RV speed reducer and automation equipment

Abstract

The embodiment of the invention provides an RV speed reducer and automation equipment. The RV speed reducer comprises a speed reducer body, wherein a first connecting structure is arranged at one end of an eccentric shaft; the planetary gear structure is located on one side of the speed reducer body, a second connecting structure is arranged in the center of the planetary gear structure, the second connecting structure is connected with the first connecting structure in a matched mode, and the planetary gear structure comprises multiple stages of planetary gears arranged in the first direction; the input shaft comprises a shaft body extending in the first direction, multiple stages of input gears arranged in the first direction are arranged at the second end of the shaft body, and the multiple stages of input gears are matched with the multiple stages of planetary gears in a one-to-one correspondence mode; the input shaft is configured to selectively enable one stage of input gear to be meshed with the corresponding stage of planetary gear, and meshing of different stages of input gears and the planetary gears has different transmission ratios. According to the speed reducer, different reduction ratios are used, so that the speed reducer can be applied to various working modes, the transmission efficiency is improved, and the energy-saving effect is achieved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of speed reducer, and particularly relates to an RV speed reducer and an automated device. BACKGROUND

[0002] The RV speed reducer is a high-precision two-stage speed reducer composed of a cycloid pin wheel transmission and a planetary gear transmission. It has the characteristics of small size, light weight, large load, high precision, accurate transmission, large speed reduction ratio, etc. It is widely used in transmission systems such as servo motors, stepping motors, and DC motors. The main function is to reduce the rotational inertia ratio of the load / motor under the premise of ensuring precise transmission.

[0003] Due to the limitations of gear manufacturing process and overall structure size of the speed reducer, the input shaft (sun gear) and planetary gear of the existing RV speed reducer are single-layer structures, and the speed reduction ratio of the speed reducer is fixed and single, which is difficult to meet the demand of the device for multiple speed reduction ratios under different working conditions. SUMMARY

[0004] Embodiments of the present disclosure provide an RV speed reducer and an automated device to solve or alleviate one or more technical problems in the prior art.

[0005] As a first aspect of the embodiments of the present disclosure, the embodiments of the present disclosure provide an RV speed reducer, comprising: A speed reducer body, the speed reducer body comprising an eccentric shaft, a cycloid wheel, a pin gear shell and a planet carrier, one end of the eccentric shaft being provided with a first connecting structure; A planetary gear structure located on one side of the speed reducer body, the center part of the planetary gear structure being provided with a second connecting structure, the second connecting structure being connected with the first connecting structure, the planetary gear structure comprising a plurality of stages of planetary gears arranged in a first direction; An input shaft comprising a shaft body extending in the first direction, a first end of the shaft body being configured to be connected with a driving motor, a second end of the shaft body being provided with a plurality of stages of input gears arranged in the first direction, the plurality of stages of input gears being matched with the plurality of stages of planetary gears one by one; The input shaft is configured to selectively allow one stage of input gears to mesh with the corresponding stage of planetary gears, and the meshing of different stages of input gears and planetary gears has different transmission ratios.

[0006] In some embodiments, the module of the plurality of stages of planetary gears is the same as the module of the plurality of stages of input gears, and the sum of the number of teeth of each stage of matched planetary gears and input gears is equal.

[0007] In some embodiments, in a direction away from the speed reducer body, the diameters of the stages of planetary gears decrease in turn.

[0008] In some embodiments, the multi-stage planetary gear includes a first-stage planetary gear and a second-stage planetary gear, with the first-stage planetary gear being closer to the reducer body than the second-stage planetary gear. The multi-stage input gear includes a first-stage input gear and a second-stage input gear, which are sequentially matched with the first-stage planetary gear and the second-stage planetary gear. A first clearance groove is provided between the first-stage planetary gear and the second-stage planetary gear, or between the first-stage input gear and the second-stage input gear, so that when one of the first-stage input gears meshes with the corresponding stage planetary gear, the other input gears avoid the other planetary gears.

[0009] In some embodiments, the first clearance groove is located between the first-stage input gear and the second-stage input gear.

[0010] In some embodiments, the multi-stage planetary gear also includes a third-stage planetary gear located on the side of the second-stage planetary gear away from the first-stage planetary gear; The multi-stage input gear also includes a third-stage input gear, which is matched with the third-stage planetary gear.

[0011] In some embodiments, a first clearance groove is located between a first-stage input gear and a second-stage input gear, and a second clearance groove is provided between a first-stage planetary gear and a second-stage planetary gear. The width of the first clearance groove is greater than the sum of the width of the second clearance groove and the thickness of the second-stage planetary gear. A third clearance groove is provided between the second-stage input gear and the third-stage input gear. The width of the third clearance groove is greater than the thickness of the third-stage planetary gear.

[0012] In some embodiments, the input gears of each stage are chamfered on the side facing the reducer body.

[0013] In some embodiments, the first end is provided with a plurality of positioning pin holes along the first direction, and the number of positioning pin holes is the same as the number of input gears and corresponds one-to-one. Multiple locating pin holes are used to selectively position the input shaft when different stages of input gears mesh with planetary gears.

[0014] In some embodiments, the first connection structure includes an external spline, and the second connection structure includes an internal spline; The reducer body is provided with a receiving cavity that extends through the first direction, and the receiving cavity is used for the insertion of the input shaft.

[0015] As a second aspect of the present disclosure, the present disclosure provides an automated device including an RV reducer according to any of the present disclosures.

[0016] In some embodiments, the system further includes a transmission ratio switching module, which is used to switch the meshing of different stages of input gears with planetary gears.

[0017] In some embodiments, the device further includes a controller configured to, in response to the selection of a target gear ratio, control the gear ratio switching module to switch the input gear and planetary gear meshing of the current stage to the input gear and planetary gear meshing of the target stage.

[0018] The technical solution of this disclosure includes a planetary gear structure comprising a multi-stage planetary gear arranged along a first direction. A multi-stage input gear, also arranged along the first direction, is disposed at the second end of the shaft body. The multi-stage input gears and multi-stage planetary gears are matched one-to-one. By meshing different stages of input gears with the planetary gears, different transmission ratios can be achieved, enabling the RV reducer to have multiple reduction ratio capabilities. This allows it to adapt to different load and speed requirements, achieving flexible transmission. Furthermore, the reducer of this disclosure, by using different reduction ratios, can be applied to various operating modes, improving the system's transmission efficiency and achieving energy-saving effects.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this disclosure will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0020] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments according to this disclosure and should not be construed as limiting the scope of this disclosure.

[0021] Figure 1 This is a schematic diagram of the structure of an RV reducer in related technologies; Figure 2 for Figure 1 A schematic diagram of the input shaft in one embodiment; Figure 3 for Figure 1 A schematic diagram of a planetary gear structure in one embodiment; Figure 4 This is a schematic diagram of the RV reducer in one embodiment of the present disclosure; Figure 5 for Figure 4 A schematic diagram of the input shaft in one embodiment; Figure 6 for Figure 4 A schematic diagram of a planetary gear structure in one embodiment; Figure 7A , Figure 7B , Figure 7C These are schematic diagrams illustrating three different fits between the planetary gear structure and the input shaft in another embodiment of the RV reducer of this disclosure. Figure 7A In the process, the first-stage planetary gear meshes with the first-stage input gear; Figure 7B In the middle, the second-stage planetary gear meshes with the second-stage input gear; in Figure 7C In the middle, the third-stage planetary gear meshes with the third-stage input gear.

[0022] Explanation of reference numerals in the attached figures: 1. Input shaft; 100. Shaft body; 101. Input gear; 104. Locating pin hole; 2. Planetary gear structure; 201. Planetary gear; 203. Second connection structure; 3. Eccentric shaft; 31. First connecting structure; 71. First cavitation trough; 72. Second cavitation trough; 73. Third cavitation trough. Detailed Implementation

[0023] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure, and different embodiments can be combined arbitrarily without conflict. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0024] Figure 1 This is a schematic diagram of the structure of an RV reducer in related technologies. Figure 2 for Figure 1 A schematic diagram of the input shaft in one embodiment. Figure 3 for Figure 1 A schematic diagram of a planetary gear structure in one embodiment. (See diagram below.) Figures 1-3 As shown, in the RV reducer, the power of the drive motor is transmitted to the input shaft 1. The input shaft 1 transmits the power to the planetary gear structure 2 through external gear meshing. The planetary gear structure 2 transmits the power to the eccentric shaft 3 through internal spline engagement. The eccentric shaft 3 transmits the power to the cycloidal gear 4 through the bearing hole of the cycloidal gear 4 via the eccentric motion of the eccentric part. The cycloidal gear 4 rotates by meshing with the pin teeth and pin tooth housing 5, thus transmitting the power to the planet carrier 6. The planet carrier 6 outputs the power through bolt connection. Due to limitations in gear manufacturing processes and the overall structural dimensions of the reducer, the input shaft (sun gear) and planetary gear structure of existing RV reducers are both single-layer structures. That is, the planetary gear structure has one planetary gear, and the input shaft has one sun gear. The sun gear meshes with the planetary gear, resulting in a fixed reduction ratio, which is difficult to meet the needs of industrial equipment for multiple reduction ratio outputs under different operating conditions.

[0025] Figure 4 This is a schematic diagram of the RV reducer in one embodiment of the present disclosure. Figure 5 for Figure 4 A schematic diagram of the input shaft in one embodiment. Figure 6 for Figure 4 A schematic diagram of a planetary gear structure in one embodiment. (See diagram below.) Figures 4-6 As shown, the RV reducer includes a reducer body 1000, a planetary gear structure 2, and an input shaft 1.

[0026] The reducer body 1000 includes an eccentric shaft 3, a cycloidal wheel 4, a pin gear housing 5, and a planetary carrier 6. One end of the eccentric shaft 3 is provided with a first connecting structure 31. The first connecting structure 31 is exposed on the outside and is used to connect with the planetary gear structure 2.

[0027] The planetary gear structure 2 is located on one side of the reducer body 1000. Exemplarily, the planetary gear structure 2 is located on the side of the reducer body 1000 facing the first connecting structure 31. Figure 4 In the reducer body 1000, the planetary gear structure 2 is located on the right side. A second connecting structure 203 is provided at the center of the planetary gear structure 2, and the second connecting structure 203 is connected to the first connecting structure 31. The planetary gear structure 2 includes a multi-stage planetary gear 201 arranged along a first direction X.

[0028] The input shaft 1 includes a shaft body 100 extending along a first direction X. The shaft body 100 has a first end and a second end disposed opposite to each other. The first end of the shaft body 100 is used to connect to a drive motor, and the second end of the shaft body 100 is provided with a multi-stage input gear 101 arranged along the first direction X. The multi-stage input gear 101 is matched one-to-one with the multi-stage planetary gear 201, and each stage of the input gear 101 can mesh with the corresponding stage of the planetary gear 201. The meshing of different stages of the input gear 101 with the planetary gear 201 has different transmission ratios (also called reduction ratios).

[0029] The input shaft 1 is configured to selectively engage one of the first-stage input gears 101 with the corresponding stage planetary gear 201. That is, when one of the first-stage input gears 101 engages with the corresponding stage planetary gear 201, the other input gears 101 and the corresponding planetary gear 201 are staggered and do not engage, so that the input shaft 1 and the planetary gear structure 2 transmit power according to a corresponding transmission ratio.

[0030] Since different stages of input gear 101 mesh with planetary gear 201, different transmission ratios can be achieved when different stages of input gear 101 mesh with planetary gear 201 on input shaft 1. Users can mesh the first-stage input gear 101 with the corresponding stage planetary gear 201 on input shaft 1 to obtain the desired transmission ratio.

[0031] The RV reducer disclosed herein transmits power from the drive motor to the input shaft 1. The user can mesh the first-stage input gear 101 with the corresponding stage planetary gear 201 on the input shaft 1 as needed, ensuring the transmission ratio between the input shaft 1 and the planetary gear structure 2 meets requirements. By setting different stages of input gear 101 meshing with planetary gear 201, the user can achieve different transmission ratios between the input shaft 1 and the planetary gear structure 2. Through the meshing of the corresponding stage input gear 101 with the planetary gear 201, power is transmitted to the planetary gear structure 2. The planetary gear structure 2, via internal spline engagement, transmits power to the eccentric shaft 3. The eccentric shaft 3, through the eccentric motion of its eccentric portion, transmits power to the cycloidal wheel 4 via the bearing hole of the cycloidal wheel 4. The cycloidal wheel 4, meshing with the pin teeth and pin tooth housing 5, rotates and transmits power to the planet carrier 6. The planet carrier 6, connected by bolts, outputs the power. Different stages of input gear 101 meshing with the planetary gear 201 result in different transmission ratios, thus achieving different power outputs.

[0032] The technical solution disclosed herein includes a planetary gear structure 2 comprising a multi-stage planetary gear 201 arranged along a first direction X. A multi-stage input gear 101 arranged along the first direction X is disposed at the second end of the shaft body 100. The multi-stage input gear 101 corresponds one-to-one with the multi-stage planetary gear 201. By meshing different stages of the input gear 101 with the planetary gear 201, different transmission ratios can be achieved, enabling the RV reducer to have multiple reduction ratio capabilities, adapting to different load and speed requirements, and achieving flexible transmission. Furthermore, the reducer disclosed herein, by using different reduction ratios, can be applied to various operating modes, improving the system's transmission efficiency and achieving energy-saving effects.

[0033] In one embodiment, the multi-stage planetary gears 201 and the multi-stage input gears 101 have the same module. The number of teeth on each planetary gear 201 is different, and the number of teeth on each stage of the input gears 101 is also different. Setting the module of each stage of the planetary gears 201 and the module of each stage of the input gears 101 to be the same can reduce production costs.

[0034] When the multi-stage planetary gear 201 and the multi-stage input gear 101 have the same module, in order to ensure that the multi-stage planetary gear 201 is connected to the same eccentric shaft 33 and that the multi-stage input gear 101 is located on the same input shaft 1, the sum of the number of teeth of each stage of the planetary gear 201 and the number of teeth of the input gear 101 is equal. For example, if the number of teeth of the first-stage planetary gear 201a is Z1, the number of teeth of the first-stage input gear 101a is Z3, the number of teeth of the second-stage planetary gear 201b is Z2, and the number of teeth of the second-stage input gear 101b is Z4, then Z1 + Z3 = Z2 + Z4.

[0035] In other embodiments, the matching planetary gear 201 has the same module as the input gear 101, and the modules of different stages of planetary gear 201 may be different, as long as the meshing of different stages of input gear 101 and planetary gear 201 has different transmission ratios.

[0036] In one embodiment, the diameter of each planetary gear 201 decreases sequentially along the direction away from the reducer body 1000, and correspondingly, the diameter of each input gear 101 increases sequentially. It is understood that during assembly, the input shaft 1 is inserted into the reducer body 1000 along the first direction X, and the input gear 101 meshes with the corresponding planetary gear 201. Setting the diameter of each planetary gear 201 to decrease sequentially along the direction away from the reducer body 1000 facilitates the insertion of the input shaft 1 into the reducer body 1000, thus facilitating the assembly of the RV reducer and improving assembly efficiency.

[0037] In one embodiment, such as Figures 4-6 As shown, the multi-stage planetary gear 201 includes a first-stage planetary gear 201a and a second-stage planetary gear 201b, with the first-stage planetary gear 201a closer to the reducer body 1000 relative to the second-stage planetary gear 201b. The multi-stage input gear 101 includes a first-stage input gear 101a and a second-stage input gear 101b, which are sequentially matched with the first-stage planetary gear 201a and the second-stage planetary gear 201b. That is, the first-stage planetary gear 201a can mesh with the first-stage input gear 101a, and the second-stage planetary gear 201b can mesh with the second-stage input gear 101b.

[0038] A first clearance groove 71 is provided between the first-stage planetary gear 201a and the second-stage planetary gear 201b or between the first-stage input gear 101a and the second-stage input gear 101b, so that when one of the first-stage input gears 101 meshes with the corresponding stage planetary gear 201, the other input gears 101 avoid the other planetary gears 201.

[0039] The first clearance groove 71 can be disposed in the planetary gear structure 2, located between the first-stage planetary gear 201a and the second-stage planetary gear 201b; or, the first clearance groove 71 can be disposed on the input shaft 1, located between the first-stage input gear 101a and the second-stage input gear 101b. The first clearance groove 71 ensures that when the first-stage planetary gear 201a meshes with the first-stage input gear 101a, the first clearance groove 71 causes the second-stage planetary gear 201b to be offset from the second-stage input gear 101b and not mesh; when the second-stage planetary gear 201b meshes with the second-stage input gear 101b, the first clearance groove 71 causes the first-stage planetary gear 201a to be offset from the first-stage input gear 101a and not mesh. Thus, it achieves that only one-stage input gear 101 meshes with the corresponding-stage planetary gear 201, while other input gears 101 and planetary gears 201 are offset from each other and not mesh.

[0040] In one embodiment, such as Figure 5 and Figure 6 As shown, the first clearance groove 71 is located between the first-stage input gear 101a and the second-stage input gear 101b. A clearance groove may not be provided between the first-stage planetary gear 201a and the second-stage planetary gear 201b. It is understood that the length of the input shaft 1 can be set as needed. By setting the first clearance groove 71 on the input shaft 1, the required length of the input shaft 1 can be manufactured, facilitating the manufacturing of the RV reducer. Furthermore, the absence of a clearance groove between the first-stage planetary gear 201a and the second-stage planetary gear 201b helps reduce the sum of the dimensions of the reducer body 1000 and the planetary gear structure 2 in the first direction X, thus reducing the volume of the RV reducer. Compared to related technologies, this does not significantly increase the volume of the RV reducer, improving its adaptability and transmission efficiency.

[0041] In one embodiment, the first-stage planetary gear 201a and the second-stage planetary gear 201b can fit together, so that the width of the first clearance groove 71 only needs to be greater than the thickness of the first-stage planetary gear 201a or the second-stage planetary gear 201b, without significantly increasing the volume of the RV reducer.

[0042] In one embodiment, to facilitate the insertion of the input gear 101 on the input shaft 1 into the corresponding planetary gear 201, a chamfer can be provided on the side of each input gear 101 facing the reducer body 1000, so that the input gear 101 on the input shaft 1 and the corresponding planetary gear 201 can be precisely connected and meshed. In another embodiment, chamfers can be provided on both sides of each input gear 101. It is understood that chamfers can also be provided on the planetary gears; the specific value and structure of the chamfer can be set as needed and are not specifically limited here.

[0043] In one embodiment, a plurality of locating pin holes 104 are provided at the first end along the first direction X. The number of locating pin holes 104 is the same as the number of input gears 101 and corresponds one-to-one. The plurality of locating pin holes 104 are used to selectively position the input shaft 1 when different stages of input gears 101 mesh with planetary gears 201.

[0044] For example, in Figures 4-6 In this design, the input shaft 1 is equipped with a first-stage input gear 101a and a second-stage input gear 101b. The first end of the input shaft 1 has two locating pin holes 104, namely locating pin hole 104a and locating pin hole 104b. When the first-stage input gear 101a meshes with the first-stage planetary gear 201a, the locating pin hole 104a positions the input shaft 1; when the second-stage input gear 101b meshes with the second-stage planetary gear 201b, the locating pin hole 104b positions the input shaft 1.

[0045] It is understandable that the number of locating pin holes 104 is determined by the number of stages of the input gear 101 in the input shaft 1, and is not limited to two.

[0046] In one embodiment, the first connecting structure 31 includes an external spline, and the second connecting structure 203 includes an internal spline. The external spline and the internal spline mate to connect the planetary gear structure 2 and the eccentric shaft 3. In other embodiments, the planetary gear structure 2 and the eccentric shaft 3 can also be connected by other connecting structures to ensure that when the planetary gear 201 rotates, it can drive the eccentric shaft 3 to rotate.

[0047] In one embodiment, the reducer body 1000 is provided with a receiving cavity extending along a first direction X, for inserting the input shaft 1. It is understood that when switching between different stages of the input gear 101 and the planetary gear 201, the input shaft 1 needs to move along the first direction X, requiring sufficient space for this movement. By providing a receiving cavity within the reducer body 1000, when the input shaft 1 needs to move towards the inner side of the reducer body 1000, the receiving cavity provides space for the input shaft 1 to move, facilitating the assembly and switching of different reduction ratios.

[0048] exist Figures 4-6In this embodiment, a first-stage input gear 101a and a second-stage input gear 101b are provided on the input shaft 1, and the planetary gear structure 2 includes a first-stage planetary gear 201a and a second-stage planetary gear 201b. Each input gear 101 has a chamfer on the side facing the reducer body 1000, and a first clearance groove 71 is provided between the two input gears 101. The two stages of input gears 101 can be connected to the corresponding stage planetary gear 201 through external gear meshing. The first-stage planetary gear 201a and the second-stage planetary gear 201b are in close contact with each other; for example, the first-stage planetary gear 201a and the second-stage planetary gear 201b can be welded together as a whole to form the planetary gear structure 2. An internal spline is provided at the center of the planetary gear structure 2, and an external spline is provided on the eccentric shaft 3. Power is transmitted to the eccentric shaft 3 through the connection of the internal and external splines. The eccentric shaft 3 transmits power to the cycloidal wheel 4 through the needle roller bearing installed in the bearing hole on the cycloidal wheel 4. The cycloidal wheel 4 generates a compound motion under the combined action of the needle teeth and the eccentric shaft 3, and finally the power is output by the planetary carrier 6 through bolt connection.

[0049] Figure 7A , Figure 7B , Figure 7C These are schematic diagrams illustrating three different fits between the planetary gear structure and the input shaft in another embodiment of the RV reducer of this disclosure. Figure 7A In the process, the first-stage planetary gear 201a meshes with the first-stage input gear 101a; Figure 7B In the middle, the second-stage planetary gear 201b meshes with the second-stage input gear 101b; in Figure 7C In the middle, the third-stage planetary gear 201c meshes with the third-stage input gear 101c. Figure 7A , Figure 7B and Figure 7C Three different reduction ratios were achieved.

[0050] In the embodiment shown in Figure 7, the multi-stage planetary gear 201 further includes a third-stage planetary gear 201c, which is located on the side of the second-stage planetary gear 201b away from the first-stage planetary gear 201a. That is, in the embodiment shown in Figure 7, the multi-stage planetary gear 201 includes three stages of planetary gears 201, with the first-stage planetary gear 201a, second-stage planetary gear 201b, and third-stage planetary gear 201c arranged sequentially in the first direction X, away from the reducer body 1000. Correspondingly, the multi-stage input gear 101 also includes a third-stage input gear 101c, which is matched with the third-stage planetary gear 201c. Therefore, the first-stage planetary gear 201a, the second-stage planetary gear 201b, and the third-stage planetary gear 201c are sequentially matched with the first-stage input gear 101a, the second-stage input gear 101b, and the third-stage input gear 101c. That is, the first-stage planetary gear 201a meshes with the first-stage input gear 101a, the second-stage planetary gear 201b meshes with the second-stage input gear 101b, and the third-stage planetary gear 201c meshes with the third-stage input gear 101c. The RV reducer of this embodiment can achieve three different reduction ratios.

[0051] As can be seen from Figure 7, the diameters of the first-stage planetary gear 201a, the second-stage planetary gear 201b, and the third-stage planetary gear 201c decrease sequentially along the direction away from the reducer body 1000. Correspondingly, the diameters of the first-stage input gear 101a, the second-stage input gear 101b, and the third-stage input gear 101c increase sequentially.

[0052] like Figure 7A As shown, the first clearance groove 71 is located between the first-stage input gear 101a and the second-stage input gear 101b. A second clearance groove 72 is provided between the first-stage planetary gear 201a and the second-stage planetary gear 201b. The groove width d1 of the first clearance groove 71 is greater than the sum of the groove width of the second clearance groove 72 and the thickness d2 of the second-stage planetary gear 201b. With this arrangement, when the first-stage planetary gear 201a meshes with the second-stage input gear 101b, the other two stages of planetary gears 201 can be staggered and not mesh with the input gear 101.

[0053] A third clearance groove 73 is provided between the second-stage input gear 101b and the third-stage input gear 101c. The width d3 of the third clearance groove 73 is greater than the thickness d4 of the third-stage planetary gear 201c. Therefore, when the second-stage input gear 101b and the third-stage input gear 101c are meshed, the other two stages of planetary gears 201 can be staggered and not meshed with the input gear 101.

[0054] By setting the width d1 of the first clearance slot 71 to be greater than the sum of the width of the second clearance slot 72 and the thickness d2 of the second-stage planetary gear 201b, and the width d3 of the third clearance slot 73 to be greater than the thickness d4 of the third-stage planetary gear 201c, it is achieved that when the second-stage input gear 101b meshes with the third-stage input gear 101c, the second-stage input gear 101b is located between the first-stage planetary gear 201a and the second-stage planetary gear 201b. This ensures that the second-stage input gear 101b is staggered from both the first-stage planetary gear 201a and the second-stage planetary gear 201b, guaranteeing that only one-stage input gear 101 meshes with the planetary gear 201 in each engagement, while other input gears 101 and planetary gears 201 are staggered and do not interfere with each other. By reasonably setting the position and width of the clearance slots, it is possible to ensure that only one-stage input gear 101 meshes with the planetary gear 201, and that no collision interference occurs when switching between different stages.

[0055] The RV reducer of this disclosure embodiment has multiple planetary gears arranged on the same side of the reducer. By reasonably setting the position and width of the clearance slot, more reduction ratios can be set, and it is not limited to two-stage or three-stage reduction ratios.

[0056] In this embodiment of the RV reducer, the planetary gear structure 2 is configured to include multi-stage planetary gears 201 and multi-stage input gears 101 on the input shaft 1. The multi-stage input gears 101 and multi-stage planetary gears 201 are matched one-to-one. Different stages of input gears 101 mesh with planetary gears 201 with different transmission ratios. Users can mesh different stages of input gears 101 with corresponding stages of planetary gears 201 as needed, thereby achieving different reduction ratios. This allows the RV reducer to adapt to different load and speed requirements, achieving a flexible transmission effect. By using different reduction ratios, the RV reducer can be applied to multiple working modes, achieving energy-saving effects.

[0057] In practical applications, when assembling the input shaft 1, the user can set the input gear 101 on the input shaft 1 to mesh with the corresponding planetary gear 201 as needed to obtain the required reduction ratio.

[0058] Based on the inventive concept of this disclosure, one embodiment of this disclosure also provides an automated device, which includes the RV reducer from any embodiment of this disclosure. The automated device may include equipment such as industrial robots.

[0059] In one embodiment, the automated device may include a transmission ratio switching module for switching the meshing of input gears 101 and planetary gears 201 at different stages. The transmission ratio switching module can switch the meshing of the currently engaged input gear 101 and planetary gear 201 in the RV reducer to the meshing of the input gear 101 and planetary gear 201 at a target stage, thereby switching the reduction ratio or transmission ratio. For example, currently, the first-stage input gear 101a meshes with the first-stage planetary gear 201a; the transmission ratio switching module can switch this to mesh the second-stage input gear 101b with the second-stage planetary gear 201b. The switching action of the transmission ratio switching module can be manually operated by the user or automated.

[0060] In one embodiment, the automation device may further include a controller configured to, in response to the selection of a target gear ratio, control a gear ratio switching module to switch the currently engaged input gear 101 and planetary gear 201 to the target gear ratio, thereby achieving the target gear ratio. For example, the automation device may be configured with a gear ratio selection function, allowing the user to select a target gear ratio when needed. Upon receiving the corresponding selection signal, the controller controls the gear ratio switching module to switch the currently engaged input gear 101 and planetary gear 201 to the target gear ratio, ensuring that the automation device's output meets the user's requirements.

[0061] The specific structure or method of the transmission ratio switching module can be set as needed, and no specific limitation is made here.

[0062] In the description of this specification, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0064] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0065] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0066] The foregoing disclosure provides many different implementations or examples for carrying out different structures of this disclosure. To simplify this disclosure, the components and arrangements of specific examples are described above. Of course, these are merely examples and are not intended to limit this disclosure. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0067] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this disclosure. Different parts of different embodiments can be combined with each other without conflict, and these should all be covered within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An RV reducer, characterized in that, include: The reducer body includes an eccentric shaft, a cycloidal wheel, a pin tooth housing, and a planetary carrier. One end of the eccentric shaft is provided with a first connecting structure. A planetary gear structure is located on one side of the reducer body. A second connecting structure is provided at the center of the planetary gear structure. The second connecting structure is connected to the first connecting structure. The planetary gear structure includes a multi-stage planetary gear arranged along a first direction. An input shaft includes a shaft body extending along the first direction, a first end of the shaft body for connecting to a drive motor, and a second end of the shaft body provided with a multi-stage input gear arranged along the first direction, wherein the multi-stage input gear corresponds and matches the multi-stage planetary gear one by one. The input shaft is configured to selectively mesh one of the first-stage input gears with a corresponding stage planetary gear, with different gear ratios for different stages of input gear meshing with the planetary gear.

2. The RV reducer according to claim 1, characterized in that, The multi-stage planetary gears have the same module as the multi-stage input gears, and the sum of the number of teeth of the matching planetary gears at each stage and the input gears is equal.

3. The RV reducer according to claim 1, characterized in that, Along the direction away from the reducer body, the diameter of each planetary gear decreases sequentially.

4. The RV reducer according to any one of claims 1-3, characterized in that, The multi-stage planetary gear includes a first-stage planetary gear and a second-stage planetary gear, with the first-stage planetary gear being closer to the reducer body than the second-stage planetary gear. The multi-stage input gear includes a first-stage input gear and a second-stage input gear, and the first-stage input gear and the second-stage input gear are sequentially matched with the first-stage planetary gear and the second-stage planetary gear. A first clearance groove is provided between the first-stage planetary gear and the second-stage planetary gear, or between the first-stage input gear and the second-stage input gear, so that when one of the first-stage input gears meshes with the corresponding stage planetary gear, the other input gears avoid the other planetary gears.

5. The RV reducer according to claim 4, characterized in that, The first clearance groove is located between the first-stage input gear and the second-stage input gear.

6. The RV reducer according to claim 4, characterized in that, The multi-stage planetary gear also includes a third-stage planetary gear, which is located on the side of the second-stage planetary gear away from the first-stage planetary gear; The multi-stage input gear also includes a third-stage input gear, which is matched with the third-stage planetary gear.

7. The RV reducer according to claim 6, characterized in that, The first clearance groove is located between the first stage input gear and the second stage input gear. A second clearance groove is provided between the first stage planetary gear and the second stage planetary gear. The width of the first clearance groove is greater than the sum of the width of the second clearance groove and the thickness of the second stage planetary gear. A third clearance groove is provided between the second-stage input gear and the third-stage input gear, and the width of the third clearance groove is greater than the thickness of the third-stage planetary gear.

8. The RV reducer according to claim 1, characterized in that, Each input gear has a chamfer on the side facing the reducer body.

9. The RV reducer according to claim 1, characterized in that, The first end is provided with a plurality of positioning pin holes along the first direction, and the number of the positioning pin holes is the same as the number of the input gears and corresponds one-to-one. The plurality of locating pin holes are used to selectively position the input shaft when different stages of input gears mesh with planetary gears.

10. The RV reducer according to claim 1, characterized in that, The first connection structure includes an external spline, and the second connection structure includes an internal spline; The reducer body is provided with a receiving cavity extending along the first direction, the receiving cavity being used for the insertion of the input shaft.

11. An automated device, characterized in that, The RV reducer includes any one of claims 1-10.

12. The automated equipment according to claim 11, characterized in that, It also includes a transmission ratio switching module, which is used to switch the meshing of different stages of input gears and planetary gears.

13. The automated equipment according to claim 12, characterized in that, The device also includes a controller configured to, in response to the selection of a target gear ratio, control the gear ratio switching module to switch the input gear and planetary gear meshing of the current stage to the input gear and planetary gear meshing of the target stage.

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