Speed reducer assembly and robot with same

Abstract

The utility model provides a speed reducer assembly and a robot with the same. The speed reducer assembly comprises a connecting shell, the connecting shell is internally provided with a mounting cavity, and the inner wall of the connecting shell is provided with a first connecting part; the speed reducer comprises a speed reducer body and a shell, the shell comprises a first shell section and a second shell section which are connected in the extending direction of the mounting cavity, the first shell section protrudes out of the outer edge of the second shell section, the second shell section is used for being mounted in the mounting cavity, and a second connecting part matched with the first connecting part is arranged on the second shell section. The first shell section is propped against the end part of the connecting shell; the speed reducer main body is arranged in the shell; and the connecting piece is used for being arranged on the part, protruding out of the outer edge of the second shell section, of the first shell section in a penetrating mode and connected with the connecting shell. Through the technical scheme provided by the utility model, the technical problem that the reduction and assembly steps of the speed reducer in the prior art are relatively tedious can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, and in particular to a reducer assembly and a robot having the same. Background Art

[0002] At present, the planetary cycloid reducer is mainly a cycloid pinwheel planetary transmission structure composed of a first-stage planetary gear transmission and a second-stage cycloid pinwheel transmission. The planetary cycloid reducer is mainly used in the joints of industrial robots. It puts forward requirements for the planetary cycloid reducer such as high transmission accuracy, small backlash, large output torque, strong impact resistance, compact structure, and miniaturization. It also has further requirements for the assembly efficiency, portability and assembly reliability of the planetary cycloid reducer.

[0003] However, the existing planetary cycloid reducer is usually fastened to the robot body with multiple screws, that is, multiple evenly distributed screw holes are designed on the outside of the reducer housing, and positioning references are set on one or both sides of the housing. During assembly, the positioning structure is installed into the inner cavity of the robot body, and then the reducer is rotated so that its through holes are aligned with the threads on the robot body, and then it is tightened with screws. In order to ensure the stability of the reducer assembly, the number of screws should generally be between 15 and 30, and the tightening torque of the screws should be consistent, which makes the assembly process more cumbersome. In addition, for reducers with smaller overall outer diameters, the size of the corresponding screws is also smaller. Such a structure is prone to insufficient strength and breakage under impact conditions. Utility Model Content

[0004] The main purpose of the utility model is to provide a reducer assembly and a robot having the same, so as to solve the technical problem that the reducer assembly steps of the prior art are relatively complicated.

[0005] In order to achieve the above object, according to one aspect of the present invention, a reducer assembly is provided, comprising:

[0006] A connecting shell has a mounting cavity therein and a first connecting portion is provided on an inner wall of the connecting shell;

[0007] The reducer body and the housing include a first housing segment and a second housing segment connected to each other along the extension direction of the mounting cavity, the first housing segment protruding from the outer edge of the second housing segment, the second housing segment being configured to be mounted within the mounting cavity, the second housing segment being provided with a second connecting portion adapted to the first connecting portion, the first housing segment abutting against an end of the connecting housing; the reducer body is disposed within the housing;

[0008] The connecting piece is used to be passed through the portion of the first outer shell segment protruding from the outer edge of the second outer shell segment and connected to the connecting shell.

[0009] Furthermore, the first connection portion is an internal thread connection portion; the second connection portion is an external thread connection portion; the external thread connection portion includes a plurality of external thread teeth, and the plurality of external thread teeth are sequentially arranged along the extension direction of the installation cavity;

[0010] wherein the number of external thread teeth is greater than or equal to 5; and / or,

[0011] The number of external thread teeth is less than or equal to 10.

[0012] Furthermore, the connecting shell includes a first connecting shell segment and a second connecting shell segment connected to each other along the extension direction of the installation cavity, the first connecting shell segment enclosing a first installation cavity, and the second connecting shell segment enclosing a second installation cavity; the inner wall of the second connecting shell segment is arranged to protrude from the inner wall of the first connecting shell segment, and the connection between the first connecting shell segment and the second connecting shell segment has a first abutting surface;

[0013] The second outer shell segment is used to be installed in the second installation cavity, and a second abutting surface for abutting against the first abutting surface is provided at a connection point between the first outer shell segment and the second outer shell segment.

[0014] Furthermore, an end of the second connecting portion close to the first outer shell segment is spaced apart from the second abutting surface.

[0015] Furthermore, the reducer body includes a first bearing, a needle roller structure, and a second bearing connected in sequence along the extension direction of the installation cavity, the first bearing being located on a side of the second bearing away from the installation cavity; the inner wall of the housing is provided with a first groove section for mounting the first bearing, a second groove section for mounting the needle roller structure, and a third groove section for mounting the second bearing, which are connected in sequence;

[0016] Wherein, L1<L2, L1 is the distance between the second abutting surface and the side of the housing away from the installation cavity, and L2 is the distance between the connection between the first slot segment and the second slot segment and the side of the housing away from the installation cavity.

[0017] Furthermore, a positioning hole adapted to the connecting piece is provided at a portion of the first housing segment protruding from the second housing segment, and the positioning hole is extended along an extension direction of the installation cavity.

[0018] Furthermore, there are a plurality of positioning holes, which are spaced apart and arranged on the first housing segment; there are a plurality of connecting members, which are arranged in a one-to-one correspondence with the plurality of positioning holes, and each connecting member is arranged in a corresponding positioning hole; and / or,

[0019] There are at least two positioning holes, and at least two positioning holes are spaced apart along the radial direction of the first outer shell segment to form a positioning hole group. There are at least two positioning hole groups, and at least two positioning hole groups are spaced apart along the circumferential direction of the first outer shell segment. The corresponding central angle between two adjacent positioning hole groups is greater than 0 degree and less than or equal to 90 degrees.

[0020] Furthermore, 0.6≤D / t≤0.75; wherein D is the diameter of the positioning hole, and t is the difference between the radius of the outer edge of the first outer shell segment and the radius of the outer edge of the second connecting portion.

[0021] Furthermore, a socket extending along the extension direction of the installation cavity is provided at the end of the connection shell, and one end of the connector close to the connection shell extends out of the positioning hole and is inserted into the socket; and / or,

[0022] The connecting piece is a positioning pin.

[0023] According to another aspect of the present utility model, there is provided a robot, comprising: the reducer assembly provided above;

[0024] The robot body is connected to the connecting shell of the reducer assembly.

[0025] The technical solution of the present invention, by providing a first connecting portion and a second connecting portion, allows for complete assembly with a single connection, eliminating the tedious process of repeated assembly and significantly improving assembly efficiency. Furthermore, the use of the connecting member further simplifies assembly steps, ensuring a secure connection between the outer shell and the connecting housing, and making the connection between the outer shell and the connecting housing more stable and tight. Particularly for small reducers, this connection method avoids the insufficient strength associated with using undersized screws, thereby improving connection reliability. Furthermore, this connection method effectively suppresses micro-vibrations generated during operation, ensuring smooth operation, which is crucial for improving the accuracy and service life of the reducer. Furthermore, the provision of the first outer shell segment and its contact with the end of the connecting housing reduce the additional bending moment generated during outer shell installation, helping to maintain the integrity of the reducer's internal structure and preventing damage to internal components caused by external forces during assembly. Furthermore, the protrusion of the first outer shell segment beyond the outer edge of the second outer shell segment allows for precise control of the relative position between the first outer shell segment and the connecting housing, ensuring the coaxiality of the outer shell and the connecting housing, thereby improving the assembly accuracy of the overall structure. Therefore, the technical solution of the present invention can solve the technical problem of the complicated assembly steps of the reducer in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 A schematic cross-sectional view of a reducer assembly according to a first embodiment of the present invention is shown;

[0028] Figure 2 A schematic cross-sectional view of a partial structure of a reducer assembly provided in accordance with the first embodiment of the present invention is shown;

[0029] Figure 3 FIG1 shows a front view of a housing of a reducer assembly provided according to the first embodiment of the present utility model;

[0030] Figure 4 A schematic cross-sectional structure diagram of a housing of a reducer assembly provided in accordance with the first embodiment of the present utility model is shown;

[0031] Figure 5 Shown Figure 3 A magnified schematic diagram of the structure at point A in the middle.

[0032] The above drawings include the following reference numerals:

[0033] 10. Connect the shell;

[0034] 11. Installation cavity;

[0035] 101. First connecting portion;

[0036] 12. First connecting shell section;

[0037] 13. Second connecting shell segment;

[0038] 14. a first abutting surface;

[0039] 141, jack;

[0040] 20. Shell;

[0041] 201, second connecting portion;

[0042] 21. First outer shell segment;

[0043] 22. Second outer shell segment;

[0044] 23. a second abutting surface;

[0045] 211, positioning hole;

[0046] 24. Mounting slot;

[0047] 241, first slot section;

[0048] 242, second slot section;

[0049] 243, third trough section;

[0050] 30. Connectors;

[0051] 41. Driving unit;

[0052] 42. Transmission unit;

[0053] 421, first bearing;

[0054] 422, needle roller structure;

[0055] 423. Second bearing. DETAILED DESCRIPTION

[0056] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0057] like Figures 1 to 5 As shown, embodiment 1 of the present invention provides a reducer assembly, which includes a connecting shell 10, a reducer body and an outer shell 20. The connecting shell 10 has an installation cavity 11, and a first connecting portion 101 is provided on the inner wall of the connecting shell 10. The outer shell 20 includes a first outer shell segment 21 and a second outer shell segment 22 connected to each other along the extension direction of the installation cavity 11. The first outer shell segment 21 is provided to protrude from the outer edge of the second outer shell segment 22. The second outer shell segment 22 is used to be installed in the installation cavity 11. The second outer shell segment 22 is provided with a second connecting portion 201 adapted to the first connecting portion 101. The first outer shell segment 21 abuts against the end of the connecting shell 10; the reducer body is provided in the outer shell 20. The reducer assembly also includes a connecting member 30, which is used to be passed through the portion of the first outer shell segment 21 protruding from the outer edge of the second outer shell segment 22 and connected to the connecting shell 10.

[0058] The reducer assembly provided by the first embodiment of the present invention can be assembled by setting the first connecting part 101 and the second connecting part 201, thereby eliminating the tedious process of repeated assembly and significantly improving the assembly efficiency. At the same time, the use of the connector 30 further simplifies the assembly steps, ensures a firm connection between the outer shell 20 and the connecting shell 10, and makes the connection between the outer shell 20 and the connecting shell 10 more stable and tight. Especially for small reducers, this connection method avoids the problem of insufficient strength caused by the use of small-sized screws, thereby improving the reliability of the connection. At the same time, such a connection method can also effectively suppress the micro-vibration generated by the reducer during operation, ensuring the smooth operation of the reducer, which is of great significance for improving the accuracy of the reducer and extending its service life. In addition, the setting of the first outer shell segment 21 and its contact with the end of the connecting shell 10 can reduce the additional bending moment generated during the installation of the outer shell 20, help to maintain the integrity of the internal structure of the reducer body, and avoid damage to internal parts caused by external forces during the assembly process. Furthermore, the first housing segment 21 protrudes from the outer edge of the second housing segment 22, allowing precise control of the relative position between the first housing segment 21 and the connecting housing 10, ensuring the coaxiality of the housing 20 and the connecting housing 10, thereby improving the assembly accuracy of the overall structure. Therefore, the reducer assembly provided by this embodiment can solve the technical problem of the relatively cumbersome assembly steps of reducers in the prior art.

[0059] Specifically, the connecting housing 10 is mounted on the robot; alternatively, the connecting housing 10 and the robot are integrally formed; alternatively, the connecting housing 10 is a part of the robot. This configuration reduces the number of assembly steps between the reducer and the robot, lowering structural complexity and cost while ensuring structural consistency between the connecting housing 10 and the robot, improving overall reliability.

[0060] Specifically, the first connection portion 101 is an internally threaded connection, while the second connection portion 201 is an externally threaded connection. This structural arrangement, employing both internal and external threaded connections, allows for a tighter fit between the housing 20 and the connecting shell 10, reducing micro-vibrations during operation and improving transmission accuracy and operational stability. Compared to traditional screw connections, threaded connections simplify the assembly process, reduce assembly time, and enhance assembly reliability.

[0061] Specifically, the external thread connection portion includes a plurality of external thread teeth, and the plurality of external thread teeth are arranged in sequence along the extension direction of the mounting cavity 11. The number of external thread teeth is greater than or equal to 5. With such a structural setting, increasing the number of external thread teeth can increase the contact area and friction of the threaded connection, thereby enhancing the locking force and stability of the reducer assembly. A larger number of thread teeth can also distribute the load more evenly, reduce the stress borne by a single thread tooth, and improve the overall durability and service life. When the number of external thread teeth is less than 5, the number of teeth is too small, and there may be insufficient load-bearing capacity, plastic deformation or fracture failure of the external thread teeth.

[0062] Specifically, the external thread connection portion includes a plurality of external thread teeth, and the plurality of external thread teeth are arranged in sequence along the extension direction of the mounting cavity 11. The number of external thread teeth is less than or equal to 10. By adopting such a structural setting, the number of external thread teeth is limited to a smaller range, which can ensure the structural strength and rigidity of the threaded connection when a smaller-sized reducer assembly is used. A smaller number of thread teeth can also simplify the design and reduce the difficulty of processing, while still maintaining sufficient connection strength, preventing thread failure under high-intensity impact conditions, and improving the assembly efficiency and overall performance of small reducer assemblies. When the number of external thread teeth is greater than 10, due to elastic deformation, the excess external thread teeth are more likely to be unloaded, so the necessity for the number of external thread teeth to be greater than 10 is not high.

[0063] Specifically, the connecting housing 10 includes a first connecting housing segment 12 and a second connecting housing segment 13 interconnected along the extension direction of the mounting cavity 11. The first connecting housing segment 12 encloses a first mounting cavity, and the second connecting housing segment 13 encloses a second mounting cavity. The inner wall of the second connecting housing segment 13 protrudes from the inner wall of the first connecting housing segment 12, and the connection between the first and second connecting housing segments 12, 13 has a first abutment surface 14. A second outer housing segment 22 is mounted within the second mounting cavity. The connection between the first and second outer housing segments 21, 22 has a second abutment surface 23 for abutting the first abutment surface 14. This structural arrangement, by dividing the connecting housing 10 into the first and second connecting housing segments 12, 13, provides more precise installation and positioning control for the reducer assembly. The mutual abutment between the first and second abutment surfaces 14, 23, ensures the accurate positioning of the outer housing 20 within the mounting cavity 11, improving the overall assembly precision and stability of the reducer assembly and the robot. The segmented design also facilitates targeted processing and maintenance of different parts, improving design flexibility and maintenance convenience.

[0064] Specifically, the end of the second connecting portion 201 proximal to the first housing segment 21 is spaced from the second abutment surface 23. This spacing of the end of the second connecting portion 201 from the second abutment surface 23 prevents interference between the second abutment surface 23 and the second connecting portion 201, helping to reduce minor displacements of the reducer's internal structure caused by factors such as mechanical wear, temperature changes, or preload relaxation during long-term operation, thereby improving the long-term stability and reliability of the overall structure. This arrangement also ensures accurate alignment between the first housing segment 21 and the connecting housing 10 during the locking process, preventing unnecessary positional offset during the rotational locking process. This ensures structural coaxiality and assembly accuracy, reduces additional stress and wear caused by assembly deviations, and extends the service life of the components.

[0065] In this embodiment, the reducer body includes a first bearing 421, a needle roller structure 422, and a second bearing 423, which are sequentially connected along the extension direction of the mounting cavity 11. The first bearing 421 is located on the side of the second bearing 423 away from the mounting cavity 11. The inner wall of the housing 20 is provided with a first groove section 241 for mounting the first bearing 421, a second groove section 242 for mounting the needle roller structure 422, and a third groove section 243 for mounting the second bearing 423, which are sequentially connected. Here, L1 < L2, where L1 is the distance between the second abutting surface 23 and the side of the housing 20 away from the mounting cavity 11, and L2 is the distance between the junction of the first groove section 241 and the second groove section 242 and the side of the housing 20 away from the mounting cavity 11. Such a structural setting can ensure that no additional bending moment is generated during the operation of the reducer. Since the bending moment borne by the housing 20 is mainly given by the first bearing 421 and the second bearing 423, in the axial direction of the installation cavity 11, the closer the center of the second connecting part 201 on the housing 20 is to the center position between the two bearings, the smaller the bending moment borne by the housing 20, thereby effectively improving the installation stability of the housing 20 in the installation cavity 11.

[0066] Specifically, the reducer body is a planetary cycloid reducer, comprising a drive unit 41, which serves as an input shaft. The planetary gears and the input shaft form the reducer's first-stage transmission. The combined holes in the housing 20 and the needle roller structure 422 form the internal teeth of the cycloid gear train, which, together with the cycloid external teeth, form the reducer's second-stage transmission. The first and second stages are connected by a crankshaft. When the input shaft rotates, it drives the planetary gears and the crankshaft to rotate. The crankshaft has two eccentric sections in the middle, connected to the cycloid external teeth via needle roller bearings. Therefore, the crankshaft's rotation drives the cycloid external teeth to orbit. The cycloid outer teeth mesh with the inner teeth while revolving, thereby generating rotation in the opposite direction and driving the crankshaft to revolve. The two ends of the crankshaft are connected to the two support frames through tapered needle roller bearings, which drive the two support frames to rotate while the crankshaft revolves. The output arm and the support frame are fixedly connected by screws, thereby achieving the goal of the reducer driving the external parts to operate. In addition, the outside of the support frame is connected to the cylinder of the robot through a support bearing, so it can bear external bending moments during operation.

[0067] Specifically, if Figure 4 As shown, the reducer body includes a driving portion 41 and a transmission portion 42 that are transmission-connected to each other; a mounting groove 24 for mounting the transmission portion 42 is provided on the inner wall of the housing 20; along the extension direction of the mounting cavity 11, the distance between the middle of the mounting groove 24 and the middle of the second connecting portion 201 is d, 0mm≤d≤Amm; wherein 2A<L, L is the length of the second connecting portion 201 along the extension direction of the mounting cavity 11. This structural arrangement ensures that no additional bending moment is generated during the operation of the reducer. Since the bending moment borne by the housing 20 is mainly provided by the transmission portion 42, in the axial direction of the mounting cavity 11, the closer the center of the second connecting portion 201 on the housing 20 is to the center position of the mounting groove 24, the smaller the bending moment borne by the housing 20, thereby effectively improving the installation stability of the housing 20 in the mounting cavity 11.

[0068] Specifically, a positioning hole 211 is provided on the portion of the first housing segment 21 that protrudes from the second housing segment 22, adapted for the connector 30. The positioning hole 211 extends along the direction of the mounting cavity 11. This structural arrangement, by providing the positioning hole 211 on the protruding portion of the first housing segment 21 and extending along the direction of the mounting cavity 11, provides a precise connection path for the connector 30, ensuring the stable position of the reducer body during the connection process. This design effectively prevents misalignment between the housing 20 and the connection housing 10 due to lateral movement of the connector 30 during the connection process, thereby improving assembly precision and stability.

[0069] Specifically, there are multiple positioning holes 211, each of which is spaced apart on the first housing segment 21. There are multiple connectors 30, each corresponding to each of the positioning holes 211. Each connector 30 is positioned within a corresponding positioning hole 211. This structural arrangement, with multiple positioning holes 211 corresponding to multiple connectors 30, achieves a more uniform distribution of connection force, reduces uneven structural stress caused by local overtightening or overloosening, and improves the consistency and reliability of the connection between the housing 20 and the connection shell 10. Furthermore, the design of multiple connectors 30 also enhances overall impact resistance and long-term stability.

[0070] Specifically, there are at least two positioning holes 211, and at least two positioning holes 211 are spaced apart along the radial direction of the first outer shell segment 21 to form a positioning hole group. There are at least two positioning hole groups, and at least two positioning hole groups are spaced apart along the circumferential direction of the first outer shell segment 21. The corresponding central angle between two adjacent positioning hole groups is greater than 0 degrees and less than or equal to 90 degrees. With such a structural setting, by setting at least two positioning hole groups and controlling the central angle between adjacent positioning hole groups to be between 0 degrees and 90 degrees, multi-point positioning connection can be achieved, further improving assembly accuracy and structural stability. This layout can also ensure that even if a certain connection point fails, the other connection points can still maintain the stability of the reducer assembly, thereby improving the fault tolerance and safety of the system. At the same time, the positioning hole groups spaced apart circumferentially can evenly disperse the connection force, reduce the stress concentration problem caused by the connection force being concentrated at a certain point, and extend the service life of the reducer assembly.

[0071] Specifically, the housing 20 has an inner cavity for mounting the reducer body and an opening communicating with the inner cavity. The opening is located on the first housing segment 21. At least two positioning holes 211 are spaced apart radially along the first housing segment 21 to form a positioning hole group. The opening is located between one and the other of the at least two positioning holes 211. One and the other of the at least two positioning holes 211 are symmetrically arranged. With this structural arrangement, the housing 20 is designed to have an inner cavity for mounting the reducer body, and at least two radially spaced positioning holes 211 are provided in the first housing segment 21 to form a positioning hole group. This facilitates multi-point positioning during housing installation, ensuring the correct position and coaxiality of the reducer body within the cavity. The opening is located between one and the other of the at least two positioning holes 211, ensuring that the connector 30 is not interfered with by the opening when inserted into the positioning hole 211, thereby ensuring a smooth connection process and accurate positioning.

[0072] Specifically, 0.6 ≤ D / t ≤ 0.75; where D is the diameter of the positioning hole 211, and t is the difference between the radius of the outer edge of the first housing segment 21 and the radius of the outer edge of the second connecting portion 201. This structural arrangement ensures that the positioning hole 211 provides sufficient positioning stability without compromising the structural strength of the housing 20 due to an excessively large diameter, or increasing the difficulty of assembling the connector 30 due to an excessively small diameter. This balance is achieved between structural strength and ease of assembly. This design helps improve assembly efficiency while maintaining the long-term stability and reliability of the reducer assembly.

[0073] In this embodiment, a socket 141 is provided at the end of the connecting housing 10, extending along the direction of the mounting cavity 11. The end of the connector 30, which is closest to the connecting housing 10, extends out of the positioning hole 211 and is inserted into the socket 141. Thus, the provision of the socket 141 at the end of the connecting housing 10 allows the connector 30 to not only engage with the positioning hole 211 but also penetrate into the socket 141, thereby achieving dual positioning and fixation between the housing 20 and the connecting housing 10. This approach ensures that the housing 20 and the connecting housing 10 do not move relative to each other when subjected to load or impact, thereby improving the stability and impact resistance of the connection.

[0074] Specifically, connector 30 is a locating pin. Choosing a locating pin as connector 30 provides high-precision positioning. The locating pin's plug-in / plug-out design simplifies assembly and disassembly, improving assembly efficiency. The locating pin design also avoids thread damage and uneven preload forces that can occur with conventional screw tightening, ensuring long-term, stable operation of the reducer assembly.

[0075] Specifically, when the outer shell 20 is connected to the connecting shell 10, the positioning hole 211 is directly fixed with a wrench, and the entire outer shell 20 is rotated into the installation cavity 11 through the action of the torque wrench. A reasonable preload force F is applied according to the size of the reducer and the load requirements. In this way, compared with the small gap connection in the prior art, the outer shell 20 and the connecting shell 10 in this solution are tightly matched through the threaded structure, which is equivalent to having a large interference fit, greatly reducing the micro-vibration problem of the reducer during operation and better ensuring the stability of the reducer operation. Since a threaded connection structure is designed on the outer wall of the outer shell 20, the screw through-hole group on the original outer shell 20 can be eliminated. For small-sized reducers, the use of small-sized screws is avoided, the ability of the reducer to resist impact is enhanced, and the reliability of the reducer is greatly improved.

[0076] Specifically, the preload force F is calculated based on the load torque requirement and the thread diameter, and then the required tightening torque T is calculated based on the thread diameter and the torque coefficient, so that the preload force F is controlled by controlling the tightening torque T.

[0077] Specifically, when the torque wrench tightens the housing 20 to within a reasonable preload force F, the angular position of the housing 20 is fine-tuned to align the positioning hole 211 with the insertion hole 141, and a cylindrical positioning pin is driven in. A preload setting method that utilizes both torque and rotation angle is employed to precisely control the thread preload force F. Furthermore, since the positioning pins are symmetrically arranged in groups of two, they also prevent the reducer's threaded structure from falling off.

[0078] A second embodiment of the present invention provides a robot, which includes the reducer assembly and a robot body provided in the first embodiment. The robot body is connected to a connecting shell 10 of the reducer assembly.

[0079] The robot provided by the second embodiment of the present invention can be assembled by providing a first connecting portion 101 and a second connecting portion 201, thereby eliminating the tedious process of repeated assembly and significantly improving assembly efficiency. At the same time, the use of the connector 30 further simplifies the assembly steps, ensures a firm connection between the outer shell 20 and the connecting shell 10, and makes the connection between the outer shell 20 and the connecting shell 10 more stable and tight. Especially for small reducers, this connection method avoids the problem of insufficient strength caused by using small-sized screws, thereby improving the reliability of the connection. At the same time, this connection method can also effectively suppress the micro-vibration generated by the reducer during operation, ensuring the smooth operation of the reducer, which is of great significance for improving the accuracy of the reducer and extending its service life. In addition, the provision of the first outer shell segment 21 and its contact with the end of the connecting shell 10 can reduce the additional bending moment generated during the installation of the outer shell 20, help maintain the integrity of the internal structure of the reducer body, and avoid damage to internal parts caused by external forces during the assembly process. Furthermore, the first outer shell segment 21 protrudes from the outer edge of the second outer shell segment 22, allowing precise control of the relative position between the first outer shell segment 21 and the connecting housing 10, ensuring the coaxiality of the outer shell 20 and the connecting housing 10, thereby improving the assembly accuracy of the overall structure. Therefore, the robot provided in this embodiment can solve the technical problem of the relatively cumbersome assembly steps of the reducer in the prior art.

[0080] Specifically, the connecting housing 10 is mounted on the robot body; alternatively, the connecting housing 10 and the robot body are integrally formed; alternatively, the connecting housing 10 is a part of the robot body. This configuration reduces the number of assembly steps between the reducer and the robot body, lowering structural complexity and cost while ensuring structural consistency between the connecting housing 10 and the robot body, improving overall reliability.

[0081] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the positioning surface is designed as an external thread, so that the area of ​​the reducer and the inner cavity of the robot can be closely matched. The vibration of the reducer itself is reduced, and the operation of the reducer is more stable; the phenomenon of screw failure that is prone to occur in small-sized reducers can be avoided, thereby improving the life of the reducer; the locking of the reducer can be completed once, avoiding repeated cross-locking of the screw group, and greatly improving the assembly efficiency.

[0082] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0083] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0084] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0085] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0086] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A reducer assembly, characterized in that: include: A connecting shell (10), wherein the connecting shell (10) has a mounting cavity (11) therein, and a first connecting portion (101) is provided on the inner wall of the connecting shell (10); A reducer body and a housing (20), the housing (20) comprising a first housing segment (21) and a second housing segment (22) connected to each other along an extension direction of the mounting cavity (11), the first housing segment (21) being arranged to protrude from an outer edge of the second housing segment (22), the second housing segment (22) being used to be mounted in the mounting cavity (11), the second housing segment (22) being provided with a second connecting portion (201) adapted to the first connecting portion (101), the first housing segment (21) being in contact with an end portion of the connecting housing (10); the reducer body being arranged in the housing (20); A connecting piece (30) is used to be passed through a portion of the first outer shell segment (21) protruding from an outer edge of the second outer shell segment (22) and connected to the connecting shell (10).

2. The reducer assembly according to claim 1, characterized in that The first connection portion (101) is an internal thread connection portion; the second connection portion (201) is an external thread connection portion; the external thread connection portion comprises a plurality of external thread teeth, and the plurality of external thread teeth are sequentially arranged along the extension direction of the installation cavity (11); Wherein, the number of the external threads is greater than or equal to 5; and / or, The number of the external thread teeth is less than or equal to 10.

3. The reducer assembly according to claim 1, characterized in that The connecting shell (10) comprises a first connecting shell segment (12) and a second connecting shell segment (13) connected to each other along the extension direction of the installation cavity (11), the first connecting shell segment (12) enclosing a first installation cavity, and the second connecting shell segment (13) enclosing a second installation cavity; the inner wall of the second connecting shell segment (13) is arranged to protrude from the inner wall of the first connecting shell segment (12), and the connection between the first connecting shell segment (12) and the second connecting shell segment (13) has a first abutting surface (14); The second outer shell segment (22) is used for being installed in the second installation cavity, and the connection between the first outer shell segment (21) and the second outer shell segment (22) has a second abutting surface (23) for abutting against the first abutting surface (14).

4. The reducer assembly according to claim 3, characterized in that One end of the second connecting portion (201) close to the first outer shell segment (21) is spaced apart from the second abutting surface (23).

5. The reducer assembly according to claim 3, characterized in that The reducer body comprises a first bearing (421), a needle roller structure (422), and a second bearing (423) connected in sequence along the extension direction of the installation cavity (11), wherein the first bearing (421) is located on a side of the second bearing (423) away from the installation cavity (11); and an inner wall of the housing (20) is provided with a first groove section (241) for mounting the first bearing (421), a second groove section (242) for mounting the needle roller structure (422), and a third groove section (243) for mounting the second bearing (423), which are connected in sequence. Wherein, L1<L2, L1 is the distance between the second abutting surface (23) and the side of the housing (20) away from the installation cavity (11), and L2 is the distance between the connection between the first groove section (241) and the second groove section (242) and the side of the housing (20) away from the installation cavity (11).

6. The reducer assembly according to claim 1, characterized in that A positioning hole (211) adapted to the connecting member (30) is provided at a portion of the first housing segment (21) protruding from the second housing segment (22), and the positioning hole (211) is extended along the extension direction of the installation cavity (11).

7. The reducer assembly according to claim 6, characterized in that: There are a plurality of positioning holes (211), and the plurality of positioning holes (211) are arranged at intervals on the first housing segment (21); there are a plurality of connecting members (30), and the plurality of connecting members (30) are arranged in a one-to-one correspondence with the plurality of positioning holes (211), and each connecting member (30) is arranged in a corresponding positioning hole (211); and / or, There are at least two positioning holes (211), and at least two positioning holes (211) are spaced apart along the radial direction of the first outer shell segment (21) to form a positioning hole group. There are at least two positioning hole groups, and at least two positioning hole groups are spaced apart along the circumferential direction of the first outer shell segment (21), and the corresponding central angle between two adjacent positioning hole groups is greater than 0 degree and less than or equal to 90 degrees.

8. The reducer assembly according to claim 6, characterized in that 0.6≤D / t≤0.75; wherein D is the diameter of the positioning hole (211), and t is the difference between the radius of the outer edge of the first outer shell segment (21) and the radius of the outer edge of the second connecting portion (201).

9. The reducer assembly according to claim 6, characterized in that: An insertion hole (141) extending along the extension direction of the mounting cavity (11) is provided at the end of the connecting shell (10), and one end of the connecting member (30) close to the connecting shell (10) extends out of the positioning hole (211) and is inserted into the insertion hole (141); and / or, The connecting member (30) is a positioning pin.

10. A robot, characterized in that: include: The reducer assembly according to any one of claims 1 to 9; A robot body is connected to a connecting housing (10) of the reducer assembly.

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