Cycloidal-pin wheel speed reducer and joint
By designing the output bearing to be sleeved on the outer periphery of the cycloid pinwheel assembly, and arranging the input assembly, output assembly and cycloid pinwheel assembly coaxially, the problem of excessive thickness of the cycloid pinwheel reducer is solved and a smaller size is achieved. Thickness size and higher applicability.
Patent Information
- Application Number
- CN202421438707.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-21
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2034-06-21
AI Technical Summary
When used in the field of robots, the output bearings are usually arranged on the side of the cycloid gear, resulting in a large thickness and cannot meet certain robot joints with strict requirements for axial dimensions.
A cycloid pinwheel reducer is designed. The output bearing is sleeved on the outer periphery of the cycloid pinwheel assembly. The cycloid pinwheel assembly is arranged between the output flange and the fixed flange. The input assembly, the output assembly and the cycloid are The pinwheel assembly is coaxially arranged to reduce the overall thickness.
Through this design, the thickness of the cycloid reducer is reduced, the applicability is improved, and it can better adapt to robot joints that have strict axial size requirements.
Smart Images
Figure CN222377165U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical deceleration, in particular to a cycloid pinwheel reducer and a joint. Background Art
[0002] As a new type of reduction mechanism in mechanical transmission, the cycloid pinwheel reducer has the characteristics of small size, large torque, smooth transmission and high reliability. Therefore, it has been widely used in various fields, such as automation, medical equipment, robotics, etc.
[0003] When cycloid reducers are used in the field of robots, they are often installed at the joints of robots. In such a setting scenario, the structure of the cycloid reducer must be relatively flat to reduce the axial size of the overall joint. However, the output bearings in existing cycloid reducers are usually installed on the side of the cycloid gear, which results in a relatively large thickness of the cycloid reducer, making it unsuitable for certain robot joints that have strict requirements on the axial size. Utility Model Content
[0004] The utility model aims to provide a cycloid pinwheel reducer, which can have a smaller thickness and improve applicability.
[0005] The embodiment of the utility model is achieved as follows:
[0006] In one aspect of the utility model, a cycloid pinwheel reducer is provided, comprising an input assembly, an output assembly and a cycloid pinwheel assembly which are transmission-connected and coaxially arranged, wherein the output assembly comprises an output bearing, an output flange and a fixed flange respectively arranged on opposite sides of the output bearing; the cycloid pinwheel assembly is arranged between the output flange and the fixed flange, and the output bearing is sleeved on the outer periphery of the cycloid pinwheel assembly; the input assembly comprises an input shaft, and the input shaft passes through the cycloid pinwheel assembly and the output assembly in sequence.
[0007] Optionally, the cycloid pinwheel assembly includes a cycloid gear and a pinwheel, and multiple pinwheels are evenly distributed on the periphery of the cycloid gear; the cycloid gear is arranged between the output flange and the fixed flange, the output bearing is sleeved on the outer periphery of the cycloid gear, and the pinwheel can be attached to the inner wall of the output bearing and rotate relative to the output bearing.
[0008] Optionally, the setting direction of the pin wheel is the same as the thickness direction of the cycloid gear, and the pin wheel is cylindrical; the inner wall of the output bearing is provided with multiple grooves, and both ends of the grooves are connected to the outside; the setting direction of the pin wheel is the same as the extension direction of the groove, so that the pin wheel can be attached to the groove and rotate relative to the groove.
[0009] Optionally, the cycloid gear includes at least one; when the cycloid gear includes multiple, the multiple cycloid gears are coaxially and eccentrically arranged between the output flange and the fixed flange, and the output bearing is sleeved on the outer periphery of the multiple cycloid gears.
[0010] Optionally, the cycloid gear is provided with a plurality of connecting holes, which are used to pass through the hole pin assembly; a connecting pin corresponding to the position of the hole pin assembly is provided on the side of the output flange facing the cycloid gear, and the end of the hole pin assembly is fixedly connected to the connecting pin.
[0011] Optionally, the hole pin assembly includes a pin, which is inserted into the connecting hole and fixedly connected to the output flange. The outer wall of the pin is sleeved with a pin sleeve, and the pin sleeve can rotate relative to the pin.
[0012] Optionally, the output bearing includes an inner ring bearing and an outer ring bearing sleeved on the outer wall of the inner ring bearing, and the inner ring bearing can rotate relative to the outer ring bearing; the inner ring bearing is sleeved on the outer periphery of the cycloid pinwheel assembly.
[0013] Optionally, the input assembly further includes an input bearing, and the input bearing is sleeved at two opposite ends of the input shaft.
[0014] Optionally, the input assembly further includes a swing arm bearing, and the swing arm bearing is sleeved on the outer wall of the input shaft.
[0015] Another aspect of the utility model provides a joint, including a motor and a cycloidal pinwheel reducer, wherein the motor is drivingly connected to the cycloidal pinwheel reducer, and the cycloidal pinwheel reducer is used to reduce the rotation speed output by the motor.
[0016] The beneficial effects of the utility model include:
[0017] The present application provides a cycloidal pinwheel reducer, comprising an input assembly, an output assembly and a cycloidal pinwheel assembly which are transmission-connected and coaxially arranged, wherein the output assembly comprises an output bearing, an output flange and a fixed flange respectively arranged on opposite sides of the output bearing; the cycloidal pinwheel assembly is arranged between the output flange and the fixed flange, and the output bearing is sleeved on the outer periphery of the cycloidal pinwheel assembly; the input assembly comprises an input shaft, and the input shaft passes through the cycloidal pinwheel assembly and the output assembly in sequence. The cycloidal pinwheel reducer obtained by the above design can have a smaller thickness dimension and improve applicability. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.
[0019] Figure 1A cross-sectional view of a cycloid pinwheel reducer provided in an embodiment of the utility model;
[0020] Figure 2 One of the exploded views of the cycloid pinwheel reducer provided in the embodiment of the utility model;
[0021] Figure 3 The second exploded view of the cycloid pinwheel reducer provided in the embodiment of the utility model;
[0022] Figure 4 The third exploded view of the cycloid pinwheel reducer provided in the embodiment of the utility model;
[0023] Figure 5 A top view of a cycloid pinwheel reducer provided in an embodiment of the utility model.
[0024] Icons: 100-cycloid pinwheel reducer; 110-input assembly; 111-input shaft; 112-input bearing; 113-swing arm bearing; 120-output assembly; 121-output bearing; 1211-outer ring bearing; 1212-inner ring bearing; 122-output flange; 1221-connecting pin; 123-fixing flange; 130-cycloid pinwheel assembly; 131-cycloid gear; 1311-connecting hole; 132-pinwheel; 133-hole pin assembly; 1331-column pin; 1332-column pin sleeve; DETAILED DESCRIPTION
[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.
[0026] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.
[0028] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.
[0029] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two or more components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0031] Please refer to Figure 1 and Figure 2 The present embodiment provides a cycloidal pinwheel reducer 100, comprising an input assembly 110, an output assembly 120 and a cycloidal pinwheel assembly 130 which are transmission-connected and coaxially arranged, the output assembly 120 comprising an output bearing 121, an output flange 122 and a fixing flange 123 respectively arranged on opposite sides of the output bearing 121; the cycloidal pinwheel assembly 130 is arranged between the output flange 122 and the fixing flange 123, and the output bearing 121 is sleeved on the outer periphery of the cycloidal pinwheel assembly 130; the input assembly 110 comprises an input shaft 111, and the input shaft 111 passes through the cycloidal pinwheel assembly 130 and the output assembly 120 in sequence.
[0032] Specifically, the present application provides a cycloid pinwheel reducer 100, including an input assembly 110, an output assembly 120 and a cycloid pinwheel assembly 130; the input assembly 110, the output assembly 120 and the cycloid pinwheel assembly 130 are coaxially arranged.
[0033] Among them, Figure 1 and Figure 2As shown, the input component 110 includes an input shaft 111, and the output component 120 includes an output bearing 121, an output flange 122 and a fixed flange 123. The output bearing 121, the output flange 122 and the fixed flange 123 are all hollow ring structures, and the middle part is used to pass the input shaft 111; the output flange 122 and the fixed flange 123 are fixedly arranged on opposite sides of the output bearing 121; screws are respectively provided on the plate surface of the output flange 122 and the fixed flange 123 facing the output bearing 121, and correspondingly, mounting holes are provided on the output bearing 121, which are respectively matched with the positions of the screws of the output flange 122 and the screws of the fixed flange 123, and the output flange 122 and the fixed flange 123 can be fixedly connected with the output bearing 121 by assembling the screws with the mounting holes.
[0034] The cycloid pinwheel assembly 130 is disposed between the output flange 122 and the fixed flange 123, and the cycloid pinwheel assembly 130 is transmission-connected to the output flange 122; and the cycloid pinwheel assembly 130 is disposed in the hollow portion of the output bearing 121, so that the output bearing 121 is disposed around the outer periphery of the cycloid pinwheel assembly 130, and the cycloid pinwheel assembly 130 can be attached to the inner wall of the output bearing 121 and rotate relative to the output bearing 121;
[0035] The input shaft 111 is sequentially penetrated through the middle parts of the fixed flange 123, the output bearing 121, the cycloid pinwheel assembly 130 and the output flange 122 along the stacking direction of the fixed flange 123, the output bearing 121 and the output flange 122; the middle part of the input shaft 111 is an eccentric structure, and when the input shaft 111 rotates, it can drive the cycloid pinwheel assembly 130 to move eccentrically, and at the same time, the cycloid pinwheel assembly 130 can rotate due to being attached to the inner wall of the output bearing 121, and while moving eccentrically, it also rotates at a low speed, and transmits the low-speed rotation to the output flange 122, thereby achieving the purpose of deceleration.
[0036] It should be noted that, first, in one possible implementation of the present application, Figure 1 As shown, the cycloid pinwheel assembly 130 is arranged between the output flange 122 and the fixed flange 123, and the cycloid pinwheel assembly 130 is arranged in the hollow part of the output bearing 121, so that the output bearing 121 is arranged around the outer periphery of the cycloid pinwheel assembly 130. Therefore, the thickness of the cycloid pinwheel reducer 100 provided in the present application is the total thickness of the cycloid pinwheel assembly 130, the fixed flange 123, and the output flange 122. The output bearing of the existing cycloid pinwheel reducer is usually arranged on the side of the cycloid gear, so the thickness of the existing cycloid pinwheel reducer is the total thickness of the cycloid pinwheel assembly, the fixed flange, the output flange and the output bearing. Therefore, through the layout arrangement of the cycloid pinwheel assembly 130 and the output bearing 121 in the cycloid pinwheel reducer 100 of the present application, the thickness of the cycloid pinwheel reducer 100 can be effectively reduced.
[0037] Second, if Figure 3 As shown, in one possible implementation mode of the present application, the output bearing 121 includes an inner ring bearing 1212 and an outer ring bearing 1211 sleeved on the outer wall of the inner ring bearing 1212, and the inner ring bearing 1212 can rotate relative to the outer ring bearing 1211; the inner ring bearing 1212 is sleeved on the outer periphery of the cycloid pinwheel assembly 130.
[0038] Specifically, the output bearing 121 includes an inner ring bearing 1212 and an outer ring bearing 1211 sleeved on the outer wall of the inner ring bearing 1212, and the inner ring bearing 1212 can rotate relative to the outer ring bearing 1211; the inner ring bearing 1212 and the outer ring bearing 1211 are both provided with a plurality of through holes along their thickness direction, and correspondingly, the output flange 122 and the fixed flange 123 are provided with a fixed shaft on one side facing the output bearing 121, and the plate surface area of the output flange 122 is larger than the plate surface area of the fixed flange 123, so that the output flange 122 can be fixedly connected to the outer ring bearing 1211 through the fixed shaft, and the fixed flange 123 can be fixedly connected to the inner ring bearing 1212 through the fixed shaft, so as to realize the reliable connection of the cycloidal pinwheel reducer 100.
[0039] The cycloid pinwheel reducer 100 provided in the present application comprises an input assembly 110, an output assembly 120 and a cycloid pinwheel assembly 130 which are transmission-connected and coaxially arranged, the output assembly 120 comprises an output bearing 121, an output flange 122 and a fixing flange 123 respectively arranged on opposite sides of the output bearing 121; the cycloid pinwheel assembly 130 is arranged between the output flange 122 and the fixing flange 123, and the output bearing 121 is sleeved on the outer periphery of the cycloid pinwheel assembly 130; the input assembly 110 comprises an input shaft 111, and the input shaft 111 sequentially passes through the cycloid pinwheel assembly 130 and the output assembly 120. The cycloid pinwheel reducer 100 obtained by the above design can have a smaller thickness dimension and improve applicability.
[0040] In one possible implementation of the present application, Figure 2 and Figure 4 As shown, the cycloid pinwheel assembly 130 includes a cycloid gear 131 and a pinwheel 132, and a plurality of pinwheels 132 are evenly distributed on the periphery of the cycloid gear 131; the cycloid gear 131 is disposed between the output flange 122 and the fixed flange 123, and the output bearing 121 is sleeved on the outer periphery of the cycloid gear 131, and the pinwheel 132 can be attached to the inner wall of the output bearing 121 and rotate relative to the output bearing 121.
[0041] Specifically, Figure 2 and Figure 4As shown, the cycloid pinwheel assembly 130 includes a cycloid gear 131 and a pinwheel 132; the plate surface of the cycloid gear 131 is provided with a hollow portion for passing the input shaft 111; a plurality of pinwheels 132 are sequentially provided on the periphery of the cycloid gear 131, and the pinwheels 132 are cylindrical, and the pinwheels 132 can be attached to the inner wall of the output bearing 121; the pinwheels 132 can rotate relative to the cycloid gear 131, so that the cycloid pinwheel 132 assembly can rotate around the inner wall of the output bearing 121.
[0042] Furthermore, the setting direction of the pin wheel 132 is the same as the thickness direction of the cycloid gear 131, and the pin wheel 132 is cylindrical; the inner wall of the output bearing 121 is provided with a plurality of grooves, and both ends of the grooves are connected to the outside; the setting direction of the pin wheel 132 is the same as the extension direction of the groove, so that the pin wheel 132 can be attached to the groove and rotate relative to the groove.
[0043] Specifically, the extension direction of the pin wheel 132 is the same as the thickness direction of the cycloid gear 131, and the pin wheel 132 is cylindrical; correspondingly, the inner wall of the output bearing 121 is provided with a plurality of grooves, and the plurality of grooves are connected in sequence to form a wavy structure on the inner wall of the output bearing 121, and the two ends of the grooves are connected to the outside so that the pin wheel 132 can be attached to the grooves; when the input shaft 111 rotates, the pin wheel 132 can be driven to rotate along the grooves, so that the cycloid pin wheel 132 assembly can rotate around the inner wall of the output bearing 121.
[0044] Through the cooperation between the groove and the pin wheel 132 , the cycloid pin wheel assembly 130 can rotate along the inner wall of the output bearing 121 more smoothly and reliably.
[0045] In one possible implementation manner of the present application, the cycloid gear 131 includes at least one; when the cycloid gear 131 includes multiple, the multiple cycloid gears 131 are coaxially and eccentrically arranged between the output flange 122 and the fixed flange 123, and the output bearing 121 is sleeved on the outer periphery of the multiple cycloid gears 131.
[0046] Specifically, the cycloid gear 131 includes at least one; when the cycloid gear 131 includes one, it is arranged at the center of the output bearing 121 and can rotate around the inner wall of the output bearing 121; the cycloid gear 131 can also include multiple, for example, when the cycloid gear 131 includes two, the two cycloid gears 131 are arranged with a phase difference of 180°, are coaxially eccentrically arranged between the output flange 122 and the fixed flange 123, and the output bearing 121 is sleeved on the outer periphery of the two cycloid gears 131.
[0047] By disposing a plurality of cycloid gears 131 , the vibration of the cycloid pinwheel reducer 100 can be reduced, making the working process of the cycloid pinwheel reducer 100 more stable and reliable.
[0048] For example, Figure 4 As shown, the cycloid gear 131 is provided with a plurality of connecting holes 1311, and the connecting holes 1311 are used to penetrate the hole pin assembly 133; the output flange 122 is provided with a connecting pin 1221 corresponding to the position of the hole pin assembly 133 on the side facing the cycloid gear 131, and the end of the hole pin assembly 133 is fixedly connected to the connecting pin 1221.
[0049] Specifically, the cycloid gear 131 is provided with a plurality of connection holes 1311 , and the connection holes 1311 can be penetrated by a hole pin assembly 133 , and one end of the hole pin assembly 133 is connected to the output flange 122 to achieve the connection between the cycloid pin wheel assembly 130 and the output flange 122 .
[0050] like Figure 4 As shown, a plurality of connecting pins 1221 are provided on a side of the output flange 122 facing the cycloid gear 131, and the setting positions and the setting numbers of the connecting pins 1221 correspond to the hole pin assembly 133. The end of the connecting pin 1221 away from the output flange 122 is penetrated through the hole pin assembly 133, and the hole pin assembly 133 includes a column pin 1331 and a column pin sleeve 1332 sleeved on the outer wall of the column pin 1331; when the input shaft 111 rotates, the output flange 122 rotates with the output bearing 121, and at this time, the column pin sleeve rotates along the inner wall of the connecting hole 1311 with the connecting pin 1221 as the rotation center, so that the cycloid pinwheel assembly 130 can rotate.
[0051] When the input shaft 111 rotates one circle, the movement of the cycloid pinwheel assembly 130 becomes both eccentric movement and rotation with the input shaft 111 as the rotation center. When the input shaft 111 rotates one circle forward, the cycloid gear 131 rotates in the opposite direction along the inner wall of the output bearing 121 through a groove, thereby reducing speed; and then the low-speed rotation of the cycloid gear 131 is transmitted to the output flange 122 through the hole pin assembly 133, thereby obtaining a lower output speed.
[0052] Furthermore, if Figure 3 , Figure 4 and Figure 5 As shown, the hole pin assembly 133 includes a pin 1331, which is inserted into the connecting hole 1311 and fixedly connected to the connecting nail 1221 of the output flange 122. The outer wall of the pin 1331 is sleeved with a pin sleeve 1332, and the pin sleeve 1332 can rotate relative to the pin 1331.
[0053] Specifically, Figure 3 , Figure 4 and Figure 5As shown, the hole pin assembly 133 includes a column pin 1331 passed through the connecting hole 1311, and the connecting pin 1221 of the output flange 122 extends toward the cycloidal pin wheel assembly 130 and passes through the middle of the column pin 1331. The setting direction of the column pin 1331 is in the same direction as the extension direction of the connecting pin 1221 to realize the transmission connection between the hole pin assembly 133 and the output flange 122.
[0054] When the input shaft 111 rotates, the cycloid pinwheel assembly 130 moves eccentrically, causing the cycloid gear 131 and the pinwheel 132 to mesh and transmit. At the same time, the positioning of the pinwheel 132 in the groove on the inner wall of the inner ring bearing 1212 causes the cycloid gear 131 to rotate in the opposite direction, thereby reducing speed. The low-speed rotation is then transmitted to the output flange 122 through the hole pin assembly 133, thereby obtaining a lower output speed.
[0055] In an implementation manner of the present application, the input assembly 110 further includes an input bearing 112 , and the input bearing 112 is sleeved on opposite ends of the input shaft 111 .
[0056] Specifically, Figure 3 As shown, the input assembly 110 also includes an input bearing 112, which is sleeved on opposite ends of the input shaft 111, and the input shaft 111 can rotate along the inner wall of the input bearing 112; the input bearing 112 can support the rotation of the input shaft 111, reduce the friction coefficient of the input shaft 111 during movement, and ensure rotation accuracy.
[0057] In an implementation manner of the present application, the input assembly 110 further includes a swing arm bearing 113 , and the swing arm bearing 113 is sleeved on the outer wall of the input shaft 111 .
[0058] Specifically, Figure 3 As shown, the input assembly 110 also includes a swing arm bearing 113, which is sleeved on the outer wall of the input shaft 111 and is followed by the input shaft 111 to pass through the cycloid pinwheel assembly; the setting of the swing arm bearing 113 can support the cycloid pinwheel assembly 130, support the eccentric movement and rotation of the cycloid pinwheel assembly 130, and improve the overall rotation reliability of the cycloid pinwheel reducer 100.
[0059] In another aspect of an embodiment of the present application, a joint is provided, including a motor and a cycloidal pinwheel reducer 100, wherein the motor is transmission-connected to the cycloidal pinwheel reducer 100, and the cycloidal pinwheel reducer 100 is used to reduce the rotation speed of the motor output.
[0060] Specifically, the present application also provides a joint, which includes a motor and a cycloidal pinwheel reducer 100. Since the cycloidal pinwheel reducer 100 can have a smaller thickness, the axial size of the joint can be effectively reduced. The specific structure and beneficial effects of the cycloidal pinwheel reducer 100 have been described in detail above and will not be repeated here.
[0061] The above description is only an optional embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
[0062] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present utility model will not further describe various possible combinations.
Claims
1. A cycloid pinwheel reducer, characterized in that: The invention comprises an input component (110), an output component (120) and a cycloidal pinwheel component (130) which are transmission-connected and coaxially arranged, wherein the output component (120) comprises an output bearing (121), an output flange (122) and a fixing flange (123) which are respectively arranged on opposite sides of the output bearing (121); the cycloidal pinwheel component (130) is arranged between the output flange (122) and the fixing flange (123), and the output bearing (121) is sleeved on the outer periphery of the cycloidal pinwheel component (130); the input component (110) comprises an input shaft (111), and the input shaft (111) passes through the cycloidal pinwheel component (130) and the output component (120) in sequence.
2. The cycloid pinwheel reducer according to claim 1, characterized in that: The cycloid pinwheel assembly (130) comprises a cycloid gear (131) and a pinwheel (132), wherein a plurality of the pinwheels (132) are evenly distributed on the periphery of the cycloid gear (131); the cycloid gear (131) is arranged between the output flange (122) and the fixing flange (123), the output bearing (121) is sleeved on the outer periphery of the cycloid gear (131), and the pinwheel (132) can be attached to the inner wall of the output bearing (121) and rotate relative to the output bearing (121).
3. The cycloid pinwheel reducer according to claim 2, characterized in that: The setting direction of the pin wheel (132) is the same as the thickness direction of the cycloid gear (131), and the pin wheel (132) is cylindrical; the inner wall of the output bearing (121) is provided with a plurality of grooves, and both ends of the grooves are connected to the outside; the setting direction of the pin wheel (132) is the same as the extension direction of the groove, so that the pin wheel (132) can be attached to the groove and rotate relative to the groove.
4. The cycloid pinwheel reducer according to claim 2, characterized in that: The cycloid gear (131) includes at least one; when the cycloid gear (131) includes a plurality of cycloid gears (131), the plurality of cycloid gears (131) are coaxially and eccentrically arranged between the output flange (122) and the fixed flange (123), and the output bearing (121) is sleeved on the outer periphery of the plurality of cycloid gears (131).
5. The cycloid pinwheel reducer according to claim 2, characterized in that: The cycloid gear (131) is provided with a plurality of connection holes (1311), and the connection holes (1311) are used to penetrate the hole pin assembly (133); a connection pin (1221) corresponding to the position of the hole pin assembly (133) is provided on a side of the output flange (122) facing the cycloid gear (131), and an end of the hole pin assembly (133) is fixedly connected to the connection pin (1221).
6. The cycloid pinwheel reducer according to claim 5, characterized in that: The hole pin assembly (133) comprises a column pin (1331), wherein the column pin (1331) is inserted into the connection hole (1311) and fixedly connected to the output flange (122), and a column pin sleeve (1332) is sleeved on the outer wall of the column pin (1331), and the column pin sleeve (1332) can rotate relative to the column pin (1331).
7. The cycloid pinwheel reducer according to claim 1, characterized in that: The output bearing (121) comprises an inner ring bearing (1212) and an outer ring bearing (1211) sleeved on the outer wall of the inner ring bearing (1212); the inner ring bearing (1212) is capable of rotating relative to the outer ring bearing (1211); and the inner ring bearing (1212) is sleeved on the outer periphery of the cycloid pinwheel assembly (130).
8. The cycloid pinwheel reducer according to any one of claims 1 to 7, characterized in that: The input assembly (110) further comprises an input bearing (112), wherein the input bearing (112) is sleeved on two opposite ends of the input shaft (111).
9. The cycloid pinwheel reducer according to claim 8, characterized in that: The input assembly (110) further comprises a swing arm bearing (113), wherein the swing arm bearing (113) is sleeved on the outer wall of the input shaft (111).
10. A joint, characterized in that: It comprises a motor and a cycloidal pinwheel reducer (100) as described in any one of claims 1 to 9, wherein the motor is drivingly connected to the cycloidal pinwheel reducer, and the cycloidal pinwheel reducer is used to reduce the rotation speed output by the motor.