Cycloidal gear shifting actuator

Abstract

The cycloidal gear shifting actuator comprises an upper cover, a mounting seat and a lower shell which are sequentially connected from top to bottom, a first containing cavity is defined by the upper cover and the installation base, and a controller and a position sensor are installed in the first containing cavity. A second containing cavity is defined by the installation base and the lower shell, and a motor and a cycloid gear assembly are installed in the second containing cavity. The motor comprises a stator and a rotor; a main shaft of the rotor is suitable for being connected with the input end of a gearbox through a cycloidal gear assembly; the stator is connected with the controller; the position sensor is suitable for detecting position information of the rotor; and the controller is suitable for controlling the motor to perform corresponding actions according to a gear switching signal sent by the whole vehicle and feedback information of the position sensor. According to the utility model, the gear shifting actuator is integrated with the controller, so that the integration level is improved, and the occupied space is reduced; the cycloid gear assembly is used for replacing a traditional gear set, in the same installation space, the motor is matched with the cycloid gear assembly, the reduction ratio can be increased, and the transmission efficiency is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to gear shifting actuator technical field, concretely relates to a cycloidal gear shifting actuator. BACKGROUND

[0002] With new energy vehicles more and more popular, people put forward higher requirements to the internal space of the vehicle. The current gear shifting actuator usually adopts the structure that the motor and the controller are completely separated, and the power output end of the gear shifting actuator is connected with the transmission. The separated structure will occupy more installation space of the whole vehicle, thereby leading to that the space utilization rate of the internal space of the whole vehicle is low, and at the same time, it will also cause other problems such as small installation space of other parts and difficult installation.

[0003] In addition, in the prior art, the motor in the gear shifting actuator is connected with the transmission through a traditional gear set. The traditional gear set is usually composed of straight gears, helical gears or worm gears that are meshed with each other. The traditional gear set structure occupies a large space. If the size of the traditional gear set structure is reduced, the reduction ratio of the traditional gear set will be small. SUMMARY

[0004] The utility model provides a cycloidal gear shifting actuator to solve the technical problem that the existing gear shifting actuator occupies a large space.

[0005] The utility model discloses a cycloidal gear shifting actuator which is suitable for driving the transmission of the whole vehicle to rotate, comprising an upper cover, a mounting seat and a lower shell which are detachably connected in sequence from top to bottom;

[0006] The upper cover and the mounting seat enclose a first accommodating cavity, and a controller and a position sensor are installed in the first accommodating cavity; the mounting seat and the lower shell enclose a second accommodating cavity, and a motor and a cycloidal gear assembly are installed in the second accommodating cavity; the motor comprises a stator fixed in the second accommodating cavity and a rotor rotatably arranged in the stator; the cycloidal gear assembly is arranged below the stator; the main shaft of the rotor is adapted to be drivingly connected with the input end of the transmission through the cycloidal gear assembly;

[0007] Part of the stator extends upwardly into the first accommodating cavity and is connected with the controller;

[0008] The position sensor extends downwardly into the second accommodating cavity and is arranged above the rotor; the position sensor is adapted to detect the position information of the rotor;

[0009] The controller is adapted to control the motor to perform corresponding actions according to a gear shift signal sent by a whole vehicle and feedback information of the position sensor.

[0010] Further, the cycloid gear assembly comprises a gear ring, a cycloid gear piece and an output shaft;

[0011] The gear ring is fixed in the lower housing and is arranged below the stator;

[0012] The cycloid gear piece is arranged in the gear ring, and a central hole for the main shaft to pass through is formed in the center of the cycloid gear piece; a second bearing is arranged between the central hole and the eccentric section of the main shaft;

[0013] A plurality of axial holes are further formed in the cycloid gear piece; the plurality of axial holes are arranged in a ring array with the central hole as the center;

[0014] The output shaft is arranged below the cycloid gear piece and is rotatably installed in the lower housing through a connecting bearing; a plurality of column pins are arranged on the top of the output shaft, the column pins respectively pass through the corresponding axial holes, and the column pins are adapted to slide in the axial holes;

[0015] The output shaft is connected with the lower end of the main shaft through a third bearing. With the above scheme, in the same installation space, the reduction ratio can be increased through the cooperation of the motor and the cycloid gear assembly, and the transmission efficiency is high.

[0016] Further, the main shaft comprises an upper section, the eccentric section and a lower section connected in sequence from top to bottom;

[0017] The axis of the upper section coincides with the axis of the lower section, and the axis of the upper section does not coincide with the axis of the eccentric section;

[0018] The upper section is rotatably arranged on the mounting seat through a first bearing;

[0019] The eccentric section is connected with the central hole of the cycloid gear piece through the second bearing;

[0020] The lower section is connected with the output shaft through the third bearing. With the above scheme, the motor and the cycloid gear assembly are connected in transmission.

[0021] Further, the lower housing is a hollow cavity with openings at the upper and lower ends;

[0022] The stator is fixed in the upper opening of the lower housing;

[0023] The output shaft extends to outside of the lower housing through a lower end opening of the lower housing; a sealing ring is arranged between the output shaft and the lower end opening of the lower housing, and the sealing ring is arranged below the connecting bearing.

[0024] Further, the mounting seat is a hollow cavity with upper and lower end openings, the inner cavity of the mounting seat is divided into upper and lower cavities by a partition plate; the upper cavity of the mounting seat and the inner cavity of the upper cover form the first containing cavity, and the lower cavity of the mounting seat and the inner cavity of the lower housing form the second containing cavity; the upper end of the main shaft is rotatably arranged in the lower cavity of the mounting seat through a first bearing. By the above scheme, the motor and the controller are arranged in different containing cavities.

[0025] Further, the partition plate is provided with a first hole and a second hole;

[0026] The first hole is matched with the position of the rotor, the position sensor is fixed on the partition plate, and extends to above the rotor through the first hole;

[0027] The second hole is matched with the position of the stator, part of the stator extends to the first containing cavity through the second hole and is connected with the controller. By the above scheme, the controller is connected with the stator.

[0028] Further, the side wall of the mounting seat is provided with a socket, and the controller is adapted to be connected with a cable outside through the socket.

[0029] Further, the cycloidal gear shifting actuator further comprises a base;

[0030] The base is arranged below the lower housing, and the base is connected with the lower housing through a connecting piece;

[0031] The base is provided with a through hole for the cycloidal gear assembly to pass through;

[0032] The base is adapted to be assembled on a whole vehicle. By the above scheme, the cycloidal gear shifting actuator is assembled on the whole vehicle through the base.

[0033] Further, the connecting piece comprises a screw rod, an upper nut and a lower nut;

[0034] The screw rod comprises an upper rod, a limiting protrusion and a lower rod connected in sequence from top to bottom;

[0035] The upper nut is fixed on the mounting seat, and the mounting seat is connected with the lower housing through the upper rod and the upper nut;

[0036] The limiting protrusion is arranged between the lower shell and the base, and the top surface and the bottom surface of the limiting protrusion are respectively abutted with the lower shell and the base;

[0037] The lower rod is arranged in the base, and the lower nut is arranged below the base and connected with the lower rod.

[0038] Further, the waterproof and breathable valve is arranged on the lower shell, and the waterproof and breathable valve is suitable for connecting the second containing cavity with the outside. By using the above scheme, the second containing cavity can be normally cooled.

[0039] Compared with the prior art, the utility model has the following beneficial effects:

[0040] By arranging the controller in the first containing cavity, the gear shifting actuator is integrated with the controller, the integration degree is improved, and the occupied space is reduced.

[0041] The cycloidal gear assembly is used to replace the traditional gear set, in the same installation space, the speed reduction ratio can be increased by cooperation of the motor and the cycloidal gear assembly, and the transmission efficiency is high.

[0042] By cooperation of the controller, the motor and the cycloidal gear assembly, the volume of the gear shifting actuator is effectively ensured to be small.

[0043] The above description of the present disclosure and the following description of the embodiments are used to demonstrate and explain the spirit and principle of the utility model, and provide further explanation of the patent application range of the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0044] The specific embodiments of the utility model will be further described in detail below with reference to the drawings.

[0045] Figure 1 It is an exploded schematic view of the cycloidal gear shifting actuator in the utility model;

[0046] Figure 2 It is a schematic view (one) of the cycloidal gear shifting actuator in the utility model;

[0047] Figure 3 It is a schematic view (two) of the cycloidal gear shifting actuator in the utility model;

[0048] Figure 4 It is a schematic view of the lower shell inner cavity in the utility model;

[0049] Figure 5 It is a schematic view of the rotor in the utility model;

[0050] Figure 6It is the schematic view of the rotor and the cycloid gear assembly in the utility model;

[0051] Figure 7 It is the schematic view of the cycloid gear assembly in the utility model;

[0052] Figure 8 It is the sectional view of the rotor in the utility model;

[0053] Figure 9 It is the schematic view of the cycloid gear shift executor in the utility model (three).

[0054] Explanation of reference numerals:

[0055] 1, upper cover; 2, mounting seat; 21, partition; 211, first hole; 212, second hole; 22, spigot; 3, lower shell; 31, waterproof breather valve; 4, controller; 5, position sensor; 6, motor; 61, stator; 62, rotor; 621, main shaft; 6211, eccentric section; 6212, upper section; 6213, lower section; 63, first bearing; 64, second bearing; 65, third bearing; 7, cycloid gear assembly; 71, gear ring; 72, cycloid tooth piece; 721, axial hole; 73, output shaft; 731, column pin; 74, connecting bearing; 75, sealing ring; 8, base; 9, connecting piece; 91, screw rod; 92, upper nut; 93, lower nut. DETAILED DESCRIPTION

[0056] The implementation of the present application will be described by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure. Although the description of the present application will be introduced in combination with the preferred embodiments, it does not mean that the features of the present application are limited to the embodiments. On the contrary, the purpose of introducing the present application in combination with the embodiments is to cover other options or modifications that can be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application can also be implemented without using these details. In addition, in order to avoid confusion or obscure the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0057] In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed during use, and are merely for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model.

[0058] The terms "first", "second", and the like are merely used for differentiation in description and cannot be understood as indicating or implying relative importance.

[0059] In the description of the present embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with", "provided", "connected", "connected" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present embodiment can be understood according to the specific circumstances.

[0060] The application discloses a cycloid gear shifting actuator. The cycloid gear shifting actuator is suitable for being assembled on a whole vehicle, and is used for driving a gearbox on the whole vehicle to rotate.

[0061] Please refer to Figures 1-3 As shown in the figure, the cycloid gear shifting actuator comprises an upper cover 1, a mounting seat 2 and a lower shell 3. The upper cover 1, the mounting seat 2 and the lower shell 3 are sequentially arranged from top to bottom. In the present embodiment, the upper cover 1 is detachably connected with the mounting seat 2 through buckling. The mounting seat 2 and the lower shell 3 are detachably connected through a connecting piece 9.

[0062] The upper cover 1 and the mounting seat 2 enclose a first accommodating cavity, and a controller 4 and a position sensor 5 are installed in the first accommodating cavity. The mounting seat 2 and the lower shell 3 enclose a second accommodating cavity, and a motor 6 and a cycloid gear assembly 7 are installed in the second accommodating cavity. In the present embodiment, the controller 4 is arranged above the position sensor 5, the motor 6 is arranged below the position sensor 5, and the cycloid gear assembly 7 is arranged below the motor 6.

[0063] The motor 6 comprises a stator 61 and a rotor. The stator 61 is fixed in the second accommodating cavity, and the rotor 62 is rotatably arranged in the stator 61. The cycloid gear assembly 7 is arranged below the stator 61. The main shaft 621 of the rotor 62 is suitable for being drivingly connected with an input end of the gearbox through the cycloid gear assembly 7. Part of the stator 61 extends upward into the first accommodating cavity and is connected with the controller 4. The position sensor 5 extends downward into the second accommodating cavity and is arranged above the rotor 62.

[0064] The position sensor 5 is adapted to detect the position information of the rotor 62, that is, to detect the angular position of the rotor 62. The controller 4 is connected with the position sensor 5 and the stator 61 respectively. The controller 4 is adapted to control the motor 6 to perform corresponding actions according to the gear switching signal sent by the whole vehicle and the feedback information of the position sensor 5. For example, when the whole vehicle sends an R gear switching signal, the controller 4 receives the signal and performs logical processing, and then controls the motor 6 to switch the running gear at the appropriate time according to the feedback information of the position sensor 5.

[0065] In the embodiment, the position sensor 5 is a Hall position sensor. The controller 4 is a PCB board. The existing Chinese patent document with the publication number CN213072367U describes an integrated device of a motor position sensor and a controller. Therefore, the controller 4, the position sensor 5 and the motor 6 cooperate to form the prior art.

[0066] Please refer to Figure 1 and Figure 5 As shown, the mounting seat 2 is a hollow cavity with openings at the upper and lower ends. The inner cavity of the mounting seat 2 is divided into upper and lower cavities by the partition plate 21. The upper cavity of the mounting seat 2 and the inner cavity of the upper cover 1 form a first containing cavity. The lower cavity of the mounting seat 2 and the inner cavity of the lower shell 3 form a second containing cavity. The upper end of the main shaft 621 is rotatably arranged in the lower cavity of the mounting seat 2 through the first bearing 63.

[0067] In the embodiment, the controller 4 is fixed on the mounting seat 2 and located above the position sensor 5. The partition plate 21 is provided with a first hole 211 and a second hole 212. The position of the first hole 211 matches the position of the rotor 62. The position sensor 5 is fixed on the partition plate 21 and extends to be located above the rotor 62 through the first hole 211. The position of the second hole 212 matches the position of the stator 61. Part of the stator 61 extends into the first containing cavity through the second hole 212 and is connected with the controller 4.

[0068] Further, please refer to Figure 1 As shown, the side wall of the mounting seat 2 is provided with a socket 22. The controller 4 is adapted to be connected with the cable outside through the socket 22, that is, the controller 4 can be connected with the cable on the whole vehicle through the socket 22.

[0069] Please refer to Figure 1 and Figure 4 As shown, the lower shell 3 is a hollow cavity with openings at the upper and lower ends. The stator 61 is fixed in the upper opening of the lower shell 3. The cycloidal gear assembly 7 is located below the stator 61 and arranged in the lower shell 3. The main shaft 621 is arranged in the lower shell 3.

[0070] Please refer to Figures 6-8As shown, the main shaft 621 includes an upper section 6212 (the upper end of the main shaft 621), an eccentric section 6211, and a lower section 6213 (the lower end of the main shaft 621) connected sequentially from top to bottom. The axes of the upper section 6212 and the lower section 6213 coincide. The axes of the upper section 6212 and the eccentric section 6211 do not coincide. The upper section 6212 is rotatably mounted in the lower cavity of the mounting base 2 via a first bearing 63. The eccentric section 6211 is connected to the cycloidal gear assembly 7 via a second bearing 64. The lower section 6213 is connected to the cycloidal gear assembly 7 via a third bearing 65.

[0071] Please see Figures 6-8 As shown, the cycloidal gear assembly 7 includes a gear ring 71, a cycloidal gear plate 72, and an output shaft 73. The gear ring 71 is fixed inside the upper opening of the lower housing 3 and positioned below the stator 61. The cycloidal gear plate 72 is placed inside the gear ring 71. A central hole for the main shaft 621 to pass through is formed in the center of the cycloidal gear plate 72. The central hole of the cycloidal gear plate 72 is connected to the eccentric section 6211 via a second bearing 64. Multiple axial holes 721 are also formed on the cycloidal gear plate 72. The multiple axial holes 721 are arranged in a circular array with the central hole as the center. The output shaft 73 is vertically arranged and positioned below the cycloidal gear plate 72. The output shaft 73 is rotatably mounted inside the lower housing 3 via a connecting bearing 74. Multiple pins 731 are vertically arranged on the top of the output shaft 73. The pins 731 pass through corresponding axial holes 721. The pins 731 are adapted to slide within the axial holes 721. The center hole of the output shaft 73 is connected to the lower section 6213 through the third bearing 65.

[0072] In this embodiment, the stator 61 and the output shaft 73 respectively limit the top and bottom surfaces of the cycloidal toothed plate 72 to prevent the cycloidal toothed plate 72 from disengaging from the gear ring 71. When the rotor 62 drives the main shaft 621 to rotate, the eccentric section 6211 drives the cycloidal toothed plate 72 to roll and mesh within the gear ring 71; during this period, the sidewall of the axial hole 721 is slidably connected to the pin 731 to drive the output shaft 73 to rotate, that is, the output shaft 73 rotates around the axis of the lower section 6213.

[0073] Furthermore, the lower end of the output shaft 73 extends out of the lower housing 3 through the lower end opening of the lower housing 3 so as to be connected to the input end of the gearbox for transmission.

[0074] Furthermore, to prevent water from entering the second receiving cavity, please refer to... Figure 3 As shown, a sealing ring 75 is provided between the output shaft 73 and the lower end opening of the lower housing 3. The sealing ring 75 is located below the connecting bearing 74.

[0075] Furthermore, in order to ensure the sealing of the first and second accommodating cavities, a sealing strip is provided at the connection between the upper cover 1 and the mounting base 2, and a sealing strip is also provided at the connection between the mounting base 2 and the lower housing 3.

[0076] Further, in order to ensure that the second accommodating cavity can perform normal heat dissipation, the bottom of the lower shell 3 is provided with a waterproof breather valve 31. The waterproof breather valve 31 is adapted to communicate the second accommodating cavity with the outside.

[0077] Please refer to Figure 1 and Figure 9 As shown in the drawings, the cycloid gear shifting actuator further comprises a base 8, which is adapted to be assembled on the whole vehicle, i.e. the cycloid gear shifting actuator can be assembled on the whole vehicle through the base 8. The base 8 is arranged below the lower shell 3. The base 8 is connected with the lower shell 3 through a connecting piece 9. The base 8 is provided with a through hole for the output shaft 73 to pass through.

[0078] In the embodiment, the connecting piece 9 comprises a screw rod 91, an upper nut 92 and a lower nut 93. The screw rod 91 comprises an upper rod, a limiting protrusion and a lower rod connected in sequence from top to bottom. The upper nut 92 is fixed on the mounting seat 2. The mounting seat 2 is connected with the lower shell 3 through the upper rod and the upper nut 92. The limiting protrusion is arranged between the lower shell 3 and the base 8, and the top surface and the bottom surface of the limiting protrusion are respectively abutted with the lower shell 3 and the base 8. The lower rod is arranged in the base 8. The lower nut 93 is arranged below the base 8 and connected with the lower rod.

[0079] The utility model discloses a controller is arranged in the first accommodating cavity, so that the shifting actuator integrated controller is improved, and the occupied space is reduced, the utility model discloses a cycloid gear assembly replaces the traditional gear set, in the same installation space, through the cooperation of motor and cycloid gear assembly, can increase the reduction ratio, and transmission efficiency is high. Through the cooperation of controller, motor and cycloid gear assembly, the volume of the shifting actuator is effectively ensured to be small.

[0080] The above embodiment only illustrates the principle and effect of the utility model, and is not used to limit the utility model. Any person skilled in the art can modify or change the above embodiment without departing from the spirit and scope of the utility model. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the utility model should be covered by the claims of the utility model.

Claims

1. A cycloidal gear shift actuator adapted to drive a transmission of a vehicle to rotate, characterized in that, The upper cover (1), the mounting base (2) and the lower shell (3) are sequentially detachably connected from top to bottom; The upper cover (1) and the mounting base (2) enclose a first accommodating cavity, and a controller (4) and a position sensor (5) are installed in the first accommodating cavity; the mounting base (2) and the lower shell (3) enclose a second accommodating cavity, and a motor (6) and a cycloidal gear assembly (7) are installed in the second accommodating cavity; the motor (6) comprises a stator (61) fixed in the second accommodating cavity and a rotor (62) rotatably arranged in the stator (61); the cycloidal gear assembly (7) is arranged below the stator (61); a main shaft (621) of the rotor (62) is adapted to be drivingly connected with an input end of the transmission case through the cycloidal gear assembly (7); Part of the stator (61) extends upwardly into the first accommodating cavity and is connected with the controller (4); The position sensor (5) extends downwardly into the second accommodating cavity and is arranged above the rotor (62); the position sensor (5) is adapted to detect position information of the rotor (62); The controller (4) is adapted to control the motor (6) to perform corresponding actions according to a gear shifting signal sent by a whole vehicle and feedback information of the position sensor (5).

2. The cycloidal gear shift actuator according to claim 1, characterized in that The cycloidal gear assembly (7) comprises a gear ring (71), a cycloidal gear piece (72) and an output shaft (73); The gear ring (71) is fixed in the lower shell (3) and arranged below the stator (61); The cycloidal gear piece (72) is arranged in the gear ring (71), a center hole is formed in the center of the cycloidal gear piece (72) for the main shaft (621) to pass through; a second bearing (64) is arranged between the center hole and an eccentric section (6211) of the main shaft (621); A plurality of axial holes (721) are further formed in the cycloidal gear piece (72); the plurality of axial holes (721) are arranged in a ring array with the center hole as the center; The output shaft (73) is arranged below the cycloidal gear piece (72) and rotatably installed in the lower shell (3) through a connecting bearing (74); a plurality of column pins (731) are arranged on the top of the output shaft (73), the column pins (731) respectively pass through corresponding axial holes (721), and the column pins (731) are adapted to slide in the axial holes (721); The output shaft (73) is connected with the lower end of the main shaft (621) through a third bearing (65).

3. The cycloidal gear shift actuator according to claim 2, characterized in that The main shaft (621) comprises an upper section (6212), the eccentric section (6211) and a lower section (6213) which are sequentially connected from top to bottom; The axis of the upper section (6212) coincides with the axis of the lower section (6213), and the axis of the upper section (6212) does not coincide with the axis of the eccentric section (6211); The upper section (6212) is rotatably arranged on the mounting base (2) through a first bearing (63); The eccentric section (6211) is connected with the center hole of the cycloidal gear piece (72) through the second bearing (64); The lower section (6213) is connected with the output shaft (73) through the third bearing (65).

4. The cycloidal gear shift actuator according to claim 2, characterized in that The lower shell (3) is a hollow cavity with both upper and lower openings; The stator (61) is fixed in the upper opening of the lower shell (3); The output shaft (73) extends out of the lower shell (3) through the lower opening of the lower shell (3); a sealing ring (75) is arranged between the output shaft (73) and the lower opening of the lower shell (3), and the sealing ring (75) is arranged below the connecting bearing (74).

5. The cycloidal gear shift actuator according to claim 1, characterized in that The mounting seat (2) is a hollow cavity with both upper and lower openings, and the inner cavity of the mounting seat (2) is divided into upper and lower cavities by a partition plate (21); the upper cavity of the mounting seat (2) and the inner cavity of the upper cover (1) form the first containing cavity, and the lower cavity of the mounting seat (2) and the inner cavity of the lower shell (3) form the second containing cavity; the upper end of the main shaft (621) is rotatably arranged in the lower cavity of the mounting seat (2) through a first bearing (63).

6. The cycloidal gear shift actuator according to claim 5, characterized in that The partition plate (21) is provided with a first hole (211) and a second hole (212); The position of the first hole (211) matches the position of the rotor (62), the position sensor (5) is fixed on the partition plate (21), and extends to above the rotor (62) through the first hole (211); The position of the second hole (212) matches the position of the stator (61), part of the stator (61) extends into the first containing cavity through the second hole (212) and is connected with the controller (4).

7. The cycloidal gear shift actuator according to claim 1, characterized in that The side wall of the mounting seat (2) is provided with a socket (22), and the controller (4) is adapted to be connected with a cable outside through the socket (22).

8. The cycloidal gear shift actuator according to claim 1, characterized in that Further comprising a base (8); The base (8) is arranged below the lower shell (3), and the base (8) is connected with the lower shell (3) through a connecting piece (9); The base (8) is provided with a via hole for the cycloidal gear assembly (7) to pass through; The base (8) is adapted to be assembled on a whole vehicle.

9. The cycloidal gear shift actuator according to claim 8, characterized in that The connecting piece (9) comprises a screw rod (91), an upper nut (92) and a lower nut (93); The screw rod (91) comprises an upper rod, a limiting protrusion and a lower rod connected in sequence from top to bottom; The upper nut (92) is fixed on the mounting seat (2), and the mounting seat (2) is connected with the lower shell (3) through the upper rod and the upper nut (92); The limiting protrusion is arranged between the lower shell (3) and the base (8), and the top surface and the bottom surface of the limiting protrusion respectively abut against the lower shell (3) and the base (8); The lower rod is arranged in the base (8), and the lower nut (93) is arranged below the base (8) and connected with the lower rod.

10. The cycloidal gear shift actuator according to claim 1, characterized in that The lower shell (3) is provided with a waterproof and breathable valve (31), and the waterproof and breathable valve (31) is adapted to communicate the second containing cavity with the outside.

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