Novel RV speed reducing mechanism module

Abstract

The utility model provides a novel RV speed reducing mechanism module, which relates to the technical field of speed reducers, and comprises an RV speed reducer, a motor and a connecting flange, the RV speed reducer comprises a pin wheel housing, a cycloidal gear, an eccentric shaft, an output shaft, an output shaft cover, a planet gear and an input shaft, and the motor comprises a rotating shaft; a shell ring is arranged on the outer wall of the pin wheel shell, a flange ring fixedly abutting against the shell ring is arranged at one end of the connecting flange, one end of the pin wheel shell is installed in the flange ring in an interference fit mode, a plurality of installation holes are formed in the shell ring in a circumferential array mode and penetrate through the shell ring, and the bottoms of the installation holes extend to the flange ring. Needle rollers and retainer bearings without inner and outer rings are arranged between the cycloidal gear bearing hole and the eccentric shaft cam, between the true circles at the two ends of the eccentric shaft and between the output shaft and the output shaft cover bearing hole; a roller supporting bearing is arranged among an inner hole of the pin wheel housing, the output shaft and the outer circle of the output shaft cover, the input shaft is in interference fit with the rotating shaft, and the planet wheel is in interference fit with the eccentric shaft. The utility model has the characteristics of small volume, light weight, compact structure and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of speed reduction devices, and in particular to a novel RV speed reduction mechanism module. Background Art

[0002] The reducer modules for humanoid robot joints and collaborative robot joints generally use harmonic reducer modules, but the harmonic reducer modules have weak impact torque resistance at the joints and are prone to plastic deformation under large instantaneous impacts, causing the joints to fail and fail to operate. If conventional RV reducer modules are used at the joints, they cannot be directly matched with the joints due to their large size and heavy weight, which will affect the size and weight of the joints accordingly, and the efficiency loss is high. Therefore, it is necessary to design a new RV reduction mechanism module with the characteristics of small size, light weight, compact structure, high efficiency, high precision, etc., to meet the use requirements of humanoid robot joints and collaborative robot joints and improve the impact resistance of the joints. Utility Model Content

[0003] The purpose of the utility model is to provide a new RV reduction mechanism module, which has a compact structure, small size, light weight, high rigidity, high torque and high bending moment, high transmission efficiency, high transmission accuracy and high response accuracy, can meet the use requirements of humanoid robot joints and collaborative robot joints, and improve the impact resistance of the joints.

[0004] The above technical objectives of the utility model are achieved through the following technical solutions:

[0005] A novel RV reduction mechanism module comprises an RV reducer, a motor and a connecting flange, wherein the RV reducer is connected to the motor and the connecting flange, and the motor is installed in the connecting flange; the RV reducer comprises a pinion housing, a needle roller, a cycloid wheel, an eccentric shaft, an output shaft, an output shaft cover, a planetary gear and an input shaft, and the motor comprises a stator steel sheet, a winding end, a magnetic steel, a rotor yoke and a rotating shaft, the connecting flange is connected to the pinion housing, and the rotating shaft is connected to the input shaft;

[0006] A shell ring is provided in the middle of the outer wall of the pin gear housing, which is coaxial with the pin gear housing and extends radially outwards therefrom; a flange ring is provided at one end of the connecting flange close to the pin gear housing, which is coaxial with the pin gear housing and extends axially outwards therefrom; the flange ring and the shell ring are abutted against each other at their end walls, and are connected and fixed by a plurality of hexagon socket bolts arranged in an array around the circumference of the shell ring;

[0007] The pin-tooth housing is located at the end of the shell ring close to the connecting flange and is installed in the flange ring, and the outer circle of the pin-tooth housing is interference fit with the inner hole of the flange ring, and the wall thickness of the pin-tooth housing at the end of the shell ring away from the connecting flange is greater than the wall thickness of the end of the pin-tooth housing installed in the flange ring; a plurality of mounting holes arranged at intervals with the hexagon socket bolts are arranged in a circumferential array on the shell ring, and the mounting holes penetrate the shell ring from the end of the shell ring away from the connecting flange, and the bottom of the mounting holes extends to the flange ring;

[0008] The two cycloid wheels are respectively mounted on the two cams of the eccentric shaft, and the needle rollers are arranged between the inner teeth of the pin gear housing and the outer teeth of the two cycloid wheels; needle roller and cage bearings are respectively arranged between the bearing hole of the cycloid wheel and the cam of the eccentric shaft, between the true circles at both ends of the eccentric shaft and the bearing hole of the output shaft and the bearing hole of the output shaft cover, and the four needle roller and cage bearings have no inner ring and outer ring;

[0009] A roller support bearing is arranged between the inner hole of the pin gear housing and the outer circle of the output shaft and the outer circle of the output shaft cover, and both ends of the needle roller and the ends of the two cycloid wheels that are far away from each other are in contact with the outer ring of the roller support bearing close to them; an output skeleton sealing ring is also arranged between the pin gear housing and the output shaft, and the output skeleton sealing ring is located on the side of the roller support bearing close to it that is far away from the cycloid wheel, and its end wall is in contact with the inner ring of the corresponding roller support bearing;

[0010] The stator steel sheet, magnetic steel, rotor yoke and rotating shaft are coaxial and arranged in sequence from outside to inside, the winding end is arranged at the end of the stator steel sheet away from the RV reducer, and the end of the winding end away from the stator steel sheet is provided with a supporting flange installed at the end of the connecting flange away from the pin gear housing, and two deep groove ball bearings are respectively arranged at both ends of the rotating shaft and between the connecting flange and the supporting flange;

[0011] One end of the input shaft passes through the center hole of the connecting flange and is connected to the rotating shaft, and its outer circle is interference-connected with the inner hole of the rotating shaft; the planetary gear is installed on the end of the eccentric shaft close to the connecting flange, and its inner hole is interference-fitted with the outer wall of the eccentric shaft, and the end of the input shaft away from the rotating shaft is meshed with the outer teeth of the planetary gear.

[0012] By adopting the above technical solution, the basic working principle of the utility model is the same as that of the RV reduction mechanism module in the prior art. After the winding end is energized, the stator steel sheet, magnetic steel, and rotor yoke are matched to drive the rotating shaft to rotate. The rotating shaft drives the planetary gear on the eccentric shaft to rotate through the input shaft to perform planetary reduction. The planetary gear drives the eccentric shaft to rotate, and the eccentric shaft drives the cycloid wheel to rotate. The outer teeth of the cycloid wheel and the inner teeth of the pin gear housing perform eccentric motion under the connection of the needle roller. When the pin gear housing is fixed, the cycloid wheel rotates around the center while eccentrically moving, driving the output disc frame composed of the output shaft and the output shaft cover to rotate, and cycloid reduction is performed. The output shaft outputs the speed and torque as the output end.

[0013] In the utility model, the four needle rollers and cage bearings on each eccentric shaft have no inner and outer rings. By reducing the inner and outer diameters of the needle rollers and cage bearings, the inner and outer diameters of the RV reducer are reduced, and the weight of the RV reducer is reduced, making the structure more compact.

[0014] Two roller support bearings are used to limit the cycloid wheel and the needle roller to prevent the needle roller and the cycloid wheel from large axial movement. The roller support bearing in the utility model replaces the original angular contact ball bearing. Compared with the point contact angular contact ball bearing, the surface contact roller support bearing has a 2-3 times higher bending moment resistance. Under the same bending moment resistance, a small volume roller support bearing can be used, thereby reducing the inner and outer diameters and axial thickness of the pin gear housing, achieving a small volume while reducing weight.

[0015] In the utility model, the pin gear housing and the connecting flange are fixed by connecting the shell ring and the flange ring with hexagon socket bolts. The pin gear housing is located at one end of the shell ring close to the connecting flange and is installed in the flange ring. In this way, part of the volume of the pin gear housing is replaced by the connecting flange. The pin gear housing is made of steel and the connecting flange can be made of aluminum alloy, which can reduce the weight of the pin gear housing. Among them, the outer circle of the pin gear housing and the inner hole of the flange ring are interference-fitted, and the wall thickness of the end of the pin gear housing located in the flange ring can be thinned on the premise that the flange ring enhances the strength of the pin gear housing, thereby further reducing the outer diameter and weight of the pin gear housing.

[0016] In addition, when the external equipment is installed on the needle gear housing through the cooperation of bolts and mounting holes, firstly, the bolts are connected to the shell ring and the flange ring at the same time, which increases the length of the threaded connection and ensures the connection strength. There is no need to make the axial thickness of the shell ring very thick, thereby further reducing the weight of the needle gear housing; secondly, the outer circle of one end of the needle gear housing away from the flange ring is in close contact with the inner hole of the external equipment, and the external equipment can replace a part of the volume of the needle gear housing. On the premise of ensuring the strength of the needle gear housing, the wall thickness of the end of the needle gear housing located outside the flange ring can also be thinned, thereby further reducing the outer diameter and weight of the needle gear housing.

[0017] In addition, the planetary gear and the eccentric shaft in the utility model are installed with interference fit, so there is no need to use retaining rings to limit the two sides of the planetary gear, thereby reducing the length of the eccentric shaft, reducing the axial thickness of the RV reducer, and reducing the overall weight.

[0018] In summary, by improving the structure and / or installation connection structure of the pinion housing, connecting flange, needle roller and cage bearings, roller support bearings, planetary gears and eccentric shafts, the volume and weight of the RV reducer can be reduced, thereby achieving the effects of small volume, light weight, and compact structure of the RV reduction mechanism module, which can meet the use requirements of humanoid robot joints and collaborative robot joints and improve the impact resistance of the joints.

[0019] Furthermore, a deep groove ball bearing is provided between the end of the eccentric shaft away from the planetary gear and the output shaft, the inner ring of the deep groove ball bearing is in contact with the step of the true circle of the eccentric shaft on the side close to the cycloidal wheel, and an elastic retaining ring for the shaft is provided on the side away from the cycloidal wheel; the outer ring of the deep groove ball bearing is in contact with the step of the inner hole of the output shaft and the needle roller and retainer bearing close to it on the side close to the cycloidal wheel, and a sealing cover is provided on the side away from the cycloidal wheel that is coaxial with and in contact with it, and after the sealing cover is installed, the outer end face of the sealing cover away from the eccentric shaft is lower than the end face of the output shaft; a retaining ring and an elastic retaining ring for a hole are provided between the end face of the needle roller and retainer bearing close to the planetary gear and the output shaft cover, and the elastic retaining ring for the hole is located between the retaining ring and the planetary gear.

[0020] By adopting the above technical solution, the deep groove ball bearing realizes the rotational installation between the eccentric shaft and the output shaft, the inner ring of the deep groove ball bearing is limited and fixed by the shaft elastic retaining ring and the true circular step of the eccentric shaft, the outer ring of the deep groove ball bearing is limited and fixed by the sealing cover and the inner hole step of the output shaft, and the sealing cover replaces the retaining ring for limiting the outer ring of the deep groove ball bearing, which can not only limit the deep groove ball bearing and the eccentric shaft, but also seal the end of the eccentric shaft. Among them, after the sealing cover is installed, its outer end face away from the eccentric shaft is lower than the end face of the output shaft. When the output shaft is connected to the external connecting piece, the external connecting piece can prevent the axial movement of the sealing cover and make it have a slight movement margin. The retaining ring and the hole elastic retaining ring are used to limit the needle roller and the retaining bearing close to the planetary gear. In combination with the outer ring of the deep groove ball bearing, the four needle rollers and the retaining bearing are limited from both sides to prevent the needle roller and the retaining bearing from moving.

[0021] Furthermore, a wire tube coaxial with the output shaft is provided in the center hole of the output shaft, and the wire tube passes through the connecting flange and the supporting flange, and the wire tube is fixed by an elastic retaining ring through a step and a hole in the center hole of the output shaft; a support ring is provided between the wire tube and the output shaft cover, and the inner hole of the support ring and the outer circle of the wire tube are interference connected, and the outer circle of the support ring is also limitedly installed between the step of the inner hole of the output shaft cover and the end of the input shaft.

[0022] By adopting the above technical solution, the wire tube is convenient for the cable to be threaded, and the wire tube is fixed by using the step of the center hole of the output shaft and the elastic retaining ring of the hole to prevent the wire tube from axial movement. The wire tube is also connected to the output shaft cover through the support ring, so that the wire tube is fixed axially and radially, and the wire tube, output shaft and output shaft cover remain relatively still to avoid shaking, thereby reducing efficiency loss. The support ring is limitedly installed on the output shaft cover to prevent the support from axial and radial movement.

[0023] Furthermore, the input shaft and the support ring are provided with a plurality of first sealing grooves coaxially arranged therewith on their end faces close to each other. After the input shaft and the support ring end faces are installed close to each other, the plurality of first sealing grooves on the input shaft and the support ring are arranged at intervals to form a labyrinth structure with gaps.

[0024] By adopting the above technical solution, the first sealing grooves arranged near one end of the input shaft and the support ring cooperate with each other to form a maze structure with a gap, which can prevent the grease in the RV reducer from flowing into the motor side from between the input shaft and the support ring, thereby achieving sealing.

[0025] Furthermore, the end faces of the connecting flange and the rotating shaft that are close to each other are each provided with a plurality of second sealing grooves arranged coaxially therewith. After the connecting flange and the end faces of the rotating shaft are installed close to each other, the plurality of second sealing grooves on the connecting flange and the rotating shaft are arranged at intervals to form a maze structure with gaps.

[0026] By adopting the above technical solution, the second sealing grooves arranged at one end of the connecting flange and the rotating shaft cooperate with each other to form a maze structure with a gap, which can prevent the grease in the RV reducer from flowing into the motor side from between the connecting flange and the rotating shaft, thereby further improving the sealing effect.

[0027] Furthermore, a driver is provided at one end of the support flange away from the connecting flange, and the support flange is connected to a motor cover arranged outside the driver; an input encoder is installed at one end of the rotating shaft close to the driver, and an input reading head cooperating with the input encoder is provided on the driver.

[0028] By adopting the above technical solution, the motor cover protects the components between it and the supporting flange, detects the input angle of the rotating shaft in real time through the input encoder, and reads the angle information of the input encoder through the input reading head to achieve precise control of the input.

[0029] Furthermore, an output encoder is installed on the outer circle of the wire tube, the output encoder is located on a side of the driver away from the input encoder, and the driver is provided with an output reading head that cooperates with the output encoder.

[0030] By adopting the above technical solution, the output encoder detects the output angle of the wire tube that is relatively stationary with respect to the output shaft in real time, and reads the angle information of the output encoder through the output reading head to realize closed-loop control of output and input, thereby further improving the output control accuracy.

[0031] Furthermore, a support skeleton sealing ring wrapping an input reading head is provided on one side of the driver close to the input encoder, and an end of the input reading head away from the driver passes through the support skeleton sealing ring and approaches the input encoder, and the inner hole of the support skeleton sealing ring is in contact with the outer circle of the wire passing tube; an end skeleton sealing ring is also provided between the inner hole of the motor cover and the outer circle of the wire passing tube.

[0032] By adopting the above technical solution, the support frame sealing ring is used to seal and protect the driver to prevent grease from leaking to the driver and affecting the electrical connection there. The end frame sealing ring seals the motor cover and the wire tube to prevent dust or water from entering the driver. The support frame sealing ring is connected to the wire tube rotating at a low speed to avoid connection with the rotating shaft rotating at a high speed, which can reduce efficiency loss and heat generation.

[0033] Furthermore, an O-ring for the wire tube located between the wire tube and the output shaft is embedded in the outer wall of the wire tube, and an O-ring for the flange located between the inner hole of the flange ring and the outer ring of the pin gear housing is embedded in the inner wall of the flange ring.

[0034] By adopting the above technical solution, an O-ring is used for the wire tube to achieve sealing between the wire tube and the output shaft, and an O-ring is used for the flange to achieve sealing between the flange ring and the pin gear housing. Combined with the output skeleton sealing ring, sealing cover, and end skeleton sealing ring, full sealing of the input and output ends of the entire module is achieved.

[0035] Furthermore, the outer wall of the connecting flange is provided with heat dissipation grooves, and the heat dissipation grooves are arranged in a plurality of groups in an axial array along the connecting flange.

[0036] By adopting the above technical solution, the heat dissipation groove outside the connecting flange is utilized to achieve rapid heat dissipation of the motor, thereby preventing the internal temperature of the connecting flange from being too high and affecting the service life of the motor.

[0037] In summary, the utility model has the following beneficial effects:

[0038] 1. In the utility model, the four needle rollers and cage bearings on each eccentric shaft have no inner and outer rings. By reducing the inner and outer diameters of the needle roller and cage bearings, the inner and outer diameters of the RV reducer are reduced, and the weight of the RV reducer is reduced, making the structure more compact;

[0039] 2. The roller support bearing in the utility model replaces the original angular contact ball bearing. Compared with the point contact angular contact ball bearing, the surface contact roller support bearing has a 2-3 times higher bending moment resistance. Under the same bending moment resistance, a small volume roller support bearing can be used, thereby reducing the inner and outer diameters and axial thickness of the pin gear housing, achieving a small volume while reducing weight;

[0040] 3. In the utility model, the needle gear housing and the connecting flange are fixed by connecting the shell ring and the flange ring with hexagon socket bolts. The needle gear housing is located at one end of the shell ring close to the connecting flange and is installed in the flange ring. In this way, part of the volume of the needle gear housing is replaced by the connecting flange. The needle gear housing is made of steel and the connecting flange can be made of aluminum alloy, which can reduce the weight of the needle gear housing. At the same time, the outer circle of the needle gear housing and the inner hole of the flange ring are interference-fitted, and the wall thickness of one end of the needle gear housing located in the flange ring can be thinned on the premise that the flange ring enhances the strength of the needle gear housing, thereby further reducing the outer diameter and weight of the needle gear housing.

[0041] 4. In the utility model, when the external device is installed on the needle gear housing by the combination of the bolts and the mounting holes, the bolts are connected to the housing ring and the flange ring at the same time, which increases the threaded connection length and ensures the connection strength. It is not necessary to make the axial thickness of the housing ring very thick, which further reduces the weight of the needle gear housing. The outer circle of one end of the needle gear housing away from the flange ring is in close contact with the inner hole of the external device, and the external device can replace a part of the volume of the needle gear housing. On the premise of ensuring the strength of the needle gear housing, the wall thickness of one end of the needle gear housing located outside the flange ring can also be thinned, which can further reduce the outer diameter and weight of the needle gear housing.

[0042] 5. In the utility model, the planetary gear and the eccentric shaft are installed by interference fit, so that there is no need to use retaining rings to limit the positions of the two sides of the planetary gear, thereby reducing the length of the eccentric shaft, reducing the axial thickness of the RV reducer, and reducing the overall weight;

[0043] 6. In the utility model, the input and output ends of the entire module are sealed by means of an output skeleton sealing ring, an O-ring for a wire tube, an O-ring for a flange, a sealing cover and an end skeleton sealing ring; a maze structure with a gap is formed by using a support ring and a first sealing groove at the end of the input shaft, and a maze structure with a gap is formed by connecting the flange and the end of the rotating shaft to achieve sealing between the RV reducer and the motor to prevent grease from leaking to the motor side; a support skeleton sealing ring is used to achieve sealing between the motor and the driver to prevent grease from leaking to the electrical connection part of the driver, and at the same time, the support skeleton sealing ring is connected to the wire tube rotating at a low speed to reduce efficiency loss;

[0044] 7. The utility model realizes closed-loop control of output and input through the cooperation of output encoder and input encoder, thereby improving output control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of a new type of RV reduction mechanism module;

[0046] Figure 2 yes Figure 1 A magnified view of part A;

[0047] Figure 3It is a schematic diagram of the end face structure of the support ring and the input shaft in a new RV reduction mechanism module.

[0048] In the figure, 01, RV reducer; 02, motor; 1, pin gear housing; 2, housing ring; 3, mounting hole; 4, needle roller; 5, cycloidal wheel; 6, eccentric shaft; 7, needle roller and cage bearing; 8, output shaft; 9, output shaft cover; 10, planetary gear; 11, roller support bearing; 12, output skeleton sealing ring; 13, deep groove ball bearing 1; 14, elastic retaining ring for shaft; 15, sealing cover; 16, retaining ring for cage; 17, elastic retaining ring 1 for hole; 18, wire tube; 19, elastic retaining ring 2 for hole; 20, O-ring for wire tube; 21, support ring; 22 , input shaft; 23, first sealing groove; 24, connecting flange; 25, flange ring; 26, hexagon socket bolt; 27, O-ring for flange; 28, heat dissipation groove; 29, second sealing groove; 30, stator steel sheet; 31, winding end; 32, magnetic steel; 33, rotor yoke; 34, rotating shaft; 35, deep groove ball bearing II; 36, supporting flange; 37, driver; 38, motor cover; 39, input encoder; 40, input reading head; 41, supporting skeleton sealing ring; 42, output encoder; 43, output reading head; 44, end skeleton sealing ring. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] A new RV reduction mechanism module, such as Figure 1 As shown, it includes an RV reducer 01, a motor 02 and a connecting flange 24. The RV reducer 01 is connected to the motor 02 and the connecting flange 24, and the motor 02 is installed in the connecting flange 24. The RV reducer 01 includes a pinion housing 1, a needle roller 4, a cycloidal wheel 5, an eccentric shaft 6, an output shaft 8, an output shaft cover 9, a planetary gear 10 and an input shaft 22. The output shaft 8 and the output shaft cover 9 are connected by cylindrical pins and screws to form an output disc frame, and the planetary gear 10 and the input shaft 22 are close to the motor 02. The motor 02 includes a stator steel sheet 30, a winding end 31, a magnetic steel 32, a rotor yoke 33 and a rotating shaft 34. The connecting flange 24 is connected to the pinion housing 1, and the rotating shaft 34 is connected to the input shaft 22.

[0051] like Figure 1As shown, the basic structure and working principle of the RV reducer 01 are the same as those in the prior art. The input shaft 22 is driven to rotate by the motor 02, and the input shaft 22 and the planetary gear 10 are engaged to perform planetary reduction. The planetary gear 10 drives the eccentric shaft 6 to rotate, and the eccentric shaft 6 drives the cycloid wheel 5 to rotate. The outer teeth of the cycloid wheel 5 and the inner teeth of the pin gear housing 1 perform eccentric motion under the connection of the needle roller 4. When the pin gear housing 1 is fixed, the cycloid wheel 5 rotates around the center while eccentrically moving, driving the output disc frame composed of the output shaft 8 and the output shaft cover 9 to rotate, and cycloid reduction is performed. The output shaft 8 outputs the speed and torque as the output end.

[0052] Specifically, Figure 1 As shown, the two cycloid wheels 5 are respectively mounted on the two cams of the eccentric shaft 6, and the needle rollers 4 are arranged between the inner teeth of the pin gear housing 1 and the outer teeth of the two cycloid wheels 5. The number of needle rollers 4 is the same as the number of teeth of the inner teeth of the pin gear housing 1, and the number of teeth of the outer teeth of the cycloid wheel 5 differs from the number of teeth of the inner teeth of the pin gear housing 1 by one. Needle rollers and retainer bearings 7 are respectively arranged between the bearing hole of the cycloid wheel 5 and the cam of the eccentric shaft 6, between the true circle at both ends of the eccentric shaft 6 and the bearing hole of the output shaft 8 and the bearing hole of the output shaft cover 9. The needle rollers and retainer bearings 7 at both ends of the eccentric shaft 6 support the eccentric shaft 6 and transmit torque. In the utility model, the four needle rollers and retainer bearings 7 have no inner ring and outer ring. In this way, the inner and outer diameters of the RV reducer 01 are reduced by reducing the inner and outer diameters of the needle rollers and retainer bearings 7, and the weight of the RV reducer 01 is reduced, making the structure more compact.

[0053] like Figure 1 As shown, a deep groove ball bearing 13 is provided between the end of the eccentric shaft 6 away from the connecting flange 24 and the output shaft 8. The inner ring of the deep groove ball bearing 13 is in contact with the true circle step of the eccentric shaft 6 on the side close to the cycloidal wheel 5, and a shaft elastic retaining ring 14 is provided on the side away from the cycloidal wheel 5. The inner ring of the deep groove ball bearing 13 is fixed by the shaft elastic retaining ring 14 and the true circle step of the eccentric shaft 6. The outer ring of the deep groove ball bearing 13 is in contact with the inner hole step of the output shaft 8 and the needle roller and cage bearing 7 close to it on the side close to the cycloidal wheel 5. A sealing cover 15 coaxial with and in contact with the cycloidal wheel 5 is provided on the side away from the cycloidal wheel 5. The outer ring of the deep groove ball bearing 13 is fixed by the sealing cover 15 and the inner hole step of the output shaft 8. Among them, after the sealing cover 15 is installed, its outer end face away from the eccentric shaft 6 is 0.1-0.3mm lower than the end face of the output shaft 8. When the output shaft 8 is connected to the external connecting piece, the external connecting piece can prevent the axial movement of the sealing cover 15 and allow it to have a slight movement margin. The sealing cover 15 is used to limit the deep groove ball bearing 13 while also sealing the end of the eccentric shaft 6.

[0054] like Figure 1As shown, a retainer ring 16 and a hole elastic retainer ring 17 are provided between the end face of the needle roller and retainer bearing 7 close to the planetary gear 10 and the output shaft cover 9, and the hole elastic retainer ring 17 is located between the retainer ring 16 and the planetary gear 10, so as to limit the needle roller and retainer bearing 7 close to the planetary gear 10, and in combination with the outer ring of the deep groove ball bearing 13, limit the four needle rollers and retainer bearings 7 from both sides to avoid movement of the needle rollers and retainer bearings 7.

[0055] like Figure 1 As shown, in this embodiment, the planetary gear 10 is installed at one end of the eccentric shaft 6 close to the connecting flange 24, and the inner hole thereof is interference fit with the outer wall of the eccentric shaft 6, and the end of the input shaft 22 away from the motor 02 is meshed with the outer teeth of the planetary gear 10. Through the interference fit installation of the planetary gear 10 and the eccentric shaft 6, there is no need to use retaining rings to limit the two sides of the planetary gear 10, thereby reducing the length of the eccentric shaft 6, reducing the axial thickness of the RV reducer 01, and also reducing the overall weight.

[0056] like Figure 1 As shown, roller support bearings 11 are provided between the inner hole of the pin gear housing 1 and the outer circles of the output shaft 8 and the output shaft cover 9. The ends of the needle rollers and the ends of the two cycloid wheels 5 that are far from each other are in contact with the outer rings of the roller support bearings 11 close to them, so as to prevent the needle rollers 4 and the cycloid wheels 5 from axially moving significantly. The inner ring of the roller support bearing 11 is connected to the corresponding output shaft 8 / output shaft cover 9. The rollers in the roller support bearings 11 can be tapered rollers, cylindrical rollers or steel balls, and the contact angle of the rollers or steel balls is 40°-50°. The two roller support bearings 11 jointly bear the thrust and bending moment of the module, and have large thrust and strong bending moment capabilities. The utility model utilizes a roller support bearing 11 to replace the original angular contact ball bearing. Compared with a point contact angular contact ball bearing, the surface contact roller support bearing 11 has a 2-3 times higher bending moment resistance. Under the same bending moment resistance, a small volume roller support bearing 11 can be used, thereby reducing the inner and outer diameters and axial thickness of the needle gear housing 1, achieving a small volume while reducing weight.

[0057] Among them, Figure 1 As shown, an output skeleton sealing ring 12 is also provided between the pin gear housing 1 and the output shaft 8. The output skeleton sealing ring 12 is located on the side of the roller support bearing 11 close to it, away from the cycloid wheel 5, and its end wall abuts against the inner ring of the corresponding roller support bearing 11 to achieve a rotary seal on the output side.

[0058] like Figure 1As shown, in order to further reduce the volume and weight of the RV reducer 01, a shell ring 2 is provided in the middle of the outer wall of the pin-tooth housing 1, which is coaxial with the pin-tooth housing 1 and extends radially outward. A flange ring 25 is provided at one end of the connecting flange 24 close to the pin-tooth housing 1, which is coaxial with the pin-tooth housing 1 and extends axially outward. The flange ring 25 and the shell ring 2 are close to each other and are abutted against each other and are connected and fixed by a plurality of hexagon socket bolts 26 arranged around the circumference of the shell ring 2. Among them, the pin-tooth housing 1 and the shell ring 2 are integrally arranged and are both made of steel to ensure strength. The connecting flange 24 and the flange ring 25 are integrally arranged and are both made of aluminum alloy to reduce the weight of the module. For easy disassembly and assembly, the hexagon socket bolts 26 are installed from the side of the connecting flange 24.

[0059] like Figure 1 As shown, the end of the needle tooth housing 1 located at the shell ring 2 close to the connecting flange 24 is installed in the flange ring 25, so that part of the volume of the needle tooth housing 1 is replaced by the connecting flange 24, which can reduce the weight of the needle tooth housing 1, and the outer circle of the needle tooth housing 1 and the inner hole of the flange ring 25 are interference fit, and the wall thickness of the end of the needle tooth housing 1 located in the flange ring 25 can be thinned on the premise that the flange ring 25 enhances the strength of the needle tooth housing 1, and the outer diameter and weight of the needle tooth housing 1 are further reduced. Among them, the wall thickness of the needle tooth housing 1 at the end of the shell ring 2 away from the connecting flange 24 is greater than the wall thickness of the end installed in the flange ring 25, so as to ensure the overall strength of the needle tooth housing 1. Among them, the inner wall of the flange ring 25 is embedded with a flange O-ring 27 located between the inner hole of the flange ring 25 and the outer circle of the needle tooth housing 1, so as to achieve the sealing between the flange ring 25 and the needle tooth housing 1.

[0060] In addition, if Figure 1 As shown, a plurality of mounting holes 3 spaced apart from the hexagon socket bolts 26 are arranged in a circumferential array on the shell ring 2, and the mounting holes 3 penetrate the shell ring 2 from the end of the shell ring 2 away from the connecting flange 24, and the bottom of the mounting holes 3 extends to the flange ring 25. In this way, when the external device is mounted on the needle tooth housing 1 through the cooperation of the bolts and the mounting holes 3, the bolts are connected to the shell ring 2 and the flange ring 25 at the same time, increasing the threaded connection length and ensuring the connection strength. It is not necessary to make the axial thickness of the shell ring 2 very thick, further reducing the weight of the needle tooth housing 1. In addition, the outer circle of the end of the needle tooth housing 1 away from the flange ring 25 is in close contact with the inner hole of the external device, and the external device can replace a part of the volume of the needle tooth housing 1. On the premise of ensuring the strength of the needle tooth housing 1, the wall thickness of the end of the needle tooth housing 1 located outside the flange ring 25 can also be thinned, which can further reduce the outer diameter and weight of the needle tooth housing 1.

[0061] like Figure 1As shown, the motor 02 is installed in the connecting flange 24, the stator steel sheet 30, the magnetic steel 32, the rotor yoke 33 and the rotating shaft 34 in the motor 02 are coaxial and arranged in sequence from the outside to the inside, the winding end 31 is arranged at the end of the stator steel sheet 30 away from the RV reducer 01, and the end of the winding end 31 away from the stator steel sheet 30 is provided with a support flange 36 installed at the end of the connecting flange 24 away from the pin gear housing 1, and deep groove ball bearings 35 are respectively provided at both ends of the rotating shaft 34 and between the connecting flange 24 and the support flange 36 for support connection, and the support flange 36 and the connecting flange 24 jointly support the deep groove ball bearings 35. Among them, a heat dissipation groove 28 is provided on the outer wall ring of the connecting flange 24, and a plurality of groups of heat dissipation grooves 28 are arranged along the axial array of the connecting flange 24 to improve the heat dissipation effect and prevent the motor 02 from being in a high temperature environment for a long time and affecting the service life.

[0062] like Figure 1 As shown, one end of the input shaft 22 passes through the center hole of the connecting flange 24 and is connected to the rotating shaft 34, and the outer circle thereof is connected to the inner hole of the rotating shaft 34 by interference fit, glue connection or pin connection. After the winding end 31 is energized, the driving rotating shaft 34 drives the input shaft 22 to rotate through the cooperation of the stator steel sheet 30, the magnetic steel 32 and the rotor yoke 33. Among them, the input shaft 22 is a steel part and the rotating shaft 34 is an aluminum part, which can reduce the driving inertia of the rotor of the motor 02.

[0063] like Figure 1 As shown, a wire tube 18 coaxial with the output shaft 8 is provided in the center hole thereof, and the wire tube 18 passes through the connecting flange 24 and the supporting flange 36. The arrangement of the wire tube 18 facilitates the threading of the cable. The wire tube 18 is fixed by a step and a hole elastic retaining ring 19 in the center hole of the output shaft 8 to prevent the wire tube 18 from axial movement. Among them, an O-ring 20 for the wire tube located between the wire tube 18 and the output shaft 8 is embedded in the outer wall of the wire tube 18 to achieve sealing between the wire tube 18 and the output shaft 8. In addition, a support ring 21 is provided between the wire tube 18 and the output shaft cover 9, and the inner hole of the support ring 21 and the outer circle of the wire tube 18 are interference connected. The outer circle of the support ring 21 is also limitedly installed between the step of the inner hole of the output shaft cover 9 and the end of the input shaft 22 to achieve axial and radial fixation of the wire tube 18. The wire tube 18 and the output shaft cover 9 are relatively static and do not shake, and the support ring 21 will not move axially and radially.

[0064] like Figures 1 to 3 As shown, in order to prevent the grease of the RV reducer 01 from leaking to the motor 02 side, a plurality of first sealing grooves 23 coaxially arranged therewith are provided on the end faces of the input shaft 22 and the support ring 21 close to each other. After the end faces of the input shaft 22 and the support ring 21 are installed close to each other, the plurality of first sealing grooves 23 on the input shaft 22 and the support ring 21 are arranged at intervals to form a labyrinth structure with gaps. Similarly, a plurality of second sealing grooves 29 coaxially arranged therewith are provided on the end faces of the connecting flange 24 and the rotating shaft 34 close to each other. Figure 3 The principle is the same as in the embodiment of the present invention. After the end faces of the connecting flange 24 and the rotating shaft 34 are installed close to each other, the connecting flange 24 and the rotating shaft 34 are arranged at intervals to form a labyrinth structure with gaps. In this way, the sealing between the RV reducer 01 and the motor 02 is achieved from the connection position between the input shaft 22 and the support ring 21 and the connection position between the connecting flange 24 and the rotating shaft 34 to prevent grease leakage.

[0065] like Figure 1 As shown, in order to improve the control accuracy, a driver 37 is provided at one end of the support flange 36 away from the connecting flange 24, and the support flange 36 is connected to a motor cover 38 which is provided outside the driver 37 for protection, and an input encoder 39 is installed at one end of the rotating shaft 34 close to the driver 37, and an input reading head 40 which cooperates with the input encoder 39 is provided on the driver 37. An output encoder 42 is installed on the outer circle of the wire tube 18, and the output encoder 42 is located on the side of the driver 37 away from the input encoder 39, and an output reading head 43 which cooperates with the output encoder 42 is provided on the driver 37. The input angle of the rotating shaft 34 is detected in real time by the input encoder 39, and the angle information of the input encoder 39 is read by the input reading head 40, and the output encoder 42 is detected in real time by the output encoder 42, and the angle information of the output encoder 42 is read by the output reading head 43, so as to realize the closed-loop control of the output and the input, and improve the output control accuracy.

[0066] like Figure 1 As shown, in order to prevent the accidental leakage of grease from affecting the electrical connection of the driver 37, a support frame sealing ring 41 that wraps the input reading head 40 is provided on the side of the driver 37 close to the input encoder 39, and the end of the input reading head 40 away from the driver 37 passes through the support frame sealing ring 41 close to the input encoder 39, and the inner hole of the support frame sealing ring 41 is in contact with the outer circle of the wire tube 18. The driver 37 is sealed and protected by the support frame sealing ring 41, and the support frame sealing ring 41 is connected to the wire tube 18 rotating at a low speed to avoid connection with the rotating shaft 34 rotating at a high speed, which can reduce efficiency loss and heat generation. In addition, an end frame sealing ring 44 is also provided between the inner hole of the motor cover 38 and the outer circle of the wire tube 18 to achieve sealing between the motor cover 38 and the wire tube 18 to prevent dust or water from entering the driver 37.

[0067] Working principle and usage of the utility model:

[0068] After the winding end 31 is energized, the stator steel sheet 30, the magnetic steel 32, and the rotor yoke 33 cooperate to drive the rotating shaft 34 to rotate, and the rotating shaft 34 drives the planetary gear 10 on the eccentric shaft 6 to rotate through the input shaft 22 to perform planetary reduction. The planetary gear 10 drives the eccentric shaft 6 to rotate, and the eccentric shaft 6 drives the cycloid wheel 5 to rotate. The outer teeth of the cycloid wheel 5 and the inner teeth of the pin gear housing 1 perform eccentric motion under the connection of the needle roller 4. When the pin gear housing 1 is fixed, the cycloid wheel 5 rotates around the center while eccentric motion, driving the output disc frame composed of the output shaft 8 and the output shaft cover 9 to rotate, and cycloid reduction is performed. The output shaft 8 outputs the speed and torque as the output end.

[0069] By improving the structures and / or mounting connection structures of the pinion housing 1, the connecting flange 24, the needle roller and retainer bearing 7, the roller support bearing 11, the planetary gear 10 and the eccentric shaft 6, the stiffness, torque, bending moment and transmission efficiency of the RV reducer 01 are ensured while reducing the volume and weight of the RV reducer 01.

[0070] The input and output ends of the entire module are sealed by means of the output frame sealing ring 12, the O-ring 20 for the wire tube, the O-ring 27 for the flange, the sealing cover 15 and the end frame sealing ring 44.

[0071] A maze structure with gaps is formed by using the first sealing groove 23 at the end of the support ring 21 and the input shaft 22, and a maze structure with gaps is formed by using the second sealing groove 29 at the end of the connecting flange 24 and the rotating shaft 34, so as to achieve sealing between the RV reducer 01 and the motor 02 and prevent grease from leaking to the motor 02 side.

[0072] The support frame sealing ring 41 is used to achieve sealing between the motor 02 and the driver 37 to prevent grease from leaking to the electrical connection part of the driver 37. At the same time, the support frame sealing ring 41 is connected to the low-speed rotating wire tube 18 to reduce efficiency loss.

[0073] Through the cooperation of the output encoder 42 and the input encoder 39, closed-loop control of the output and input is achieved, thereby improving the output control accuracy.

[0074] In summary, the utility model has a compact structure, small size, light weight, high stiffness, high torque and high bending moment, high transmission efficiency, high transmission accuracy and high response accuracy, can meet the use requirements of humanoid robot joints and collaborative robot joints, and improve the impact resistance of the joints.

[0075] The above description shows and describes the preferred embodiments of the utility model. As mentioned above, it should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the utility model concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.

Claims

1. A new RV reduction mechanism module, characterized by: The invention comprises an RV reducer (01), a motor (02) and a connecting flange (24), wherein the RV reducer (01) is connected to the motor (02) and the connecting flange (24), and the motor (02) is installed in the connecting flange (24); the RV reducer (01) comprises a pinion housing (1), a needle roller (4), a cycloidal wheel (5), an eccentric shaft (6), an output shaft (8), an output shaft cover (9), a planetary wheel (10) and an input shaft (22); the motor (02) comprises a stator steel sheet (30), a winding end (31), a magnetic steel (32), a rotor yoke (33) and a rotating shaft (34); the connecting flange (24) is connected to the pinion housing (1), and the rotating shaft (34) is connected to the input shaft (22); A shell ring (2) is provided in the middle of the outer wall of the pin gear housing (1) and is coaxial with the pin gear housing (1) and extends radially outwards therefrom. An end of the connecting flange (24) close to the pin gear housing (1) is provided with a flange ring (25) coaxial with the pin gear housing (1) and extends axially outwards therefrom. The flange ring (25) and the shell ring (2) are in contact with each other at their end walls and are connected and fixed by a plurality of hexagon socket head bolts (26) arranged in an array around the circumference of the shell ring (2). The pin tooth housing (1) is located at one end of the shell ring (2) close to the connecting flange (24) and is installed in the flange ring (25), and the outer circle of the pin tooth housing (1) is interference fit with the inner hole of the flange ring (25), and the wall thickness of the pin tooth housing (1) at the end of the shell ring (2) away from the connecting flange (24) is greater than the wall thickness of the end installed in the flange ring (25); a plurality of mounting holes (3) arranged in a circumferential array on the shell ring (2) and spaced apart from the hexagon socket bolts (26), the mounting holes (3) penetrate the shell ring (2) from the end of the shell ring (2) away from the connecting flange (24), and the bottom of the mounting holes (3) extends to the flange ring (25); The two cycloid wheels (5) are respectively mounted on the two cams of the eccentric shaft (6); the needle rollers (4) are arranged between the inner teeth of the needle gear housing (1) and the outer teeth of the two cycloid wheels (5); needle roller and cage bearings (7) are respectively arranged between the bearing hole of the cycloid wheel (5) and the cam of the eccentric shaft (6), between the true circles at both ends of the eccentric shaft (6) and the bearing hole of the output shaft (8) and the bearing hole of the output shaft cover (9); the four needle roller and cage bearings (7) have no inner ring and outer ring; A roller support bearing (11) is arranged between the inner hole of the pin gear housing (1) and the outer circle of the output shaft (8) and the outer circle of the output shaft cover (9); both ends of the needle roller (4) and the ends of the two cycloidal wheels (5) that are away from each other are in contact with the outer ring of the roller support bearing (11) close to them; an output skeleton sealing ring (12) is also arranged between the pin gear housing (1) and the output shaft (8); the output skeleton sealing ring (12) is located on the side of the roller support bearing (11) close to it that is away from the cycloidal wheel (5), and its end wall is in contact with the inner ring of the corresponding roller support bearing (11); The stator steel sheet (30), magnetic steel (32), rotor yoke (33) and rotating shaft (34) are coaxial and arranged in sequence from outside to inside, the winding end (31) is arranged at the end of the stator steel sheet (30) away from the RV reducer (01), and the end of the winding end (31) away from the stator steel sheet (30) is provided with a supporting flange (36) installed on the end of the connecting flange (24) away from the pin gear housing (1), and two deep groove ball bearings (35) are respectively provided at both ends of the rotating shaft (34) and between the connecting flange (24) and the supporting flange (36); One end of the input shaft (22) passes through the center hole of the connecting flange (24) and is connected to the rotating shaft (34), and the outer circle thereof is in interference connection with the inner hole of the rotating shaft (34); the planetary gear (10) is installed on the end of the eccentric shaft (6) close to the connecting flange (24), and the inner hole thereof is in interference fit with the outer wall of the eccentric shaft (6), and the end of the input shaft (22) away from the rotating shaft (34) is meshed with the outer teeth of the planetary gear (10).

2. A novel RV reduction mechanism module according to claim 1, characterized in that: A deep groove ball bearing (13) is provided between the end of the eccentric shaft (6) away from the planetary gear (10) and the output shaft (8); the inner ring of the deep groove ball bearing (13) is in contact with the step of the true circle of the eccentric shaft (6) on the side close to the cycloidal wheel (5), and a shaft elastic retaining ring (14) is provided on the side away from the cycloidal wheel (5); the outer ring of the deep groove ball bearing (13) is in contact with the step of the inner hole of the output shaft (8) and the needle roller and retainer bearing (7) close thereto on the side close to the cycloidal wheel (5); A sealing cover (15) coaxial with and abutting the cycloid wheel (5) is provided on the side away from the cycloid wheel (5), and after the sealing cover (15) is installed, the outer end face of the sealing cover (15) away from the eccentric shaft (6) is lower than the end face of the output shaft (8); a retaining ring (16) and a hole elastic retaining ring (17) are provided between the end face of the needle roller and retaining bearing (7) close to the planetary wheel (10) and the output shaft cover (9), and the hole elastic retaining ring (17) is located between the retaining ring (16) and the planetary wheel (10).

3. A novel RV reduction mechanism module according to claim 1, characterized in that: A wire tube (18) coaxial with the output shaft (8) is arranged in the center hole of the output shaft (8), and the wire tube (18) passes through a connecting flange (24) and a supporting flange (36). The wire tube (18) is fixed by a second elastic retaining ring (19) in the center hole of the output shaft (8) through a step and a hole. A support ring (21) is arranged between the wire tube (18) and the output shaft cover (9), and an inner hole of the support ring (21) and an outer circle of the wire tube (18) are interference-connected. The outer circle of the support ring (21) is also limitedly installed between the step of the inner hole of the output shaft cover (9) and the end of the input shaft (22).

4. A novel RV reduction mechanism module according to claim 3, characterized in that: A plurality of first sealing grooves (23) arranged coaxially therewith are provided on the end surfaces of the input shaft (22) and the support ring (21) that are close to each other. After the end surfaces of the input shaft (22) and the support ring (21) are installed close to each other, the plurality of first sealing grooves (23) on the input shaft (22) and the support ring (21) are arranged at intervals to form a labyrinth structure with gaps.

5. A novel RV reduction mechanism module according to claim 1 or 4, characterized in that: A plurality of second sealing grooves (29) coaxially arranged therewith are provided on the end surfaces of the connecting flange (24) and the rotating shaft (34) that are close to each other. After the end surfaces of the connecting flange (24) and the rotating shaft (34) are installed close to each other, the plurality of second sealing grooves (29) on the connecting flange (24) and the rotating shaft (34) are arranged at intervals to form a labyrinth structure with gaps.

6. A novel RV reduction mechanism module according to claim 3, characterized in that: A driver (37) is provided at one end of the support flange (36) away from the connecting flange (24), and the support flange (36) is connected to a motor cover (38) arranged outside the driver (37); an input encoder (39) is installed at one end of the rotating shaft (34) close to the driver (37), and an input reading head (40) cooperating with the input encoder (39) is provided on the driver (37).

7. A novel RV reduction mechanism module according to claim 6, characterized in that: An output encoder (42) is installed on the outer circle of the wire tube (18), and the output encoder (42) is located on a side of the driver (37) away from the input encoder (39). The driver (37) is provided with an output reading head (43) that cooperates with the output encoder (42).

8. A novel RV reduction mechanism module according to claim 6, characterized in that: A support frame sealing ring (41) wrapping an input reading head (40) is provided on one side of the driver (37) close to the input encoder (39); an end of the input reading head (40) away from the driver (37) passes through the support frame sealing ring (41) close to the input encoder (39), and the inner hole of the support frame sealing ring (41) contacts the outer circle of the wire tube (18); an end frame sealing ring (44) is also provided between the inner hole of the motor cover (38) and the outer circle of the wire tube (18).

9. A novel RV reduction mechanism module according to claim 3, characterized in that: The outer wall of the wire tube (18) is embedded with an O-ring (20) for the wire tube and is located between the wire tube (18) and the output shaft (8), and the inner wall of the flange ring (25) is embedded with an O-ring (27) for the flange and is located between the inner hole of the flange ring (25) and the outer ring of the pin gear housing (1).

10. A novel RV reduction mechanism module according to claim 1, characterized in that: The outer wall of the connecting flange (24) is provided with heat dissipation grooves (28), and a plurality of groups of the heat dissipation grooves (28) are arranged in an axial array along the connecting flange (24).

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