A cycloidal reducer and an electric servo motor

Abstract

This invention discloses a cycloidal reducer and an electric servo motor, belonging to the field of electric servo motor technology. The cycloidal reducer includes a pin tooth housing, needle rollers located inside the pin tooth housing, an output component connected to the needle rollers, and a transmission mechanism connected to the needle rollers. The cycloidal reducer also includes an adjusting shim and a main bearing. The pin tooth housing is connected to the output component via the main bearing, and the main bearing contacts the needle rollers via the adjusting shim. The adjusting shim is used to eliminate the axial clearance between the main bearing and the needle rollers. This invention eliminates the axial clearance between the main bearing and the needle rollers by setting an adjusting shim between them, thus preventing the cycloidal reducer from running due to the axial clearance during operation and improving the working accuracy of the cycloidal reducer.

Description

Technical Field

[0001] This utility model belongs to the field of electric servo motor technology, and relates to the improvement of the cycloidal reducer in the electric servo motor, specifically a cycloidal reducer and an electric servo motor. Background Technology

[0002] A cycloidal reducer is a precision speed reduction device based on the planetary transmission principle of cycloidal pin-tooth connections. It primarily drives a cycloidal wheel to rotate via an eccentric shaft, performing a combined "oscillating" and "rolling" motion within the pin-tooth ring of the pin-tooth housing. Ultimately, the output mechanism converts the oscillation of the cycloidal wheel into uniform rotational output, thus achieving a high speed ratio reduction. The cycloidal reducer is the core transmission component of an electric servo motor, acting as its "skeleton" and "muscles." Therefore, the performance of the cycloidal reducer directly determines the performance of the electric servo motor.

[0003] Electric servo motors have wide applications in robotics, aerospace, military equipment, and medical devices. In the field of industrial robots, electric servo motors are mainly used in the joints of industrial robots to precisely control their joint movements. With the rapid development of industrial robots, the requirements for electric servo motors are towards higher precision, lighter weight, and smaller size. Therefore, there are increasingly stringent requirements for the absolute positioning accuracy and repeatability of cycloidal reducers, necessitating the prevention of output component runout to ensure the working accuracy of the cycloidal reducer. However, existing cycloidal reducers have a large internal axial clearance, which causes runout during operation, affecting the working accuracy of the cycloidal reducer. Utility Model Content

[0004] In view of the technical problem described in the background art above, the existing cycloidal reducer has a large axial clearance, which causes the cycloidal reducer to bounce during operation and affects the working accuracy of the cycloidal reducer. In order to solve this technical problem, this utility model proposes a cycloidal reducer and an electric servo motor.

[0005] The axial clearance inside the cycloidal reducer is mainly the axial clearance between the main bearing and the needle roller. This invention eliminates the axial clearance between the main bearing and the needle roller by setting an adjusting shim between the main bearing and the needle roller, thereby preventing the cycloidal reducer from running during operation and improving the working accuracy of the cycloidal reducer.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A cycloidal reducer includes a needle tooth housing, a needle roller located inside the needle tooth housing, an output assembly connected to the needle roller, and a transmission mechanism connected to the needle roller. The cycloidal reducer further includes an adjusting shim and a main bearing. The needle tooth housing is connected to the output assembly through the main bearing. The main bearing contacts the needle roller through the adjusting shim. The adjusting shim is used to eliminate the axial clearance between the main bearing and the needle roller.

[0008] Further specified, the top and bottom of the needle roller are provided with main bearings. The top of the needle roller is connected to the top main bearing through an adjusting shim, and the bottom of the needle roller is connected to the bottom main bearing through an adjusting shim. The main bearing at the top of the needle roller connects the top end of the output component to the top end of the needle tooth housing, and the main bearing at the bottom of the needle roller connects the bottom end of the output component to the bottom end of the needle tooth housing.

[0009] Furthermore, the adjusting shim is in close contact with the needle roller, the output component, and the needle housing.

[0010] Further defined, the output assembly includes an input platform and an output platform, the main bearing at the top of the needle roller connects the input platform to the top end of the needle housing, and the main bearing at the bottom of the needle roller connects the output platform to the bottom end of the needle housing.

[0011] Furthermore, the output component also includes a pin shaft, which is arranged parallel to the needle roller;

[0012] The transmission mechanism includes a cycloidal gear, the outer side of which is connected to a needle roller; the pin shaft passes through the input frame and the cycloidal gear in sequence and is connected to the output frame.

[0013] Furthermore, the output component also includes a pin sleeve, which is disposed at the connection between the pin shaft and the cycloidal gear.

[0014] Further specifying, the output component also includes a fixing member and a support sleeve. The fixing member is arranged parallel to the pin shaft and on the same circumference as the pin shaft. The fixing member passes through the input frame and the cycloidal gear in sequence and is connected to the output frame. The support sleeve is arranged at the connection between the fixing member and the cycloidal gear.

[0015] Further specifying, the transmission mechanism also includes an input shaft, a needle roller bearing, and a support bearing. The needle roller bearing and the support bearing are both connected to the input shaft. The input shaft is arranged parallel to the pin shaft and is located at the center of the circle formed by the pin shaft and the fixing member. Support bearings are provided at the top and bottom of the input shaft. The input shaft is connected to the input frame through the top support bearing, and the input shaft is connected to the output frame through the bottom support bearing. The needle roller bearing is located in the middle of the input shaft, and the input shaft is connected to the cycloidal gear through the needle roller bearing.

[0016] Furthermore, the transmission mechanism also includes a shoulder retaining ring, and shoulder retaining rings are provided between the support bearing at the top of the input shaft and the needle roller bearing, and between the support bearing at the bottom of the input shaft and the needle roller bearing.

[0017] An electric servo motor includes a motor and the aforementioned cycloidal reducer, wherein the power output end of the motor is connected to a transmission mechanism.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] 1. This utility model discloses a cycloidal reducer, which sets an adjusting shim between the main bearing and the needle roller to eliminate the axial clearance between the main bearing and the needle roller, thereby avoiding the runout of the cycloidal reducer due to the axial clearance between the main bearing and the needle roller during operation and improving the working accuracy of the cycloidal reducer.

[0020] 2. This utility model features main bearings at both the top and bottom of the needle roller. The top of the needle roller is connected to the main bearing at the top via an adjusting shim, and the bottom of the needle roller is connected to the main bearing at the bottom via an adjusting shim. The top of the output component is connected to the top of the needle tooth housing via the main bearing at the top of the needle roller, and the bottom of the output component is connected to the bottom of the needle tooth housing via the main bearing at the bottom of the needle roller. The resulting cycloidal reducer has a maximum envelope diameter of 33mm, a height of 24mm, a weight of less than 100g, and a rated output torque of over 10Nm. This makes the entire cycloidal reducer more compact, reduces its size, and meets the requirements for high torque and high precision output.

[0021] 3. The cycloidal reducer of this utility model connects the input frame and the output frame via a pin shaft that passes through the input frame and the cycloidal gear in sequence. Simultaneously, a fixing member also passes through the input frame and the cycloidal gear in sequence to connect the input frame and the output frame. Both the input frame and the output frame are supported by a main bearing. The overall structural layout is relatively simple, and the accuracy retention time is guaranteed.

[0022] 4. The transmission mechanism of this utility model consists of an input shaft, a shoulder retaining ring, a needle roller bearing, and a support bearing, which makes the transmission process of the transmission mechanism form a relatively stable parallel mechanism, thereby ensuring the stability of power transmission and avoiding vibration of the cycloidal reducer during operation. Attached Figure Description

[0023] Figure 1 Main sectional view of the cycloidal reducer of this utility model Figure 1 ;

[0024] Figure 2 Main sectional view of the cycloidal reducer of this utility model Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the input platform of this utility model;

[0026] Figure 4 This is a schematic diagram of the output stand of this utility model;

[0027] Figure 5 This is a schematic diagram of the cycloidal gear structure;

[0028] Figure 6 This is a front sectional view model of the cycloidal reducer of this utility model;

[0029] Explanation of reference numerals in the attached figures:

[0030] 1-Needle housing; 2-Transmission mechanism; 21-Input shaft; 22-Shoulder retaining ring; 23-Needle roller bearing; 24-Support bearing; 3-Output assembly; 31-Input frame; 32-Output frame; 33-Pin shaft; 34-Pin sleeve; 35-Screw; 5-Adjusting shim; 6-Cycloidal gear; 61-Mounting hole; 62-Matching hole; 10-Support sleeve; 13-Main bearing; 14-Needle roller. Detailed Implementation

[0031] The technical solution of this utility model will be further explained and described below with reference to the accompanying drawings and embodiments, but this utility model is not limited to the embodiments described below.

[0032] See Figure 1 , Figure 2 and Figure 6 This utility model proposes a cycloidal reducer, including an adjusting shim 5, a main bearing 13, a needle tooth housing 1, a roller 14 located inside the needle tooth housing 1, an output component 3 connected to the roller 14, and a transmission mechanism 2 connected to the roller 14. The needle tooth housing 1 is connected to the output component 3 through the main bearing 13, and the main bearing 13 contacts the roller 14 through the adjusting shim 5. The adjusting shim 5 is used to eliminate the axial clearance between the main bearing 13 and the roller 14.

[0033] See also Figure 1 , Figure 2 and Figure 6The output assembly 3 includes an input frame 31, an output frame 32, a pin shaft 33, a pin sleeve 34, and a fixing component; the transmission mechanism 2 includes a cycloidal gear 6; wherein, the input frame 31 is located at the top of the entire cycloidal reducer, the output frame 32 is located at the bottom of the entire cycloidal reducer, and main bearings 13 are provided at both the top and bottom of the needle roller 14. The top of the needle roller 14 is connected to the top main bearing 13 through adjusting shims 5, and the bottom of the needle roller 14 is connected to the bottom main bearing 13 through adjusting shims 5. The main bearing 13 at the top of the needle roller 14 connects the input frame 31 to the top end of the needle tooth housing 1, and the main bearing 13 at the bottom of the needle roller 14 connects the output frame 32 to the bottom end of the needle tooth housing 1. The outer side of the cycloidal gear 6 is connected to the needle roller 14. Both the pin 33 and the fixing member are arranged parallel to the needle roller 14, and both the pin 33 and the fixing member pass through the input frame 31 and the cycloidal gear 6 in sequence and connect to the output frame 32. The pin 33 is also arranged on the same circumference. In this invention, multiple pins 33 and fixing members can be used simultaneously, specifically two, three, four, or even more. These multiple pins 33 and fixing members are evenly distributed and spaced along the same circumference. The pin 33 serves as a guide, and the fixing member connects the input frame 31, the output frame 32, and the cycloidal gear 6.

[0034] This invention provides an adjusting shim 5 between the main bearing 13 and the needle roller 14, thereby eliminating the axial clearance between the main bearing 13 and the needle roller 14, preventing the cycloidal reducer from jumping due to the axial clearance between the main bearing 13 and the needle roller 14 during operation, and improving the working accuracy of the cycloidal reducer.

[0035] In a preferred embodiment of this utility model, there are three pins 33 and three fasteners, which are evenly distributed and spaced apart along the same circumference. Holes or slots for mounting the pins 33 and fasteners are correspondingly provided on the input frame 31, the output frame 32, and the cycloidal gear 6. Specifically, the input frame 31 has holes for the fasteners to pass through and slots for mounting the pins 33, and the output frame 32 has slots for mounting the fasteners and the pins 33. See [reference needed]. Figure 3 and Figure 5 The cycloidal gear 6 has holes for passing through the fixing member and the pin 33. The hole for passing through the fixing member is a mating hole 62, and the hole for passing through the pin 33 is a mounting hole 61. The mating hole 62 and the mounting hole 61 are evenly distributed and spaced apart along the same circumference on the cycloidal gear 6. Specifically, the fixing member is a threaded connector, preferably a screw 35.

[0036] In a preferred embodiment of the present invention, the output component 3 further includes a pin sleeve 34 and a support sleeve 10. The pin sleeve 34 is disposed at the connection between the pin shaft 33 and the cycloidal gear 6, and the support sleeve 10 is disposed at the connection between the fixing member and the cycloidal gear 6. The pin sleeve 34 improves the stability of the connection between the pin shaft 33 and the cycloidal gear 6, and the support sleeve 10 improves the stability of the connection between the pin shaft 33 and the cycloidal gear 6.

[0037] In addition, as a preferred embodiment of this utility model, the adjusting shim 5 is in close contact with the needle roller 14, the output component 3 and the needle housing 1.

[0038] This invention features main bearings 13 at both the top and bottom of the needle roller 14. The top of the needle roller 14 is connected to the main bearing 13 at the top via an adjusting shim 5, and the bottom of the needle roller 14 is connected to the main bearing 13 at the bottom via an adjusting shim 5. The top of the output component 3 is connected to the top of the needle tooth housing 1 via the main bearing 13 at the top of the needle roller 14, and the bottom of the output component 3 is connected to the bottom of the needle tooth housing 1 via the main bearing 13 at the bottom of the needle roller 14. The resulting cycloidal reducer has a maximum envelope diameter of 33mm, a height of 24mm, a weight of less than 100g, and a rated output torque of over 10Nm. This makes the structure of the entire cycloidal reducer more compact, reduces the size of the cycloidal reducer, and meets the requirements of high torque and high precision output of the cycloidal reducer.

[0039] See Figure 4 In this utility model, the transmission mechanism 2 further includes an input shaft 21, needle roller bearings 23, support bearings 24, and a shoulder retaining ring 22. The input shaft 21 is located at the central axis of the entire cycloidal reducer. There are two support bearings 24, which are respectively located at the top and bottom of the input shaft 21. There are two needle roller bearings 23, both located in the middle of the input shaft 21, and respectively connected to the two cycloidal gears 6. Both the needle roller bearings 23 and the support bearings 24 are connected to the input shaft 21. The input shaft 21 is arranged parallel to the pin shaft 33 and is located between the pin shaft 33 and the fixed... The center position of the circle formed by the fixed part; support bearings 24 are provided at the top and bottom of the input shaft 21. The input shaft 21 is connected to the input platform 31 through the support bearing 24 at the top and to the output platform 32 through the support bearing 24 at the bottom; shoulder retaining rings 22 are provided at the top and bottom of the input shaft 21. One shoulder retaining ring 22 is located between the support bearing 24 at the top of the input shaft 21 and the needle roller bearing 23, and the other shoulder retaining ring 22 is located between the support bearing 24 at the bottom of the input shaft 21 and the needle roller bearing 23.

[0040] This utility model proposes an electric servo motor, including a motor and the aforementioned cycloidal reducer, wherein the power output end of the motor is connected to the transmission mechanism 2. Specifically, the motor is connected to the input shaft 21 on the transmission mechanism 2 to drive the input shaft 21 to rotate.

[0041] This utility model discloses an electric servo motor, the working process of which is as follows: the motor inputs power (speed and torque) through the input shaft 21, and then transmits the power to the cycloidal gear 6 through the needle roller bearing 23 installed on the eccentric position of the input shaft 21. The torque and speed on the cycloidal gear 6 are transmitted to the output frame 32 through the needle rollers 14 on the needle housing 1. With the cooperation of the main bearings 13 at both ends, the output frame 32 realizes the transmission of torque and speed.

[0042] In the description of this utility model, it should be noted that the terms "axial", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0043] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A cycloid speed reducer comprising a pin gear housing (1), a needle roller (14) located inside the pin gear housing (1), an output assembly (3) connected with the needle roller (14), and a transmission mechanism (2) connected with the needle roller (14), characterized in that, The cycloidal reducer also includes an adjusting shim (5) and a main bearing (13). The needle housing (1) is connected to the output assembly (3) through the main bearing (13). The main bearing (13) contacts the needle roller (14) through the adjusting shim (5). The adjusting shim (5) is used to eliminate the axial clearance between the main bearing (13) and the needle roller (14).

2. The cycloidal speed reducer according to claim 1, characterized in that The top and bottom of the needle roller (14) are provided with main bearings (13). The top of the needle roller (14) is connected to the main bearing (13) at the top through an adjusting shim (5). The bottom of the needle roller (14) is connected to the main bearing (13) at the bottom through an adjusting shim (5). The main bearing (13) at the top of the needle roller (14) connects the top end of the output component (3) to the top end of the needle tooth housing (1). The main bearing (13) at the bottom of the needle roller (14) connects the bottom end of the output component (3) to the bottom end of the needle tooth housing (1).

3. The cycloidal reducer according to claim 1, characterized in that, The adjusting shim (5) is in close contact with the needle roller (14), the output component (3), and the needle housing (1).

4. The cycloidal speed reducer according to claim 2, characterized in that, The output assembly (3) includes an input frame (31) and an output frame (32). The main bearing (13) at the top of the needle roller (14) connects the input frame (31) to the top end of the needle housing (1), and the main bearing (13) at the bottom of the needle roller (14) connects the output frame (32) to the bottom end of the needle housing (1).

5. The cycloidal speed reducer according to claim 4, characterized in that The output component (3) further includes a pin shaft (33), which is arranged parallel to the needle roller (14); The transmission mechanism (2) includes a cycloidal gear (6), the outer side of which is connected to a needle roller (14); the pin shaft (33) passes through the input frame (31) and the cycloidal gear (6) in sequence and is connected to the output frame (32).

6. The cycloidal speed reducer according to claim 5, characterized in that The output component (3) also includes a pin sleeve (34), which is disposed at the connection between the pin shaft (33) and the cycloidal gear (6).

7. The cycloidal speed reducer according to claim 5, characterized in that The output component (3) also includes a fixing member and a support sleeve (10). The fixing member is arranged parallel to the pin shaft (33) and is arranged on the same circumference as the pin shaft (33). The fixing member passes through the input frame (31) and the cycloidal gear (6) in sequence and is connected to the output frame (32). The support sleeve (10) is arranged at the connection between the fixing member and the cycloidal gear (6).

8. The cycloidal speed reducer according to claim 7, characterized in that The transmission mechanism (2) further includes an input shaft (21), a needle roller bearing (23), and a support bearing (24). The needle roller bearing (23) and the support bearing (24) are both connected to the input shaft (21). The input shaft (21) is arranged parallel to the pin shaft (33) and is located at the center of the circle formed by the pin shaft (33) and the fixing member. The top and bottom of the input shaft (21) are provided with support bearings (24). The input shaft (21) is connected to the input platform (31) through the top support bearing (24), and the input shaft (21) is connected to the output platform (32) through the bottom support bearing (24). The needle roller bearing (23) is located in the middle of the input shaft (21), and the input shaft (21) is connected to the cycloidal gear (6) through the needle roller bearing (23).

9. The cycloidal speed reducer according to claim 8, characterized in that The transmission mechanism (2) also includes a shoulder retaining ring (22). A shoulder retaining ring (22) is provided between the support bearing (24) at the top of the input shaft (21) and the needle roller bearing (23) and between the support bearing (24) at the bottom of the input shaft (21) and the needle roller bearing (23).

10. An electric actuator, characterized by Includes an electric motor and the cycloidal reducer as described in any one of claims 1-9, wherein the power output end of the electric motor is connected to the transmission mechanism (2).

Images