Rv reduction module

Abstract

The utility model relates to the technical field of speed reducer, concretely relates to a RV speed reduction module, and the technical problem to be solved is to overcome the defects of structure and speed ratio adjustment in the prior art, mainly realized through the following technical scheme: a RV speed reduction module, including motor assembly and RV speed reducer, still including output casing, tooth cover seat, motor casing and sealing end cover, motor assembly and RV speed reducer jointly constitute RV speed reduction module, have hollow structure and wide speed ratio adjustment range, and the overall structure volume is small and axial thickness is small, the module has angle encoder and possesses torque sensor capacity, can multidirectional perception to current, displacement, speed and torque, lubricating oil circulates in the module, filters wear iron powder, improves heat dissipation capacity and improves service life, is applicable to man -machine operation coexisting environment, the RV speed reduction module of the application has the characteristics of big torque, small volume and light weight, has very high power density and strong impact resistance.

Description

Technical Field

[0001] This utility model relates to the field of speed reduction device technology, specifically to an RV speed reduction module. Background Technology

[0002] The RV reducer is a new type of reducer developed based on the cycloidal pinwheel drive. It has a two-stage reduction structure: the first stage is a planetary reduction structure, and the second stage is a cycloidal pinwheel reduction structure. It has advantages such as high rigidity, high precision, high torque, and high transmission efficiency, and is smaller in size and has a greater overload capacity than a simple cycloidal pinwheel planetary drive. Due to the increasing motor speed, there is a significant demand for high-performance reducers with large speed ratios, compact structures, and lightweight designs in related equipment drive systems. To achieve larger reduction ratios, reducers often adopt a two-stage or multi-stage integrated structure.

[0003] In existing technologies, the reduction ratio of RV reducers is limited by the size and structure of the planetary gears. Therefore, the speed ratio adjustment range of the reducer is relatively small. Even if the speed ratio range is expanded by increasing the gear set structure, the assembly accuracy cannot be guaranteed, and the installation difficulty increases, resulting in additional problems such as reduced transmission accuracy or increased size. Furthermore, the reduction module requires different torque outputs for different application scenarios, and the torque structure transformation process requires a dedicated lubrication system to achieve lubrication and cooling. Utility Model Content

[0004] Therefore, the technical problem to be solved by this utility model is to overcome the defects in structure and speed ratio adjustment in the prior art, thereby providing an RV reduction module.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution: It includes a motor assembly and an RV reducer arranged coaxially, and further includes an output housing, a gear sleeve, a motor housing, and a sealing end cover arranged sequentially along the axial direction of the RV reducer and detachably connected to each other. The motor assembly is disposed within the motor housing, the RV reducer is disposed within the gear sleeve, and an O-ring seal is provided between the output housing and the gear sleeve. The output housing has a plurality of output shaft holes arranged in a circumferential array, and an input hole coaxial with the RV reducer is provided in the middle of the output housing. A wire guide tube extends axially from the input hole to the sealing end cover, and an O-ring seal is also provided between the wire guide tube and the sealing end cover. The output housing includes a first plate, an intermediate gasket, and a second plate arranged sequentially and connected to each other. The first plate, intermediate gasket, and second plate are fixed to one end of the wire guide tube. The first plate is disposed at the end away from the gear sleeve, and the second plate is disposed at the end close to the gear sleeve and has an O-ring with the gear sleeve. The output housing also contains a plurality of rolling elements arranged in a circumferential array between the first plate and the second plate. The RV reducer includes needle rollers, an output shaft, an output shaft cover, a cycloidal wheel, a cage bearing, an eccentric shaft, a reduction gear assembly, a main bearing, and a deep groove ball bearing. The output housing is fixedly mounted on the output shaft. The output shaft and the output shaft cover form an output disc frame by screws and tapered pins. The main bearing is installed on the output disc frame near both ends and between it and the gear sleeve seat. The cycloidal wheel is mounted on the cam of the eccentric shaft by a cage bearing on the cam side. The outer side of the cycloidal wheel cooperates with the needle rollers located on the inner side of the middle of the gear sleeve seat to form a cycloidal needle gear reduction structure. The output disc frame is mounted on the true circle of the eccentric shaft via a cage bearing on the true circle side. The eccentric shaft is configured one-to-one with the output shaft hole and is installed on the output disc frame. The deep groove ball bearing is located between the eccentric shaft and the second plate, and a shaft retaining ring is provided on the side of its inner ring away from the output housing. A retaining ring is also provided at the end of the eccentric shaft away from the deep groove ball bearing, which abuts against the end face of the cage bearing near the reduction gear set. The eccentric shaft includes a plurality of eccentric first shafts arranged in a circular array and a plurality of eccentric second shafts arranged in a circular array, and the eccentric first shafts and eccentric second shafts are spaced apart; the reduction gear set is installed at one end of the eccentric shaft near the motor assembly, and includes a plurality of planetary gears installed one-to-one on the corresponding eccentric first shaft and a plurality of linkage teeth installed one-to-one on the corresponding eccentric first shaft, and the planetary gears and linkage teeth mesh one-to-one. The motor assembly includes an input shaft, a motor stator, and a motor rotor. The input shaft is installed at the center of the gear sleeve and is coaxially arranged with the RV reducer. The wire guide is coaxially inserted inside the input shaft. A main input gear that meshes with the reduction gear set is sleeved on the end of the input shaft near the RV reducer. Support bearings are provided at both ends of the input shaft and between the output shaft and the output shaft cover. The outer end face of the support bearing near the reduction gear set abuts against the end face of the retaining ring. The outer end face of the support bearing near the output housing is provided with a bearing retaining ring that abuts against it. The end faces of the two support bearings that are close to each other abut against the washers sleeved on the input shaft. The motor stator and the motor rotor are both installed inside the motor housing. The motor stator and the motor rotor are axially fitted with a set air gap.

[0006] By adopting the above technical solution, the motor assembly and the RV reducer together constitute the RV reduction module. The integration of the motor and reducer achieves a compact structure and reduces the external size. This RV reduction module has high efficiency, high impact torque, high output speed, high response speed (low inertia), high bending moment thrust and long service life. At the same time, it has low starting torque and low surface temperature in conjunction with the lubrication circulation system, which is beneficial to the module's performance and service life.

[0007] The input shaft support bearing can be a deep groove ball bearing or an angular bearing. After the support bearing is installed, it needs to be pre-tightened to obtain stable support for the motor rotor and to bear a certain axial force and achieve axial position adjustment.

[0008] Furthermore, the first piece, the intermediate pad, and the second piece all have fixed end mounting seats extending from their sidewalls, and the fixed end mounting seats have multiple fixed end mounting holes; the toothed sleeve seat also has an output end mounting seat extending outward from its sidewall, and the output end mounting seat also has multiple output end mounting holes.

[0009] By adopting the above technical solution, a fixed end mounting base and an output end mounting base are extended correspondingly on the output housing and the gear sleeve base. By setting multiple fixed end mounting holes and output end mounting holes on the fixed end mounting base and the output end mounting base respectively, the connection and installation between the devices can be realized and a stable connection can be ensured without increasing the external dimensions of other components. This ensures that the structure of the speed reduction module is compact and avoids excessively large external dimensions.

[0010] Furthermore, the first piece includes a first inner plate and a first outer ring arranged coaxially, with a gap between the first inner plate and the first outer ring and an O-ring seal provided in the gap; the second piece includes a second inner plate and a second outer ring arranged coaxially, with a gap between the second inner plate and the second outer ring and an O-ring seal provided in the gap, and the gap between the first inner plate and the first outer ring is equal to the gap between the second inner plate and the second outer ring; the first outer ring, the intermediate gasket, and the second outer ring are each provided with a plurality of connecting mounting holes arranged in a circumferential array around the input hole, and the first inner plate, the intermediate gasket, and the second inner plate are provided with a plurality of sets of connecting holes arranged in a circumferential array around the input hole, and the connecting holes are spaced apart from the output shaft hole, and the first inner plate, the intermediate gasket, and the second inner plate are also provided with positioning pin holes near the connecting holes.

[0011] By adopting the above technical solution, the split output housing integrates a torque sensor without affecting the output shaft output. The torque sensor obtains the corresponding signal through deformation, thereby accurately obtaining the magnitude of the torque.

[0012] Furthermore, annular grooves are formed on the end faces of the first and second plates that are close to each other. The annular grooves are respectively set between the corresponding first inner plate and the first outer ring, and between the corresponding second inner plate and the second outer ring. The annular grooves are located on the side of the output shaft hole away from the input hole, and the annular grooves have contact angles with the sides of the corresponding outer side of the first inner plate, the inner side of the first outer ring, the outer side of the second inner plate, and the inner side of the second outer ring. The intermediate shim is provided with several arc-shaped relief grooves to allow clearance for the rolling elements. The intermediate shim is provided with several strain carriers. The relief grooves are arranged in an array along the circumference of the intermediate shim. The strain carriers are arranged between two adjacent relief grooves and are attached to the end face of the intermediate shim. The rolling elements are limited and rolled in the annular grooves, and multiple rolling elements are evenly arranged in each relief groove.

[0013] By adopting the above technical solution, the layout of the RV reduction module is optimized, and the strain carrier, an important component of the torque sensor, is integrated on the output shaft without increasing the axial thickness. This enables direct and accurate measurement of the load torque. Controlling the thickness of the intermediate shim and the distance between two adjacent clearance slots ensures the reliability and anti-interference capability of the torque sensor. The torque sensor is located at the end of the entire RV module away from the internal components to avoid mutual interference and ensure overall stability, thus meeting the stringent requirements for dynamic response performance.

[0014] Furthermore, the planetary gear is a split double gear and includes a first planetary tooth and a second planetary tooth. The first planetary tooth and the second planetary tooth are coaxially arranged and mounted on an eccentric shaft. The first planetary tooth is close to the RV reducer, and the second planetary tooth is close to the motor assembly. The diameter of the first planetary tooth is larger than the diameter of the second planetary tooth. The first planetary tooth is meshed with the main input gear, and the second planetary tooth is meshed with a linkage tooth on one side. The diameter of the linkage tooth is larger than the diameter of the second planetary tooth. Each first planetary tooth and the coaxial second planetary tooth form a set phase angle and are relatively stationary. The phase angle between the first planetary tooth and the second planetary tooth of different planetary gears is the same. A transmission bearing is provided between the ends of the first planetary tooth and the second planetary tooth that are far apart from each other and the eccentric shaft.

[0015] By adopting the above technical solution, the main input gear meshes and rotates with the first planetary gear, and the second planetary gear, which is coaxial with the first planetary gear, rotates synchronously, driving the linkage teeth meshing with the second planetary gear to rotate. During rotation, since all eccentric shafts move synchronously, in order to avoid over-positioning, the first planetary gear and the second planetary gear are designed separately and each is equipped with a transmission bearing between itself and the eccentric shaft. Therefore, the first planetary gear and the second planetary gear will rotate relative to the eccentric shaft while rotating with it, ensuring smooth transmission.

[0016] Furthermore, each of the planetary gears and the linkage gears is provided with three, and the planetary gears and the linkage gears form three sets of adjustment mechanisms. The planetary gears and the linkage gears are arranged in a circular array around the input shaft, and the planetary gears and the linkage gears are arranged alternately around the input shaft. Each planetary gear meshes with one linkage gear on one side for transmission.

[0017] Furthermore, each of the planetary gears and linkage gears is provided in twos, and the planetary gears and linkage gears constitute two sets of adjustment mechanisms. The planetary gears and linkage gears are arranged in a circular array around the input shaft, and the corresponding sets of planetary gears and linkage gears are arranged symmetrically about the center of the input shaft.

[0018] By adopting the above technical solution, different numbers of planetary gears and linkage teeth are set to adjust the speed ratio of the reducer. Compared with the prior art, this application obtains a wider speed ratio adjustment range and a smaller moment of inertia. Although the number of eccentric shafts in this application is increased compared with the prior art, the diameter of the eccentric shafts in this application is smaller than that in the prior art. The moment of inertia is quadratically related to the eccentric shaft. Therefore, this application does not need to increase the inertia on the motor side.

[0019] Furthermore, a driver, an output encoder, and an input encoder are also provided inside the motor housing and the sealing end cover. The driver is located on the side of the motor assembly near the sealing end cover and a skeleton sealing ring is provided between it and the wire guide spool. The output encoder is located on the side of the driver near the sealing end cover and an output connecting seat is provided between it and the wire guide spool. An input encoder is installed on the end of the input shaft near the motor assembly through the input connecting seat.

[0020] By adopting the above technical solution, the input encoder can be a rotary transformer or a magnetic separator, etc. The motor stator, motor rotor and input encoder are all oil-proof. A skeleton sealing ring is set between the inner hole of the driver and the wire guide to form a low-speed sealing structure. The output encoder is located on the side of the skeleton sealing ring away from the motor stator and motor rotor. The output encoder does not come into contact with the lubricating oil and is sealed by the sealing end cover to ensure the stability of the output encoder.

[0021] Furthermore, the motor assembly includes two motor stators and one motor rotor. The motor rotor is disposed between the two motor stators and there is a gap between the motor rotor and the motor stators on both sides. The motor rotor is connected to the input shaft. An oil injection hole is provided on the motor housing between the two motor stators. An adjustment ring is installed on the input shaft along its axial direction and corresponds to the motor stator near the RV reducer.

[0022] Furthermore, the motor assembly includes a motor stator and two motor rotors. The motor stator is disposed between the two motor rotors and there is a gap between the motor stator and the motor rotor components on both sides. The bottom of both motor rotors is connected to the input shaft. The motor housing has an oil injection hole located between the two motor rotors. Two adjusting rings are installed on the input shaft along its axial direction. One adjusting ring corresponds to the motor stator, and the other adjusting ring is located on the side of the motor rotor closer to the RV reducer away from the motor stator.

[0023] By adopting the above technical solution, the motor assembly mainly uses an axial flux motor. Compared with conventional motors, the flux motor has a smaller axial distance and thickness, which better meets the requirements of a compact structure and obtains a compact structure for the RV reduction module.

[0024] In summary, the technical solution of this utility model has the following advantages: 1. The RV reduction module provided by this utility model has an integrated design of RV reducer and motor assembly, with a compact overall structure. The torque sensor and bearing are integrated on the output housing and output shaft to achieve direct and accurate measurement of load torque. It is also equipped with a lubrication and cooling circulation heat dissipation system to ensure the stability of the overall structure.

[0025] 2. The RV reduction module provided by this utility model, through the combination of cycloidal reduction structure and planetary reduction structure, mainly two-stage or three-stage planetary reduction structure, can obtain a larger speed ratio adjustment range. It can also adjust the number of matching motor stators and motor rotors according to specific usage conditions, and adjust torque and speed, with high overall adaptability.

[0026] 3. The RV reduction module provided by this utility model has lubricating grease entering from the RV reducer side and flowing out from the motor assembly. The circulation and heat dissipation of the lubricating grease improves the life and stability of the reducer and motor. The circulation, filtration and heat dissipation of the lubricating oil are beneficial to the performance and life of the entire reduction module. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a cross-sectional view of an RV reduction module provided in one embodiment of the present invention; Figure 2 This is a partial structural diagram of the output housing provided in one embodiment of the present utility model; Figure 3 This is a cross-sectional view of the motor assembly provided in another embodiment of the present invention. Figure 4 This is a partial structural diagram of a planetary deceleration structure in the prior art, where part a is the front view of the planetary deceleration structure and part b is the side view of the planetary deceleration structure; Figure 5 This is a partial structural diagram of a reduction gear set provided in one embodiment of the present utility model, wherein part c is the front view of the planetary reduction structure and part d is the side view of the planetary reduction structure; Figure 6 This is a partial structural diagram of a reduction gear set provided in another embodiment of the present invention, wherein part e is a front view of the planetary reduction structure and part f is a side view of the planetary reduction structure.

[0029] Explanation of reference numerals in the attached figures: 1. Motor assembly; 11. Input shaft; 111. Main input gear; 112. Support bearing; 1121. Washer; 113. Bearing retainer ring; 114. Adjusting ring; 12. Motor stator; 13. Motor rotor; 14. Driver; 141. Frame seal ring; 15. Output side encoder; 151. Output side connector; 16. Input side encoder; 161. Input side connector; 2. RV reducer; 21. Needle roller; 22. Output shaft; 23. Output shaft cover; 24. Cycloidal wheel; 25. Cage bearing; 26. Eccentric shaft; 26-1. Eccentric shaft one; 26-2. Eccentric shaft two; 26a. Cam; 26b. True circle; 261. Transmission bearing; 27. Reduction gear set; 271. Planetary gear; 2711. First planetary gear; 2712. 1. Second planetary gear; 272. Linkage gear; 273. Adjustment mechanism; 28. Main bearing; 29. ​​Deep groove ball bearing; 291. Shaft retaining ring; 3. Output housing; 3a. Output shaft hole; 3b. Input hole; 31. First plate; 311. First inner plate; 312. First outer ring; 32. Intermediate shim; 321. Relief groove; 322. Strain carrier; 33. Second plate; 331. Second inner plate; 332. Second outer ring; 34. Connection mounting hole; 35. Connection hole; 36. Locating pin hole; 37. Annular groove; 38. Fixed end mounting seat; 381. Fixed end mounting hole; 4. Rolling element; 5. Gear sleeve seat; 51. Output end mounting seat; 511. Output end mounting hole; 6. Motor housing; 61. Oil injection hole; 7. Sealing end cover; 8. Wire guide spool. Detailed Implementation

[0030] The present invention 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 only for explaining the present invention and are not intended to limit the present invention.

[0031] An RV reduction module, such as Figure 1 and Figure 2As shown, the device includes a motor assembly 1 and an RV reducer 2 arranged coaxially. It also includes an output housing 3, a gear sleeve 5, a motor housing 6, and a sealing end cover 7, arranged sequentially along the axis of the RV reducer and detachably connected to each other. The motor assembly 1 is housed within the motor housing 6, and the RV reducer is housed within the gear sleeve 5. The gear sleeve 5 and the motor housing 6 are coaxially arranged and detachably connected. The gear sleeve 5 and the motor housing 6 are connected by threads, screws, or glue. In this application, due to the limited space between the gear sleeve 5 and the motor housing 6, a threaded connection is used, or a radial screw connection could be used. The output housing 3 is installed at the end of the gear sleeve 5 furthest from the motor housing 6 and is connected to the gear sleeve 5 by an O-ring seal. The output housing 3 and the gear sleeve 5 do not contact each other but rotate relative to each other. The O-ring seal serves both connection and sealing functions, and both the output housing 3 and the gear sleeve 5 experience friction with the O-ring seal. The sealing end cover 7 is located at the end of the motor housing 6 furthest from the gear sleeve 5 and is fixed to the motor housing 6. Both the motor assembly 1 and the RV reducer 2 are installed within the gear sleeve 5 and the motor housing 6. The gear sleeve seat 5 has an output end mounting seat 51 extending outward from its side wall, and the output end mounting seat 51 also has multiple output end mounting holes 511. In other embodiments, the output end and the fixed end of the RV reducer 2 can be interchanged, and the fixed and output can be adjusted as needed.

[0032] The RV reducer 2 includes a needle roller 21, an output shaft 22, an output shaft cover 23, a cycloidal wheel 24, a cage bearing 25, an eccentric shaft 26, a reduction gear set 27, a main bearing 28, and a deep groove ball bearing 29. The output shaft 22 and the output shaft cover 23 form an output disc frame by screws and tapered pins. The output shaft cover 23 is located at the end of the output shaft 22 away from the output housing 3. The output housing 3 is fixedly installed on the output shaft 22. The main bearing 28 is sleeved between the outer ring near both ends of the output disc frame and the inner ring of the gear sleeve seat 5. In this application, the main bearing 28 is an angular contact ball bearing with an angle of 30°-60° between the contact ball and the outer ring of the bearing. The inner ring of the main bearing 28 can be integrated with the outer side of the output shaft 22 and the output shaft cover 23. The main bearing 28 can also be an angular contact roller bearing to cope with larger bending moments. The cycloidal wheel 24 is mounted on the cam 26a of the eccentric shaft 26 via a cage bearing 25 on the cam 26a side. The outer side of the cycloidal wheel 24 cooperates with the needle roller 21 located on the inner side of the middle of the gear sleeve seat 5 to form a cycloidal pin gear reduction structure. The cycloidal wheel 24 oscillates within the gear sleeve seat 5. The output disc holder is mounted on the true circle 26b of the eccentric shaft 26 via a cage bearing 25 on the true circle side 26b. The true circle 26a can indirectly contact the output disc holder through the cage bearing 25 or directly contact the output disc holder. A deep groove ball bearing 29 is sleeved on one end of the eccentric shaft 26 near the output housing 3. The outer ring of the deep groove ball bearing 29 contacts the inner wall of the output shaft hole 3b, and the inner ring of the deep groove ball bearing 29 contacts the eccentric shaft 26. One end of the deep groove ball bearing 29 abuts against the true circle 26b end face of the eccentric shaft 26, and the other end abuts against the shaft retaining ring 291 fixed on the eccentric shaft 26. The deep groove ball bearing 29 limits and positions the eccentric shaft 26 in both the axial and radial directions.

[0033] The motor assembly 1 includes an input shaft 11, a motor stator 12, and a motor rotor 13. The input shaft 11 is installed at the center of the gear sleeve 5 and is coaxially arranged with the RV reducer 2. A wire guide 8 is axially inserted through the center of the input shaft 11. The motor stator 12 and the motor rotor 13 are both installed inside the motor housing 6. The motor stator 12 is fixed inside the motor housing 6, and the motor rotor 13 is installed on the input shaft 11. The motor stator 12 and the motor rotor 13 are axially fitted with a certain air gap. Support bearings 112 are provided at both ends of the input shaft 11 and between the output shaft 22 and the output shaft cover 23. The outer end face of the support bearing 112 near the reduction gear set 27 abuts against the end face of the retaining ring 251. The outer end face of the support bearing 112 near the output housing 3 is provided with a bearing retaining ring 113 that abuts against the support bearing 112 at that end. The end faces of the two support bearings 112 that are close to each other abut against the washer 1121 fitted on the input shaft 11. The support bearing 112 of the input shaft 11 can be a deep groove ball bearing or an angular bearing. After the support bearing 112 is installed, it needs to be pre-tightened. The thickness of the washer 1121 can adjust the magnitude of the pre-tightening force of the support bearing 112, thereby obtaining stable support for the motor rotor 13 and being able to bear a certain axial force and achieve the function of axial position adjustment.

[0034] The motor assembly 1 and the RV reducer 2 together constitute the RV reduction module. The integration of the motor and reducer achieves a compact structure and reduces the external size. This RV reduction module has high efficiency, high impact torque, high output speed, high response speed (low inertia), high bending moment thrust and long service life. At the same time, it has low starting torque and low surface temperature in conjunction with the lubrication circulation system, which is beneficial to the module's performance and service life.

[0035] like Figure 1 As shown, a driver 14, an output encoder 15, and an input encoder 16 are also provided inside the motor housing 6 and the sealing end cover 7. The driver 14 is located near the motor rotor 13 and a skeleton sealing ring 141 is provided between it and the wire guide spool 8. The driver 14 can read the data of the output encoder 15 and the input encoder 16. The output encoder 15 is located near the sealing end cover 7 and an output connecting seat 151 is provided between it and the wire guide spool 8. An input encoder 16 is also provided on the wire guide spool 8 near the end of the input shaft 11. An input connecting seat 161 is also provided at the connection between the input encoder 16 and the wire guide spool 8 and the input shaft 11. The input encoder 16 can be a rotary transformer or a magnetic separator, etc. The motor stator 12, the motor rotor 13 and the input encoder 16 are all oil-proof. A skeleton seal ring 141 is provided between the inner hole of the driver 14 and the wire guide 8 to form a low-speed sealing structure. The output encoder is located on the side of the skeleton seal ring 141 away from the motor stator 12 and the motor rotor 13. The output encoder does not come into contact with the lubricating oil and is sealed by the sealing end cover 7 to ensure the stability of the output encoder.

[0036] Motor assembly 1 can be as follows Figure 1 The device shown includes two motor stators 12 and one motor rotor 13. The motor rotor 13 is positioned between the two motor stators 12, with gaps between the motor rotor 13 and the stators 12 on both sides. The middle of the motor rotor 13 is connected to the input shaft 11. An oil injection hole 61 is provided on the motor housing 6 between the two motor stators 12. An axial adjusting ring 114 is also provided on the input shaft 11 corresponding to the motor stator 12. The adjusting ring 114 is axially positioned along the input shaft 11 and corresponds to the motor stator 12 closest to the RV reducer 2. Lubricating grease enters from the output shaft hole 3a of the RV reducer 2 and flows out from the oil injection hole 61 of the motor assembly 1. The oil injection and outlet positions of the output shaft hole 3a and the oil injection hole 61 can be interchanged, as long as the circulation of lubricating grease is achieved. The circulation and heat dissipation of lubricating grease improves the life and stability of the reducer and motor. The circulation, filtration, and heat dissipation of lubricating grease are beneficial to the performance and life of the entire reduction module.

[0037] Motor assembly 1 can be as follows Figure 3 The device shown includes a motor stator 12 and two motor rotors 13. The motor stator 12 is positioned between the two motor rotors 13, with gaps between the motor stator 12 and the two motor rotors 13 on both sides. The bottom of both motor rotors 13 is connected to the input shaft 11. An oil injection hole 61 is provided between the two motor rotors 13 on the motor housing 6. An axial adjusting ring 114 is also provided on the input shaft 11 corresponding to the motor stator 12. Both adjusting rings 114 are arranged along the axis of the input shaft 11. One adjusting ring 114 corresponds to the motor stator 12, and the other adjusting ring 114 is located on the side of the motor rotor 13 closer to the RV reducer, away from the motor stator 12. The motor assembly 1 mainly uses an axial flux motor. Compared with conventional motors, flux motors have a smaller axial distance and thickness, which better meets the requirements of compact structure and achieves a compact structure for the RV reducer module. The adjusting ring 114 performs the initial positioning function of the motor stator 12 through measurement and other means. During installation, the position of the motor stator 12 and the motor rotor 13 is determined by the adjusting ring 114. After ensuring that the motor stator 12 and the motor rotor 13 are in a balanced position, the whole is fixed, ensuring that the motor stator 12 and the motor rotor 13 are in the optimal state when rotating, and avoiding deformation caused by magnetic force during rotation.

[0038] like Figure 1 and Figure 2 As shown, the output housing 3 has a circumferential array of output shaft holes 3a. The eccentric shaft 26 is set one-to-one with the output shaft holes 3a and is installed on the output disk frame. The output housing 3 has an input hole 3b in the middle corresponding to the input shaft 11. A wire guide 8 extends axially from the input hole 3b to the sealing end cover 7. An O-ring is also provided between the wire guide 8 and the sealing end cover 7.

[0039] like Figure 1and Figure 2 As shown, the output housing 3 includes a first piece 31, an intermediate gasket 32, and a second piece 33 arranged sequentially and connected to each other. The first piece 31, the intermediate gasket 32, and the second piece 33 are fixed to one end of the wire guide spool 8. The first piece 31 is located at the end away from the gear sleeve seat 5, and the second piece 33 is located at the end close to the gear sleeve seat 5 and is connected to the gear sleeve seat 5 by an O-ring seal. Multiple sets of rolling elements 4 are also provided inside the output housing 3. The multiple sets of rolling elements 4 are arranged in a circumferential array along the output housing 3. The rolling elements 4 can be spheres or cylinders. When the load requirement is not high, spheres can be used, and when the load requirement is high, cylinders can be used to increase the contact area on the side. The circumferential array of rolling elements 4 is installed between the first piece 31 and the second piece 33 and is limited by the intermediate gasket 32. The side walls of the first piece 31, the intermediate gasket 32, and the second piece 33 all extend with fixed end mounting seats 38, and the fixed end mounting seats 38 are provided with multiple fixed end mounting holes 381.

[0040] like Figure 1 and Figure 2 As shown, the first piece 31 includes a first inner plate 311 and a first outer ring 312. The first inner plate 311 and the first outer ring 312 are coaxially arranged with a gap between them. An O-ring is provided in the gap. The second piece 33 includes a second inner plate 331 and a second outer ring 332. The second inner plate 331 and the second outer ring 332 are coaxially arranged with a gap between them. An O-ring is also provided in the gap. The gap between the first inner plate 311 and the first outer ring 312 is the same as the gap between the second inner plate 331 and the second outer ring 332. The first outer ring 312, the intermediate gasket 32, and the second outer ring 332 are all provided with corresponding connection mounting holes 34, which are arranged in a circumferential array along the input hole 3b. The first inner plate 311, the intermediate gasket 32, and the second inner plate 331 are all provided with multiple sets of connection holes 35, which are also arranged in a circumferential array along the input hole 3b. The connection holes 35 are spaced apart from the output shaft hole 3a. In this application, each set of connection holes 35 has three holes. Positioning pin holes 36 are also provided opposite to each other on the first inner plate 311, the intermediate gasket 32, and the second inner plate 331, and are located next to a certain set of connection holes 35. The split-type output housing 3 integrates a torque sensor without affecting the output of the output shaft 22. The torque sensor obtains a corresponding signal through deformation, thereby accurately obtaining the magnitude of the torque.

[0041] Both the first plate 31 and the second plate 33 have annular grooves 37 on their close end faces. The annular grooves 37 are positioned between the corresponding first inner plate 311 and the first outer ring 312, and also between the corresponding second inner plate 331 and the second outer ring 332. The annular grooves 37 are located on the side of the output shaft hole 3a away from the input hole 3b. There is a contact angle between the annular grooves 37 and the corresponding outer sides of the first inner plate 311, the first outer ring 312, the second inner plate 331, and the second outer ring 332. The contact angle can be 30°-45°. Limiting the angle of the annular grooves 37 ensures that the internal rolling element 4 achieves four-point contact or that the contact area between the rolling element 4 and the annular grooves 37 is sufficiently large within a reasonable range while the frictional force between them is relatively small. Thus, the output housing 3 forms an integrated structure of the bearing, torque sensor, and output end.

[0042] The intermediate gasket 32 ​​has several arc-shaped relief grooves 321 to allow clearance for the rolling elements 4. The intermediate gasket 32 ​​also has several strain carriers 322. The arc-shaped relief grooves 321 are arranged in an array around the circumference of the intermediate gasket 32. The rolling elements 4 are limited and rolled within the annular groove 37. Multiple rolling elements 4 are evenly arranged in each relief groove 321. The rolling elements 4 do not contact the relief grooves 321. Multiple sets of rolling elements 4 are arranged according to the thickness and size of the intermediate gasket 32. The rolling elements 4 play a rigid role to prevent the intermediate gasket 32 ​​from undergoing large deformation. The strain carriers 322 are arranged between two adjacent relief grooves 321. The strain carriers 322 are attached to the end face of the intermediate gasket 32. The number of strain carriers 322 is set as needed and does not correspond to the number of relief grooves 321. In this application, the strain carriers 322 are arranged on the side closer to the first piece 31. The strain carriers 322 do not contact the relief grooves 321 at both ends or the annular groove 37 to avoid signal interference. The layout of the RV reduction module is optimized, and the strain carrier 322, an important component of the torque sensor, is integrated on the output shaft 22 without increasing the axial thickness. This enables direct and accurate measurement of the load torque. The thickness of the intermediate shim 32 and the distance between two adjacent clearance grooves 321 are controlled to ensure the reliability and anti-interference capability of the torque sensor. The torque sensor is located at the end of the entire RV module away from the internal components to avoid mutual interference and ensure overall stability, thus meeting the stringent requirements for dynamic response performance.

[0043] like Figure 1 and Figure 4As shown, a main input gear 111 is fitted onto one end of the input shaft 11 near the RV reducer 2. The input shaft 11 and the main input gear 111 are integrally formed, and the main input gear 111 meshes with the reduction gear set 27. In the prior art, the reduction gear set 27 is a single planetary gear design. The single planetary gear is fixed on the eccentric shaft 26, and the fixing method is to ensure that the planetary gear and the eccentric shaft 26 are relatively stationary, which plays a role in positioning the phase angle and can also transmit torque. In use, the input shaft 11 rotates, driving the main input gear 111 to rotate synchronously. The main input gear 111 and the reduction gear set 27 form a planetary reduction structure, thereby achieving the purpose of deceleration. This process is limited by the size of the reduction gear set 27, so the adjustment range is small.

[0044] like Figure 1 , Figure 5 and Figure 6 As shown, the eccentric shaft 26 includes multiple eccentric primary shafts 26-1 arranged in a circumferential array and multiple eccentric secondary shafts 26-2 arranged in a circumferential array, with the eccentric primary shafts 26-1 and eccentric secondary shafts 26-2 spaced apart. A reduction gear set 27 is installed at one end of the eccentric shaft 26 near the motor assembly 1, and includes multiple planetary gears 271 each mounted on a corresponding eccentric primary shaft 26-1 and multiple linkage teeth 272 each mounted on a corresponding eccentric primary shaft 26-1, with the planetary gears 271 and linkage teeth 272 meshing in a one-to-one correspondence.

[0045] like Figure 1 and Figure 5 As shown, there are three planetary gears 271 and three linkage gears 272. These planetary gears 271 and linkage gears 272 form three sets of adjustment mechanisms 273. The planetary gears 271 and linkage gears 272 are arranged in a circular array around the input shaft 11, and are staggered around the input shaft 11. The planetary gears 271 are mounted on the eccentric shaft 26-1 and rotate relative to it. The linkage gears 272 are mounted on the eccentric shaft 26-2 and are fixedly connected to it via splines or other means, remaining stationary relative to it. Each planetary gear 271 meshes with one linkage gear 272 on one side for transmission. The three sets of adjustment mechanisms 273 achieve the transition from the high-speed side of the input shaft 11 to the low-speed side of the output shaft 22, realizing the speed regulation purpose of the RV reducer 2 at a medium speed ratio.

[0046] A transmission bearing 261 is provided between the planetary gear 271 and the eccentric shaft 26-1. The planetary gear 271 is a split double gear and includes a first planetary tooth 2711 and a second planetary tooth 2712. The first planetary tooth 2711 and the second planetary tooth 2712 are coaxially arranged and both are sleeved on the eccentric shaft 26-1. The first planetary tooth 2711 and the second planetary tooth 2712 have a certain phase angle relationship and are relatively stationary. The first planetary tooth 2711 and the second planetary tooth 2712 are different from each other. The first planetary gear 2711 and the second planetary gear 2712 have the same phase angle. The first planetary gear 2711 is positioned near the end of the RV reducer 2, and the second planetary gear 2712 is positioned near the end of the motor assembly 1. The diameter of the first planetary gear 2711 is larger than the diameter of the second planetary gear 2712. The first planetary gear 2711 meshes with the main input gear 111, and the second planetary gear 2712 meshes with a linkage gear 272 on one side. The diameter of the linkage gear 272 is larger than the diameter of the second planetary gear 2712. A transmission bearing 261 is provided between the first planetary gear 2711 and the second planetary gear 2712 and the eccentric shaft 26-1. The transmission bearing 261 is located at the ends of the first planetary gear 2711 and the second planetary gear 2712 that are far apart from each other. The main input gear 111 meshes with the first planetary gear 2711 and rotates. The second planetary gear 2712, which is coaxial with the first planetary gear 2711, rotates synchronously, driving the linkage gear 272, which meshes with the second planetary gear 2712, to rotate. During rotation, since all eccentric shafts 26 need to move, in order to avoid over-positioning, the first planetary gear 2711 and the second planetary gear 2712 are designed as separate parts, and each is provided with a transmission bearing 261 between itself and the eccentric shaft 26-1. This ensures that the first planetary gear 2711 and the second planetary gear 2712 rotate relative to the eccentric shaft 26-1 while rotating with the eccentric shaft 26, thus ensuring smooth transmission.

[0047] like Figure 1 and Figure 6 As shown, there are two planetary gears 271 and two linkage gears 272. The planetary gears 271 and linkage gears 272 form two sets of adjustment mechanisms 273. Both planetary gears 271 and linkage gears 272 are arranged in a circular array around the input shaft 11, and the corresponding sets of planetary gears 271 and linkage gears 272 are symmetrically arranged about the center of the input shaft 11. These two sets of symmetrical structures allow for the adjustment of a larger speed ratio in the RV reducer 2. A transmission bearing 261 is provided between the planetary gear 271 and the eccentric shaft 26-1. The planetary gear 271 is a split double gear and includes a first planetary gear 2711 and a second planetary gear 2712. The purpose of the transmission bearing 261 is the same as described above.

[0048] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An RV reduction module, characterized by, The device includes a motor assembly (1) and an RV reducer (2) arranged coaxially, and also includes an output housing (3), a gear sleeve seat (5), a motor housing (6), and a sealing end cover (7) arranged sequentially along the axial direction of the RV reducer (2) and detachably connected to each other. The motor assembly (1) is disposed inside the motor housing (6), and the RV reducer (2) is disposed inside the gear sleeve seat (5). An O-ring is provided between the output housing (3) and the gear sleeve seat (5). The output housing (3) has a plurality of output shaft holes (3a) arranged in a circular array on its surface. The output housing (3) has an input hole (3b) coaxial with the RV reducer (2) in the middle. A wire guide tube extends axially from the input hole (3b) to the sealing end cover (7). (8) An O-ring is also provided between the wire guide (8) and the sealing end cap (7); the output housing (3) includes a first piece (31), an intermediate gasket (32) and a second piece (33) arranged in sequence and connected to each other. The first piece (31), the intermediate gasket (32) and the second piece (33) are fixed to one end of the wire guide (8). The first piece (31) is located at the end away from the gear sleeve seat (5). The second piece (33) is located at the end close to the gear sleeve seat (5) and an O-ring is provided between it and the gear sleeve seat (5). A plurality of rolling elements (4) are also provided in the output housing (3). The rolling elements (4) are arranged in a circumferential array between the first piece (31) and the second piece (33). The RV reducer (2) includes a needle roller (21), an output shaft (22), an output shaft cover (23), a cycloidal wheel (24), a cage bearing (25), an eccentric shaft (26), a reduction gear set (27), a main bearing (28), and a deep groove ball bearing (29). The output housing (3) is fixedly installed on the output shaft (22). The output shaft (22) and the output shaft cover (23) are connected by screws and tapered pins to form an output disc frame. The main bearing (28) is installed on the output disc frame near both ends and between it and the gear sleeve seat (5). The cycloidal wheel (24) is mounted on the cam (26a) of the eccentric shaft (26) via the cage bearing (25) on the side of the cam (26a). The outer side of the cycloidal wheel (24) cooperates with the needle roller (21) located on the inner side of the middle part of the gear sleeve seat (5) to form a cycloidal needle gear reduction structure. The output disc frame is mounted on the true circle (26b) of the eccentric shaft (26) via a cage bearing (25) on the true circle (26b) side. The eccentric shaft (26) is correspondingly set with the output shaft hole (3a) and installed on the output disc frame. The deep groove ball bearing (29) is set between the eccentric shaft (26) and the second piece (33), and a shaft retaining ring (291) is provided on the side of its inner ring away from the output housing (3). A retaining ring (251) is provided at the end of the eccentric shaft (26) away from the deep groove ball bearing (29) that abuts against the end face of the cage bearing (25) near the reduction gear set (27). The eccentric shaft (26) includes a plurality of eccentric first shafts (26-1) arranged in a circular array and a plurality of eccentric second shafts (26-2) arranged in a circular array, and the eccentric first shafts (26-1) and eccentric second shafts (26-2) are spaced apart; the reduction gear set (27) is installed on one end of the eccentric shaft (26) near the motor assembly (1), and includes a plurality of planetary gears (271) installed one-to-one on the corresponding eccentric first shaft (26-1) and a plurality of linkage teeth (272) installed one-to-one on the corresponding eccentric first shaft (26-1), and the planetary gears (271) and linkage teeth (272) mesh one-to-one; The motor assembly (1) includes an input shaft (11), a motor stator (12), and a motor rotor (13). The input shaft (11) is installed at the center of the gear sleeve seat (5) and is coaxially arranged with the RV reducer (2). The wire guide (8) is coaxially inserted inside the input shaft (11). A main input gear (111) that meshes with the reduction gear set (27) is sleeved on the end of the input shaft (11) near the RV reducer (2). Support bearings (112) are provided at both ends of the input shaft (11) and between the output shaft (22) and the output shaft cover (23). The outer end face of the support bearing (112) near the end of the reduction gear set (27) abuts against the end face of the retaining ring (251). The outer end face of the support bearing (112) near the end of the output housing (3) is provided with a bearing retaining ring (113) that abuts against it. The end faces of the two support bearings (112) that are close to each other abut against the washer (1121) sleeved on the input shaft (11). The motor stator (12) and the motor rotor (13) are both installed inside the motor housing (6). The motor stator (12) and the motor rotor (13) are axially fitted with a set air gap.

2. The RV reduction module of claim 1, wherein, The first piece (31), the intermediate pad (32), and the second piece (33) all have fixed end mounting seats (38) extending from their side walls. The fixed end mounting seats (38) are provided with multiple fixed end mounting holes (381). The toothed sleeve seat (5) also has an output end mounting seat (51) extending outward from its side wall. The output end mounting seat (51) is also provided with multiple output end mounting holes (511).

3. An RV reduction module according to claim 2, characterized in that The first plate (31) includes a first inner plate (311) and a first outer ring (312) coaxially arranged, with a gap between the first inner plate (311) and the first outer ring (312) and an O-ring seal provided in the gap; the second plate (33) includes a second inner plate (331) and a second outer ring (332) coaxially arranged, with a gap between the second inner plate (331) and the second outer ring (332) and an O-ring seal provided in the gap, and the gap between the first inner plate (311) and the first outer ring (312) is equal to the gap between the second inner plate (331) and the second outer ring (332). The first outer ring (312), the intermediate gasket (32), and the second outer ring (332) are each provided with a plurality of connecting mounting holes (34) arranged in a circumferential array around the input hole (3b). The first inner plate (311), the intermediate gasket (32), and the second inner plate (331) are provided with a plurality of sets of connecting holes (35) arranged in a circumferential array around the input hole (3b). The connecting holes (35) are spaced apart from the output shaft hole (3a). The first inner plate (311), the intermediate gasket (32), and the second inner plate (331) are also provided with positioning pin holes (36) close to the connecting holes (35).

4. The RV reduction module of claim 3, wherein, Annular grooves (37) are provided on the end faces of the first plate (31) and the second plate (33) that are close to each other. The annular grooves (37) are respectively located between the corresponding first inner plate (311) and the first outer ring (312) and between the corresponding second inner plate (331) and the second outer ring (332). The annular grooves (37) are located on the side of the shaft outlet hole (3a) away from the input hole (3b), and the annular grooves (37) are located on the outer side of the corresponding first inner plate (311), the inner side of the first outer ring (312), the outer side of the second inner plate (331), and the second outer ring (332). 2) There is a contact angle on the inner side; the intermediate gasket (32) is provided with several arc-shaped relief grooves (321) to avoid gaps in the rolling element (4), the intermediate gasket (32) is provided with several strain carriers (322), the relief grooves (321) are arranged in a circumferential array along the intermediate gasket (32), the strain carriers (322) are arranged between two adjacent relief grooves (321) and attached to the end face of the intermediate gasket (32); the rolling element (4) is limited and rolled in an annular rolling groove (37), and multiple rolling elements (4) are evenly arranged in each relief groove (321).

5. An RV reduction module according to claim 4, wherein, The planetary gear (271) is a split double gear and includes a first planetary gear (2711) and a second planetary gear (2712). The first planetary gear (2711) and the second planetary gear (2712) are coaxially arranged and mounted on an eccentric shaft (26-1). The first planetary gear (2711) is close to the RV reducer (2), and the second planetary gear (2712) is close to the motor assembly (1). The diameter of the first planetary gear (2711) is larger than the diameter of the second planetary gear (2712). The first planetary gear (2711) is meshed with the main input gear (111). The second planetary tooth (2712) meshes with the linkage tooth (272) on one side, and the diameter of the linkage tooth (272) is larger than the diameter of the second planetary tooth (2712). Each first planetary tooth (2711) and the coaxial second planetary tooth (2712) form a set phase angle and are relatively stationary. The phase angle between the first planetary tooth (2711) and the second planetary tooth (2712) of different planetary gears (271) is the same. The ends of the first planetary tooth (2711) and the second planetary tooth (2712) that are far apart from each other are provided with transmission bearings (261) between them and the eccentric shaft (26-1).

6. An RV reduction module according to claim 5, wherein, Each of the planetary gears (271) and the linkage gears (272) is provided with three. The planetary gears (271) and the linkage gears (272) constitute three sets of adjustment mechanisms (273). The planetary gears (271) and the linkage gears (272) are arranged in a circular array around the input shaft (11), and the planetary gears (271) and the linkage gears (272) are arranged alternately around the input shaft (11). Each planetary gear (271) meshes with one linkage gear (272) on one side for transmission.

7. The RV reduction module of claim 5, wherein, Each of the planetary gears (271) and the linkage gears (272) is provided in twos. The planetary gears (271) and the linkage gears (272) constitute two sets of adjustment mechanisms (273). The planetary gears (271) and the linkage gears (272) are arranged in a circular array around the input shaft (11), and the corresponding sets of planetary gears (271) and linkage gears (272) are arranged symmetrically about the center of the input shaft (11).

8. The RV reduction module of claim 1, wherein, The motor housing (6) and the sealing end cover (7) are also equipped with a driver (14), an output encoder (15) and an input encoder (16). The driver (14) is located on the side of the motor assembly (1) near the sealing end cover (7) and a skeleton sealing ring (141) is provided between it and the wire guide (8). The output encoder (15) is located on the side of the driver (14) near the sealing end cover (7) and an output connector (151) is provided between it and the wire guide (8). The input shaft (11) near the end of the motor assembly (1) is equipped with an input encoder (16) through the input connector (161).

9. The RV reduction module of claim 8, wherein: The motor assembly (1) includes two motor stators (12) and one motor rotor (13). The motor rotor (13) is disposed between the two motor stators (12) and there is a gap between the motor rotor (13) and the motor stators (12) on both sides. The motor rotor (13) is connected to the input shaft (11). The motor housing (6) is provided with an oil injection hole (61) located between the two motor stators (12). An adjusting ring (114) is installed on the input shaft (11) along its axial direction and corresponding to the motor stator (12) near the RV reducer (2).

10. The RV reduction module of claim 8, wherein: The motor assembly (1) includes a motor stator (12) and two motor rotors (13). The motor stator (12) is disposed between the two motor rotors (13) and there is a gap between the motor stator (12) and the motor rotors (13) on both sides. The bottom of the two motor rotors (13) is connected to the input shaft (11). The motor housing (6) has an oil injection hole (61) located between the two motor rotors (13). Two adjusting rings (114) are installed on the input shaft (11) along its axial direction. One of the adjusting rings (114) corresponds to the motor stator (12), and the other adjusting ring (114) is located on the side of the motor rotor (13) near the RV reducer (2) away from the motor stator (12).

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