Lightweight RV speed reducer module

Abstract

The utility model provides a light-weight RV speed reducer 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 roller pin, a cycloidal gear, an eccentric shaft, an output shaft, an output shaft cover, a planet gear and an input shaft, needle rollers and retainer bearings are arranged between a bearing hole of the cycloidal gear and the eccentric shaft cam as well as between the true circles at the two ends of the eccentric shaft and bearing holes of the output shaft and the output shaft cover, and the planet gear and the eccentric shaft are mounted in an interference fit manner; an output side baffle plate is arranged at one end, far away from the planet wheel, of the output shaft; the output side baffle plate is propped against the end part of the eccentric shaft and the needle roller close to the output side baffle plate and the retainer bearing; an input side blocking piece is arranged between the end, close to the planet wheel, of the output shaft cover and the planet wheel. The input side blocking piece abuts against the roller pin close to the input side blocking piece and the retainer bearing. The connecting flange is connected with the pin wheel housing. A rotating shaft of the motor is connected with the input shaft. The utility model has the characteristics of small volume, light weight, compact structure, full sealing, high control precision, good heat dissipation and the like.

Description

Technical Field

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

[0002] The reducer modules for humanoid robot joints and collaborative robot joints generally use harmonic reducer modules, but the impact torque of harmonic reducer modules at the joints is weak, and they are prone to plastic deformation under large instantaneous impacts, causing the joints to fail and become inoperable. Ordinary RV reducer modules are larger in size and weight than harmonic reducer modules, so using them at joints will affect the size and weight of the joints accordingly. Utility Model Content

[0003] The purpose of the utility model is to provide a lightweight RV reducer module, which has the characteristics of small size, light weight, compact structure, full sealing, high control accuracy, good heat dissipation, etc., which meets the use requirements of humanoid robot joints and collaborative robot joints and has strong impact resistance.

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

[0005] A lightweight RV reducer module, comprising 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;

[0006] 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 wheel and an input shaft. The two cycloid wheels are respectively mounted on the two cams of the eccentric shaft, and the needle roller is arranged between the inner teeth of the pinion housing and the outer teeth of the two cycloid wheels; needle rollers and retainer 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;

[0007] The planetary gear is installed at one end of the eccentric shaft close to the connecting flange, and the inner hole of the planetary gear is interference fit with the outer wall of the eccentric shaft, and one end of the input shaft is meshed with the outer teeth of the planetary gear;

[0008] An output side baffle coaxially arranged at one end of the output shaft away from the planetary gear is provided, the output side baffle is installed on the output shaft and its outer circle abuts against the inner hole of the output shaft, and the outer end face of the output side baffle is flush with the outer end face of the output shaft after installation; the output side baffle is in limited abutment with the ends of multiple eccentric shafts and the needle rollers and cage bearings close thereto;

[0009] A wire tube coaxial with the output shaft is installed in the central hole of the output shaft, and the wire tube and the output side baffle are close to each other and abut against each other;

[0010] An input side baffle coaxial with the planetary gear is provided between the end of the output shaft cover close to the planetary gear and the planetary gear, the input side baffle is mounted on the output shaft cover and its outer circle abuts against the inner hole of the output shaft cover, and the input side baffle abuts against the needle roller and cage bearing close to it and the true circle step close to the eccentric shaft;

[0011] 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 pin gear housing, the stator steel sheet, the magnetic steel, the rotor yoke and the rotating shaft are coaxial and arranged in sequence from the outside to the inside, the winding end is arranged at the end of the stator steel sheet away from the RV reducer, and the end of the input shaft away from the planetary gear passes through the center hole of the connecting flange and is connected to the rotating shaft by connecting screws;

[0012] The end of the winding end away from the stator steel sheet is provided with a supporting flange installed on the end of the connecting flange away from the pin gear housing, and deep groove ball bearings are respectively provided at both ends of the rotating shaft and between the connecting flange and the supporting flange; a driver and a motor cover arranged outside the driver are installed on the side of the supporting flange away from the connecting flange, and the end of the wire tube away from the output shaft extends to the motor cover.

[0013] By adopting the above technical solution, the basic working principle of the utility model is the same as that of the RV reducer module in the prior art. After the winding end of the motor is energized by the driver, the stator steel sheet, magnetic steel, and rotor yoke are matched to drive the rotating shaft to rotate, and the rotating shaft drives the input shaft to rotate synchronously. Under the meshing action of the input shaft and the planetary gear, the planetary gear is driven to rotate for 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.

[0014] In the utility model, the output side baffle and the input side baffle are used to limit the eccentric shaft and the needle roller and cage bearings at both ends of the eccentric shaft from both ends, so as to avoid the axial movement of the eccentric shaft and the needle roller and cage bearings. The planetary gear and the eccentric shaft are installed with interference fit to avoid the axial movement of the planetary gear. In this way, the deep groove ball bearings and the hole limit rings between the two ends of the eccentric shaft and the output shaft and the output shaft cover are eliminated, and the axial limit rings between the two sides of the planetary gear and the eccentric shaft are eliminated, which greatly reduces the axial length of the RV reducer, and the axial length and weight of the pin gear housing are reduced accordingly, so as to realize the small volume and light weight of the entire module from the axial direction. Among them, the output side baffle also realizes the axial limit of the wire tube, eliminates the limit ring of the wire tube, and simplifies the structure. The rotating shaft and the input shaft are connected by connecting screws, which is convenient for the installation and maintenance of the connecting flange, deep groove ball bearings, rotating shaft and other components. An accommodation space for installing the motor is formed between the support flange and the connecting flange, which is convenient for the installation of the motor. An accommodation space for installing the driver is formed between the support flange and the motor cover, and the protection of the driver is realized.

[0015] Furthermore, the needle roller and retainer bearings have no inner ring and outer ring, and roller support bearings are provided between the inner hole of the needle gear housing and the outer circle of the output shaft and the outer circle of the output shaft cover. The two 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, and the inner ring of the roller support bearing is in contact with the step of the corresponding inner hole of the output shaft / output shaft cover.

[0016] By adopting the above technical solution, 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 needle gear housing, output shaft, output shaft cover, cycloidal wheel, etc. are correspondingly reduced, that is, the inner and outer diameters of the RV reducer are reduced, and the weight is greatly reduced, and the small volume and light weight of the entire module are realized from the radial direction, and the structure is made more compact. Two roller support bearings are used to limit the cycloidal wheel and needle roller to avoid large axial movement of the needle roller and cycloidal wheel. At the same time, 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 further reducing the inner and outer diameters and axial thickness of the needle gear housing, and further realizing the small volume and light weight of the entire module from both the axial and radial directions.

[0017] Furthermore, a shell ring is provided in the middle of the outer wall of the needle tooth housing, which is coaxial with the needle tooth housing and extends radially outward therefrom; a flange ring is provided at one end of the connecting flange close to the needle tooth housing, which is coaxial with the needle tooth housing and extends axially outward therefrom; the end walls of the flange ring and the shell ring close to each other are abutted and are connected and fixed by a plurality of hexagon socket bolts arrayed around the circumference of the shell ring; the needle tooth housing is located at one end of the shell ring close to the connecting flange and is installed in the flange ring, and the outer circle of the needle tooth housing is interference fit with the inner hole of the flange ring.

[0018] By adopting the above technical solution, the pin gear housing and the connecting flange are fixed by connecting the hexagon socket bolts of the housing ring and the flange ring, and the pin gear housing is located at the end of the housing ring close to the connecting flange and is installed in the flange ring, so that part of the volume of the pin gear housing is replaced by the connecting flange, and 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 and further achieve lightweighting of the module. Among them, through the interference fit between the outer circle of the pin gear housing and the inner hole of the flange ring, the wall thickness of the pin gear housing located in the flange ring can be thinned under the premise that the flange ring enhances the strength of the pin gear housing, and the outer diameter and weight of the pin gear housing can be further reduced.

[0019] Furthermore, a plurality of mounting holes spaced apart from the hexagon socket bolts are arranged in a circumferential array on the shell ring, and the mounting holes penetrate the shell ring from one end of the shell ring away from the connecting flange, and the bottoms of the mounting holes extend to the flange ring.

[0020] By adopting the above technical solution, when the external device is installed on the needle gear housing through the combination of bolts and mounting holes, the bolts are connected to the shell ring and the flange ring at the same time, which increases the installation thread connection length of the external device without making the axial thickness of the shell ring very thick, thereby further reducing the weight of the needle gear housing. In addition, after the external device is installed, the outer circle of the 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. Under 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, which can further reduce the outer diameter and weight of the needle gear housing, thereby improving the small volume and lightweight effect of the entire module.

[0021] Furthermore, an output skeleton sealing ring is provided between the inner hole of the pin gear housing and the outer circle of the output shaft, and the output skeleton sealing ring is located on the side of the roller support bearing close to it away from the cycloid wheel, and its end wall abuts against the inner ring of the corresponding roller support bearing;

[0022] A plurality of output side O-type sealing rings are installed between the end surface of the output side baffle plate close to the eccentric shaft and the end surface of the inner hole of the output shaft. The plurality of output side O-type sealing rings are embedded on the output side baffle plate and arranged in an array around the circumference of the output side baffle plate, and correspond one to one with the plurality of eccentric shafts;

[0023] An O-type sealing ring for flange is arranged between the inner hole of the flange ring and the outer ring of the pin gear housing, and the O-type sealing ring for flange is embedded in the inner wall of the flange ring;

[0024] An O-type sealing ring for pipe embedded in the outer wall of the wire tube is arranged between the outer circle of the wire tube and the inner hole of the output shaft, and an end frame sealing ring is arranged between the outer circle of the wire tube and the inner hole of the motor cover.

[0025] By adopting the above technical scheme, the output skeleton sealing ring realizes the sealing between the pinion housing and the output shaft, the output side O-ring realizes the sealing between the output side baffle and the eccentric shaft, the flange uses the O-ring to realize the sealing between the output housing and the pinion housing, the tube uses the O-ring to realize the sealing between the wire tube and the output shaft, and the end skeleton sealing ring realizes the sealing between the wire tube and the motor cover. In this way, the entire module is fully sealed on the outside, grease leakage and the infiltration of dust, water, etc. are avoided, and the entire module is fully sealed. Protection.

[0026] Furthermore, an input skeleton sealing ring is provided between the inner hole of the connecting flange and the outer circle of the input shaft, the input skeleton sealing ring is located at one end of the rotating shaft close to the planetary gear, and the input skeleton sealing ring abuts against the rotating shaft and the deep groove ball bearing close to it;

[0027] An input O-type sealing ring is provided between the outer circle of the input shaft and the inner hole of the rotating shaft, and the input O-type sealing ring is embedded in the inner wall of the rotating shaft;

[0028] A pipe skeleton sealing ring is arranged between the inner hole of the rotating shaft and the outer circle of the wire passing pipe, and the pipe skeleton sealing ring is located at the side of the connecting screw away from the input shaft.

[0029] By adopting the above technical solution, the input skeleton seal ring realizes the seal between the connecting flange and the input shaft, and the input O-ring seal ring realizes the seal between the input shaft and the rotating shaft, thus realizing the seal between the RV reducer and the motor, and preventing the grease of the RV reducer from penetrating into the motor. The pipe skeleton seal ring realizes the seal between the rotating shaft and the wire tube, preventing the grease from accidentally penetrating into the driver and affecting the electrical connection on the driver, and ensuring the normal operation of the entire module. With the cooperation of the input skeleton seal ring, the input O-ring and the pipe skeleton seal ring, the interior of the entire module is fully sealed, ensuring the service life of the entire module.

[0030] Furthermore, an input encoder coaxial with the driver is installed at one end of the rotating shaft close to the driver, and an output encoder coaxial with the driver is installed on the outer circle of the wire tube. The input encoder and the output encoder are both close to the driver and connected to the driver for feedback, and are respectively located on both sides of the driver.

[0031] By adopting the above technical solution, the input encoder detects the input angle of the rotating shaft in real time, and the output encoder detects the output angle of the wire tube that is relatively stationary with respect to the output shaft in real time. The input encoder and the output encoder cooperate to realize closed-loop control of the output and input, thereby improving the control accuracy and response speed of the entire module.

[0032] Furthermore, the outer wall of the connecting flange is provided with heat dissipation grooves, and a plurality of groups of the heat dissipation grooves are arranged in an axial array along the connecting flange, and an annular groove is provided on the outer wall of the connection between the connecting flange and the flange ring.

[0033] By adopting the above technical solution, the heat dissipation groove outside the connecting flange and the ring groove between the connecting flange and the flange ring are used to increase the surface area of ​​the connecting flange, increase the heat dissipation area, improve the heat dissipation efficiency, achieve rapid heat dissipation of the motor, and avoid the internal temperature of the connecting flange being too high to affect the service life of the motor. In addition, the heat dissipation groove and the ring groove can also reduce the weight of the connecting flange, further reducing the weight of the entire module.

[0034] In summary, the utility model has the following beneficial effects:

[0035] 1. In the utility model, the output side baffle is used to limit the end of the eccentric shaft and the needle roller and cage bearing close to it, and the input side baffle is used to limit the needle roller and cage bearing close to the planetary gear. The planetary gear and the eccentric shaft are installed with interference fit, so that the deep groove ball bearings and the hole limit retaining rings between the two ends of the eccentric shaft and the output shaft and the output shaft cover are eliminated, and the axial limit retaining rings between the two sides of the planetary gear and the eccentric shaft are eliminated, which greatly reduces the axial length of the RV reducer, and the axial length and weight of the pin gear housing are reduced accordingly, so as to realize the small volume and light weight of the entire module from the axial direction;

[0036] 2. In the utility model, the needle roller and the cage bearings have no inner and outer rings. By reducing the inner and outer diameters of the needle roller and the cage bearings, the inner and outer diameters of the pinion housing, the output shaft, the output shaft cover, the cycloid wheel, etc. are correspondingly reduced, that is, the inner and outer diameters of the RV reducer are reduced, and the weight is greatly reduced, and the small volume and light weight of the entire module are realized from the radial direction, and the structure is made more compact; the roller support bearing is used to replace the original angular contact ball bearing. Under the same moment resistance, a small volume roller support bearing can be used, thereby further reducing the inner and outer diameters and axial thickness of the pinion housing, and further realizing the small volume and light weight of the entire module from both the axial and radial directions;

[0037] 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 and further achieve lightweight module. Through the interference fit between the outer circle of the needle gear housing and the inner hole of the flange ring, the wall thickness of the needle gear housing located in the flange ring can be thinned under 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.

[0038] 4. In the utility model, when the external device is installed on the needle gear housing by the cooperation 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 installation thread connection length of the external device without making the axial thickness of the housing ring very thick, thereby further reducing the weight of the needle gear housing; and after the external device is installed, 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, thereby further reducing the outer diameter and weight of the needle gear housing, thereby improving the small volume and lightweight effect of the entire module;

[0039] 5. In the utility model, the output skeleton seal ring, the output side O-ring, the flange O-ring, the pipe O-ring and the end skeleton seal ring are used to achieve full sealing of the entire module exterior, the input skeleton seal ring and the input O-ring are used to achieve sealing between the RV reducer and the motor, and the pipe skeleton seal ring is used to achieve sealing protection for the driver, that is, full sealing of the entire module interior is achieved;

[0040] 6. In the utility model, the closed-loop control of output and input is realized by the cooperation of the input encoder and the output encoder, thereby improving the control accuracy and response speed of the entire module;

[0041] 7. In the utility model, by arranging heat dissipation grooves and annular grooves on the connecting flange, the surface area of ​​the connecting flange is increased, the heat dissipation area is increased, the heat dissipation efficiency is improved, and the weight of the connecting flange can be reduced, thereby further reducing the weight of the entire module. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall structure of a lightweight RV reducer module;

[0043] Figure 2 It is a structural schematic diagram of the output side baffle in a lightweight RV reducer module.

[0044] In the figure, 01, RV reducer; 02, motor; 1, pinion housing; 2, housing ring; 3, mounting hole; 4, needle roller; 5, cycloid wheel; 6, eccentric shaft; 7, output shaft; 8, output shaft cover; 9, planetary gear; 10, input shaft; 11, needle roller and cage bearing; 12, roller support bearing; 13, output skeleton seal ring; 14, output side baffle; 15, output side O-ring; 16, wire tube; 17, pipe O-ring; 18, input side baffle; 19, connecting flange; 20, flange Ring; 21. Hexagon socket bolt; 22. O-ring for flange; 23. Heat dissipation groove; 24. Ring groove; 25. Stator steel sheet; 26. Winding end; 27. Magnet; 28. Rotor yoke; 29. ​​Rotating shaft; 30. Connecting screw; 31. Deep groove ball bearing; 32. Input skeleton seal ring; 33. Input O-ring; 34. Skeleton seal ring for pipe; 35. Support flange; 36. Driver; 37. Input encoder; 38. Output encoder; 39. Motor cover; 40. End skeleton seal ring. DETAILED DESCRIPTION

[0045] 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.

[0046] A lightweight RV reducer module, such as Figure 1 As shown, it includes an RV reducer 01, a motor 02 and a connecting flange 19. The RV reducer 01 is connected to the motor 02 and the connecting flange 19, and the motor 02 is installed in the connecting flange 19. The RV reducer 01 includes a pin gear housing 1, a needle roller 4, a cycloidal wheel 5, an eccentric shaft 6, an output shaft 7, an output shaft cover 8, a planetary wheel 9 and an input shaft 10. The output shaft 7 and the output shaft cover 8 are connected by a conical pin and an inner hexagon screw to form an output disc frame. The two cycloidal wheels 5 are respectively installed on the two cams of the eccentric shaft 6. The needle roller 4 is arranged between the inner teeth of the pin gear housing 1 and the outer teeth of the two cycloidal 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 cycloidal wheel 5 is one less than that of the inner teeth of the pin gear housing 1. The motor 02 includes a stator steel sheet 25, a winding end 26, a magnetic steel 27, a rotor yoke 28 and a rotating shaft 29, and the connecting flange 19 is connected to the pin gear housing 1. The planetary gear 9 is installed at one end of the eccentric shaft 6 close to the motor 02. One end of the input shaft 10 is meshed with the outer teeth of the planetary gear 9, and the other end passes through the connecting flange 19 and is fixed in the inner hole of the rotating shaft 29 by the connecting screws 30.

[0047] like Figure 1As shown, the basic structure and working principle of the RV reducer 01 are the same as those of the prior art. After the winding end 26 in the motor 02 is energized, the stator steel sheet 25, the magnetic steel 27, and the rotor yoke 28 are controlled to drive the rotating shaft 29 to rotate. The rotating shaft 29 drives the input shaft 10 to rotate and engage with the planetary gear 9 to perform planetary reduction. The planetary gear 9 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 7 and the output shaft cover 8 to rotate, and cycloid reduction is performed. The output shaft 7 outputs the speed and torque as the output end.

[0048] Specifically, Figure 1 As shown, needle roller and retainer bearings 11 are respectively provided 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 holes of the output shaft 7 and the bearing holes of the output shaft cover 8. In the present application, the four needle roller and retainer bearings 11 on each eccentric shaft 6 have no inner ring and outer ring. In this way, by reducing the inner and outer diameters of the needle roller and retainer bearings 11, the inner and outer diameters of the needle gear housing 1, the output shaft 7, the output shaft cover 8, the cycloid wheel 5, etc. are correspondingly reduced, that is, the inner and outer diameters of the RV reducer 01 are reduced, and the weight is greatly reduced, so that the small volume and lightweight of the entire module are realized from the radial direction, and the structure is made more compact.

[0049] like Figure 1 As shown, roller support bearings 12 are arranged between the inner hole of the pin gear housing 1 and the outer circle of the output shaft 7 and the outer circle of the output shaft cover 8. The two ends of the needle roller 4 and the ends of the two cycloidal wheels 5 that are far away from each other are in contact with the outer ring of the roller support bearing 12 that is close to them. The inner ring of the roller support bearing 12 is in contact with the step of the inner hole of the output shaft 7 / output shaft cover 8 corresponding to it. The two roller support bearings 12 are used to limit the cycloidal wheel 5 and the needle roller 4 to prevent the needle roller 4 and the cycloidal wheel 5 from axially moving significantly. The roller support bearing 12 in the utility model replaces the original angular contact ball bearing, and the bending moment resistance capacity is improved by 2-3 times. Under the same bending moment resistance capacity, a small volume roller support bearing 12 can be used, thereby further reducing the inner and outer diameters and axial thickness of the pin gear housing 1, and further realizing the small volume and light weight of the entire module from both the axial and radial directions.

[0050] like Figure 1As shown, an output side baffle 14 coaxially arranged therewith is provided at the end of the output shaft 7 away from the planetary gear 9, the output side baffle 14 is mounted on the output shaft 7 and its outer circle abuts against the inner hole of the output shaft 7, the outer end face of the output side baffle 14 is flush with the outer end face of the output shaft 7 after installation, and the output side baffle 14 is limitedly abutted against the ends of multiple eccentric shafts 6 and the needle rollers and cage bearings 11 close thereto. An input side baffle 18 coaxially arranged therewith is provided between the end of the output shaft cover 8 close to the planetary gear 9 and the planetary gear 9, the input side baffle 18 is mounted on the output shaft cover 8 and its outer circle abuts against the inner hole of the output shaft cover 8, and the input side baffle 18 and the needle rollers and cage bearings 11 close thereto and the true circular step close thereto of the eccentric shaft 6 are limitedly abutted therewith.

[0051] like Figure 1 As shown, the output side baffle 14 and the input side baffle 18 are used to limit the eccentric shaft 6 and the needle roller and retainer bearings 11 at both ends of the eccentric shaft 6 to avoid axial movement of the eccentric shaft 6 and the needle roller and retainer bearings 11. In this way, the deep groove ball bearings 31 and the hole limit rings between the two ends of the eccentric shaft 6 and the output shaft 7 and the output shaft cover 8 are eliminated, which greatly reduces the axial length of the RV reducer 01, and the axial length and weight of the needle gear housing 1 are reduced accordingly, thereby achieving a small volume and lightweight of the entire module from the axial direction.

[0052] Among them, Figure 1 As shown, a wire tube 16 coaxial with the output shaft 7 is installed in the center hole of the output shaft 7, and the wire tube 16 and the output side baffle 14 are close to each other and abut against each other, and the wire tube 16 also abuts against the step of the center hole of the output shaft 7. The wire tube 16 is convenient for the threading of the cable, and the output side baffle 14 and the step of the center hole of the output shaft 7 are directly used to limit the wire tube 16 to avoid its axial movement, and there is no need to set a limit ring for the wire tube 16. In addition, the inner hole of the planetary gear 9 and the outer wall of the eccentric shaft 6 are installed with interference fit, and there is no need to set an axial limit ring between the two sides of the planetary gear 9 and the eccentric shaft 6, which can avoid the axial movement of the planetary gear 9, and can also reduce the length of the pin gear housing 1 and the eccentric shaft 6 in the axial direction, further achieving small volume and light weight.

[0053] like Figure 1 As shown, a shell ring 2 is provided in the middle of the outer wall of the needle tooth housing 1, which is coaxial with the housing 1 and extends radially outward. A flange ring 20 is provided at one end of the connecting flange 19 close to the needle tooth housing 1, which is coaxial with the housing 1 and extends axially outward. The flange ring 20 and the housing ring 2 are in contact with each other at the end walls close to each other, and are connected and fixed by a plurality of hexagon socket bolts 21 arranged around the circumference of the housing ring 2. The needle tooth housing 1 and the housing ring 2 are integrally arranged and are both made of steel to ensure strength. The connecting flange 19 and the flange ring 20 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 21 are installed from the connecting flange 19 side.

[0054] like Figure 1As shown, the end of the needle tooth housing 1 located at the housing ring 2 close to the connecting flange 19 is installed in the flange ring 20, so that part of the volume of the needle tooth housing 1 is replaced by the connecting flange 19, 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 20 are interference fit. On the premise that the flange ring 20 enhances the strength of the needle tooth housing 1, the wall thickness of the end of the needle tooth housing 1 located in the flange ring 20 can be thinned, thereby further reducing the outer diameter and weight of the needle tooth housing 1.

[0055] In addition, if Figure 1 As shown, a plurality of mounting holes 3 spaced apart from the hexagon socket bolts 21 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 19, and the bottom of the mounting holes 3 extends to the flange ring 20. 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 20 at the same time, and the threaded connection length is increased to ensure the connection strength, while the axial thickness of the shell ring 2 does not need to be made 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 20 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 20 can also be thinned, which can further reduce the outer diameter and weight of the needle tooth housing 1.

[0056] like Figure 1 As shown, the stator steel sheet 25, magnetic steel 27, rotor yoke 28 and rotating shaft 29 in the motor 02 are coaxial and arranged in sequence from outside to inside, the winding end 26 is arranged at the end of the stator steel sheet 25 away from the RV reducer 01, and the end of the winding end 26 away from the stator steel sheet 25 is provided with a support flange 35 installed at the end of the connecting flange 19 away from the pin gear housing 1, and deep groove ball bearings 31 are respectively arranged at both ends of the rotating shaft 29 and between the connecting flange 19 and the supporting flange 35. A driver 36 and a motor cover 39 covered outside the driver 36 are installed on the side of the supporting flange 35 away from the connecting flange 19, and the end of the wire tube 16 away from the output shaft 7 extends to the motor cover 39. The support flange 35 and the connecting flange 19 cooperate to realize the installation and protection of the motor 02, and the motor cover 39 and the support flange 35 cooperate to realize the installation and protection of the driver 36. After the driver 36 controls the winding end 26 to be energized, the stator steel sheet 25, the magnetic steel 27, and the rotor yoke 28 cooperate to realize the driving shaft 29 to drive the input shaft 10 to rotate. Among them, the input shaft 10 is a steel part, and the shaft 29 is an aluminum part, which can reduce the driving inertia of the rotor of the motor 02.

[0057] like Figure 1As shown, in order to achieve the sealing of the entire module, an output skeleton sealing ring 13 is also provided between the inner hole of the pin gear housing 1 and the outer circle of the output shaft 7. The output skeleton sealing ring 13 is located on the side of the roller support bearing 12 close to it, away from the cycloid wheel 5, and its end wall abuts against the inner ring of the corresponding roller support bearing 12. Figure 1 and Figure 2 As shown, a plurality of output side O-type sealing rings 15 are installed between the end surface of the output side baffle 14 close to the eccentric shaft 6 and the inner hole end surface of the output shaft 7. The plurality of output side O-type sealing rings 15 are embedded on the output side baffle 14 and arranged in an array around the circumference of the output side baffle 14, and correspond one by one to the plurality of eccentric shafts 6. Figure 1 As shown, an O-ring 22 for flange is provided between the inner hole of the flange ring 20 and the outer ring of the pin gear housing 1 and is embedded in the inner wall of the flange ring 20; an O-ring 17 for pipe is provided between the outer circle of the wire tube 16 and the inner hole of the output shaft 7 and is embedded in the outer wall of the wire tube 16; an end frame sealing ring 40 is provided between the outer circle of the wire tube 16 and the inner hole of the motor cover 39.

[0058] like Figure 1 As shown, the output skeleton sealing ring 13 realizes the sealing between the pinion housing 1 and the output shaft 7, the output side O-ring 15 realizes the sealing between the output side baffle 14 and the eccentric shaft 6, the flange O-ring 22 realizes the sealing between the pinion housing 1 and the pinion housing 1, the tube O-ring 17 realizes the sealing between the wire tube 16 and the output shaft 7, and the end skeleton sealing ring 40 realizes the sealing between the wire tube 16 and the motor cover 39, so that the whole module is fully sealed outside, grease leakage and infiltration of dust, water, etc. are avoided, and the whole module is fully sealed. Protection.

[0059] In addition, if Figure 1 As shown, an input skeleton seal ring 32 is provided between the inner hole of the connecting flange 19 and the outer circle of the input shaft 10. The input skeleton seal ring 32 is located at one end of the rotating shaft 29 close to the planetary gear 9, and the input skeleton seal ring 32 abuts against the rotating shaft 29 and the deep groove ball bearing 31 close thereto. An input O-type seal ring 33 is also provided between the outer circle of the input shaft 10 and the inner hole of the rotating shaft 29 and is embedded in the inner wall of the rotating shaft 29. The input skeleton seal ring 32 realizes the seal between the connecting flange 19 and the input shaft 10, and the input O-type seal ring realizes the seal between the input shaft 10 and the rotating shaft 29, thereby realizing the seal between the RV reducer 01 and the motor 02, and preventing the grease of the RV reducer 01 from penetrating into the motor 02.

[0060] like Figure 1As shown, a pipe skeleton seal ring 34 is provided between the inner hole of the rotating shaft 29 and the outer circle of the wire tube 16, and the pipe skeleton seal ring 34 is located on the side of the connecting screw 30 away from the input shaft 10. The pipe skeleton seal ring 34 realizes the seal between the rotating shaft 29 and the wire tube 16 to prevent grease from accidentally penetrating into the driver 36 and affecting the electrical connection on the driver 36, thereby ensuring the normal operation of the entire module. Under the cooperation of the input skeleton seal ring 32, the input O-ring 33 and the pipe skeleton seal ring 34, the interior of the entire module is fully sealed to ensure the service life of the entire module. Among them, the O-rings that realize the sealing of the module are all static seals, and the skeleton seal rings are all dynamic seals, and the lip of the input skeleton seal ring 32 that abuts the high-speed rotating shaft 29 is plated with a low friction coefficient material to reduce friction and heat.

[0061] To improve the control accuracy of the entire module, such as Figure 1 As shown, an input encoder 37 coaxial with the driver 36 is installed at one end of the rotating shaft 29 close to the driver 36, and an output encoder 38 coaxial with the driver 36 is installed on the outer circle of the wire tube 16. The input encoder 37 and the output encoder 38 are respectively located on both sides of the driver 36, and are both close to the driver 36 and feedback connected with the driver 36. The input encoder 37 detects the input angle of the rotating shaft 29 in real time, and the output encoder 38 detects the output angle of the wire tube 16 relatively stationary with the output shaft 7 in real time. The input encoder 37 and the output encoder 38 cooperate to realize the closed-loop control of the output and input, thereby improving the control accuracy and response speed of the entire module.

[0062] like Figure 1 As shown, in order to prevent the internal temperature of the connecting flange 19 from being too high due to the long-term operation of the motor 02, a heat dissipation groove 23 is provided on the outer wall of the connecting flange 19. Several groups of heat dissipation grooves 23 are arranged in an axial array along the connecting flange 19, and the outer wall of the connection between the connecting flange 19 and the flange ring 20 is provided with an annular groove 24 forming a gap. The heat dissipation groove 23 outside the connecting flange 19 and the annular groove 24 between the connecting flange 19 and the flange ring 20 are utilized to increase the surface area of ​​the connecting flange 19, increase the heat dissipation area, improve the heat dissipation efficiency, realize rapid heat dissipation of the motor 02, and prevent the internal temperature of the connecting flange 19 from being too high, which affects the service life of the motor 02. In addition, the heat dissipation groove 23 and the annular groove 24 can also reduce the weight of the connecting flange 19, further reducing the weight of the entire module.

[0063] Working principle and usage of the utility model:

[0064] After the winding end 26 is energized, the stator steel sheet 25, the magnetic steel 27, and the rotor yoke 28 cooperate to drive the rotating shaft 29 to rotate, and the rotating shaft 29 drives the planetary gear 9 on the eccentric shaft 6 to rotate through the input shaft 10 to perform planetary reduction. The planetary gear 9 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 7 and the output shaft cover 8 to rotate, and cycloid reduction is performed. The output shaft 7 outputs the speed and torque as the output end.

[0065] In the utility model, by improving the structures and / or the installation connection structures of the pinion housing 1, the connecting flange 19, the needle roller and retainer bearing 11, the roller support bearing 12, the planetary gear 9, the eccentric shaft 6, the input side baffle 18, the output side baffle 14, etc., the volume and weight of the RV reducer 01 are reduced in terms of the axial and radial directions and the wall thickness of the pinion housing 1, thereby achieving a small volume and lightweight of the entire module.

[0066] The entire module is fully sealed externally by the output skeleton seal ring 13, the output side O-ring 15, the flange O-ring 22, the pipe O-ring 17, and the end skeleton seal ring 40. The RV reducer 01 and the motor 02 are sealed by the input skeleton seal ring 32 and the input O-ring 33. The pipe skeleton seal ring 34 provides sealing protection for the driver 36. The closed-loop control of the output and input is achieved by the cooperation of the input encoder 37 and the output encoder 38, thereby improving the control accuracy and response speed of the entire module.

[0067] 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 lightweight RV reducer module, characterized in that: It comprises an RV reducer (01), a motor (02) and a connecting flange (19), wherein the RV reducer (01) is connected to the motor (02) and the connecting flange (19), and the motor (02) is installed in the connecting flange (19); The RV reducer (01) comprises a pinion housing (1), a needle roller (4), a cycloidal wheel (5), an eccentric shaft (6), an output shaft (7), an output shaft cover (8), a planetary wheel (9) and an input shaft (10); the two cycloidal wheels (5) are respectively mounted on two cams of the eccentric shaft (6); the needle roller (4) is arranged between the inner teeth of the pinion housing (1) and the outer teeth of the two cycloidal wheels (5); needle rollers and retainer bearings (11) are respectively arranged between the bearing hole of the cycloidal 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 (7) and the bearing hole of the output shaft cover (8); The planetary gear (9) is mounted on one end of the eccentric shaft (6) close to the connecting flange (19), and an inner hole thereof is interference-fitted with an outer wall of the eccentric shaft (6), and one end of the input shaft (10) is meshed with the outer teeth of the planetary gear (9); An output side baffle (14) coaxially arranged therewith is provided at one end of the output shaft (7) away from the planetary gear (9); the output side baffle (14) is mounted on the output shaft (7) and its outer circle abuts against the inner hole of the output shaft (7); after the output side baffle (14) is installed, the outer end surface is flush with the outer end surface of the output shaft (7); the output side baffle (14) is in limited abutment with the ends of the plurality of eccentric shafts (6) and the needle rollers and cage bearings (11) close thereto; A wire tube (16) coaxial with the output shaft (7) is installed in the central hole of the output shaft (7), and the wire tube (16) and the output side baffle (14) are close to each other and abut against each other; An input side baffle (18) coaxial with the output shaft cover (8) is provided between one end of the output shaft cover (8) close to the planetary gear (9) and the planetary gear (9); the input side baffle (18) is mounted on the output shaft cover (8) and its outer circle abuts against the inner hole of the output shaft cover (8); the input side baffle (18) and the needle roller and cage bearing (11) close to it and the eccentric shaft (6) are in position-limiting abutment with the true circular step close to it; The motor (02) comprises a stator steel sheet (25), a winding end (26), a magnetic steel (27), a rotor yoke (28) and a rotating shaft (29); the connecting flange (19) is connected to the pinion housing (1); the stator steel sheet (25), the magnetic steel (27), the rotor yoke (28) and the rotating shaft (29) are coaxial and arranged in sequence from the outside to the inside; the winding end (26) is arranged at the end of the stator steel sheet (25) away from the RV reducer (01); the end of the input shaft (10) away from the planetary gear (9) passes through the center hole of the connecting flange (19) and is connected to the rotating shaft (29) by a connecting screw (30); The end of the winding end (26) away from the stator steel sheet (25) is provided with a support flange (35) mounted on the end of the connecting flange (19) away from the pin gear housing (1), and deep groove ball bearings (31) are respectively provided at both ends of the rotating shaft (29) and between the connecting flange (19) and the support flange (35); a driver (36) and a motor cover (39) arranged outside the driver (36) are installed on the side of the support flange (35) away from the connecting flange (19), and the end of the wire tube (16) away from the output shaft (7) extends to the motor cover (39).

2. A lightweight RV reducer module according to claim 1, characterized in that: The needle roller and retainer bearing (11) have no inner ring and outer ring, and roller support bearings (12) are provided between the inner hole of the needle gear housing (1) and the outer circle of the output shaft (7) and the outer circle of the output shaft cover (8). The two ends of the needle roller (4) and the ends of the two cycloid wheels (5) that are far away from each other are in contact with the outer ring of the roller support bearing (12) close to them, and the inner ring of the roller support bearing (12) is in contact with the step of the inner hole of the corresponding output shaft (7) / output shaft cover (8).

3. A lightweight RV reducer module according to claim 1 or 2, characterized in that: A shell ring (2) is provided in the middle of the outer wall of the needle gear housing (1) and is coaxial with the needle gear housing (1) and extends radially outward. A flange ring (20) is provided at one end of the connecting flange (19) close to the needle gear housing (1) and is coaxial with the needle gear housing (1) and extends axially outward. The flange ring (20) 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 bolts (21) arranged around the circumference of the shell ring (2). The needle gear housing (1) is located at one end of the shell ring (2) close to the connecting flange (19) and is installed in the flange ring (20), and the outer circle of the needle gear housing (1) is interference fit with the inner hole of the flange ring (20).

4. A lightweight RV reducer module according to claim 3, characterized in that: The shell ring (2) is provided with a plurality of mounting holes (3) arranged in a circumferential array and spaced apart from the hexagon socket bolts (21). The mounting holes (3) penetrate the shell ring (2) from the end of the shell ring (2) away from the connecting flange (19), and the bottom of the mounting holes (3) extends to the flange ring (20).

5. A lightweight RV reducer module according to claim 3, characterized in that: An output skeleton sealing ring (13) is also provided between the inner hole of the pin gear housing (1) and the outer circle of the output shaft (7). The output skeleton sealing ring (13) is located on a side of the roller support bearing (12) close to it and away from the cycloid wheel (5), and its end wall abuts against the inner ring of the corresponding roller support bearing (12); A plurality of output side O-type sealing rings (15) are installed between the end surface of the output side baffle (14) close to the eccentric shaft (6) and the inner hole end surface of the output shaft (7); the plurality of output side O-type sealing rings (15) are embedded on the output side baffle (14) and arranged in an array around the circumference of the output side baffle (14), and correspond one to one with the plurality of eccentric shafts (6); An O-type sealing ring (22) for flange is provided between the inner hole of the flange ring (20) and the outer ring of the needle gear housing (1), and the O-type sealing ring (22) for flange is embedded in the inner wall of the flange ring (20); An O-type sealing ring (17) for pipes is provided between the outer circle of the wire tube (16) and the inner hole of the output shaft (7) and is embedded in the outer wall of the wire tube (16). An end frame sealing ring (40) is provided between the outer circle of the wire tube (16) and the inner hole of the motor cover (39).

6. A lightweight RV reducer module according to claim 5, characterized in that: An input skeleton sealing ring (32) is provided between the inner hole of the connecting flange (19) and the outer circle of the input shaft (10), and the input skeleton sealing ring (32) is located at one end of the rotating shaft (29) close to the planetary gear (9), and the input skeleton sealing ring (32) abuts against the rotating shaft (29) and the deep groove ball bearing (31) close thereto; An input O-type sealing ring (33) is provided between the outer circle of the input shaft (10) and the inner hole of the rotating shaft (29), and the input O-type sealing ring (33) is embedded in the inner wall of the rotating shaft (29); A pipe skeleton sealing ring (34) is provided between the inner hole of the rotating shaft (29) and the outer circle of the wire passing tube (16), and the pipe skeleton sealing ring (34) is located on the side of the connecting screw (30) away from the input shaft (10).

7. A lightweight RV reducer module according to claim 1, characterized in that: An input encoder (37) coaxial with the driver (36) is installed at one end of the rotating shaft (29) close to the driver (36), and an output encoder (38) coaxial with the driver (36) is installed on the outer circle of the wire tube (16). The input encoder (37) and the output encoder (38) are both close to the driver (36) and connected to the driver for feedback, and are respectively located on both sides of the driver (36).

8. A lightweight RV reducer module according to claim 3, characterized in that: The outer wall of the connecting flange (19) is provided with a heat dissipation groove (23), and a plurality of groups of the heat dissipation grooves (23) are arranged in an axial array along the connecting flange (19), and an annular groove (24) is provided on the outer wall of the connection portion between the connecting flange (19) and the flange ring (20).

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