] Reference Figure 1 and Figure 5 As shown, in some specific embodiments of the present invention, the eccentric shaft 200 has a connecting hole 230, and the connecting hole 230 is used to connect the outer circumference of the output shaft 11; the reducer also includes a locking sleeve 900; it is arranged on the inner circumference of the connecting hole 230, and is used for interference connection between the inner circumference of the connecting hole 230 and the outer circumference of the output shaft 11.

[0068] In this embodiment, the output shaft 11 is inserted into the connecting hole 230 of the eccentric shaft 200, and the gap between the output shaft 11 and the eccentric shaft 200 is eliminated by the expansion sleeve 900, so that the connection between the outer circumference of the output shaft 11 and the inner circumference of the connecting hole 230 of the eccentric shaft 200 is tighter, thereby improving the stability of the power transmission of the output shaft 11 and making the power transmission more stable.

[0069] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A reducer, characterized in that: include: A base shell, used for connecting to the outer shell of the motor, the base shell having a mounting hole for inserting the output shaft of the motor; An eccentric shaft, rotatably connected to the inner circumference of the mounting hole, the eccentric shaft can be coaxially connected to the output shaft along a first direction, and the eccentric shaft has a first eccentric circumference; A first cycloid gear is disposed in the base housing, the first cycloid gear having a first inner peripheral surface and a first outer peripheral surface, the first inner peripheral surface being transmission-connected to the first eccentric peripheral surface; a first linkage member, disposed between the base housing and the first cycloid gear, the first linkage member being capable of moving relative to the first cycloid gear in a second direction and relative to the base housing in a third direction; Wherein, the first direction, the second direction and the third direction are perpendicular to each other; An output housing, rotatably connected to the base housing, the output housing having a transmission inner peripheral surface, the transmission inner peripheral surface being arranged opposite to the first outer gear peripheral surface; N first needle rollers, arranged between the transmission inner circumference and the first outer tooth circumference; Wherein, the output housing is configured such that when the eccentric shaft rotates one circle, the first cycloid gear performs non-self-rotating cycloid motion, and drives the output housing to rotate by an angle corresponding to the pitch of the first needle roller through the first needle roller.

2. The reducer according to claim 1, characterized in that: The eccentric shaft has a second eccentric circumferential surface, and the second eccentric circumferential surface and the first eccentric circumferential surface are sequentially distributed along the first direction; The reducer also includes: A second cycloid gear is disposed in the base housing, the second cycloid gear has a second inner peripheral surface and a second outer peripheral surface, the second inner peripheral surface is transmission-connected to the second eccentric peripheral surface, the second outer peripheral surface can swing eccentrically, and the second outer peripheral surface is transmission-connected to the output housing through N second needle rollers; The second linkage member is disposed between the base shell and the second cycloid gear. The second linkage member can move relative to the base shell along a second direction and can move relative to the second cycloid gear along a third direction.

3. The reducer according to claim 2, characterized in that: The base shell comprises: A wheel seat having a first connecting portion; A gland having a second connection portion, the second connection portion is aligned along the first direction and connected to the first connection portion; Wherein, the wheel seat, the first linkage member, the first cycloid gear, the second cycloid gear, the second linkage member, and the pressure cover are sequentially distributed along the first direction; The first cycloid gear is disposed in the first connection portion and can move relative to the first connection portion along the second direction and the third direction; the second cycloid gear is disposed in the second connection portion and can move relative to the second connection portion along the second direction and the third direction.

4. The reducer according to claim 2, characterized in that: The difference between the circumferential positions of the first eccentric surface and the second eccentric surface along the circumferential direction of the eccentric shaft is X, and the reducer satisfies: X=180°.

5. The reducer according to claim 1, characterized in that: The first outer tooth circumferential surface includes N+1 tooth circumferential surfaces.

6. The reducer according to claim 1, characterized in that: The first linkage member includes a first surface relative to the first cycloid gear and a first guide portion arranged on the first surface and along the second direction. The first cycloid gear includes a first end surface relative to the first surface and a second guide portion arranged on the first end surface and along the second direction. The first guide portion and the second guide portion cooperate in guiding along the second direction.

7. The reducer according to claim 6, characterized in that: The first guide portion includes a plurality of first slide grooves provided on the first surface, and the plurality of first slide grooves are arranged in parallel along the second direction; The second guide portion includes a plurality of first sliding blocks protruding from the first end surface, the plurality of first sliding blocks are arranged in parallel along the second direction, and the first sliding block is slidably disposed in a first sliding groove along the second direction.

8. The reducer according to claim 1, characterized in that: The first linkage member includes a second surface relative to the base shell and a third guide portion arranged on the second surface and along the third direction. The base shell includes a first inner end surface relative to the second surface and a fourth guide portion arranged on the first inner end surface and along the third direction. The third guide portion cooperates with the fourth guide portion in guiding along the third direction.

9. The reducer according to claim 1, characterized in that: The first eccentric surface is provided with a first rotating groove along the circumferential direction of the eccentric shaft, and the first inner surface is provided with a second rotating groove along the circumferential direction of the first cycloid gear. The first rotating groove and the second rotating groove are slidingly connected by a plurality of rolling members, and the first eccentric surface can rotate relative to the first inner surface.

10. The reducer according to claim 1, characterized in that: The eccentric shaft has a connecting hole, and the connecting hole is used to connect to the outer peripheral surface of the output shaft; The reducer further comprises a tightening sleeve, which is arranged on the inner circumference of the connecting hole and is used for interference connection between the inner circumference of the connecting hole and the outer circumference of the output shaft.

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