Intelligent device base seal type cycloid speed reducer

Abstract

The utility model provides a kind of intelligent equipment base sealing type cycloid speed reducer, belong to the field of speed reducer, it includes shell and be located in shell inside first reduction mechanism and second reduction mechanism, shell includes first shell body and second shell body, first reduction mechanism includes the input gear shaft being all arranged in two shell bodies, planetary gear set and front planet carrier, second reduction mechanism includes the rear planet carrier being all arranged in accommodating space, eccentric shaft group, cycloid and multiple needle rollers;First shell body includes the first flange plate, first shell main body and second flange plate integrally connected in turn, second flange plate is connected with second shell body, first shell main body is cylindrical and is coaxial with input gear shaft, along first direction, bearing mounting space and planet carrier installation space are formed in the inside of first shell main body, the diameter of bearing mounting space is less than the diameter of planet carrier installation space.Compared with prior art, the utility model improves the problem that the sealing property and manufacturing cost of existing speed reducer cannot meet the requirements.

Description

Technical Field

[0001] This utility model belongs to the field of speed reducers, and more specifically, it relates to a sealed cycloidal speed reducer for a smart device base. Background Technology

[0002] RV (Rot-vector) transmission for robots (a type of crank-type closed differential gear train) is a new type of transmission developed based on cycloidal pinwheel transmission. Its main characteristics are three highs (high transmission ratio, high load capacity, and high rigidity), two highs (high motion accuracy and high transmission efficiency), and one small (small backlash). Compared to simple cycloidal pinwheel planetary transmissions, it has a smaller size and greater overload capacity, and its output shaft has high rigidity. Therefore, it has received widespread attention both domestically and internationally, and in the transmission mechanisms of Japanese robots, it has largely replaced simple cycloidal pinwheel planetary transmissions and harmonic drives. RV transmissions have two extremely stringent technical specifications: the transmission error cannot exceed 1′; and the backlash, according to the model specification of the RV reducer, cannot exceed 1′. Furthermore, under rated load operation, the total backlash, including backlash caused by elastic deformation, cannot exceed 6′.

[0003] Because high-precision cycloidal differential gear reducers for robots have large load-bearing capacity and high transmission accuracy, designing RV reducers with high integration, high precision, low cost, and good sealing performance has become a current challenge, given the limited size. Utility Model Content

[0004] The purpose of this utility model is to provide a sealed cycloidal reducer for intelligent device bases, so as to improve the technical problem that the overall sealing performance and manufacturing cost of existing reducers cannot meet the requirements.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a sealed cycloidal reducer for a smart device base, comprising: The outer casing includes a first casing and a second casing, wherein the first casing and the second casing are fastened together to form an accommodating space; A first-stage reduction mechanism includes an input gear shaft, a planetary gear set, and a front planetary carrier, all disposed in the accommodating space. The planetary gear set includes at least three planetary gears. The input gear shaft is coaxial with the front planetary carrier. Each planetary gear is evenly arranged around the input gear shaft. Each planetary gear meshes with the input gear shaft. Each planetary gear is rotatably disposed on the front planetary carrier around its own axis. The two-stage reduction mechanism includes a rear planetary carrier, an eccentric shaft assembly, a cycloidal wheel, and multiple needle rollers, all disposed in the accommodating space. The rear planetary carrier is synchronously rotatably connected to the front planetary carrier. The eccentric shaft assembly includes at least three eccentric shafts, each coaxial with each planetary wheel and mounted on the rear planetary carrier. Each eccentric shaft is rotatably adapted to the cycloidal wheel to drive the cycloidal wheel to oscillate around the axis of the input gear shaft. The number of needle rollers is greater than the number of teeth of the cycloidal wheel. The needle rollers roll and mesh with the outer circumference of the cycloidal wheel. Each needle roller is rotatably disposed on the inner wall of the second housing. With the power input direction of the input gear shaft as the first direction, along the first direction, the first housing includes a first flange, a first housing body and a second flange that are integrally connected in sequence. The second flange is connected to the second housing. The first housing body is cylindrical and coaxial with the input gear shaft. Along the first direction, a bearing mounting space and a planetary carrier mounting space are sequentially formed on the inner side of the first housing body. The diameter of the bearing mounting space is smaller than the diameter of the planetary carrier mounting space.

[0006] In one feasible implementation, the diameter of the planetary carrier mounting space gradually increases in a stepped manner along the first direction, and the diameter of the bearing mounting space gradually decreases in a stepped manner along the first direction, with the minimum diameter of the planetary carrier mounting space being the same as the minimum diameter of the bearing mounting space.

[0007] In one feasible implementation, the input gear shaft has 20 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 15mm; the planetary gear has 64 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 9.5mm.

[0008] In one feasible implementation, the eccentricity of the eccentric shaft is 1.8 mm.

[0009] In one feasible implementation, the cycloidal wheel and each of the roller needles are engaged by a single tooth difference. The cycloidal wheel has 39 teeth, the center circle diameter of the needle tooth sleeve formed by the roller needles is 192 mm, the outer diameter of the roller needles is 8 mm, and the number of roller needles is 40.

[0010] In one feasible implementation, the second housing is provided with 40 receiving slots for accommodating each of the roller needles, and each roller needle is rotatably disposed in each of the receiving slots.

[0011] In one feasible implementation, the sealed cycloidal reducer for the smart device base further includes a tapered pin and a locking bolt, both extending along a first direction. The tapered pin is coaxially sleeved on the outer periphery of the locking bolt and is threadedly adapted to the locking bolt. The tapered pin is inserted into the front planetary carrier and the rear planetary carrier along the first direction to form synchronous rotation of the front planetary carrier and the rear planetary carrier. The top of the locking bolt is provided with a first external thread adapted to the thread of the front planetary carrier, and the shank of the locking bolt is provided with a second external thread adapted to the thread of the tapered pin. The locking bolt is sequentially threadedly adapted to the front planetary carrier and the tapered pin along the first direction to fix the tapered pin to the front planetary carrier.

[0012] Compared with existing technologies, the beneficial effects of the sealed cycloidal reducer for intelligent device base provided by this utility model are as follows: The sealed cycloidal reducer of this intelligent device base forms an accommodating space through the snap-fit ​​of the first and second housings, sealing the primary and secondary reduction mechanisms within. In the primary reduction mechanism, the input gear shaft drives the planetary gears meshing with it to rotate. The planetary gears rotate around their own axes and drive the front planetary carrier to rotate coaxially with the input gear shaft. In the secondary reduction mechanism, the rear planetary carrier, which rotates synchronously with the front planetary carrier, drives the eccentric shaft assembly to rotate. The eccentric shaft assembly drives the cycloidal wheel to oscillate around the axis of the input gear shaft. The cycloidal wheel engages with the needle rollers on the inner wall of the second housing to achieve speed reduction. At the same time, the first flange, the first housing body, and the second flange of the first housing are integrally connected. The bearing mounting space and the planetary carrier mounting space inside the first housing body are adapted to accommodate the bearings and the front planetary carrier according to their diameter differences. Through the combination of the above structures, the sealed integration of two-stage reduction transmission is achieved. The first-stage planetary gear reducer and the second-stage cycloidal pinwheel reducer work together. Furthermore, the integrated design of the first housing and the hierarchical arrangement of the internal space optimize the overall structure, achieving the technical effects of stable transmission, good sealing performance, compact structure and high rigidity. This helps to solve the technical problems of low transmission efficiency and short service life caused by insufficient sealing and loose structure of traditional reducers.

[0013] Secondly, the above embodiments optimize the overall shape and structure of the first housing, making it thinner in the middle and thicker at both ends, which facilitates forging and machining, and also makes it convenient to perform forming operations by means of powder metallurgy or other methods. In addition, the optimization of the shape of the bearing mounting space can also form an axial lock on the input gear shaft, preventing the power input gear shaft from being damaged or interfered with other transmission mechanisms due to axial displacement. Similarly, the optimization of the shape of the second housing can also prevent the various structures in the secondary reduction mechanism from being axially offset.

[0014] Another objective of this invention is to provide a robot, including the intelligent device base sealed cycloidal reducer mentioned above.

[0015] Compared to existing technologies, the robot in this invention possesses all the advantages of the aforementioned sealed cycloidal reducer for intelligent device bases. Furthermore, as a power transmission component, the reducer transmits input power to the robot's joints and other actuators after two-stage reduction. This two-stage reduction ensures that the output torque and speed are adapted to the robot's motion requirements, while the robust structure and reliable connection ensure precise and smooth robot movements. Through the combination of these structures, efficient reduction and stable output of the robot's power transmission are achieved. The improved performance of the reducer directly optimizes the robot's operating accuracy, load-bearing capacity, and service life, making the robot reliable, stable in movement, and adaptable to various environments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 The front view of the sealed cycloidal reducer for the intelligent device base provided by this utility model; Figure 2 for Figure 1 Enlarged view of the area shown at point A in the middle.

[0017] In the picture: 1. Outer shell; 11. First shell; 12. Second shell; 2. Single-stage reduction mechanism; 21. Input gear shaft; 22. Planetary gear set; 23. Front planetary carrier; 3. Two-stage reduction gear; 31. Rear planetary carrier; 32. Eccentric shaft assembly; 33. Cycloidal wheel; 34. Needle roller; 4. Tapered pin; 5. Locking bolts. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] In the description of this utility model, it should be noted that if terms such as "upper", "lower", "inner", "back" or indicating orientation or positional relationship appear, they are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element 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.

[0020] Furthermore, in the description of this utility model, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model in light of the specific circumstances.

[0021] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0022] Please refer to the following: Figures 1 to 2 The sealed cycloidal reducer for a smart device base provided by this utility model will now be described. This sealed cycloidal reducer for a smart device base includes a housing 1 and a primary reduction mechanism 2 and a secondary reduction mechanism 3 disposed within the housing 1. The housing 1 includes a first shell 11 and a second shell 12, which are fastened together to form a receiving space. The primary reduction mechanism 2 includes an input gear shaft 21, a planetary gear set 22, and a front planetary carrier 23, all disposed within the receiving space. The planetary gear set 22 includes at least three planetary gears. The input gear shaft 21 and the front planetary carrier 23 are coaxial, and the planetary gears are evenly arranged around the input gear shaft 21. All planetary gears mesh with the input gear shaft 21, and each planetary gear is rotatably mounted on the front planetary carrier 23 around its own axis. The secondary reduction mechanism 3 includes a rear planetary carrier 31, an eccentric shaft assembly 32, a cycloidal wheel 33, and multiple needle rollers 34, all housed in the receiving space. The rear planetary carrier 31 is synchronously connected to the front planetary carrier 23. The eccentric shaft assembly 32 includes at least three eccentric shafts coaxial with each planetary gear and mounted on the rear planetary carrier 31. Each eccentric shaft is rotatably adapted to the cycloidal wheel 33 to drive the cycloidal wheel 33 to oscillate around the axis of the input gear shaft. The number of needle rollers 34 is greater than the number of teeth of the cycloidal wheel 33. The needle rollers 34 and the outer circumference of the cycloidal wheel 33 are engaged in rolling engagement. Each needle roller 34 is rotatably disposed on the inner wall of the second housing 12. Taking the power input direction of the input gear shaft 21 as the first direction, along the first direction, the first housing 11 includes a first flange, a first housing body and a second flange that are integrally connected in sequence. The second flange is connected to the second housing 12. The first housing body is cylindrical and coaxial with the input gear shaft 21. Along the first direction, a bearing mounting space and a planetary carrier mounting space are sequentially formed on the inner side of the first housing body. The diameter of the bearing mounting space is smaller than the diameter of the planetary carrier mounting space.

[0023] The sealed cycloidal reducer of the smart device base forms an accommodating space by fastening the first housing 11 and the second housing 12 of the outer shell 1, sealing the first-stage reduction mechanism 2 and the second-stage reduction mechanism 3. In the first-stage reduction mechanism 2, the input gear shaft 21 drives the planetary gear meshing with it to rotate. The planetary gear rotates around its own axis and drives the front planetary carrier 23 to rotate coaxially with the input gear shaft 21. In the second-stage reduction mechanism 3, the rear planetary carrier 31, which rotates synchronously with the front planetary carrier 23, drives the eccentric shaft group 32 to rotate. The eccentric shaft group 32 drives the cycloidal wheel 33 to swing around the axis of the input gear shaft 21. The cycloidal wheel 33 rolls and meshes with the needle roller 34 on the inner wall of the second housing 12 to achieve deceleration. At the same time, the first flange, the first housing body and the second flange of the first housing 11 are integrally connected. The bearing mounting space and the planetary carrier mounting space inside the first housing body are adapted to install the bearing and the front planetary carrier 23 according to the diameter difference. Through the cooperation of the above structures, the sealed integration of two-stage reduction transmission is achieved. The first-stage planetary gear reducer and the second-stage cycloidal pinwheel reducer work together. Furthermore, the integrated design of the first housing 11 and the hierarchical arrangement of the internal space optimize the overall structure, achieving the technical effects of stable transmission, good sealing performance, compact structure and high rigidity. This helps to solve the technical problems of insufficient sealing and loose structure of traditional reducers, which lead to low transmission efficiency and short service life. In addition, the first housing 11 in this utility model can be integrated into the base of the intelligent robot. While serving as the mounting foundation for the internal structure, it can also serve as the base to provide support for the movement of the entire robot.

[0024] Meanwhile, the above embodiments optimize the overall shape and structure of the first housing 11, making it thinner in the middle and thicker at both ends, which facilitates forging and machining, and also makes it convenient to perform forming operations by means of powder metallurgy or other methods. In addition, the optimization of the shape of the bearing mounting space can also form an axial lock on the input gear shaft, preventing the power input gear shaft 21 from being damaged or interfered with other transmission mechanisms due to axial displacement. Similarly, the optimization of the shape of the second housing 12 can also prevent the various structures in the secondary reduction mechanism 3 from shifting to the side closer to the input gear shaft, making the fixation of the internal transmission structure by the entire housing 1 more reliable and reasonable.

[0025] Based on the above embodiments, a preferred implementation method is proposed. Specifically, along the first direction, the diameter of the planetary carrier installation space gradually increases in a stepped manner, and along the first direction, the diameter of the bearing installation space gradually decreases in a stepped manner. The minimum diameter of the planetary carrier installation space is the same as the minimum diameter of the bearing installation space, so that a stepped accommodating space for different components is formed inside the first housing body. The first housing 11 provides precise graded accommodating and positioning of the front planetary carrier 23 and the bearing. The stepped structure provides multiple axial support surfaces for the components, achieving the technical effects of improving the utilization rate of the internal space of the first housing 11, enhancing the installation stability of the components, and increasing the structural strength of the housing.

[0026] Based on the above embodiments, a preferred implementation is proposed, wherein the power input shaft has 20 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 15mm; the planetary gear has 64 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 9.5mm. The two can mesh precisely to transmit power, the difference in the number of teeth forms a first-order reduction ratio, and the suitable tooth width ensures the meshing contact area to transmit sufficient torque.

[0027] Based on the above embodiments, a preferred implementation is proposed, wherein the eccentricity of the eccentric shaft is 1.8 mm. When the planetary carrier 31 rotates subsequently, the eccentric shaft assembly 32 can drive the cycloidal wheel 33 to produce a suitable oscillation amplitude, which ensures that the cycloidal wheel 33 and the needle roller 34 form an effective mesh, while avoiding interference caused by excessive oscillation amplitude or transmission failure caused by insufficient oscillation amplitude.

[0028] Based on the above embodiments, a preferred implementation is proposed. The cycloidal wheel 33 and each needle roller 34 are engaged with a single tooth difference. The cycloidal wheel 33 has 39 teeth, the center circle diameter of the needle tooth sleeve formed by each needle roller 34 is 192mm, the outer diameter of the needle roller 34 is 8mm, and the number of needle rollers 34 is 40. The single tooth difference design enables the cycloidal wheel 33 to generate a large reduction ratio when it engages with the needle roller 34. The size and number of the needle rollers 34 are adapted to the tooth profile of the cycloidal wheel 33 to form effective contact. The precise size matching between the cycloidal wheel 33 and the needle roller 34 ensures the stability of the engagement and the load-bearing capacity, achieving the technical effects of a large two-stage reduction ratio, smooth transmission, and strong load-bearing capacity.

[0029] Based on the above embodiments, a preferred embodiment is proposed. The second housing 12 is provided with 40 receiving grooves for accommodating each needle roller 34. Each needle roller 34 is rotatably disposed in each receiving groove to achieve stable installation and flexible rotation of the needle roller 34, and to ensure the rolling friction characteristics when the needle roller 34 meshes with the cycloidal wheel 33.

[0030] Based on the above embodiments, a preferred embodiment is proposed. The sealed cycloidal reducer for the intelligent device base further includes a tapered pin 4 and a locking bolt 5, both extending along a first direction. The tapered pin 4 is coaxially sleeved on the outer periphery of the locking bolt 5 and is threadedly adapted to the locking bolt 5. The tapered pin 4 is inserted into the front planetary carrier 23 and the rear planetary carrier 31 along the first direction to achieve synchronous rotation of the front planetary carrier 23 and the rear planetary carrier 31. The top of the locking bolt 5 is provided with a first external thread adapted to the thread of the front planetary carrier 23, and the shank of the locking bolt 5 is provided with a thread adapted to the tapered pin 4. The second external thread of the locking bolt 5 is sequentially threaded with the front planetary carrier 23 and the tapered pin 4 along the first direction to fix the tapered pin 4 to the front planetary carrier 23. In the specific implementation of the above embodiment, the sealed cycloidal reducer of the intelligent device base achieves positioning by inserting the tapered pin 4 into the front planetary carrier 23 and the rear planetary carrier 31. The locking bolt 5 passes through the tapered pin 4 and is threadedly connected to the front planetary carrier 23, while also threadedly mating with the tapered pin 4 to fix it, so that the tapered pin 4 is tightly embedded in the pin holes of both, realizing the synchronous rotation of the front planetary carrier 23 and the rear planetary carrier 31. The insertion positioning of the tapered pin 4 and the double fixing of the locking bolt 5 ensure the rigidity and reliability of the connection, achieving the technical effects of no power transmission delay, easy connection and easy disassembly and assembly.

[0031] Based on the same inventive concept, this utility model also proposes a robot, which includes the intelligent device base sealed cycloidal reducer mentioned above.

[0032] Compared to existing technologies, this robot possesses all the advantages of the aforementioned sealed cycloidal reducer for intelligent device bases. In practical implementation, the reducer, as a power transmission component, transmits input power to the robot's joints and other actuators after two-stage reduction. This two-stage reduction ensures that the output torque and speed match the robot's motion requirements, while the robust structure and reliable connections ensure precise and smooth robot movements. Through the coordination of these structures, efficient reduction and stable output of the robot's power transmission are achieved. The improved performance of the reducer directly optimizes the robot's operating accuracy, load-bearing capacity, and service life, making the robot reliable, stable in motion, and adaptable to various environments.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sealed cycloidal reducer for a smart device base, characterized in that, include: The outer shell (1) includes a first shell (11) and a second shell (12), wherein the first shell (11) and the second shell (12) are fastened together to form an accommodating space; The first-stage reduction mechanism (2) includes an input gear shaft (21), a planetary gear set (22), and a front planetary carrier (23) all disposed in the accommodating space. The planetary gear set (22) includes at least three planetary gears. The input gear shaft (21) and the front planetary carrier (23) are coaxial. Each planetary gear is evenly arranged around the input gear shaft (21). Each planetary gear meshes with the input gear shaft (21). Each planetary gear is rotatably disposed on the front planetary carrier (23) around its own axis. The secondary reduction mechanism (3) includes a rear planetary carrier (31), an eccentric shaft assembly (32), a cycloidal wheel (33), and a plurality of needle rollers (34) all disposed in the accommodating space. The rear planetary carrier (31) is synchronously connected to the front planetary carrier (23). The eccentric shaft assembly (32) includes at least three eccentric shafts that are coaxial with each of the planetary wheels and mounted on the rear planetary carrier (31). Each eccentric shaft is adapted to rotate with the cycloidal wheel (33) to drive the cycloidal wheel (33) to swing around the axis of the input gear shaft. The number of needle rollers (34) is greater than the number of teeth of the cycloidal wheel (33). The needle rollers (34) are rolled and meshed with the outer periphery of the cycloidal wheel (33). Each needle roller (34) is rotatably disposed on the inner wall of the second housing (12). With the power input direction of the input gear shaft (21) as the first direction, along the first direction, the first housing (11) includes a first flange, a first housing body and a second flange that are integrally connected in sequence. The second flange is connected to the second housing (12). The first housing body is cylindrical and coaxial with the input gear shaft (21). Along the first direction, a bearing mounting space and a planetary carrier mounting space are formed in sequence on the inner side of the first housing body. The diameter of the bearing mounting space is smaller than the diameter of the planetary carrier mounting space.

2. The sealed cycloidal reducer for intelligent device base as described in claim 1, characterized in that, Along the first direction, the diameter of the planetary carrier mounting space gradually increases in a stepped manner, and along the first direction, the diameter of the bearing mounting space gradually decreases in a stepped manner. The minimum diameter of the planetary carrier mounting space is the same as the minimum diameter of the bearing mounting space.

3. The sealed cycloidal reducer for the intelligent device base as described in claim 1, characterized in that, The input gear shaft (21) has 20 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 15mm; the planetary gear has 64 teeth, a module of 1.25, a pressure angle of 20°, and a tooth width of 9.5mm.

4. The sealed cycloidal reducer for intelligent device base as described in claim 1, characterized in that, The eccentricity of the eccentric shaft is 1.8 mm.

5. The sealed cycloidal reducer for intelligent device base as described in claim 1, characterized in that, The cycloidal wheel (33) and each of the rollers (34) are engaged by a single tooth difference. The cycloidal wheel (33) has 39 teeth. The center circle diameter of the needle sleeve formed by each of the rollers (34) is 192 mm. The outer diameter of the rollers (34) is 8 mm. The number of rollers (34) is 40.

6. The sealed cycloidal reducer for intelligent device base as described in claim 5, characterized in that, The second housing (12) is provided with 40 receiving slots for accommodating each of the rollers (34), and each of the rollers (34) is rotatably disposed in each of the receiving slots.

7. The sealed cycloidal reducer for intelligent device base as described in claim 1, characterized in that, The sealed cycloidal reducer for the smart device base also includes a tapered pin (4) and a locking bolt (5) extending along a first direction. The tapered pin (4) is coaxially sleeved on the outer periphery of the locking bolt (5) and threadedly adapted to the locking bolt (5). The tapered pin (4) is inserted into the front planetary carrier (23) and the rear planetary carrier (31) along the first direction to form synchronous rotation of the front planetary carrier (23) and the rear planetary carrier (31). The top of the locking bolt (5) is provided with a first external thread adapted to the thread of the front planetary carrier (23), and the shank of the locking bolt (5) is provided with a second external thread adapted to the thread of the tapered pin (4). The locking bolt (5) is threadedly adapted to the front planetary carrier (23) and the tapered pin (4) in sequence along the first direction to fix the tapered pin (4) to the front planetary carrier (23).

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