Rv reducer and industrial robot

Abstract

The application discloses an RV speed reducer and an industrial robot, and relates to the technical field of speed reducers.The RV speed reducer comprises a pin gear shell, a planet carrier, a crank shaft, a cycloid wheel, a planet wheel, a third supporting flange and an input shaft, a through hole is arranged on the first supporting flange, and the through hole is arranged towards the end of the crank shaft.By means of a knocking tool, the other end of the crank shaft can be knocked in the opposite direction, so that the positions of the inner ring and the outer ring of the originally misaligned bearing are changed, whether the rotation becomes smooth is confirmed by continuously rotating the crank shaft, and the fluency of the movement of the RV speed reducer is improved.As the maximum hole diameter of the through hole is smaller than the minimum outer diameter of the one end of the crank shaft located in the mounting groove, the through hole can limit the knocking tool, so that the one end of the knocking tool can only contact the end of the crank shaft, the misalignment of the crank shaft in the knocking process is effectively improved, and the precision and the qualification rate of assembly are improved.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and in particular to an RV speed reducer and an industrial robot. Background Technology

[0002] RV reducers are commonly used in industrial robots, offering a compact size while maintaining a large reduction ratio. An RV reducer comprises components such as a pin gear housing, cycloidal gear, crankshaft, planetary carrier, planetary gear set, and input shaft. Bearings are typically used between relatively rotating parts to ensure smoother rotation. The assembly of these components often involves pressing and hammering. For example, the crankshaft is installed along the axial direction of the pin gear housing by hammering. During this process, misalignment can easily occur between the inner and outer rings of the bearing, leading to adhesion, jamming, and other problems. This results in poor bearing rotation, hindering subsequent testing of the RV reducer's starting torque and increasing the error in the test results. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes an RV reducer that can improve the smoothness of RV reducer motion.

[0004] The present invention also proposes an industrial robot having the above-mentioned RV reducer.

[0005] According to a first aspect of the present invention, an RV reducer includes: a pinion gear housing; a planetary carrier disposed within the pinion gear housing and rotatable relative to the pinion gear housing, the planetary carrier including a first support flange and a second support flange arranged axially along the pinion gear housing, the first support flange being fixedly connected to the second support flange, and a mounting groove provided at one end of the first support flange facing the second support flange; a plurality of crankshafts, the crankshafts being supported on the second support flange by a first bearing, the other end of the crankshafts being supported in the mounting groove by a second bearing, the crankshafts including eccentric portions; cycloidal wheels respectively connected to the eccentric portions of the plurality of crankshafts; and a plurality of... The planetary gears are the same number as the crankshafts and are connected one-to-one to the end of the crankshaft connected to the second support flange; the third support flange is fixedly connected to the end of the first support flange away from the second support flange; the input shaft passes through the third support flange, the first support flange, the cycloidal wheel, and the second support flange in sequence, and one end of the input shaft is provided with an external tooth and meshes with multiple planetary gears; wherein, the first support flange is provided with a through hole communicating with the mounting groove, the through hole and the end of the crankshaft away from the planetary gears are arranged opposite each other, and the maximum diameter of the through hole is smaller than the minimum outer diameter of the end face of the crankshaft located in the mounting groove.

[0006] The RV reducer according to embodiments of the present invention has at least the following beneficial effects: The planetary carrier of the RV reducer is housed within the pin gear housing and can rotate relative to it. The first and second support flanges of the planetary carrier are axially arranged and connected to the pin gear housing. The crankshaft is rotatably supported on the planetary carrier and connected to the cycloidal gear. The third support flange is fixedly connected to the first support flange. The input shaft passes sequentially through the third support flange, the first support flange, the cycloidal gear, and the second support flange, and is also rotatably supported on the third support flange. The planetary gears and the end of the crankshaft protruding from the second support flange are fixedly connected, and the external teeth of the input shaft mesh with the planetary gears. When the input shaft rotates, it drives the planetary gears to rotate, completing the first stage of reduction. The planetary gears then drive the crankshaft to rotate synchronously, and the crankshaft drives the cycloidal gear to oscillate. The cycloidal gear meshes with the pin gear housing through needle rollers, thereby driving the pin gear housing to rotate relative to the planetary carrier, thus completing the second stage of reduction. The crankshaft is typically installed in the pin gear housing by striking the end protruding from the second support flange. To address this, a through hole is provided on the first support flange, positioned opposite the end of the crankshaft. During the assembly of the planetary carrier, crankshaft, and cycloidal wheel, a hammering tool is inserted through the through hole, allowing for hammering of the other end of the crankshaft in the opposite direction. This alters the positions of the misaligned inner and outer rings of the bearing. By continuously rotating the crankshaft, the smoothness of rotation is confirmed, reducing the occurrence of sticking or jamming, improving assembly accuracy, and consequently enhancing the smoothness of the RV reducer's movement. This facilitates subsequent measurements of parameters such as starting torque and preload. Furthermore, since the maximum diameter of the through hole is smaller than the minimum outer diameter of the crankshaft's end face within the mounting groove, the through hole limits the hammering tool, ensuring that one end of the tool only contacts the end of the crankshaft and avoids accidental contact with the second bearing or other locations. This also ensures that the force generated during hammering is primarily along the crankshaft's axial direction, effectively mitigating misalignment during hammering and thus improving assembly accuracy and yield.

[0007] According to some embodiments of the present invention, the RV reducer further includes a sealing plug disposed in the through hole and used to seal the through hole.

[0008] According to some embodiments of the present invention, the RV reducer further includes a limiting portion that covers at least a portion of the end of the through hole opposite to the crankshaft, so as to restrict the sealing plug from disengaging from the through hole.

[0009] According to some embodiments of the present invention, the limiting part is connected to the third support flange and is integrally formed with the third support flange.

[0010] According to some embodiments of the present invention, the RV reducer further includes a fastener, the third support flange is provided with a first mounting hole, the first support flange is provided with a second mounting hole, and the fastener passes through the first mounting hole and is fixedly connected to the second mounting hole.

[0011] According to some embodiments of the present invention, the number of through holes is the same as the number of crankshafts, and the positions of the plurality of through holes correspond one-to-one with the positions of the plurality of crankshafts.

[0012] According to some embodiments of the present invention, the distance H between the central axis of the through hole and the rotation axis of the crankshaft satisfies: 0mm≤H≤5mm.

[0013] According to some embodiments of the present invention, the RV reducer further includes an end cover connected to one end of the pin housing opposite to the first support flange.

[0014] According to some embodiments of the present invention, a first sealing ring is provided between the end cap and the pin tooth housing, a second sealing ring is provided between the first support flange and the pin tooth housing, a sealing plug is provided in the through hole, a third sealing ring is provided between the third support flange and the input shaft, and a sealing cavity is formed by the pin tooth housing, the first support flange, the third support flange, the input shaft and the end cap, the crankshaft, the cycloidal wheel and the planetary gear are all located in the sealing cavity, and the sealing cavity contains a lubricating medium.

[0015] According to some embodiments of the present invention, the first support flange is provided with a positioning groove on the side facing the third support flange, the third support flange is provided with a protrusion, the protrusion is inserted into the positioning groove, and the RV reducer further includes a fourth sealing ring, the fourth sealing ring being sealed between the side wall of the protrusion and the side wall of the positioning groove.

[0016] An industrial robot according to a second aspect of the present invention includes the RV reducer described in the above embodiments.

[0017] The industrial robot according to embodiments of the present invention has at least the following beneficial effects: In the RV reducer of the first aspect embodiment, the planetary carrier of the RV reducer is mounted inside the pin gear housing and can rotate relative to the pin gear housing. The first and second support flanges of the planetary carrier are arranged axially along the pin gear housing and connected to each other. The crankshaft is rotatably supported on the planetary carrier and connected to the cycloidal wheel. The third support flange is fixedly connected to the first support flange. The input shaft passes through the third support flange, the first support flange, the cycloidal wheel, and the second support flange in sequence, and is also rotatably supported on the third support flange. The planetary gears and the end of the crankshaft protruding from the second support flange are fixedly connected, and the external teeth of the input shaft mesh with the planetary gears. When the input shaft rotates, it drives the planetary gears to rotate, completing the first stage of reduction. The planetary gears then drive the crankshaft to rotate synchronously, and the crankshaft drives the cycloidal wheel to oscillate. The cycloidal wheel meshes with the pin gear housing through needle rollers, thereby driving the pin gear housing to rotate relative to the planetary carrier, thus completing the second stage of reduction. Since the crankshaft is usually installed in the pin gear housing by striking the end of it protruding from the second support flange. To address this, a through hole is provided on the first support flange, positioned opposite the end of the crankshaft. During the assembly of the planetary carrier, crankshaft, and cycloidal wheel, a hammering tool is inserted through the through hole, allowing for hammering of the other end of the crankshaft in the opposite direction. This alters the positions of the misaligned inner and outer rings of the bearing. By continuously rotating the crankshaft, the smoothness of rotation is confirmed, reducing the occurrence of sticking or jamming, improving assembly accuracy, and consequently enhancing the smoothness of the RV reducer's movement. This facilitates subsequent measurements of parameters such as starting torque and preload. Furthermore, since the maximum diameter of the through hole is smaller than the minimum outer diameter of the crankshaft's end face within the mounting groove, the through hole limits the hammering tool, ensuring that one end of the tool only contacts the end of the crankshaft and avoids accidental contact with the second bearing or other locations. This also ensures that the force generated during hammering is primarily along the crankshaft's axial direction, effectively mitigating misalignment during hammering and thus improving assembly accuracy and yield.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a cross-sectional structural schematic diagram of an embodiment of the RV reducer of the present invention; Figure 2 This is a cross-sectional view of a striking tool and an RV reducer in one embodiment of the present invention. Figure 3 yes Figure 1 Enlarged view of point A in the middle; Figure 4This is a cross-sectional structural schematic diagram of an RV reducer according to another embodiment of the present invention.

[0020] Figure label: RV reducer 1000; Needle tooth housing 100; third bearing 110; fourth bearing 120; needle tooth pin 130; sealing cavity 140; second sealing ring 150; Planetary carrier 200; first support flange 210; support column 211; mounting groove 212; through hole 213; sealing plug 214; second mounting hole 215; positioning groove 216; first center hole 217; second support flange 220; second center hole 221; third support flange 230; limiting part 231; fastener 232; first mounting hole 233; third sealing ring 234; protrusion 235; fourth sealing ring 236; Crankshaft 300; Eccentric part 310; Cycloidal wheel 320; Third center hole 321; Planetary gear 330; First bearing 340; Second bearing 350; Input shaft 400; external gear section 410; fifth bearing 420; End cap 500; First sealing ring 510; Striking fixture 600; connecting rod 610; striking part 620. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0023] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0024] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0025] The RV reducer consists of a planetary gear reduction section in the front stage and a cycloidal pinwheel reduction section in the rear stage. It has the advantages of large reduction ratio, high transmission accuracy, high rigidity and compact structure. It is widely used in industrial robots, machine tools, medical testing equipment, satellite receiving systems and other fields, and is one of the core components of robot transmission.

[0026] Reference Figure 1 and Figure 2 As shown, an embodiment of the RV reducer 1000 of the present invention includes a pin gear housing 100, a planetary carrier 200, a crankshaft 300, a cycloidal wheel 320, planetary gears 330, a third support flange 230, and an input shaft 400. The pin gear housing 100 is cylindrical and has multiple pin gear grooves on its inner side, which are arranged sequentially along the circumference of the pin gear housing 100. Pin gear pins 130 are correspondingly provided in the pin gear grooves, and the pin gear pins 130 are slender cylindrical in shape. The planetary carrier 200 is disposed within the pin gear housing 100 and is rotatable relative to the pin gear housing 100. The planetary carrier 200 includes a first support flange 210 and a second support flange 220, which are arranged along the axial direction of the pin gear housing 100. The first support flange 210 is supported on the pin gear housing 100 by a third bearing 110, and the second support flange 220 is supported on the pin gear housing 100 by a fourth bearing 120. The first support flange 210 has multiple supports 211 on the side facing the second support flange 220. These supports 211 are arranged around the rotation axis of the pin tooth housing 100 and are fixedly connected to the second support flange 220. The first support flange 210 has a first central hole 217, and the second support flange 220 has a second central hole 221. The axis of the first central hole 217 coincides with the axis of the second central hole 221. The first support flange 210 has multiple mounting grooves 212 on the side facing the second support flange 220. These mounting grooves 212 are spaced apart around the axis of the first central hole 217.

[0027] Reference Figure 1As shown, the crankshaft 300 has multiple crankshafts, and the number of these crankshafts is the same as the number of mounting slots 212; for example, there are three crankshafts 300 and three mounting slots 212. One end of the crankshaft 300 is supported on the second support flange 220 via a first bearing 340, for example, one end of the crankshaft 300 extends through the second support flange 220. The other end of the crankshaft 300 is supported in the mounting slot 212 via a second bearing 350. The crankshaft 300 also includes two eccentric portions 310, which are arranged along the axial direction of the crankshaft 300. The number of cycloidal wheels 320 is the same as the number of eccentric portions 310, and they are respectively installed on the eccentric portions 310 of the multiple crankshafts 300, so that the rotation of the crankshaft 300 can drive the cycloidal wheels 320 to rotate. The number of planetary gears 330 is the same as the number of crankshafts 300. Multiple planetary gears 330 are connected one-to-one to one end of the crankshaft 300 that passes through the second support flange 220. The connection is fixed, so the rotation of the planetary gears 330 drives the crankshaft 300 to rotate synchronously. The third support flange 230 is fixedly connected to the end of the first support flange 210 opposite to the second support flange 220. The output shaft passes sequentially through the third support flange 230, the first center hole 217 of the first support flange 210, the third center hole 321 of the cycloidal wheel 320, and the second center hole 221 of the second support flange 220. The end of the input shaft 400 away from the third support flange 230 has an external toothed portion 410, which meshes with multiple planetary gears 330. The input shaft 400 is rotatably engaged with the third support flange 230 via a fifth bearing 420.

[0028] The first support flange 210 is provided with a through hole 213 that connects to the mounting groove 212. The through hole 213 is set towards the end of the crankshaft 300 away from the planetary gear 330. The through hole 213 and the end face of the crankshaft 300 are arranged opposite each other. The maximum diameter of the through hole 213 is smaller than the minimum outer diameter of the end face of the crankshaft 300 located in the mounting groove 212.

[0029] Understandably, with the above scheme, when the input shaft 400 rotates, it drives the planetary gear 330 to rotate, completing the first stage of reduction. The planetary gear 330 then drives the crankshaft 300 to rotate synchronously, and the crankshaft 300 drives the cycloidal wheel 320 to swing. The cycloidal wheel 320 engages with the needle roller and the needle tooth housing 100, thereby driving the needle tooth housing 100 to rotate relative to the planet carrier 200, thus completing the second stage of reduction.

[0030] Since the crankshaft 300 is typically installed in the pin housing 100 by hammering one end through the second support flange 220, a through hole 213 is provided on the first support flange 210, facing the end of the crankshaft 300. During the assembly of the planetary carrier 200, crankshaft 300, and cycloidal gear 320, a hammering tool is used to insert the through hole 213. (Refer to...) Figure 2As shown, the striking tool includes a connecting rod 610 and a striking part 620 connected together. The connecting rod 610 passes through the through hole 213. By striking the striking part 620 with a tool such as a hammer, the other end of the crankshaft 300 can be struck in the opposite direction, causing the positions of the inner and outer rings of the originally misaligned bearing to change. By continuously rotating the crankshaft 300, it can be confirmed whether the rotation has become smooth, which can improve the assembly accuracy and thus improve the smoothness of the movement of the RV reducer 1000. This is beneficial for subsequent measurement of parameters such as the starting torque and preload of the RV reducer 1000. Meanwhile, since the maximum diameter of the through hole 213 is smaller than the minimum outer diameter of the end of the crankshaft 300 located in the mounting groove 212, when the striking tool is inserted through the through hole 213, the through hole 213 can limit the striking tool, so that one end of the striking tool can only contact the end of the crankshaft 300, and will not accidentally touch the second bearing 350 or other positions. At the same time, it can also ensure that the force generated during the striking is as far along the axial direction of the crankshaft 300 as possible, effectively improving the situation of misalignment of the crankshaft 300 during the striking process, thereby improving the assembly accuracy and pass rate.

[0031] Reference Figure 1 As shown in the embodiment of the present invention, the RV reducer 1000 further includes an end cover 500. The end cover 500 is connected to the end of the pin gear housing 100 opposite to the first support flange 210 and covers the right opening of the pin gear housing 100. Therefore, the end cover 500 serves to protect components such as the planetary gear 330, crankshaft 300, first bearing 340, and second bearing 350, preventing dust, metal shavings, and other impurities from entering the interior of the RV reducer 1000, thereby improving the reliability and safety of the RV reducer 1000 operation.

[0032] Because the RV reducer 1000 requires lubricating oil or grease to lubricate the bearings, pin teeth 130, and other structures, and to prevent leakage of lubricating media such as lubricating oil or grease, the RV reducer 1000 needs internal sealing. (Refer to...) Figure 1As shown, in an embodiment of the invention, a first sealing ring 510 is provided between the end cap 500 and the pin tooth shell 100, sealing the gap between them. A second sealing ring 150 is provided between the first support flange 210 and the pin tooth shell 100, sealing the gap between them. A sealing plug 214 is provided in the through hole 213 to seal it. A third sealing ring 234 is provided between the third support flange 230 and the input shaft 400, sealing the gap between them. The pin tooth shell 100, the first support flange 210, the third support flange 230, the input shaft 400, and the end cap 500 together form a sealing cavity 140, where the crankshaft 300, the cycloidal wheel 320, and the planetary gear 330 are all located. The sealing cavity 140 contains a lubricating medium. By adopting the above scheme, a closed sealing cavity 140 is formed by setting the first sealing ring 510, the second sealing ring 150, the third sealing ring 234 and the sealing plug 214, which effectively prevents the internal lubricating medium from seeping out and can continuously lubricate the crankshaft 300, cycloidal wheel 320 and planetary gear 330, first bearing 340, second bearing 350, third bearing 110 and fourth bearing 120, etc., thereby improving their rotational smoothness and reliability.

[0033] It should be noted that the crankshaft 300 is tapped with a tapping tool when no lubricating medium has been injected into the sealing cavity 140 and the input shaft 400 and the third support flange 230 are not installed. After the first bearing 340, the second bearing 350, the third bearing 110 and the fourth bearing 120 rotate smoothly by tapping, the subsequent assembly steps can be continued.

[0034] During operation, the temperature and pressure within the sealing cavity 140 of the RV reducer 1000 increase, exerting an outward thrust on the sealing plug 214. During prolonged operation of the RV reducer 1000, the sealing plug 214 is prone to detachment, leading to leakage of the lubricating medium within the sealing cavity 140. To reduce the risk of the sealing plug 214 detaching, refer to... Figure 1 and Figure 3As shown, in an embodiment of the present invention, the RV reducer 1000 further includes a limiting portion 231, the number of which is the same as the number of through holes 213. The limiting portion 231 covers at least a portion of the corresponding through hole 213 away from the end of the crankshaft 300, for example, completely covering one end of the through hole 213. When the sealing plug 214 moves outward under pressure in the sealing cavity 140, it can abut against the limiting portion 231, thereby restricting the sealing plug 214 from disengaging from the through hole 213, effectively ensuring the stability and reliability of the connection of the sealing plug 214. The limiting portion 231 can be fixedly connected to the third support flange 230, and the fixed connection can be welding, bonding, screw connection, or integral molding. When the limiting portion 231 is integrally molded to the third support flange 230, the connection stability between the limiting portion 231 and the third support flange 230 is more reliable, effectively reducing the risk of the limiting portion 231 loosening and falling off, and reducing assembly steps and improving assembly efficiency.

[0035] Reference Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the RV reducer 1000 further includes a fastener 232, which may be a screw, bolt, pin, etc. The third support flange 230 is provided with a first mounting hole 233, and the first support flange 210 is provided with a second mounting hole 215. The fastener 232 passes through the first mounting hole 233 and is fixedly connected to the second mounting hole 215, so that the third support flange 230 is fixedly connected to the first support flange 210. When the limiting part 231 is integrally formed on the third support flange 230, it also facilitates the positioning and alignment of the limiting part 231 and the through hole 213, which is beneficial for the limiting part 231 to prevent the sealing plug 214 from disengaging from the through hole 213.

[0036] Reference Figure 4 As shown, in another embodiment of the present invention, the limiting part 231 and the third support flange 230 are two independent parts. The limiting part 231 and the first support flange 210 are fixedly connected and cover the through hole 213. The fixed connection can be achieved by screw connection, snap-fit, bonding, or welding, etc., and the appropriate connection method is selected according to the actual situation. By designing the limiting part 231 and the third support flange 230 as two separate parts, the crankshaft 300 can be struck with a striking tool after the input shaft 400 and the third support flange 230 have been installed, making the use of the striking tool more flexible. The through hole 213 can also be used to add lubricating medium. After adding the lubricating medium, the sealing plug 214 and the limiting part 231 can be installed without disassembling the third support flange 230, thereby improving the efficiency of adding lubricating medium.

[0037] Reference Figure 1 and Figure 2As shown in the embodiment of the present invention, the first support flange 210 has a positioning groove 216 on the side facing the third support flange 230, and the positioning groove 216 communicates with the first central hole 217. The positioning groove 216 can be square, elliptical, or other shapes. The third support flange 230 has a protrusion 235, the shape of which matches the shape of the positioning groove 216, and is inserted into the positioning groove 216, so that the first mounting hole 233 and the second mounting hole 215 can be aligned, facilitating subsequent fixing with fasteners 232. The RV reducer 1000 also includes a fourth sealing ring 236, which is sealed between the side wall of the protrusion 235 and the side wall of the positioning groove 216, improving the sealing performance of the sealing cavity 140, thereby preventing the lubricating medium in the sealing cavity 140 from seeping out through the gap between the protrusion 235 and the positioning groove 216, and improving the reliability of the RV reducer 1000 during operation.

[0038] Reference Figure 3 As shown in the embodiment of the present invention, the number of through holes 213 is the same as the number of crankshafts 300, and the positions of the multiple through holes 213 and the multiple crankshafts 300 correspond one-to-one. Therefore, when using a striking tool, the corresponding crankshaft 300 can be struck at each through hole 213. Since the crankshafts 300 are arranged around the central axis of the pin housing 100, striking each crankshaft 300 adjusts multiple positions of the inner and outer rings of the bearing, further improving the smoothness of bearing rotation.

[0039] Reference Figure 2 As shown, in the embodiment of the present invention, the distance H between the central axis of the through hole 213 and the rotation axis of the crankshaft 300 satisfies: 0mm≤H≤5mm. For example, the value of H can be 0mm, 1mm, 2mm, 3mm, 4mm, 5mm, etc. By adopting the above scheme, it can be ensured that when the central axis of the through hole 213 and the rotation axis of the crankshaft 300 are basically coincident, when the connecting rod 610 of the striking tool passes through the through hole 213, the central axis of the connecting rod 610 is also basically coincident with the rotation axis of the crankshaft 300, and the direction of the striking force is also basically coincident with the rotation axis of the crankshaft 300. This is beneficial for the crankshaft 300 to move along its rotation axis, effectively reducing the occurrence of misalignment or offset of the crankshaft 300, thereby improving the safety and reliability during striking, and ensuring the pass rate of the RV reducer 1000.

[0040] Reference Figure 1As shown in the embodiment of the present invention, the RV reducer 1000 includes two cycloidal wheels 320. The two cycloidal wheels 320 are arranged side by side along the axial direction of the pin tooth housing 100 and are centrally symmetrically arranged at 180° along the axial direction of the pin tooth housing 100, that is, the phase difference between the two cycloidal wheels 320 is 180°. The 180° phase difference design of the two cycloidal wheels 320 of the RV reducer 1000 is mainly to achieve radial force balance and improve transmission smoothness. When the two cycloidal wheels 320 are symmetrically distributed with a 180° phase difference, the driving torque generated by them during movement can cancel each other out, thereby reducing radial runout and vibration, improving transmission accuracy and equipment life. In addition, this design can also make the cycloidal wheels 320 more evenly stressed, increase load-bearing capacity, and optimize transmission efficiency and rigidity. Therefore, the 180° phase difference design not only improves the overall performance of the RV reducer 1000, but also meets the requirements of high precision and high reliability in industrial applications.

[0041] An industrial robot according to one embodiment of the present invention includes the RV reducer 1000 of the above embodiments. The industrial robot can be a handling robot, welding robot, assembly robot, processing robot, painting robot, cleanroom robot, collaborative robot, etc. The industrial robot of this embodiment uses the RV reducer 1000 of the above embodiments. The planetary carrier 200 of the RV reducer 1000 is disposed within the pin gear housing 100 and can rotate relative to the pin gear housing 100. The first support flange 210 and the second support flange 220 of the planetary carrier 200 are arranged along the axial direction of the pin gear housing 100 and connected to each other. The crankshaft 300 is rotatably supported on the planetary carrier 200 and connected to the cycloidal wheel 320. The third support flange 230 is fixedly connected to the first support flange 210. The input shaft 400 passes sequentially through the third support flange 230, the first support flange 210, the cycloidal wheel 320, and the second support flange 220, and is also rotatably supported on the third support flange 230. Planetary gear 330 and crankshaft 300 are fixedly connected at one end of the second support flange 220, and the external gear 410 of input shaft 400 meshes with planetary gear 330. When input shaft 400 rotates, it drives planetary gear 330 to rotate, completing the first stage of reduction. Planetary gear 330 then drives crankshaft 300 to rotate synchronously, and crankshaft 300 drives cycloidal wheel 320 to oscillate. Cycloidal wheel 320 meshes with needle roller and needle tooth housing 100, thereby driving needle tooth housing 100 to rotate relative to planet carrier 200, thus completing the second stage of reduction. Since crankshaft 300 is usually installed in needle tooth housing 100 by striking one end of it that protrudes from the second support flange 220. Therefore, a through hole 213 is provided on the first support flange 210, with the through hole 213 facing the end of the crankshaft 300. After the planetary carrier 200, crankshaft 300 and cycloidal wheel 320 are assembled, a hammering tool is inserted through the through hole 213, so that the other end of the crankshaft 300 can be hammered in the opposite direction, so that the positions of the inner and outer rings of the originally misaligned bearings are changed. By continuously rotating the crankshaft 300, it is confirmed whether the rotation has become smooth, reducing the occurrence of sticking and jamming, improving the assembly accuracy, and thus improving the smoothness of the RV reducer 1000's movement. This is beneficial for subsequent measurement of parameters such as the starting torque and preload of the RV reducer 1000. Meanwhile, since the maximum diameter of the through hole 213 is smaller than the minimum outer diameter of the end of the crankshaft 300 located in the mounting groove 212, when the striking tool is inserted through the through hole 213, the through hole 213 can limit the striking tool, so that one end of the striking tool can only contact the end of the crankshaft 300, and will not accidentally touch the second bearing 350 or other positions. At the same time, it can also ensure that the force generated during the striking is as far along the axial direction of the crankshaft 300 as possible, effectively improving the situation of misalignment of the crankshaft 300 during the striking process, thereby improving the assembly accuracy and pass rate.

[0042] Since the industrial robot adopts all the technical solutions of the RV reducer 1000 in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0043] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An RV reducer, characterized in that, include: Needle-shaped shell; A planetary carrier is disposed inside the pin tooth housing and is rotatable relative to the pin tooth housing. The planetary carrier includes a first support flange and a second support flange arranged along the axial direction of the pin tooth housing. The first support flange is fixedly connected to the second support flange. The end of the first support flange facing the second support flange is provided with a mounting groove. Multiple crankshafts, each crankshaft being supported on a second support flange by a first bearing, and the other end of each crankshaft being supported in the mounting groove by a second bearing, each crankshaft including an eccentric portion; Cycloidal wheels are respectively connected to the eccentric portions of the plurality of crankshafts; Multiple planetary gears, the same number as the crankshaft, are connected one-to-one to one end of the crankshaft connected to the second support flange; The third support flange is fixedly connected to the end of the first support flange that is away from the second support flange; An input shaft is sequentially passed through the third support flange, the first support flange, the cycloidal wheel, and the second support flange. One end of the input shaft is provided with an external tooth and meshes with a plurality of planetary gears. The first support flange is provided with a through hole communicating with the mounting groove. The through hole and the end of the crankshaft away from the planetary gear are arranged opposite each other. The maximum diameter of the through hole is smaller than the minimum outer diameter of the end face of the crankshaft located in the mounting groove.

2. The RV reducer according to claim 1, characterized in that: The RV reducer also includes a sealing plug, which is disposed in the through hole and used to seal the through hole.

3. The RV reducer according to claim 2, characterized in that: The RV reducer also includes a limiting portion that covers at least a portion of the end of the through hole away from the crankshaft, to restrict the sealing plug from disengaging from the through hole.

4. The RV reducer according to claim 3, characterized in that: The limiting part is connected to the third support flange and is integrally formed with the third support flange.

5. The RV reducer according to claim 4, characterized in that: The RV reducer also includes fasteners. The third support flange is provided with a first mounting hole, and the first support flange is provided with a second mounting hole. The fasteners pass through the first mounting hole and are fixedly connected to the second mounting hole.

6. The RV reducer according to claim 1, characterized in that: The number of through holes is the same as the number of crankshafts, and the positions of the multiple through holes correspond one-to-one with the positions of the multiple crankshafts.

7. The RV reducer according to claim 1, characterized in that: The distance H between the central axis of the through hole and the rotation axis of the crankshaft satisfies: 0mm≤H≤5mm.

8. The RV reducer according to any one of claims 1, characterized in that: The RV reducer also includes an end cover, which is connected to the end of the pin housing opposite to the first support flange.

9. The RV reducer according to claim 8, characterized in that: A first sealing ring is provided between the end cap and the needle tooth shell, a second sealing ring is provided between the first support flange and the needle tooth shell, a sealing plug is provided in the through hole, a third sealing ring is provided between the third support flange and the input shaft, and a sealing cavity is formed by the needle tooth shell, the first support flange, the third support flange, the input shaft and the end cap, the crankshaft, the cycloidal wheel and the planetary gear are all located in the sealing cavity, and the sealing cavity contains a lubricating medium.

10. The RV reducer according to claim 9, characterized in that: The first support flange has a positioning groove on the side facing the third support flange, the third support flange has a protrusion, the protrusion is inserted into the positioning groove, and the RV reducer also includes a fourth sealing ring, which is sealed between the side wall of the protrusion and the side wall of the positioning groove.

11. An industrial robot, characterized in that: Including the RV reducer as described in any one of claims 1 to 10.

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