Internal meshing RV speed reducer of industrial robot

Abstract

The utility model discloses an internal meshing RV speed reducer of an industrial robot, belongs to the technical field of speed reducers, and solves the problems that a connecting assembly arranged between mounting lantern rings of an existing speed reducer structure is poor in speed reduction effect, the mounting lantern rings on the two sides cannot be subjected to speed reduction to increase torque, and the speed reducer structure cannot obtain a low output rotating speed. Comprising a speed reducer body and a power transmission mechanism, and the power transmission mechanism comprises a motor connecting part, a power output part and a linkage speed reduction assembly; the linkage speed reduction assembly is arranged and can act on the motor connecting part, so that speed reduction processing on the motor connecting part is achieved, the power output part obtains large-torque output, the working efficiency of the driving motor is improved, meanwhile, the linkage speed reduction assembly is easy to assemble, the transmission efficiency is higher, and the service life of the driving motor is prolonged. And the speed reducer has the advantages of small size, light weight, large transmission ratio range and the like, and can meet motor speed reduction requirements in different environments.

Description

Technical Field

[0001] The utility model belongs to the technical field of reducers, and in particular relates to an internal meshing RV reducer for an industrial robot. Background Art

[0002] The reducer of an industrial robot, also known as a speed reducer, is one of the core components in the robot power system, and is as important as the servo motor and controller. Its main function is to transmit the power of the servo motor, adjust the speed and torque, so as to achieve precise control of the robot's movements. At present, the most widely used reducer types in the field of industrial robots include RV reducers and harmonic reducers. These two types of reducers are widely used in robot joints due to their unique structural characteristics and transmission principles.

[0003] Chinese patent CN219774707U discloses a hollow RV reducer structure, including a planetary carrier, an inner angle bearing is installed inside the planetary carrier, two mounting rings are arranged on both sides of the inner side of the inner angle bearing, a plurality of connecting components are arranged between the two mounting rings, and a plurality of output shafts are rotatably connected inside the two mounting rings; however, the connecting components arranged between the mounting rings of the existing reducer structure have a poor deceleration effect, and the mounting rings on both sides cannot be decelerated to increase the torque, so that the reducer structure cannot obtain a lower output speed. In order to solve the above problems, we propose an internal meshing RV reducer for industrial robots. Utility Model Content

[0004] The purpose of the utility model is to address the deficiencies of the prior art and provide an internal meshing RV reducer for an industrial robot, thereby solving the problem that the connecting components arranged between the mounting rings of the existing reducer structure have poor deceleration effect and cannot decelerate and increase the torque of the mounting rings on both sides, making it impossible for the reducer structure to obtain a lower output speed.

[0005] The connecting assembly arranged between the mounting rings of the existing reducer structure has a poor deceleration effect, and the mounting rings on both sides cannot be decelerated to increase the torque, so that the reducer structure cannot obtain a lower output speed. In order to solve the above problems, we propose an internal meshing RV reducer for industrial robots. In short, the internal meshing RV reducer for industrial robots includes a reducer body and a power transmission mechanism. The reducer body includes a reducer connecting seat and a reducer housing, and the power transmission mechanism includes a motor connecting part, a power output part and a linkage reduction assembly. When working, the motor connecting part can be fixedly connected to drive motors of different specifications and models, so as to transmit the power of the drive motor to the linkage reduction assembly. The linkage reduction assembly can decelerate the motor connecting part, and the power output part obtains a large torque output after deceleration, thereby improving the working efficiency of the drive motor. The embodiment of the utility model is provided with a linkage reduction reduction assembly, which can act on the motor connection part, thereby achieving a reduction in speed of the motor connection part, so that the power output part obtains a large torque output, thereby improving the working efficiency of the drive motor. At the same time, the linkage reduction reduction assembly is simple to assemble, has higher transmission efficiency, and also has the advantages of small size, light weight, and a large transmission ratio range, and can meet the motor deceleration requirements under different environments.

[0006] The utility model is implemented in this way: an industrial robot internal meshing RV reducer, the industrial robot internal meshing RV reducer comprising:

[0007] A reducer body, the reducer body comprising a reducer connecting seat and a reducer housing, the reducer housing being fixedly connected to the reducer connecting seat;

[0008] A power transmission mechanism, the power transmission mechanism is arranged in the reduction housing, and the power transmission mechanism includes:

[0009] A motor connection part, which is arranged on one side of the reducer housing and is used to fix and connect drive motors of different specifications;

[0010] A power output part, which is arranged on the other side of the reducer housing, is used for outputting power after deceleration, and is connected to a working machine or an execution joint connection;

[0011] A linkage reduction assembly is arranged in the reduction housing, and is used to connect the motor connection part and the power output part, and to reduce the power transmitted by the motor connection part.

[0012] Preferably, the motor connecting portion comprises:

[0013] A first connecting seat, wherein the first connecting seat is arranged on one side of the reducer housing;

[0014] A second connecting seat, the second connecting seat is arranged between the reducer housing and the first connecting seat, and the first connecting seat is rotatably connected to the second connecting seat;

[0015] A first locking member is installed on the second connecting seat and is used to lock the second connecting seat.

[0016] Preferably, the motor connecting portion further includes:

[0017] At least one set of anti-detachment seats, wherein the anti-detachment seats are detachably mounted on the side walls of the first connecting seat, and the anti-detachment seats are provided with connecting guide grooves;

[0018] An adjusting screw is rotatably mounted in the connecting guide groove, and an adjusting nut is fixedly mounted on the end of the adjusting screw;

[0019] An adjusting thread block is threadably sleeved on the adjusting screw rod, and the adjusting thread block is slidably connected to the connecting guide groove;

[0020] A connecting nut seat is fixedly mounted on the adjusting thread block and is used to connect the driving motor.

[0021] Preferably, the power output unit comprises:

[0022] An output transmission seat, the output transmission seat is rotatably mounted on the reducer housing;

[0023] An output connecting groove, wherein the output connecting groove is disposed on the output transmission seat;

[0024] at least one set of second locking members, the second locking members being used to lock the working machine or the execution joint;

[0025] The deceleration connection part is arranged between the output transmission seat and the linkage deceleration assembly, and is used to connect the output transmission seat and the linkage deceleration assembly.

[0026] Preferably, the speed reduction connection portion comprises:

[0027] A first gear, wherein the first gear is disposed in the reduction gear housing, and one side of the first gear is connected to the linkage reduction assembly;

[0028] At least one set of second gears, wherein the second gears are arranged outside the first gears, and the second gears are meshed with the first gears for transmission, and the second gears are also fixedly connected to the output transmission seat;

[0029] The limiting gear ring is fixedly installed in the reducer housing, the limiting gear ring is meshed with the second gear for transmission, and the limiting gear ring is used to guide and limit the second gear.

[0030] Preferably, the linkage deceleration assembly comprises:

[0031] A linkage reduction shaft, wherein the linkage reduction shaft is arranged in the reduction housing, and one end of the linkage reduction shaft is fixedly connected to the second connecting seat;

[0032] a linkage reduction unit connected to the other end of the linkage reduction shaft, and

[0033] The limit needle disc part is arranged in the reducer housing, the limit needle disc part is connected with the linkage reduction part, and the limit needle disc part is used to limit and reduce the linkage reduction part.

[0034] Preferably, the linkage deceleration unit comprises:

[0035] A third gear, the third gear is arranged in the reducer housing, one side of the third gear is fixedly connected to the first gear, and the other side of the third gear is detachably connected to a linkage reduction shaft;

[0036] At least one set of fourth gears, wherein the fourth gears are circumferentially arranged on the outside of the third gears, and the fourth gears are meshed with the third gears for transmission.

[0037] Preferably, the linkage deceleration unit further includes:

[0038] A gear support column, wherein the gear support column is fixedly connected to one side of the fourth gear, and a deceleration cam is fixedly connected to a side of the gear support column away from the fourth gear;

[0039] A linkage reduction plate, wherein the linkage reduction plate is sleeved on the outside of the linkage reduction shaft, a plurality of groups of reduction limit grooves are arranged in the linkage reduction plate, and the reduction cam is embedded in the reduction limit grooves;

[0040] At least one set of outer limiting grooves is provided on the side wall of the linkage reduction plate, and the outer limiting grooves are used to accommodate the limiting needle plate part.

[0041] Preferably, the limiting needle disc portion comprises:

[0042] At least one set of cycloid limiting rollers, wherein the cycloid limiting rollers are arranged in the outer limiting grooves and are hollow inside;

[0043] At least one set of roller support shafts, wherein the roller support shafts are fixedly connected to the cycloid limiting rollers.

[0044] Preferably, the limiting needle disc portion further includes:

[0045] The needle disc support seat is fixedly installed in the reducer housing, and the roller bearing shaft is detachably installed in the needle disc support seat.

[0046] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0047] The embodiment of the utility model is provided with a linkage reduction reduction assembly, which can act on the motor connection part, thereby achieving a reduction in speed of the motor connection part, so that the power output part obtains a large torque output, thereby improving the working efficiency of the drive motor. At the same time, the linkage reduction reduction assembly is simple to assemble, has higher transmission efficiency, and also has the advantages of small size, light weight, and a large transmission ratio range, and can meet the motor deceleration requirements under different environments.

[0048] The embodiment of the utility model is provided with a motor connecting part, and the setting of the motor connecting part can ensure that the utility model can be assembled and connected with drive motors of different specifications and models, thereby expanding the application scope and field of the embodiment of the utility model.

[0049] In the embodiment of the utility model, the linkage deceleration assembly is composed of a linkage deceleration shaft, a linkage deceleration part and a limit needle disk part. The linkage deceleration part and the limit needle disk part work together to achieve the purpose of decelerating the linkage deceleration shaft, and the limit needle disk can guide and limit the linkage deceleration part, thereby ensuring the deceleration effect of the linkage deceleration part and avoiding the problem of the linkage deceleration part falling off, thereby ensuring the stability of the overall operation of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of an internal meshing RV reducer for an industrial robot provided by the utility model.

[0051] Figure 2 It is an axonometric diagram of an internal meshing RV reducer for an industrial robot provided by the utility model.

[0052] Figure 3 It is a front view of the internal meshing RV reducer for an industrial robot provided by the utility model.

[0053] Figure 4 It is a top view of the internal meshing RV reducer of the industrial robot provided by the utility model.

[0054] Figure 5 It is a structural schematic diagram of the power transmission mechanism provided by the utility model.

[0055] Figure 6 It is an axonometric diagram of the power transmission mechanism provided by the utility model.

[0056] Figure 7 It is a side view of the power transmission mechanism provided by the utility model.

[0057] Figure 8 It is a structural schematic diagram of the motor connecting part provided by the utility model.

[0058] Fig. 9 It is an axonometric diagram of the motor connection part provided by the utility model.

[0059] Fig.10 It is a rear view of the motor connecting part provided by the utility model.

[0060] Fig.11 It is a structural schematic diagram of the linkage speed reduction assembly provided by the utility model.

[0061] Fig.12 It is a front view of the linkage reduction assembly provided by the utility model.

[0062] In the figure: 1-reducer body, 11-reducer connecting seat, 12-reducer housing, 2-power transmission mechanism, 21-motor connecting part, 211-first connecting seat, 212-second connecting seat, 213-first locking piece, 214-anti-slip seat, 215-adjusting thread block, 216-adjusting nut, 217-adjusting screw, 218-connecting nut seat, 22-power output part, 221-output transmission seat, 222-output connecting groove, 223-second locking piece, 23- Reduction connecting part, 231-first gear, 232-second gear, 233-limiting gear ring, 3-linked reduction assembly, 31-linked reduction shaft, 32-linked reduction part, 321-third gear, 322-fourth gear, 323-gear support column, 324-reduction cam, 325-linked reduction disc, 326-reduction limiting groove, 327-external limiting groove, 33-limiting needle disc part, 331-cycloid limiting roller, 332-roller supporting shaft, 333-needle disc supporting seat. DETAILED DESCRIPTION

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0064] The connecting assembly arranged between the mounting rings of the existing reducer structure has a poor deceleration effect, and the mounting rings on both sides cannot be decelerated to increase the torque, so that the reducer structure cannot obtain a lower output speed. In order to solve the above problems, we propose an internal meshing RV reducer for industrial robots. In short, the internal meshing RV reducer for industrial robots includes a reducer body 1 and a power transmission mechanism 2. The reducer body 1 includes a reducer connecting seat 11 and a reducer housing 12, and the power transmission mechanism 2 includes a motor connecting part 21, a power output part 22 and a linkage reduction assembly 3. When working, the motor connecting part 21 can be fixedly connected to drive motors of different specifications and models, so as to transmit the power of the drive motor to the linkage reduction assembly 3. The linkage reduction assembly 3 can decelerate the motor connecting part 21, and the power output part 22 obtains a large torque output after deceleration, thereby improving the working efficiency of the drive motor. The embodiment of the utility model is provided with a linkage reduction assembly 3, which can act on the motor connection part 21, thereby achieving a reduction in speed of the motor connection part 21, so that the power output part 22 obtains a large torque output, thereby improving the working efficiency of the drive motor. At the same time, the linkage reduction assembly 3 is simple to assemble, has a higher transmission efficiency, and also has the advantages of small size, light weight, and a large transmission ratio range, and can meet the motor deceleration requirements under different environments.

[0065] The utility model embodiment provides an industrial robot internal meshing RV reducer, such as Figure 1-Figure 4 As shown, the industrial robot internal meshing RV reducer includes:

[0066] A reducer body 1, wherein the reducer body 1 comprises a reducer connecting seat 11 and a reducer housing 12, wherein the reducer housing 12 is fixedly connected to the reducer connecting seat 11;

[0067] It should be noted that the reducer housing 12 can specifically be a round seat or a rectangular seat with a hollow interior, and the reducer housing 12 can be made of PVC or alloy material. The side wall of the reducer housing 12 is mortised or riveted to the reducer connecting seat 11. The reducer connecting seat 11 can be an "L"-shaped arm / rod structure. The reducer connecting seat 11 is used to install the embodiment of the utility model on one side of the drive motor. At the same time, it should be noted that the RV reducer of this embodiment can be combined with the drive motor or used alone in the field of high-precision robot transmission, and RV stands for Rotary Vector.

[0068] The power transmission mechanism 2 is arranged in the reduction housing 12. Figure 5-Figure 7 As shown, the power transmission mechanism 2 includes:

[0069] The motor connecting part 21 is arranged on one side of the reducer housing 12. The motor connecting part 21 is used to fix the drive motors of different specifications. In the present embodiment, the drive motor can be fixedly connected to the reducer connecting seat 11 through a bracket or a clamp, and the drive motor can be a single-phase asynchronous motor or a three-phase asynchronous motor, and the drive motor can be controlled by a PLC controller.

[0070] A power output part 22, which is disposed on the other side of the reducer housing 12, and is used for outputting power after deceleration, and the power output part 22 is connected to a working machine or an execution joint connection;

[0071] It should be noted that the working machine or execution joint connected to the power output unit 22 may be a joint driving part of a medium or large robot.

[0072] The linkage reduction assembly 3 is arranged in the reduction housing 12 , and is used to connect the motor connection part 21 and the power output part 22 , and to reduce the power transmitted by the motor connection part 21 .

[0073] In this embodiment, when working, the motor connecting part 21 can be fixedly connected to the driving motors of different specifications and models, so as to transmit the power of the driving motor to the linkage reduction assembly 3. The linkage reduction assembly 3 can reduce the speed of the motor connecting part 21, and the power output part 22 obtains a large torque output after deceleration, thereby improving the working efficiency of the driving motor.

[0074] The embodiment of the utility model is provided with a linkage reduction assembly 3, which can act on the motor connection part 21, thereby achieving a reduction in speed of the motor connection part 21, so that the power output part 22 obtains a large torque output, thereby improving the working efficiency of the drive motor. At the same time, the linkage reduction assembly 3 is simple to assemble, has a higher transmission efficiency, and also has the advantages of small size, light weight, and a large transmission ratio range, and can meet the motor deceleration requirements under different environments.

[0075] In a further preferred embodiment of the present invention, Figure 8-Figure 10 As shown, the motor connecting portion 21 includes:

[0076] A first connecting seat 211, wherein the first connecting seat 211 is disposed on one side of the reducer housing 12;

[0077] A second connecting seat 212, wherein the second connecting seat 212 is disposed between the reducer housing 12 and the first connecting seat 211, and the first connecting seat 211 is rotatably connected to the second connecting seat 212;

[0078] In this embodiment, the first connecting seat 211 and the second connecting seat 212 can be round seats or round plates with hollow interiors, and the second connecting seat 212 can be rotatably connected to the side wall of the reducer housing 12 through bearings or smooth rollers, and the first connecting seat 211 and the second connecting seat 212 are rotatably connected through a connecting rod and a sleeve, the first connecting seat 211 is fixedly connected to the end of the connecting rod, the other end of the connecting rod extends into the sleeve, and the connecting rod is rotatably connected to the sleeve, the sleeve is fixedly installed on the second connecting seat 212 by plug-in or mortise and tenon, and the first locking piece 213 can be installed on the sleeve, thereby realizing a fixed connection between the connecting rod and the sleeve.

[0079] The first locking member 213 is installed on the second connecting seat 212 and is used to lock the second connecting seat 212 .

[0080] In this embodiment, the first locking member 213 can be a locking screw or a locking pin, and the locking screw or the locking pin are both existing technologies, which can be installed on the sleeve of the second connecting seat 212, and the connecting rod can be provided with multiple groups of locking grooves, which can be thread grooves or card grooves. The locking grooves cooperate with the first locking member 213 to achieve a stable connection between the first connecting seat 211 and the second connecting seat 212.

[0081] At least one set of anti-slip seats 214, wherein the anti-slip seats 214 are detachably mounted on the side wall of the first connecting seat 211, and the anti-slip seats 214 are provided with connecting guide grooves;

[0082] In this embodiment, the number of the anti-detachment seats 214 can be three or four groups, and the anti-detachment seats 214 can be arc-shaped seats or arc-shaped plates. The anti-detachment seats 214 are fixedly installed on the side wall of the first connecting seat 211 by fastening bolts or buckles.

[0083] The adjusting screw 217 installed in the connecting guide groove is rotated, and the end of the adjusting screw 217 is fixedly installed with an adjusting nut 216;

[0084] An adjusting thread block 215 threadably sleeved on the adjusting screw rod 217, wherein the adjusting thread block 215 is slidably connected to the connecting guide groove;

[0085] A connecting nut seat 218 is fixedly mounted on the adjusting thread block 215 , and the connecting nut seat 218 is used to connect the driving motor.

[0086] In this embodiment, the adjusting screw 217 is rotatably connected to the connecting guide groove through a bearing or a roller, and the end of the adjusting screw 217 is fixedly connected with the adjusting nut 216 by welding or mortise and tenoning, and the adjusting thread block 215 and the connecting nut seat 218 are fixedly connected by welding or riveting. The connecting nut seat 218 can be fixedly connected to drive motors of different specifications by fastening nuts and fastening bolts. At the same time, when it is necessary to adjust the position of the connecting nut seat 218 so that the connecting nut seat 218 can be connected to drive motors of different specifications and models, the staff can manually rotate the adjusting nut 216, and the adjusting nut 216 can drive the adjusting screw 217 to rotate, and the adjusting screw 217 drives the adjusting thread block 215 and the connecting nut seat 218 to move, so as to adjust the position of the connecting nut seat 218.

[0087] The embodiment of the utility model is provided with a motor connecting portion 21. The setting of the motor connecting portion 21 can ensure that the utility model can be assembled and connected with drive motors of different specifications and models, thereby expanding the application scope and field of the embodiment of the utility model.

[0088] In a further preferred embodiment of the present invention, Figure 5-Figure 7 As shown, the power output unit 22 includes:

[0089] An output transmission seat 221, the output transmission seat 221 is rotatably mounted on the reducer housing 12, the output transmission seat 221 may specifically be a round seat or a round plate with a hollow interior, and the side wall of the output transmission seat 221 may be rotatably connected to the inner wall of the reducer housing 12 via a roller or a bearing ring;

[0090] An output connection slot 222, wherein the output connection slot 222 is disposed on the output transmission seat 221;

[0091] At least one set of second locking members 223, wherein the second locking members 223 are used to lock the working machine or the execution joint;

[0092] The deceleration connection part 23 is disposed between the output transmission seat 221 and the linkage deceleration assembly 3 , and is used to connect the output transmission seat 221 and the linkage deceleration assembly 3 .

[0093] In this embodiment, the output connecting groove 222 can be an inwardly concave circular groove opened on the outer wall of the output transmission seat 221, and the inner wall of the output connecting groove 222 is polished, and the second locking piece 223 can be a locking screw or a locking pin, and the locking screw or the locking pin are both existing technologies, which can be installed on the output transmission seat 221. The setting of the second locking piece 223 can meet the requirements of a stable connection to the working machine or the execution joint.

[0094] In a further preferred embodiment of the present invention, Figure 5 , Figure 6 , Fig.11 As shown, the deceleration connection portion 23 includes:

[0095] A first gear 231, wherein the first gear 231 is disposed in the reduction gear housing 12, and one side of the first gear 231 is connected to the linkage reduction assembly 3;

[0096] At least one set of second gears 232, wherein the second gears 232 are arranged outside the first gears 231, and the second gears 232 are meshed with the first gears 231 for transmission, and the second gears 232 are also fixedly connected to the output transmission seat 221;

[0097] The limiting gear ring 233 is fixedly installed in the reduction gear housing 12 , and the limiting gear ring 233 is meshed with the second gear 232 for transmission. The limiting gear ring 233 is used to guide and limit the second gear 232 .

[0098] In this embodiment, the second gears 232 are circumferentially arranged on the outside of the first gear 231, and the number of second gears 232 can be two or three groups. One side of the second gear 232 is fixedly connected to the side wall of the output transmission seat 221 by mortise and tenon or welding, and the first gear 231, the second gear 232 and the limiting gear ring 233 are arranged in sequence from the inside to the outside. The limiting gear ring 233 is fixedly installed on the inner wall of the reduction gear housing 12 by snaps or fastening bolts. The setting of the limiting gear ring 233 realizes the guiding and limiting of the second gear 232, thereby avoiding the problem of the second gear 232 falling off when rotating around the first gear 231.

[0099] In a further preferred embodiment of the present invention, Figure 11-Figure 12 As shown, the linkage deceleration assembly 3 includes:

[0100] A linkage reduction shaft 31, wherein the linkage reduction shaft 31 is disposed in the reduction housing 12, and one end of the linkage reduction shaft 31 is fixedly connected to the second connecting seat 212;

[0101] The linkage reduction part 32 connected to the other end of the linkage reduction shaft 31, and

[0102] The limit needle disc part 33 is arranged in the reducer housing 12 , and the limit needle disc part 33 is connected to the linkage reduction part 32 , and the limit needle disc part 33 is used to limit and reduce the linkage reduction part 32 .

[0103] In this embodiment, the linkage reduction shaft 31 is arranged on the horizontal central axis of the reduction housing 12, and one end of the linkage reduction shaft 31 is fixedly connected to the side wall of the second connecting seat 212 by interference fit or plug-in.

[0104] In the embodiment of the utility model, the linkage deceleration assembly 3 is composed of a linkage deceleration shaft 31, a linkage deceleration part 32 and a limiting needle disk part 33. The linkage deceleration part 32 and the limiting needle disk part 33 work together to decelerate the linkage deceleration shaft 31, and the limiting needle disk can guide and limit the linkage deceleration part 32, thereby ensuring the deceleration effect of the linkage deceleration part 32 and avoiding the problem of the linkage deceleration part 32 falling off, thereby ensuring the stability of the overall operation of the reducer.

[0105] In a further preferred embodiment of the present invention, Fig.11 As shown, the linkage deceleration unit 32 includes:

[0106] A third gear 321, wherein the third gear 321 is disposed in the reduction gear housing 12, and one side of the third gear 321 is fixedly connected to the first gear 231, and the other side of the third gear 321 is detachably connected to the linkage reduction shaft 31;

[0107] The third gear 321 is fixedly connected to the side wall of the first gear 231 by plugging or welding, and the other side of the third gear 321 is plugged or riveted to the end of the linkage reduction shaft 31 .

[0108] At least one set of fourth gears 322 , wherein the fourth gears 322 are circumferentially arranged outside the third gears 321 , and the fourth gears 322 and the third gears 321 are meshed and transmitted with each other.

[0109] In this embodiment, the number of the fourth gears 322 can be three, four or six groups, and the fourth gears 322 are all arranged on the outer side of the third gears 321 in the circumferential direction.

[0110] a gear support column 323, wherein the gear support column 323 is fixedly connected to one side of the fourth gear 322, and a deceleration cam 324 is fixedly connected to one side of the gear support column 323 away from the fourth gear 322;

[0111] A linkage deceleration plate 325, wherein the linkage deceleration plate 325 is sleeved on the outside of the linkage deceleration shaft 31, and a plurality of groups of deceleration limiting grooves 326 are arranged in the linkage deceleration plate 325, and the deceleration cam 324 is embedded in the deceleration limiting grooves 326;

[0112] At least one set of outer limiting grooves 327 is provided on the side wall of the linkage speed reducing disk 325 , and the outer limiting grooves 327 are used to accommodate the limiting needle disk portion 33 .

[0113] In this embodiment, the two ends of the gear support column 323 can be fixedly connected to the fourth gear 322 and the deceleration cam 324 respectively by plugging or riveting. The deceleration cam 324 can be made of hard rubber or nylon. The deceleration cam 324 is inserted into the deceleration limit groove 326. The deceleration limit grooves 326 are all arranged in the linkage deceleration disk 325. The linkage deceleration disk 325 can be a hollow disk or round seat inside, and the outer limit groove 327 is circumferentially arranged on the side wall of the linkage deceleration disk 325.

[0114] In a further preferred embodiment of the present invention, Fig.11 As shown, the limiting needle disc portion 33 includes:

[0115] At least one set of cycloid limiting rollers 331, wherein the cycloid limiting rollers 331 are arranged in the outer limiting groove 327, and the cycloid limiting rollers 331 are hollow inside;

[0116] At least one set of roller support shafts 332 , wherein the roller support shafts 332 are fixedly connected to the cycloid limiting rollers 331 .

[0117] The needle disc support seat 333 is fixedly installed in the reducer housing 12, and the roller bearing shaft 332 is detachably installed in the needle disc support seat 333.

[0118] In this embodiment, the cycloid limiting roller 331 can be a round rod / bar structure with a plurality of groups of anti-skid protrusions or anti-skid grooves on the outer wall. The setting of the cycloid limiting roller 331 realizes the guide limitation of the linked reduction disk 325, and the two ends of the roller supporting shaft 332 can be fixedly connected to the cycloid limiting roller 331 and the needle disk support seat 333 respectively by means of threads or plug-in. The needle disk support seat 333 is fixedly installed in the reduction housing 12 by tightening bolts or riveting.

[0119] When working, the driving motor is started to drive the first connecting seat 211, the second connecting seat 212 and the linked reduction shaft 31 to rotate, the linked reduction shaft 31 drives the third gear 321 to rotate, the third gear 321 drives the fourth gear 322 and the first gear 231 to rotate, the fourth gear 322 drives the gear support column 323 and the reduction cam 324 to rotate, the reduction cam 324 drives the linked reduction disk 325 to rotate, the reduction cam 324 and the linked reduction disk 325 cooperate to achieve the speed reduction of the third gear 321, and the cycloid limiting roller 331 can limit the linked reduction disk 325, the rotation of the first gear 231 can drive the second gear 232 to rotate around the limiting gear ring 233, and then the second gear 232 drives the output transmission seat 221 to rotate, and finally the working machine obtains a large torque output, thereby improving the working efficiency of the driving motor.

[0120] In summary, the utility model provides an internal meshing RV reducer for an industrial robot. When working, the motor connecting part 21 can be fixedly connected to drive motors of different specifications and models, so as to transmit the power of the drive motor to the linkage reduction assembly 3. The linkage reduction assembly 3 can reduce the speed of the motor connecting part 21, and the power output part 22 obtains a large torque output after deceleration, thereby improving the working efficiency of the drive motor.

[0121] The embodiment of the utility model is provided with a linkage reduction assembly 3, which can act on the motor connection part 21, thereby achieving a reduction in speed of the motor connection part 21, so that the power output part 22 obtains a large torque output, thereby improving the working efficiency of the drive motor. At the same time, the linkage reduction assembly 3 is simple to assemble, has a higher transmission efficiency, and also has the advantages of small size, light weight, and a large transmission ratio range, and can meet the motor deceleration requirements under different environments.

[0122] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the utility model is not limited by the described action sequence, because according to the utility model, some steps may be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the utility model.

[0123] The above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit the protection scope of the utility model. Obviously, the described embodiments are only some embodiments of the utility model, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Although the utility model has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the utility model according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the utility model in essence, and these technical solutions also belong to the scope of protection of the utility model.

Claims

1. An internal meshing RV reducer for an industrial robot, the internal meshing RV reducer for an industrial robot comprising: A reduction machine body (1), the reduction machine body (1) comprising a reduction machine connecting seat (11) and a reduction machine housing (12), the reduction machine housing (12) being fixedly connected to the reduction machine connecting seat (11); A power transmission mechanism (2), wherein the power transmission mechanism (2) is arranged in the reduction gear housing (12), and is characterized in that the power transmission mechanism (2) comprises: A motor connecting portion (21), the motor connecting portion (21) being arranged on one side of the reducer housing (12), and the motor connecting portion (21) being used for fixedly connecting drive motors of different specifications; A power output part (22), the power output part (22) is arranged on the other side of the reducer housing (12), the power output part (22) is used for power output after deceleration, and the power output part (22) is connected to a working machine or an execution joint connection; A linkage reduction assembly (3), wherein the linkage reduction assembly (3) is arranged in the reduction housing (12), and the linkage reduction assembly (3) is used to connect the motor connection part (21) and the power output part (22), and is used to reduce the power transmitted by the motor connection part (21); The power output unit (22) comprises: An output transmission seat (221), the output transmission seat (221) being rotatably mounted on the reducer housing (12); An output connecting groove (222), wherein the output connecting groove (222) is provided on the output transmission seat (221); At least one set of second locking members (223), wherein the second locking members (223) are used to lock the working machine or the execution joint; A deceleration connection part (23), the deceleration connection part (23) being arranged between the output transmission seat (221) and the linkage deceleration assembly (3), and the deceleration connection part (23) being used to connect the output transmission seat (221) and the linkage deceleration assembly (3); The deceleration connection part (23) comprises: A first gear (231), wherein the first gear (231) is disposed in the reduction gear housing (12), and one side of the first gear (231) is connected to the linkage reduction assembly (3); at least one set of second gears (232), wherein the second gears (232) are arranged outside the first gears (231), and the second gears (232) and the first gears (231) are meshed and transmitted with each other, and the second gears (232) are also fixedly connected to the output transmission seat (221); A limiting gear ring (233), wherein the limiting gear ring (233) is fixedly installed in the reducer housing (12), the limiting gear ring (233) is meshed with the second gear (232) for transmission, and the limiting gear ring (233) is used to guide and limit the second gear (232); The linkage deceleration component (3) comprises: A linkage reduction shaft (31), wherein the linkage reduction shaft (31) is arranged in the reduction housing (12), and one end of the linkage reduction shaft (31) is fixedly connected to the second connecting seat (212); a linkage reduction part (32) connected to the other end of the linkage reduction shaft (31), and A limit needle disc part (33), the limit needle disc part (33) is arranged in the reducer housing (12), the limit needle disc part (33) is connected to the linkage reduction part (32), and the limit needle disc part (33) is used to limit and reduce the linkage reduction part (32); The linkage speed reducing unit (32) comprises: A third gear (321), the third gear (321) being disposed in the reduction gear housing (12), and one side of the third gear (321) being fixedly connected to the first gear (231), and the other side of the third gear (321) being detachably connected to a linkage reduction shaft (31); at least one set of fourth gears (322), wherein the fourth gears (322) are circumferentially arranged outside the third gears (321), and the fourth gears (322) and the third gears (321) are meshed and transmitted with each other; A gear support column (323), wherein the gear support column (323) is fixedly connected to one side of the fourth gear (322), and a deceleration cam (324) is fixedly connected to the side of the gear support column (323) away from the fourth gear (322); A linkage deceleration disc (325), wherein the linkage deceleration disc (325) is sleeved on the outside of the linkage deceleration shaft (31), a plurality of groups of deceleration limit grooves (326) are arranged in the linkage deceleration disc (325), and the deceleration cam (324) is embedded in the deceleration limit grooves (326); At least one set of external limiting grooves (327), the external limiting grooves (327) being arranged on the side wall of the linkage deceleration plate (325), the external limiting grooves (327) being used to accommodate the limiting needle plate portion (33); The limiting needle disc part (33) comprises: at least one set of cycloid limiting rollers (331), wherein the cycloid limiting rollers (331) are arranged in the outer limiting groove (327), and the cycloid limiting rollers (331) are hollow inside; At least one set of roller support shafts (332), wherein the roller support shafts (332) are fixedly connected to the cycloid limiting rollers (331); A needle disc support seat (333), wherein the needle disc support seat (333) is fixedly installed in the reducer housing (12), and the roller support shaft (332) is detachably installed in the needle disc support seat (333).

2. The internal meshing RV reducer for industrial robots according to claim 1, characterized in that: The motor connecting portion (21) comprises: A first connecting seat (211), wherein the first connecting seat (211) is arranged on one side of the reducer housing (12); A second connecting seat (212), the second connecting seat (212) being arranged between the reducer housing (12) and the first connecting seat (211), the first connecting seat (211) and the second connecting seat (212) being rotatably connected; A first locking member (213), wherein the first locking member (213) is installed on the second connecting seat (212), and the first locking member (213) is used to lock the second connecting seat (212).

3. The internal meshing RV reducer for industrial robots according to claim 2, characterized in that: The motor connecting portion (21) further comprises: At least one set of anti-slip seats (214), wherein the anti-slip seats (214) are detachably mounted on the side walls of the first connecting seat (211), and the anti-slip seats (214) are provided with connecting guide grooves; An adjusting screw (217) is rotatably mounted in the connecting guide groove, and an adjusting nut (216) is fixedly mounted on the end of the adjusting screw (217); an adjusting thread block (215) threadably sleeved on the adjusting screw rod (217), wherein the adjusting thread block (215) is slidably connected to the connecting guide groove; A connecting nut seat (218) is fixedly mounted on the adjusting thread block (215), and the connecting nut seat (218) is used to connect a driving motor.

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