RV module

Abstract

The utility model relates to the technical field of speed reduction transmission devices, in particular to an RV module which comprises an RV speed reduction part, a motor part and a coding part which are sequentially arranged in the length direction of the module. The motor part comprises a casing, a stator, a rotor assembly, magnetic steel and a brake assembly, wherein the stator, the rotor assembly and the magnetic steel are arranged in the casing, and the brake assembly is arranged between the casing and the coding part and used for being matched with the rotor assembly. The RV speed reduction part comprises a pin wheel housing which is fixedly connected with the machine shell and is used for mounting a planetary gear, a crankshaft assembly which is arranged in the pin wheel housing and is used for being matched with the planetary gear, and a supporting flange and an output flange which are matched with the crankshaft assembly; a first bearing used for being matched with the rotor assembly and the machine shell and a second bearing used for being matched with the rotor assembly and the brake assembly are further arranged in the machine shell. The RV module has the advantages that the size of the RV module is effectively reduced, and the matching degree of the RV module and other components is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of speed reduction transmission devices, in particular to an RV module. BACKGROUND

[0002] The RV module generally refers to a modular assembly integrating an RV reducer, a motor, a connecting flange and other components. The power of the motor is transmitted to the input shaft through the rotating shaft, the input shaft drives the planetary gear to rotate for planetary reduction. The planetary gear drives the eccentric shaft to rotate, the pendulum gear on the eccentric shaft does the pendulum motion in the pin gear shell, and at the same time rotates around the center, drives the output disc rack composed of the output shaft and the output shaft cover to rotate, realizes pendulum reduction, and finally outputs the rotating speed and torque by the output shaft to provide power for external equipment.

[0003] In the related art, the RV reducer is the core component of the module, which realizes two-stage reduction through the front stage of the planetary gear reducer and the rear stage of the pendulum pin wheel reducer, has the characteristics of high transmission accuracy, stable torque transmission and strong rigidity. The motor provides power for the module, and the common one is a servo motor. After the winding end of the motor is electrified through the driver, the rotating shaft is driven to rotate through the cooperation of the stator sheet, the magnetic steel, the rotor yoke and other components, the rotating shaft drives the input shaft to rotate synchronously, the RV reducer is a rotating vector reducer, also known as a precision pendulum pin wheel reducer, which is composed of a front stage of a planetary gear reducer and a rear stage of a pendulum pin wheel reducer.

[0004] In view of the above related technology, due to the long length of the motor, the complex internal structure of the RV reducer, the unreasonable layout of the internal components of the casing and other factors, the casing is relatively long in the length direction, which makes the overall volume of the RV module large and not convenient for cooperation with related components. CONTENT OF THE INVENTION

[0005] In order to effectively reduce the volume of the RV module and improve the cooperation degree of the RV module with other components, the present application provides an RV module.

[0006] The RV module provided by the present application adopts the following technical scheme:

[0007] An RV module, comprising an RV reduction part, a motor part and a coding part arranged in sequence along the length direction of the module;

[0008] The motor part comprises a casing, a stator, a rotor assembly, a magnetic steel arranged in the casing, and a brake assembly arranged between the casing and the coding part and used for cooperating with the rotor assembly;

[0009] The RV reduction part comprises a pin gear housing fixedly connected with the casing and used for mounting a planetary gear, a crankshaft assembly arranged in the pin gear housing and used for cooperating with the planetary gear, and a support flange and an output flange cooperating with the crankshaft assembly.

[0010] The casing is further provided with a first bearing used for cooperating with the rotor assembly and the casing, and a second bearing used for cooperating with the rotor assembly and the brake assembly.

[0011] By adopting the above technical scheme, the RV reduction part, the motor part and the encoding part are sequentially arranged along the length direction, the first bearing and the second bearing are arranged in the casing and are respectively used for supporting the rotor assembly and the casing and the rotor assembly and the brake assembly, the structural rigidity and the operation stability of the module are enhanced, the layout of internal parts such as the stator, the rotor assembly, the magnetic steel and the brake assembly is optimized, unnecessary space occupation is reduced, the module as a whole is more compact, the casing, the pin gear housing, the support flange and the output flange are integrally arranged in the RV reduction part, the additional space requirement caused by the separation of parts in the traditional arrangement is avoided, and the volume is effectively reduced by compactness, modularization and optimization arrangement, and the cooperation degree with other parts is improved.

[0012] Further, the rotor assembly comprises a rotor shaft arranged in cooperation with the gear head of the planetary gear, a rotor shaft sleeve coaxially arranged outside the rotor shaft, and a connecting ring plate used for fixedly connecting the rotor shaft and the rotor shaft sleeve, the stator is fixedly connected to the inner wall of the casing, and the number of the magnetic steels is several and each magnetic steel is arranged in the circumferential direction between the inner wall of the stator and the outer wall of the rotor shaft sleeve.

[0013] By adopting the above technical scheme, the rotor shaft directly cooperates with the gear head of the planetary gear, the intermediate transmission link is reduced, the several magnetic steels are arranged in the circumferential direction between the inner wall of the stator and the outer wall of the rotor shaft sleeve, the uniform distribution of the magnetic field is ensured, the operation stability and the control accuracy of the motor are improved, the stator is fixedly connected to the inner wall of the casing, the overall stability of the motor part is ensured, the rotor shaft and the rotor shaft sleeve are fixedly connected through the connecting ring plate, the overall rigidity of the rotor assembly is enhanced, the compact arrangement of the rotor shaft, the rotor shaft sleeve and the connecting ring plate reduces the space occupation and improves the space utilization rate of the module, and the circumferential interval arrangement of the magnetic steels fully utilizes the space between the stator and the rotor shaft sleeve and avoids the space waste.

[0014] Further, the casing is provided with a spacing plate arranged on the inner wall and used for isolating the planetary gear and the rotor assembly, the spacing plate is provided with a first mounting ring plate on the side away from the planetary gear and used for mounting the first bearing, the first bearing is arranged between the first mounting ring plate and the rotor shaft sleeve, and the first bearing is located on the side of the connecting ring plate close to the spacing plate.

[0015] By adopting the technical scheme, the spacer plate arranged on the inner wall of the casing physically isolates the planetary gear and the rotor assembly, avoiding the influence of vibration, heat or wear generated during the operation of the planetary gear on the rotor assembly. The first mounting ring plate arranged on the spacer plate provides a stable mounting basis for the first bearing, enhancing the support rigidity of the rotor assembly. The first bearing is mounted between the first mounting ring plate and the rotor shaft sleeve and located on the side of the connecting ring plate close to the spacer plate. This arrangement further enhances the axial and radial rigidity of the rotor assembly, reducing vibration and deformation during operation. The compact arrangement of the spacer plate and the first mounting ring plate makes full use of the internal space of the casing, avoiding space waste and further reducing the overall volume of the module. By reasonably arranging the spacer plate, the first mounting ring plate and the first bearing, the structural layout inside the casing is optimized, and the space utilization is improved.

[0016] Further, the brake assembly includes a brake support, a moving disc, a stationary disc, a friction plate and a sliding sleeve. The brake support is fixedly connected with the casing. The brake support is provided with a second mounting ring plate for mounting the second bearing on the side away from the moving disc. The second bearing is mounted between the second mounting ring plate and the rotor shaft sleeve. The second bearing is located on the side of the connecting ring plate close to the brake support.

[0017] By adopting the technical scheme, the arrangement of the moving disc, the stationary disc and the friction plate realizes efficient braking function. The brake support is fixedly connected with the casing, ensuring the overall stability of the brake assembly. The second mounting ring plate arranged on the brake support provides a stable mounting basis for the second bearing, enhancing the support rigidity of the rotor assembly. The second bearing is mounted between the second mounting ring plate and the rotor shaft sleeve and located on the side of the connecting ring plate close to the brake support. This arrangement further enhances the axial and radial rigidity of the rotor assembly. The compact arrangement of the brake support and the second mounting ring plate makes full use of the internal space of the casing, avoiding space waste and further reducing the overall volume of the module. By reasonably arranging the brake support, the second mounting ring plate and the second bearing, the structural layout inside the casing is optimized, and the space utilization is improved.

[0018] Further, the encoder part includes an encoder for cooperating with the rotor shaft, an encoder support and an encoder cover for covering the encoder. The encoder support is fixedly connected to the brake support. The encoder support is provided with a through hole at the center position for passing the rotor shaft and the encoder.

[0019] By adopting the above technical scheme, the encoder is directly matched with the rotor shaft center, so that the encoder can accurately detect the rotating position and speed of the rotor shaft center, and the accuracy of position feedback is improved. The encoder support is fixedly connected to the brake support, thereby providing a stable mounting basis for the encoder, ensuring that the encoder maintains a fixed position and posture during motor operation, and avoiding displacement of the encoder due to factors such as vibration and impact. The through hole formed in the center of the encoder support facilitates the penetration of the rotor shaft center and the encoder, thereby ensuring the coaxiality therebetween. By reasonably arranging the encoder, the encoder cover and the brake support, the structural layout inside the housing is optimized, and the space utilization is improved.

[0020] Further, the sliding sleeve is mounted on the outer wall of the rotor shaft center and located on the side of the rotor shaft center close to the encoder, the friction plate has an integrated clamping ring part and a brake ring part, the brake ring part is sleeved on the outer wall of the sliding sleeve, and the clamping ring part is located between the dynamic disc and the static disc.

[0021] By adopting the above technical scheme, the clamping ring part of the friction plate is located between the dynamic disc and the static disc. When braking is required, the dynamic disc and the static disc can extrude the clamping ring part of the friction plate, utilize the friction between the friction plate and the dynamic disc and the static disc, generate relative motion resistance between the dynamic disc and the static disc, and then prevent the rotation of the rotor shaft center. The sliding sleeve is mounted on the outer wall of the rotor shaft center close to the encoder, and the brake ring part is sleeved on the outer wall of the sliding sleeve. This arrangement fully utilizes the space between the rotor shaft center and the encoder, makes the installation of the brake assembly more compact and reasonable, does not occupy too much axial space, further optimizes the structural layout inside the module, and helps to reduce the overall volume of the module.

[0022] Further, a plurality of equal-height columns are circumferentially spaced apart and fixedly connected between the dynamic disc and the static disc.

[0023] By adopting the above technical scheme, the equal-height columns can ensure that the dynamic disc and the static disc maintain a uniform gap. During operation of the brake assembly, the uniform gap helps to ensure that the contact pressure between the friction plate and the dynamic disc and the static disc is uniformly distributed, so that the braking effect is more stable and reliable, and problems such as local wear or poor braking sensitivity caused by uneven gap are avoided. The plurality of equal-height columns are circumferentially spaced apart and fixedly connected to the dynamic disc and the static disc, which can enhance the structural rigidity and stability of the brake assembly as a whole.

[0024] Further, the crankshaft assembly is arranged between the support flange and the output flange, a skeleton oil seal for fixed connection is arranged between the output flange and the pin gear housing, and the support flange is fixedly connected to the output flange.

[0025] By adopting the above technical scheme, the crankshaft assembly is arranged between the support flange and the output flange, so that stable support and positioning can be provided for the crankshaft assembly, the correct position and posture of the crankshaft assembly during operation can be ensured, the shaking and deviation of the crankshaft assembly during operation are reduced, the structure of the entire RV reduction part is more stable, and the stability of power transmission is ensured. The stable support and connection structure help to ensure the normal operation of the crankshaft assembly, reduce the additional resistance and energy loss caused by the loosening or displacement of parts, enable power to be efficiently transmitted from the crankshaft assembly to the output flange, and improve the power transmission efficiency of the RV module.

[0026] Further, the crankshaft assembly comprises a crankshaft handle for cooperating with the planetary gear, a roller bearing sleeved outside the crankshaft handle, a needle roller continuous retainer sleeved outside the crankshaft handle, and a gasket for cooperating with the roller bearing.

[0027] By adopting the above technical scheme, the crankshaft handle cooperates with the planetary gear, so that the movement and power of the planetary gear can be smoothly transmitted to the crankshaft assembly and then to the subsequent transmission components. The power transmission path is clear, the rotational movement of the planetary gear is effectively converted into the movement of the crankshaft handle, and the power transmission efficiency of the entire RV module is ensured. The roller bearing is sleeved outside the crankshaft handle, and during the rotation of the crankshaft handle, the roller bearing can convert sliding friction into rolling friction, reduce the friction between the crankshaft handle and other components, reduce energy loss, and improve transmission. The needle roller continuous retainer is sleeved outside the crankshaft handle, the needle rollers can further disperse the load and reduce the contact stress, and the retainer can keep the needle rollers in the correct position and spacing, ensuring the normal rolling of the needle rollers, thereby further reducing friction and wear, and improving the reliability and stability of the crankshaft assembly. The gasket cooperates with the roller bearing to adjust the gap, buffer vibration, and axially position. By reasonably selecting the thickness and material of the gasket, the axial gap of the roller bearing can be accurately adjusted to ensure its normal working state.

[0028] In summary, the present application has at least one of the following beneficial technical effects:

[0029] 1. The RV reduction part, the motor part and the encoder part are arranged in sequence along the length direction, optimizing the layout of internal parts such as the stator, the rotor assembly, the magnetic steel, the brake assembly, etc. For example, the rotor assembly is arranged compactly, and the magnetic steel is arranged in a circumferential interval. The casing is provided with a spacer plate, a first mounting ring plate and a first bearing, and the brake support and the second mounting ring plate are also arranged compactly; the encoder cover and the encoder support are integrated, etc., fully utilizing the internal space, avoiding space waste, and effectively reducing the overall volume of the module;

[0030] 2. The first bearing and the second bearing are arranged in the casing to support the rotor assembly, which enhances the structural rigidity. The spacer plate separates the planetary gear and the rotor assembly, reducing the mutual influence; the equal-height column arranged between the moving disc and the stationary disc of the brake assembly ensures uniform gap and enhances the braking stability; the crankshaft assembly is arranged between the support flange and the output flange and is sealed by the skeleton oil seal, which provides stable support and positioning for the crankshaft assembly, ensures stable power transmission, and improves the stability and reliability of the module operation.

[0031] 3. The rotor shaft is directly matched with the gear head of the planetary gear, reducing the intermediate transmission link; the crankshaft handle is matched with the planetary gear, clearly transmitting power; the roller bearing and the needle bearing retainer reduce the friction and wear of the crankshaft handle; the encoder is directly matched with the rotor shaft, accurately detecting the rotation position and speed, and improving the power transmission efficiency and control accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 FIG. 1 is a schematic diagram of the overall structure of an RV module according to an embodiment of the present application.

[0033] Figure 2 FIG. 2 is a schematic diagram of the cross-sectional structure of an RV module according to an embodiment of the present application.

[0034] Figure 3 FIG. 3 is an exploded schematic diagram of the structure of a speed reduction part according to an embodiment of the present application.

[0035] Figure 4 FIG. 4 is a schematic diagram of the cross-sectional structure of a crankshaft assembly according to an embodiment of the present application.

[0036] Figure 5 FIG. 5 is an exploded schematic diagram of the structure of a motor part according to an embodiment of the present application.

[0037] Figure 6 FIG. 6 is a schematic diagram of the structure of a brake assembly and an encoder part according to an embodiment of the present application. Figure 2 FIG. 7 is an enlarged schematic diagram of the structure of the first bearing and the second bearing in part A.

[0038] Figure 7 FIG. 8 is an exploded schematic diagram of the structure of a brake assembly according to an embodiment of the present application.

[0039] Figure 8 FIG. 9 is an exploded schematic diagram of the structure of a brake assembly according to an embodiment of the present application.

[0040] Explanation of reference numerals in the attached drawings: 1. RV reduction gear; 11. Needle gear housing; 12. Planetary gear; 13. Support flange; 14. Output flange; 15. Crankshaft assembly; 151. Crankshaft stem; 152. Roller bearing; 153. Needle roller bearing cage; 154. Gasket; 16. Oil seal; 2. Motor section; 21. Housing; 211. Spacer plate; 212. First mounting ring plate; 22. Stator; 23. Rotor assembly; 231. Rotor shaft; 232. Rotor shaft 233. Connecting ring plate; 24. Magnet; 25. First bearing; 26. Second bearing; 27. Brake assembly; 271. Brake bracket; 2711. Second mounting ring plate; 272. Moving disc; 273. Stationary disc; 274. Friction plate; 2741. Sandwich ring; 2742. Brake ring; 275. Sliding sleeve; 276. Equal height column; 3. Encoding section; 31. Encoder; 32. Encoder bracket; 321. Through hole; 33. Encoder cover. Detailed Implementation

[0041] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1-8 The present application will be further described in detail with reference to the embodiments.

[0042] This application discloses an RV module. (Refer to...) Figure 1 and Figure 2 The RV module includes an RV reduction unit 1, a motor unit 2, and an encoder unit 3, with each part arranged sequentially along the length of the module.

[0043] Reference Figure 2 and Figure 3 The RV reduction unit 1 includes a pinion housing 11, a planetary gear 12 disposed within the pinion housing 11, a support flange 13, an output flange 14, and a crankshaft assembly 15. The pinion housing 11 is used to connect to the motor unit 2 and to mount the planetary gear 12 and other related components. The support flange 13 and the output flange 14 provide a mounting base for the crankshaft assembly 15, which is mounted on the support flange 13 and located between the support flange 13 and the output flange 14, thereby engaging with the planetary gear 12 to achieve a reduction effect. A skeleton oil seal 16 is provided between the outer wall of the output flange 14 and the inner wall of the pinion housing 11, allowing the output flange 14 and the pinion housing 11 to be fixedly connected and sealed via the skeleton oil seal 16. The support flange 13 and the output flange 14 are also fixedly connected.

[0044] Reference Figure 3 and Figure 4The number of the planetary gears 12 in the embodiment is two, and the two planetary gears 12 have a gear head for engagement. The crankshaft assembly 15 corresponds to two groups. Each group of the crankshaft assembly 15 includes a crankshaft handle 151, two roller bearings 152, two needle-connected retainer 153, and two gaskets 154. The crankshaft handle 151 is coaxially arranged with the planetary gear 12. The two roller bearings 152 are respectively sleeved on the outer part of the crankshaft handle 151 and are close to the two end positions. The two needle-connected retainer 153 are respectively sleeved on the middle position of the crankshaft handle 151 and are adjacent. The two gaskets 154 are respectively sleeved on the outer part of the crankshaft handle 151 and abut between the roller bearings 152 and the needle-connected retainer 153.

[0045] Referring to Figure 2 and Figure 5 , the motor part 2 includes a casing 21, a stator 22, a rotor assembly 23, a magnetic steel 24, a first bearing 25, a second bearing 26, and a brake assembly 27. The casing 21 is fixedly connected with the pin gear casing 11. The stator 22 is fixedly connected to the inner wall of the casing 21. The first bearing 25 and the second bearing 26 are used to cooperate with the rotor assembly 23. Figure 6 The rotor assembly 23 includes a rotor shaft 231, a rotor shaft sleeve 232, and a connecting ring plate 233. The rotor shaft 231 cooperates with the gear head of the planetary gear 12. The rotor shaft sleeve 232 is coaxially arranged on the outer part of the rotor shaft 231. The connecting ring plate is integrally connected between the rotor shaft 231 and the rotor shaft sleeve 232. The number of the magnetic steel 24 is several, and each magnetic steel 24 is circumferentially spaced between the inner wall of the stator 22 and the outer wall of the rotor shaft sleeve 232. In the embodiment, the number of the magnetic steel 24 is 16.

[0046] Referring to Figure 5 and Figure 6 , the casing 21 is provided with a spacing plate 211 on the inner wall for isolating the planetary gear 12 and the rotor assembly 23. The spacing plate 211 is integrally connected with a first mounting ring plate 212 on the side away from the planetary gear 12 for mounting the first bearing 25. The first bearing 25 is mounted between the first mounting ring plate 212 and the rotor shaft sleeve 232. The first bearing 25 is located on the side of the connecting ring plate 233 close to the spacing plate 211.

[0047] Referring to Figure 7 and Figure 8The brake assembly 27 comprises a brake support 271, a moving disc 272, a stationary disc 273, a friction plate 274 and a sliding sleeve 275. The brake support 271 is fixedly connected with the casing 21, and the sliding sleeve 275 is installed on the outer wall of the rotor shaft 231 and located at the side of the rotor shaft 231 close to the encoding part 3. The friction plate 274 has an integrated sandwich ring part 2741 and a brake ring part 2742, the brake ring part 2742 is sleeved on the outer wall of the sliding sleeve 275, and the sandwich ring part 2741 is located between the moving disc 272 and the stationary disc 273. A plurality of equal-height columns 276 are arranged and fixedly connected between the moving disc 272 and the stationary disc 273 in a circumferential direction.

[0048] In combination with Figure 6 The brake support 271 is provided with a second installation ring plate 2711 for installing the second bearing 26 at the side away from the moving disc 272, the second bearing 26 is installed between the second installation ring plate 2711 and the rotor shaft sleeve 232, and the second bearing 26 is located at the side of the connecting ring plate 233 close to the brake support 271. Refer to Figure 7 The encoding part 3 comprises an encoder 31, an encoder 31 support and an encoder 31 cover. The encoder 31 is used to cooperate with the rotor shaft 231, the encoder 31 support is fixedly connected with the brake support 271 and used to install the encoder 31, the encoder 31 support is provided with a through hole 321 for the rotor shaft 231 and the encoder 31 to pass through at the center position, and the encoder 31 cover is fixedly connected with the encoder 31 support to cover the encoder 31.

[0049] The implementation principle of the RV module in the embodiment is as follows: the rotor assembly 23 of the motor part 2 is the power starting end, and the rotor shaft 231 cooperates with the gear head of the planetary gear 12. When the motor is powered on, the rotor assembly 23 rotates under the action of the magnet steel 24 and the stator 22, drives the planetary gear 12 to rotate, and realizes the power transmission from the motor part 2 to the RV speed reduction part. The length of the casing 21 and the brake support 271 in the embodiment is relatively short, thereby improving the problem of long length of the motor. The brake assembly 27 is located between the motor part 2 and the encoding part 3. When braking is needed, the moving disc 272 and the stationary disc 273 extrude the sandwich ring part 2741 of the friction plate 274 located therebetween, uses the friction force to generate relative motion resistance, and prevents the rotor shaft 231 from rotating. The brake support 271 is fixed with the casing 21, the second installation ring plate 2711 of the brake support 271 is installed with the second bearing 26, and the second bearing 26 and the first bearing 25 jointly support the rotor assembly 23, thereby enhancing the rigidity. The equal-height columns 276 between the moving disc 272 and the stationary disc 273 ensure uniform gap and stable braking effect.

[0050] The above are the preferred embodiments of the present application, which do not limit the protection scope of the present application, so: any equivalent changes made on the structure, shape and principle of the present application shall be covered within the protection scope of the present application.

Claims

1. An RV module, characterized by: RV reduction part (1), motor part (2) and encoding part (3) are sequentially arranged along the length direction of the module; The motor part (2) comprises a casing (21), a stator (22), a rotor assembly (23), a magnetic steel (24) arranged in the casing (21), and a brake assembly (27) arranged between the casing (21) and the encoding part (3) and used for cooperating with the rotor assembly (23). The RV reduction part (1) comprises a pin gear casing (11) fixedly connected with the casing (21) and used for mounting a planetary gear (12), a crankshaft assembly (15) arranged in the pin gear casing (11) and used for cooperating with the planetary gear (12), and a support flange (13) and an output flange (14) cooperating with the crankshaft assembly (15). The casing (21) further comprises a first bearing (25) used for cooperating with the rotor assembly (23) and the casing (21), and a second bearing (26) used for cooperating with the rotor assembly (23) and the brake assembly (27).

2. The RV module of claim 1, wherein: The rotor assembly (23) comprises a rotor shaft (231) used for cooperating with the gear head of the planetary gear (12), a rotor shaft sleeve (232) coaxially arranged outside the rotor shaft (231), and a connecting ring plate (233) used for fixedly connecting the rotor shaft (231) and the rotor shaft sleeve (232), the stator (22) is fixedly connected to the inner wall of the casing (21), and the magnetic steel (24) is arranged in a plurality of circumferential intervals between the inner wall of the stator (22) and the outer wall of the rotor shaft sleeve (232).

3. The RV module of claim 2, wherein: The casing (21) is provided with a spacing plate (211) for isolating the planetary gear (12) and the rotor assembly (23) on the inner wall, the spacing plate (211) is provided with a first mounting ring plate (212) for mounting the first bearing (25) on the side away from the planetary gear (12), the first bearing (25) is mounted between the first mounting ring plate (212) and the rotor shaft sleeve (232), and the first bearing (25) is located on the side of the connecting ring plate (233) close to the spacing plate (211).

4. The RV module of claim 2, wherein: The brake assembly (27) comprises a brake support (271), a moving disc (272), a stationary disc (273), a friction plate (274) and a sliding sleeve (275), the brake support (271) is fixedly connected with the casing (21), the brake support (271) is provided with a second mounting ring plate (2711) for mounting the second bearing (26) on the side away from the moving disc (272), the second bearing (26) is mounted between the second mounting ring plate (2711) and the rotor shaft sleeve (232), and the second bearing (26) is located on the side of the connecting ring plate (233) close to the brake support (271).

5. The RV module of claim 4, wherein: The coding part (3) comprises an encoder (31) for cooperating with the rotor shaft center (231), an encoder (31) support fixedly connected to the brake support (271), and an encoder (31) cover for covering the encoder (31), and the encoder (31) support is provided with a through hole (321) for the rotor shaft center (231) and the encoder (31) to pass through at the center position.

6. The RV module of claim 5, wherein: The sliding sleeve (275) is installed on the outer wall of the rotor shaft center (231) and located on the side of the rotor shaft center (231) close to the encoder (31), the friction plate (274) has an integrated interlayer ring part (2741) and a brake ring part (2742), the brake ring part (2742) is sleeved on the outer wall of the sliding sleeve (275), and the interlayer ring part (2741) is located between the dynamic disc (272) and the static disc (273).

7. The RV module of claim 6, wherein: A plurality of equal-height columns (276) are arranged and fixedly connected between the dynamic disc (272) and the static disc (273) in a circumferential interval.

8. The RV module of claim 1, wherein: The crankshaft assembly (15) is arranged between the support flange (13) and the output flange (14), a skeleton oil seal (16) for fixed connection is arranged between the output flange (14) and the pin gear shell (11), and the support flange (13) and the output flange (14) are fixedly connected.

9. The RV module of claim 8, wherein: The crankshaft assembly (15) comprises a crankshaft handle (151) for cooperating with the planetary gear (12), a roller bearing (152) sleeved on the outside of the crankshaft handle (151), a needle roller continuous retainer (153) sleeved on the outside of the crankshaft handle (151), and a gasket (154) for cooperating with the roller bearing (152).

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