RV speed reduction device and rotating joint

Abstract

The utility model provides an RV speed reducer and a rotating joint, and relates to the field of gear boxes. The RV speed reducer comprises a speed reducer assembly and a motor assembly, the speed reducer assembly comprises a plurality of planetary gears, the motor assembly comprises an input shaft, the input shaft is in transmission fit with the planetary gears, an included angle is formed between the axis of the input shaft and the axes of the planetary gears, and the input shaft is used for transmitting torque to the planetary gears. By means of the structural design of the RV speed reducer, the size of the speed reducer in the axial direction can be reduced, the size of the containing space needed when the speed reducer works is reduced, and the use range of the speed reducer is widened.

Description

Technical Field

[0001] The utility model relates to the field of gearboxes, and more specifically, to an RV reduction device and a rotating joint. Background Art

[0002] At present, the input shaft of the RV reducer and the motor generally adopt a split installation method, and the motor and the input shaft are usually perpendicular to the end face of the reducer. Although the split installation method is convenient, it is not friendly to robot manufacturers. If the installation accuracy of robot manufacturers is insufficient, it is easy to cause bumps to the gears, affecting the performance and quality of the reducer. At the same time, this installation method also leads to a waste of installation resources for robot manufacturers; in addition, the layout method where the motor and the input shaft are perpendicular to the end face of the reducer makes the size of the reducer in the axial direction large, resulting in a larger accommodation space required when the reducer works. For some working scenarios with space requirements, this installation method cannot be satisfied, and the use of the reducer is limited. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an RV reduction device and a rotating joint, which can reduce the size of the reducer in the axial direction, reduce the accommodation space required when the reducer works, and expand the application range of the reducer.

[0004] The embodiments of the utility model are implemented as follows:

[0005] In a first aspect, the utility model provides an RV reduction device, including:

[0006] A reducer assembly and a motor assembly. The reducer assembly includes a plurality of planetary gears, the motor assembly includes an input shaft, the input shaft is in transmission cooperation with the plurality of planetary gears, an axis of the input shaft and an axis of the planetary gears form an included angle, and the input shaft is used for transmitting torque to the plurality of planetary gears.

[0007] In an alternative embodiment, the reducer assembly further includes a pin gear housing and a transmission gear ring. The transmission gear ring is rotatably installed on the pin gear housing, and the input shaft is in transmission cooperation with the planetary gears through the transmission gear ring.

[0008] Based on the above solution, the torque can be stably transmitted to the plurality of planetary gears through the transmission gear ring, with a simple structure and reliable operation; moreover, there are few components, which is convenient for assembly and reduces the manufacturing cost.

[0009] In an alternative embodiment, the transmission gear ring includes a first gear ring and a second gear ring connected to each other. On the end face of the first gear ring away from the second gear ring, a plurality of first teeth arranged in the circumferential direction of the first gear ring are provided, and the input shaft meshes with the first teeth; on the inner circumferential surface of the second gear ring, a plurality of second teeth arranged in its circumferential direction are provided, and all the planetary gears mesh with the second teeth.

[0010] Based on the above solution, when the input shaft rotates, torque is transmitted to the first gear ring, and then the second gear ring is driven to rotate by the first gear ring, so that the second gear ring drives a plurality of planetary gears to rotate, and the torque transmission is stable and reliable.

[0011] In an alternative embodiment, the first gear ring and the second gear ring are detachably connected.

[0012] Based on the above solution, the first gear ring and the second gear ring are independently processed with high machining accuracy and high assembly quality; moreover, it is convenient to replace the first gear ring, reducing the operation cost.

[0013] In an alternative embodiment, a first connection structure is provided on the end face of the first gear ring opposite to the first teeth, a second connection structure is provided on one end face of the second gear ring, and the first connection structure and the second connection structure are detachably inserted and matched to relatively fix the first gear ring and the second gear ring in the circumferential direction of the first gear ring.

[0014] Based on the above solution, the connection method of the first gear ring and the second gear ring is simple and reliable, the assembly is convenient, and the disassembly and assembly efficiency is high.

[0015] In an alternative embodiment, the RV reduction gear assembly and the motor assembly are integrated into an integral structure.

[0016] Based on the above solution, when the user cooperates the RV reduction gear device with an actuator such as a rotating joint, the assembly process of installing the RV reduction gear assembly and the motor assembly can be omitted, the assembly efficiency can be improved, and the assembly error can also be reduced, thereby improving the assembly quality of the RV reduction gear device and the actuator such as the rotating joint.

[0017] In an alternative embodiment, the RV reduction gear device further includes a connection housing, and both the reduction gear assembly and the motor assembly are installed in the connection housing.

[0018] Based on the above solution, the integrated design of the reduction gear assembly and the motor assembly is realized through the connection housing, with a simple structure, convenient disassembly and assembly, and convenient maintenance.

[0019] In an alternative embodiment, the connecting housing includes a housing and a cover. The reducer assembly and the motor assembly are both installed in the housing. The cover is detachably connected to the housing. The cover and the housing cooperate to define an installation cavity, and the input shaft is located in the installation cavity.

[0020] Based on the above solution, the input shaft is not directly exposed to the external environment, is not easily contaminated and damaged, and has a long service life.

[0021] In an alternative embodiment, a plurality of connecting lugs are provided on the housing, and an assembly hole is provided on each connecting lug.

[0022] Based on the above solution, it is convenient to fix the housing and an actuator such as a rotating joint together through the connecting lugs.

[0023] In a second aspect, the present utility model provides a rotating joint, which includes:

[0024] A first joint arm, a second joint arm, and the RV reduction device according to any one of the foregoing embodiments. The first joint arm is provided with a slot, the motor assembly is embedded in the slot, the reducer assembly is installed on the first joint arm, and the output part of the reducer assembly is fixedly connected to the second joint arm.

[0025] The beneficial effects of the embodiments of the present utility model are:

[0026] In summary, for the RV reduction device provided in this embodiment, by setting the axis of the input shaft to have an included angle with the axis of the planetary gear, compared with the design scheme where the axis of the input shaft is parallel to the axis of the planetary gear, the size of the RV reduction device in the axial direction of the input shaft or the planetary gear can be effectively reduced, thereby reducing the size of the RV reduction device in the axial direction. The RV reduction device occupies less space in the axial direction during installation and can be used in an environment with limited space, and has a wide range of uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic diagram of the RV reduction device according to the embodiment of the present utility model;

[0029] Figure 2 It is an internal schematic diagram of the RV reduction device according to the embodiment of the present utility model;

[0030] Figure 3 Partial schematic diagram of the RV reduction gear of the embodiment of the present utility model;

[0031] Figure 4 Cross-sectional schematic diagram of the RV reduction gear of the embodiment of the present utility model;

[0032] Figure 5 Schematic diagram of the transmission gear ring of the embodiment of the present utility model;

[0033] Figure 6 Schematic diagram of the first gear ring of the embodiment of the present utility model;

[0034] Figure 7 Schematic diagram of the second gear ring of the embodiment of the present utility model;

[0035] Figure 8 Application schematic diagram of the input shaft and the transmission gear ring meshing of the embodiment of the present utility model;

[0036] Figure 9 Schematic diagram of the rotating joint of the embodiment of the present utility model.

[0037] Icon:

[0038] 100 - Reducer assembly; 110 - Pin tooth housing; 120 - Transmission gear ring; 121 - First gear ring; 1211 - First tooth body; 1212 - First connection structure; 122 - Second gear ring; 1221 - Second tooth body; 1222 - Second connection structure; 130 - Bearing; 140 - Planet gear; 200 - Motor assembly; 210 - Motor body; 220 - Input shaft; 300 - Connection shell; 310 - Housing; 320 - Cover; 330 - Connection lug; 331 - Assembly hole; 001 - Rotating joint; 011 - First joint arm; 0111 - Slot; 012 - Second joint arm. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0040] Accordingly, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0041] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0042] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is customarily placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0043] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0044] In the description of the present utility model, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0045] In the prior art, the speed reducer and the motor are designed as a split type. During assembly, the rotating shaft of the motor needs to be inserted and mated with the input shaft 220 that drives the rotation of multiple planetary gears 140 on the speed reducer. The rotating shaft of the motor and the input shaft 220 are arranged in parallel or coaxially. In this way, the overall structure of the speed reduction device formed by the cooperation of the speed reducer and the motor is large in size in the axial direction, occupies a large space, and the usage scenarios are limited.

[0046] In view of this, the designer provides an RV reduction device, which can reduce the size of the overall structure in the axial direction, reduce the axial volume, reduce the axial occupied space, and is beneficial to be used in scenarios with limited space.

[0047] Please refer to Figures 1-8 , in this embodiment, the RV reduction device includes a reduction gear assembly 100 and a motor assembly 200. The reduction gear assembly 100 includes a plurality of planetary gears 140. The motor assembly 200 includes an input shaft 220. The input shaft 220 is in transmission cooperation with the plurality of planetary gears 140. The axis of the input shaft 220 has an angle with the axis of the planetary gears 140. The input shaft 220 is used to transmit torque to the plurality of planetary gears 140.

[0048] Continuing from the above, the working mode of the RV reduction device provided in this embodiment is as follows:

[0049] After the motor assembly 200 is started, torque is output from the input shaft 220 to the reduction gear assembly 100, and the reduction gear assembly 100 outputs the torque after deceleration. Please refer to Figure 9 , the motor assembly 200 and the reduction gear assembly 100 can be applied to the rotating joint 001 and can drive the rotating joint 001 to rotate. For example, the reduction gear assembly 100 and the motor assembly 200 are connected to the first joint arm 011 of the rotating joint 001, and the output part of the reduction gear assembly 100 is connected to the second joint arm 012 of the rotating joint 001. The output torque of the reduction gear assembly 100 can drive the second joint arm 012 to rotate relative to the first joint arm 011.

[0050] It should be understood that for the RV reduction device provided in this embodiment, by setting the axis of the input shaft 220 to have an angle with the axis of the planetary gears 140, compared with the design scheme where the axis of the input shaft 220 is parallel to the axis of the planetary gears 140, it can effectively reduce the size of the RV reduction device in the axial direction of the input shaft 220 or the planetary gears 140, thereby reducing the size of the RV reduction device in the axial direction. The RV reduction device occupies less space in the axial direction during installation and can be used in an environment with limited space, and has a wide range of uses.

[0051] The following embodiments will illustrate the detailed structure of the RV reduction device provided in this application by way of examples.

[0052] Please refer to Figures 1-3 , in this embodiment, the RV reduction device includes a reduction gear assembly 100 and a motor assembly 200. The reduction gear assembly 100 and the motor assembly 200 cooperate. The torque output by the motor assembly 200 is output after passing through the reduction gear assembly 100. The reduction gear assembly 100 can adjust the speed ratio as needed, so as to output torque that meets the requirements.

[0053] Among them, the speed reducer assembly 100 includes a pin gear housing 110, a transmission gear ring 120, bearings 130, and a plurality of planetary gears 140. The transmission gear ring 120 and the pin gear housing 110 are rotatably fitted through the bearings 130. The bearings 130 are clamped between the pin gear housing 110 and the transmission gear ring 120, and the three are coaxially arranged. The number of the planetary gears 140 can be three. The three planetary gears 140 are arranged in a circle around the axis of the pin gear housing 110 and are all installed in the area surrounded by the pin gear housing 110. Among them, the bearings 130 can be rolling bearings 130.

[0054] Please combine Figures 5-7 Optionally, the transmission gear ring 120 includes a connected first gear ring 121 and a second gear ring 122. On the end face of the first gear ring 121 away from the second gear ring 122, a plurality of first teeth 1211 arranged in the circumferential direction of the first gear ring 121 are provided. The number of the first teeth 1211 is set as required. And the first teeth 1211 can be set as helical teeth, which can mesh with the input shaft 220 of the motor assembly 200 at different angles to compensate for the dimensional errors caused by manufacturing errors and assembly errors of the motor assembly 200 and the speed reducer assembly 100. On the inner circumferential surface of the second gear ring 122, a plurality of second teeth 1221 arranged in its circumferential direction are provided. The number of the second teeth 1221 is set as required. The three planetary gears 140 are all meshed with the second teeth 1221.

[0055] Optionally, the first gear ring 121 and the second gear ring 122 can be set as an integral structure, which has high structural strength and is convenient for processing and manufacturing.

[0056] Optionally, the first gear ring 121 and the second gear ring 122 can also be set as a split structure. For example, the first gear ring 121 and the second gear ring 122 can be detachably fitted by means of insertion. The first gear ring 121 and the second gear ring 122 can be disassembled, which is convenient for replacement and reduces the use cost. And the first gear ring 121 can be adjusted according to the structural form of the input shaft 220 of the motor assembly 200, with flexible use and strong adaptability. That is to say, when the specifications or structural forms of the motor assembly 200 change, the first gear ring 121 is detached from the second gear ring 122, and the motor assembly 200 and the speed reducer assembly 100 can still be matched, reducing the cost.

[0057] It should be understood that the detachable connection structures of the first gear ring 121 and the second gear ring 122 are in various forms, and examples will be given in this embodiment. For example, a first connection structure 1212 is provided on the other end surface of the first gear ring 121 opposite to the end surface provided with the first tooth body 1211. The first connection structure 1212 can be a protrusion or a groove. In addition, the number of the first connection structures 1212 can be one or more. When the number of the first connection structures 1212 is multiple, the connection strength can be improved, and the structural stability and reliability can be enhanced. Specifically, in this embodiment, the first connection structure 1212 on the first gear ring 121 is set as a protrusion, and the number of the first connection structures 1212 is six. The six first connection structures 1212 are evenly spaced in the circumferential direction of the first gear ring 121. Correspondingly, a second connection structure 1222 is provided on the end surface of the second gear ring 122 corresponding to the first gear ring 121. The second connection structure 1222 needs to be inserted and matched with the first connection structure 1212. When the first connection structure 1212 is a protrusion, the second connection structure 1222 is a groove. When the first connection structure 1212 is a groove, the second connection structure 1222 is a protrusion. Thus, in this embodiment, the number of the second connection structures 1222 is the same as that of the first connection structures 1212, that is, the number of the second connection structures 1222 is six. The six second connection structures 1222 are evenly spaced in the circumferential direction of the second gear ring 122. Each second connection structure 1222 is a groove. The six first connection structures 1212 are respectively inserted and matched with the six second connection structures 1222 one by one. When they approach each other, the first connection structure 1212 can be inserted into the corresponding second connection structure 1222. When they move away from each other, the first gear ring 121 and the second gear ring 122 are separated. Obviously, after the first gear ring 121 and the second gear ring 122 are inserted, they are relatively fixed in the circumferential direction of the first gear ring 121 or the second gear ring 122. That is to say, they will not rotate relative to each other, and the transmission of torque can be realized.

[0058] Please combine Figure 1 and Figure 2 In this embodiment, optionally, the motor assembly 200 includes a motor body 210 and an input shaft 220. The motor body 210 is connected to the input shaft 220 and can drive the input shaft 220 to rotate. The input shaft 220 can be set as a gear shaft, and a plurality of third tooth bodies are formed on the outer peripheral surface of the input shaft 220. The third tooth bodies are meshed with the first tooth bodies 1211. And, in this embodiment, the axis of the input shaft 220 is perpendicular to the axis of the planetary gear 140. In other words, the axes of the input shaft 220 and the planetary gear 140 can be at any non-zero angle and can be selected as required. In this embodiment, the case where the axes of the input shaft 220 and the planetary gear 140 are perpendicular is taken as an example for illustration.

[0059] During the actual operation process, the input shaft 220 rotates, driving the first gear ring 121 to rotate, thereby causing the second gear ring 122 to rotate together. The second gear ring 122 transmits torque to the three planetary gears 140, driving the three planetary gears 140 to rotate, and then the output part of the speed reducer assembly 100 outputs torque.

[0060] In other embodiments, optionally, the speed reducer assembly 100 and the motor assembly 200 can be set as an integrated structure. When the user uses the RV reduction device in cooperation with the rotating joint 001, the assembly process of installing the speed reducer assembly 100 and the motor assembly 200 can be omitted, improving the assembly efficiency. It can also reduce the assembly error, thereby improving the assembly quality of the RV reduction device and the actuator such as the rotating joint 001.

[0061] Please combine Figure 1 and Figure 4 , optionally, the speed reducer assembly 100 and the motor assembly 200 are integrated together through the connection housing 300. Optionally, the connection housing 300 includes a housing 310 and a cover 320. The pin tooth housing 110 of the speed reducer assembly 100 and the motor body 210 of the motor assembly 200 can both be installed on the housing 310 through structures such as screws. The cover 320 is detachably connected to the housing 310. The cover 320 and the housing 310 cooperate to define an installation cavity, and the input shaft 220 is located in the installation cavity. When the RV reduction device is used in cooperation with the rotating joint 001, it can be fixedly connected to the rotating joint 001 through the connection housing 300, which is convenient for assembly.

[0062] Furthermore, a plurality of connection lugs 330 are provided on opposite sides of the housing 310. For example, four connection lugs 330 are provided on each side of the housing 310, and a total of eight connection lugs 330 are provided on both sides of the housing 310. An assembly hole 331 for a bolt to pass through is provided on each connection lug 330. The RV reduction device is installed and fixed on the rotating joint 001 through the bolts passing through the assembly holes 331.

[0063] For the RV reduction device provided in this embodiment, by arranging the axis of the input shaft 220 and the planetary gear 140 vertically, the size of the RV reduction device in the axial direction of the input shaft 220 can be reduced, the axial volume of the RV reduction device can be reduced, the space required for installation is small, and the space occupied during use is small, enabling it to be used in scenarios with limited space.

[0064] Please combine Figure 9, this embodiment also provides a rotating joint 001. The rotating joint 001 includes a first joint arm 011, a second joint arm 012 and the RV reduction device of the above embodiment. The first joint arm 011 is provided with a slot 0111. The motor body 210 is embedded in the slot 0111. The connecting shell 300 is fixed to the first joint arm 011 by bolts, and the output part of the reducer assembly 100 is fixedly connected to the second joint arm 012. Since the motor body 210 is inserted into the slot 0111, the motor assembly 200 is tightly combined with the first joint arm 011, further reducing the volume of the rotating joint 001. The rotating joint 001 can be used in an environment with limited space and has a wide range of applications.

[0065] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An RV reduction gear, characterized in that: include: A reducer assembly (100) and a motor assembly (200), wherein the reducer assembly (100) comprises a plurality of planetary gears (140), and the motor assembly (200) comprises an input shaft (220), wherein the input shaft (220) is in transmission cooperation with the plurality of planetary gears (140), wherein the axis of the input shaft (220) and the axis of the planetary gears (140) have an included angle, and the input shaft (220) is used to transmit torque to the plurality of planetary gears (140).

2. The RV reduction gear according to claim 1, characterized in that: The reducer assembly (100) further comprises a pinion gear housing (110) and a transmission ring gear (120); the transmission ring gear (120) is rotatably mounted on the pinion gear housing (110); and the input shaft (220) is transmission-matched with the planetary gear (140) via the transmission ring gear (120).

3. The RV reduction gear according to claim 2, characterized in that: The transmission gear ring (120) comprises a first gear ring (121) and a second gear ring (122) which are connected to each other; a plurality of first teeth (1211) arranged in the circumferential direction of the first gear ring (121) are arranged on the end surface of the first gear ring (121) away from the second gear ring (122); the input shaft (220) is meshed with the first teeth (1211); a plurality of second teeth (1221) arranged in the circumferential direction of the second gear ring (122) are arranged on the inner circumferential surface thereof; the plurality of planetary gears (140) are all meshed with the second teeth (1221).

4. The RV reduction gear according to claim 3, characterized in that: The first gear ring (121) and the second gear ring (122) are detachably connected.

5. The RV reduction gear according to claim 4, characterized in that: A first connecting structure (1212) is provided on an end face of the first gear ring (121) opposite to the first tooth body (1211), and a second connecting structure (1222) is provided on an end face of the second gear ring (122). The first connecting structure (1212) and the second connecting structure (1222) are detachably plugged in and matched with each other, so that the first gear ring (121) and the second gear ring (122) are relatively fixed in the circumferential direction of the first gear ring (121).

6. The RV reduction gear according to claim 1, characterized in that: The reducer assembly (100) and the motor assembly (200) are integrated into an integral structure.

7. The RV reduction gear according to claim 6, characterized in that: The RV reduction device further comprises a connecting shell (300), and the reducer assembly (100) and the motor assembly (200) are both mounted on the connecting shell (300).

8. The RV reduction gear according to claim 7, characterized in that: The connecting shell (300) comprises a shell (310) and a cover (320); the reducer assembly (100) and the motor assembly (200) are both mounted on the shell (310); the cover (320) is detachably connected to the shell (310); the cover (320) cooperates with the shell (310) to define an installation cavity; the input shaft (220) is located in the installation cavity.

9. The RV reduction gear according to claim 8, characterized in that: The housing (310) is provided with a plurality of connecting lugs (330), and each connecting lug (330) is provided with an assembly hole (331).

10. A rotary joint (001), characterized in that: The rotary joint (001) comprises: A first articulated arm (011), a second articulated arm (012) and an RV reduction device as described in any one of claims 1 to 9, wherein the first articulated arm (011) is provided with a slot (0111), the motor assembly (200) is embedded in the slot (0111), the reducer assembly (100) is installed on the first articulated arm (011), and the output part of the reducer assembly (100) is fixedly connected to the second articulated arm (012).

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