RV speed reducer, and mounting method therefor, and industrial robot

Abstract

An RV reducer and a mounting method therefor, and an industrial robot. The RV reducer (1000) comprises a pin housing (100), a planet carrier (200), a crankshaft (300), a cycloidal gear (400), a tube body (500), a limiting member (600), and a sealing member (215). By providing the planet carrier (200) in the pin housing (100), the crankshaft (300) is supported on the planet carrier (200) and configured to drive the cycloidal gear (400) to swing. The planet carrier (200) comprises an output flange (210) and a support flange (220) which are connected to each other, wherein the output flange (210) is provided with a first central hole (212), and the support flange (220) is provided with a second central hole (221). The cycloidal gear (400) is provided with a third central hole (430). The tube body (500) passes through the first central hole (212), the second central hole (221) and the third central hole (430).

Description

RV reducer and mounting method thereof, and industrial robot

[0001] Cross-reference to related applications

[0002] The present application claims priority from the Chinese patent application No. 202410446190.3, filed on April 15, 2024, and entitled "RV reducer and mounting method thereof, and industrial robot", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of precision reducers, and in particular to an RV reducer and a mounting method thereof, and an industrial robot. BACKGROUND

[0004] The RV reducer is a component commonly used in industrial robots. A low-speed tube is installed at the center of the RV reducer for passing a power cable. In order to prevent the low-speed tube from moving relative to the planet carrier, one solution in the related art is to use a retainer ring for positioning. However, the RV reducer using this solution needs to install the low-speed tube first and then install the support flange, which results in a high assembly difficulty of the support flange and makes it difficult to realize automatic assembly. Another solution in the related art is to use a sealing ring that is embedded in both the low-speed tube and the support flange for limiting. However, the RV reducer using this solution needs to use a press and a tool to install the low-speed tube, which results in a high installation difficulty. SUMMARY

[0005] The present application aims to at least partially solve one of the technical problems existing in the prior art. To this end, the present application proposes an RV reducer which is convenient to install and can limit displacement and rotation of a tube body.

[0006] The present application also proposes a mounting method of the above RV reducer.

[0007] The present application also proposes an industrial robot having the above RV reducer.

[0008] According to the RV reducer of the first aspect of the present application, the RV reducer comprises a pin gear shell, a planet carrier arranged in the pin gear shell and capable of rotating relative to the pin gear shell, the planet carrier comprising an output flange and a support flange, the output flange comprising a plurality of struts arranged around the circumference of the planet carrier, the plurality of struts being fixedly connected to the support flange, the output flange being provided with a first central hole, the side of the output flange facing the support flange being provided with a groove, the support flange being provided with a second central hole coaxial with the first central hole, a plurality of crank shafts being rotatably supported on the planet carrier, the crank shafts comprising eccentric portions, a trochoid wheel being connected to the eccentric portions of the plurality of crank shafts and capable of oscillating rotation in the pin gear shell, the trochoid wheel being provided with a plurality of through holes equal in number to the plurality of struts, the trochoid wheel being arranged through the plurality of struts through the plurality of through holes respectively, the trochoid wheel being provided with a third central hole, a tube being arranged through the first central hole, the third central hole and the second central hole, one end of the tube abutting against the bottom wall of the groove to limit the movement of the tube in a first direction, the outer circumferential wall of the tube being provided with a boss, the side of the boss away from the output flange being provided with a first mounting wall along the axial direction of the tube, a limiting piece being fixedly connected to the support flange, the limiting piece being capable of abutting against the first mounting wall to limit the movement of the tube in a second direction opposite to the first direction, a sealing piece being arranged between the tube and the side wall of the groove, the sealing piece being capable of limiting the rotation of the tube relative to the planet carrier.

[0009] The RV reducer according to the embodiments of the present application has at least the following beneficial effects:

[0010] By arranging the planet carrier in the pin gear shell, the plurality of crank shafts are supported on the planet carrier and used to drive the trochoid wheel to oscillate. The planet carrier comprises the connected output flange and support flange, the output flange is provided with the first central hole, the support flange is provided with the second central hole, the trochoid wheel is provided with the third central hole, and the tube is arranged through the first central hole, the second central hole and the third central hole. The tube is limited by the groove of the output flange, the limiting piece and the sealing piece, the movement and rotation of the tube relative to the planet carrier are limited, the tube is stationary relative to the planet carrier, and therefore the cable and other structures can be arranged through the tube in the RV reducer, facilitating the layout of the cable. Since the limiting piece is installed after the tube, the requirement that the support flange is installed first and then the tube is installed can be met without changing the original assembly sequence of the RV reducer, adapting to the original process, and reducing the cost of production line adjustment. During the process of inserting the tube into the bottom wall of the groove, the limiting piece has not been installed to the support flange, and therefore the tube can be smoothly installed to the bottom wall of the groove. After that, since the boss and the side of the support flange away from the output flange are in an open state, the limiting piece can be conveniently installed to the support flange without the aid of a press and corresponding tooling, reducing the assembly difficulty and improving the assembly efficiency.

[0011] According to some embodiments of the present application, the pipe body is configured to be limited from moving by installing the limiting member after being inserted into the bottom wall of the groove along the first direction.

[0012] According to some embodiments of the present application, the support flange is provided with a second mounting wall on the side away from the output flange, and the limiting member can abut against the first mounting wall and the second mounting wall.

[0013] According to some embodiments of the present application, the limiting member comprises a fastener and a gasket, the gasket abuts against the first mounting wall and the second mounting wall along one side of the first direction respectively, and the fastener is used to fixedly connect the gasket and the support flange.

[0014] According to some embodiments of the present application, the gasket is configured to apply a pre-tightening force along the first direction to the boss.

[0015] According to some embodiments of the present application, the first mounting wall protrudes from the second mounting wall along the axial direction of the pipe body.

[0016] According to some embodiments of the present application, the limiting member comprises a fastener and a ring piece, the ring piece is arranged around the outside of the pipe body, the ring piece abuts against the first mounting wall and the second mounting wall along one side of the first direction respectively, and the fastener is used to fixedly connect the ring piece and the support flange.

[0017] According to some embodiments of the present application, the limiting member is detachably connected to the support flange.

[0018] According to some embodiments of the present application, the side wall of the groove is provided with a groove, and the sealing member is installed in the groove and abuts against the outer peripheral wall of the pipe body.

[0019] According to some embodiments of the present application, the pipe body is cut from a metal pipe with a wall thickness of 3mm to 10mm.

[0020] According to some embodiments of the present application, the output flange is provided with a mounting feature, the mounting feature is formed at the end of the output flange away from the support flange, and the mounting feature extends to the bottom wall of the groove.

[0021] According to some embodiments of the present application, the outer contour line of the cross section of the mounting feature is a convex arc.

[0022] According to the mounting method of the RV reducer according to the second aspect of the embodiments of the present application, the RV reducer according to the first aspect of the embodiments of the present application is applied, and the mounting method comprises the following steps: assembling the pin gear shell, the planet carrier, the crank shaft and the trochoid wheel, and mounting the sealing element to the side wall of the groove of the output flange; inserting the pipe body in the first direction until abutting against the bottom wall of the groove; mounting the limiting element to the support flange and abutting the limiting element against the boss of the pipe body; and mounting the double gear to the support flange.

[0023] According to the mounting method of the RV reducer according to the embodiments of the present application, at least the following beneficial effects are achieved:

[0024] By utilizing the groove of the output flange to limit the displacement of the pipe body in the first direction, and by utilizing the limiting element to limit the displacement of the pipe body in the second direction, the support flange is mounted first and then the pipe body is mounted, so that the original assembly sequence of the RV reducer can be changed, the original process can be adapted, and the production cost can be reduced. During the process of inserting the pipe body into the bottom wall of the groove, the limiting element has not been mounted to the support flange, so that the pipe body can be smoothly mounted to the bottom wall of the groove. After that, since the boss and the side of the support flange away from the output flange are in an open state, the limiting element can be conveniently mounted to the support flange without the aid of a press and a corresponding tooling, so that the assembly difficulty is reduced and the assembly efficiency is improved.

[0025] According to the industrial robot according to the third aspect of the embodiments of the present application, the RV reducer according to the above embodiments is comprised.

[0026] According to the industrial robot according to the embodiments of the present application, at least the following beneficial effects are achieved:

[0027] The RV reducer adopting the first aspect embodiment is provided with a planet carrier in the pin gear shell, a plurality of crank shafts are supported on the planet carrier and used to drive the oscillation of the cycloid gear. The planet carrier comprises a connected output flange and support flange, the output flange is provided with a first center hole, the support flange is provided with a second center hole, the cycloid gear is provided with a third center hole, and the pipe body is arranged in the first center hole, the second center hole and the third center hole. The pipe body is limited in movement and rotation relative to the planet carrier through the groove of the output flange, the limiting piece and the sealing piece, so that the pipe body is stationary relative to the planet carrier, and thus the cable and other structures can be arranged in the RV reducer through the pipe body, facilitating the layout of the cable. Since the limiting piece is installed behind the pipe body, the requirement of installing the support flange first and then installing the pipe body can be met without changing the original assembly sequence of the RV reducer, adapting to the original process and reducing the cost of production line adjustment. During the process of inserting the pipe body into the bottom wall of the groove, the limiting piece has not been installed to the support flange, so that the pipe body can be smoothly installed to the bottom wall of the groove. After that, since the boss and the side of the support flange away from the output flange are in an open state, the limiting piece can be conveniently installed to the support flange without the aid of a press and corresponding tooling, reducing the assembly difficulty and improving the assembly efficiency.

[0028] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0029] The present application will be further described below in conjunction with the drawings and embodiments, in which:

[0030] Fig. 1 is a sectional view of an RV reducer according to an embodiment of the present application;

[0031] Fig. 2 is a structural schematic view of a pin gear shell according to an embodiment of the present application;

[0032] Fig. 3 is a structural sectional view of a pipe body according to an embodiment of the present application;

[0033] Fig. 4 is a sectional view of an RV reducer according to an embodiment of the present application, with a hidden portion structure;

[0034] Fig. 5 is an enlarged view of A in Fig. 4;

[0035] Fig. 6 is an enlarged view of B in Fig. 1;

[0036] Fig. 7 is an enlarged view of C in Fig. 4;

[0037] Fig. 8 is a structural schematic view of an RV reducer according to an embodiment of the present application;

[0038] Fig. 9 is a structural schematic view of a limiting piece according to an embodiment of the present application;

[0039] Fig. 10 is a schematic diagram of the structure of another embodiment of the RV reducer of the present application;

[0040] Fig. 11 is a schematic diagram of the structure of a limiting member of another embodiment of the present application;

[0041] Fig. 12 is a flowchart of a mounting method of an RV reducer of an embodiment of the present application;

[0042] Fig. 13 is a schematic diagram of the placement position of an RV reducer during assembly of an embodiment of the present application.

[0043] Reference numerals: RV reducer 1000; pin gear housing 100; inner hole 110; pin gear groove 120; main bearing 130; planet carrier 200; output flange 210; first center hole 212; groove 213; groove 214; sealing member 215; mounting feature 216; support flange 220; second center hole 221; second mounting wall 222; protrusion 223; mounting hole 224; double gear 230; planet gear 240; crankshaft 300; eccentric portion 310; cam follower 400; third center hole 430; tube body 500; boss 510; first mounting wall 511; limiting member 600; fastener 610; gasket 620; ring piece 630; input shaft component 700. DETAILED DESCRIPTION

[0044] Embodiments of the present application are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0045] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc. is based on the orientation or position relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0046] In the description of the present application, multiple refers to more than two. If there is a description of first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0047] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0048] The RV reducer comprises two-stage reduction mechanisms, the first stage is a planetary gear reduction mechanism, and the second stage is a cycloid-pin wheel reduction mechanism, and the RV reducer has a series of advantages such as small volume, light weight, large transmission ratio range, long service life, stable precision retention, high efficiency, and stable transmission, and is widely applied to fields such as industrial robots, machine tools, medical detection equipment, satellite receiving systems, and the like. When the RV reducer is installed at a joint of an industrial robot, in order to enable a cable of the industrial robot to safely pass through the RV reducer, a hollow low-speed tube is arranged in the middle of the RV reducer, and the low-speed tube is used to separate the cable from moving parts inside the RV reducer, so as to avoid damage of the cable by the moving parts.

[0049] In the related art, one installation mode of the low-speed tube adopts ring buckle positioning, and the low-speed tube is limited from being separated from the RV reducer by abutting against the support flange, so that the low-speed tube is required to be installed first and the support flange is required to be installed later during assembly. However, the installation of the low-speed tube first and the installation of the support flange later will make the assembly space of the support flange smaller, and increase the assembly difficulty of the support flange. Moreover, since not all RV reducers have the low-speed tube, the assembly sequence of the RV reducer components without the low-speed tube has become a routine; if the scheme of installing the low-speed tube first and installing the support flange later is adopted, a new process is inserted in the original assembly process, which will cause the existing assembly sequence to change, and will also greatly affect the automatic assembly logic, greatly increase the cost of production line modification, and reduce the flexibility of the production line.

[0050] In another installation mode of the low-speed tube, ring grooves for installing one O-ring are respectively arranged symmetrically on the low-speed tube and the support flange, and the O-ring embedded in the ring groove is used to prevent the low-speed tube from being separated from the RV reducer. However, since the O-ring has a damping effect, a hammer cannot be used to knock the low-speed tube into the RV reducer during assembly, so a press and a special tooling need to be designed for assistance, and the assembly and disassembly are difficult. Moreover, the ring groove is arranged on the outer wall of the low-speed tube, and the low-speed tube needs to increase the wall thickness to meet the strength and processability at the ring groove, which increases the production cost and is not conducive to the lightweight requirement of the RV reducer.

[0051] To solve the above problems, with reference to Figure 1, the RV reducer 1000 of an embodiment of the application comprises a pin gear shell 100, a planet carrier 200, a crank shaft 300, a cycloid wheel 400, a tube body 500 (equivalent to the low-speed tube in the foregoing), a limiting piece 600 and a sealing piece 215. With reference to Figure 2, the pin gear shell 100 has an inner hole 110, and the inner wall of the inner hole 110 is provided with a plurality of pin gear grooves 120, which are arranged around the peripheral wall of the inner hole 110. With reference to Figure 1, the planet carrier 200 is arranged inside the pin gear shell 100, and the planet carrier 200 can rotate relative to the pin gear shell 100. The planet carrier 200 comprises an output flange 210 and a support flange 220, the output flange 210 comprises a plurality of struts, the plurality of struts are arranged at intervals around the circumference of the planet carrier 200, and the plurality of struts and the support flange 220 are fixedly connected. With reference to Figures 4 and 5, the output flange 210 is provided with a first central hole 212, and the side of the output flange 210 facing the support flange 220 is provided with a groove 213, the groove 213 is arranged on the inner wall of the first central hole 212 and communicates with the first central hole 212. The support flange 220 is provided with a second central hole 221 coaxial with the first central hole 212.

[0052] With reference to Figure 1, the crank shaft 300 is supported on the planet carrier 200 and can rotate relative to the planet carrier 200, and the crank shaft 300 comprises an eccentric portion 310. The cycloid wheel 400 is sleeved on the eccentric portion 310 of the plurality of crank shafts 300 and can oscillate relative to the pin gear shell 100, and the cycloid wheel 400 is provided with a plurality of through holes which are the same in number as the struts, for example, the number of through holes and struts is three or six, and the specific number is selected according to the actual situation. The cycloid wheel 400 is respectively arranged on the corresponding plurality of struts through the plurality of through holes, and the cycloid wheel 400 is provided with a third central hole 430, and the third central hole 430, the second central hole 221 and the first central hole 212 communicate with each other. The outer peripheral wall of the cycloid wheel 400 is provided with a plurality of tooth portions, and the plurality of tooth portions are engaged with the pin gear pin and the plurality of pin gear grooves 120. Among them, the cycloid wheel 400 is provided with two, the two cycloid wheels 400 are arranged side by side along the axial direction of the RV reducer 1000 and are arranged in a 180° central symmetry, that is, the phase difference of the two cycloid wheels 400 is 180°.

[0053] Referring to FIG. 1 and FIG. 3, the pipe body 500 is arranged in the first center hole 212, the second center hole 221 and the third center hole 430, and one end of the pipe body 500 abuts against the bottom wall of the groove 213, thereby limiting the displacement of the pipe body 500 in the first direction, i.e. the direction in which the support flange 220 is towards the output flange 210, for example, the direction from right to left in FIG. 1. The outer peripheral wall of the pipe body 500 is provided with a boss 510, which can be arranged around the outer peripheral wall of the pipe body 500, i.e. a boss in the form of a ring; alternatively, a plurality of bosses 510 are arranged around the outer peripheral wall of the pipe body 500 at intervals. Along the axial direction of the pipe body 500, the side of the boss 510 away from the output flange 210 is provided with a first mounting wall 511.

[0054] Referring to FIG. 6, the limiting member 600 is fixedly connected to the support flange 220, and abuts against the first mounting wall 511 to limit the displacement of the pipe body 500 in the second direction. In the present embodiment, the second direction is opposite to the first direction, for example, the direction from left to right in FIG. 1. Referring to FIG. 1, the sealing member 215 is arranged between the pipe body 500 and the side wall of the groove 213, and is used to seal and limit the rotation of the pipe body 500 relative to the planet carrier 200. For example, the sealing member 215 can be an O-ring, or other structures capable of achieving sealing and increasing the friction between the pipe body 500 and the planet carrier 200. In order to more reliably inhibit the rotation of the pipe body 500, the first mounting wall 511 can be slightly higher than the second mounting wall 222 to the right, so that the gasket 620 exerts a pre-tightening force on the pipe body 500 in the first direction. Since the pipe body 500 and the planet carrier 200 are in a state of relative static, the friction loss caused by relative rotation can be reduced, and the metal powder generated by friction is prevented from entering the moving parts, thereby preventing further aggravation of wear and tear and affecting the service life of the RV reducer 1000. The cable can be arranged in the pipe body 500, thereby avoiding contact between the cable and the components such as the pendulum wheel 400, the double gear 230 and the planet wheel 240, and improving the safety and rationality of the cable layout.

[0055] By adopting the above scheme, the outer wall of the pipe body 500 adopts the mode of the boss 510 instead of the mode of setting the ring groove, so that the wall thickness of the pipe body 500 does not need to be increased, the stability of the structure of the pipe body 500 can be ensured, and the production cost can be reduced. Since the displacement of the pipe body 500 along the first direction is limited by the groove 213 of the output flange 210, and the displacement of the pipe body 500 along the second direction is limited by the limiting piece 600, the pipe body 500 is installed after the support flange 220 is installed, so that the original assembly sequence of the RV reducer 1000 can be not changed, the original process can be adapted, and the cost of production line adjustment can be reduced. Moreover, the RV reducer 1000 does not need to be installed by the press machine and the special tooling, so that the RV reducer 1000 does not need to be carried to the press machine, and therefore the assembly steps can be simplified and the assembly efficiency can be improved.

[0056] Referring to FIG. 1, in the embodiment of the application, the pipe body 500 is configured to limit the movement of the pipe body 500 by installing the limiting piece 600 after being inserted into the bottom wall of the groove 213 along the second direction. Since the limiting piece 600 is installed after the pipe body 500, the limiting piece 600 has not been installed to the support flange 220 during the process of inserting the pipe body 500 into the bottom wall of the groove 213, so that the limiting piece 600 does not interfere with the installation of the pipe body 500, and the pipe body 500 can be smoothly installed to the bottom wall of the groove 213. After that, since the boss 510 and the side of the support flange 220 away from the output flange 210 are in an open state, the limiting piece 600 can be conveniently installed to the support flange 220, the assembly difficulty is reduced, and the assembly efficiency is improved.

[0057] Referring to FIG. 7, in the embodiment of the application, the side of the support flange 220 away from the output flange 210 is provided with a second installation wall 222, and the limiting piece 600 abuts against the first installation wall 511 and the second installation wall 222. For example, the inner wall of the second center hole 221 of the support flange 220 is provided with a protruding portion 223, and the protruding portion 223 is arranged around the circumference of the second center hole 221. The second installation wall 222 is arranged on the side of the protruding portion 223 away from the output flange 210, that is, the right side of the protruding portion 223. By adopting the scheme of the protruding portion 223, only the right side of the protruding portion 223 needs to be finished, so that the manufacturing process can be simplified and the production efficiency can be improved.

[0058] Referring to FIGS. 6 and 7, the protruding portion 223 is further provided with a mounting hole 224, and an axis of the mounting hole 224 is parallel to an axis of the second center hole 221. The limiting piece 600 includes a fastener 610 and a gasket 620. The gasket 620 is annular, and the fastener 610 can be a screw, a bolt, a pin, or the like. The gasket 620 abuts against the first mounting wall 511 and the second mounting wall 222 on one side in the first direction, respectively, and the fastener 610 is arranged through the gasket 620 and the mounting hole 224 and fixes the gasket 620 on the support flange 220, so as to limit the relative displacement of the gasket 620 and the support flange 220 and limit the displacement of the pipe body 500 in the second direction. For example, the gasket 620 is slightly deformed under the action of the fastener 610, so as to be able to apply a pre-tightening force in the first direction to the boss 510, that is, the gasket 620 provides a pre-tightening force to the pipe body 500 towards the output flange 210, effectively avoiding the phenomenon that the pipe body 500 rotates around the axis. For example, in order to apply a pre-tightening force in the first direction to the boss 510, the gasket 620 can adopt a spring washer with elastic function; or adopt a non-standard part protruding towards the first mounting wall 511 of the boss 510; or protrude to the right of the second mounting wall 222 through the first mounting wall 511.

[0059] In an embodiment of the present application, the gasket 620 can adopt a standard part, for example, a flat gasket according to the national standard, which is mature in technology, low in cost, and high in reliability. When the screw is arranged through the gasket 620, the screw is arranged through the gasket 620 and is threadedly connected to the mounting hole 224. The gasket 620 itself can improve the stability of screw connection, reduce the situation of screw loosening and falling off, and also abut against the first mounting wall 511 of the boss 510, so as to limit the displacement of the pipe body 500 in the second direction. Therefore, the structure design of the limiting piece 600 is reasonable, the required parts can be reduced, and the assembly efficiency can be improved.

[0060] Referring to FIGS. 8 and 9, in an embodiment of the present application, the mounting hole 224 is provided with a plurality of mounting holes and is arranged at intervals in the circumferential direction of the protruding portion 223, and the gasket 620 and the fastener 610 are each provided with a plurality of gaskets and fasteners. The number of the gaskets 620 is the same as the number of the mounting holes 224, for example, both are three. By arranging a plurality of gaskets 620 and limiting pieces 600, the stability of limiting the pipe body 500 can be further improved, the situation of loosening and falling off of the pipe body 500 can be effectively reduced, and the reliability and stability of the RV speed reducer 1000 can be improved.

[0061] Referring to FIG. 6, in the embodiment of the present application, the first mounting wall 511 can slightly protrude to the right of the second mounting wall 222 along the axial direction of the pipe body 500. Therefore, when the gasket 620 abuts against the first mounting wall 511 and the second mounting wall 222, the gasket 620 is forced to deform slightly due to the unevenness of the first mounting wall 511 and the second mounting wall 222, thereby providing the pipe body 500 with a pre-tightening force towards the output flange 210, effectively preventing the pipe body 500 from rotating.

[0062] Referring to FIGS. 10 and 11, in another embodiment of the present application, the limiting member 600 includes a fastener 610 and a ring piece 630, and the ring piece 630 is sleeved on the pipe body 500, i.e., the ring piece 630 is arranged around the outer side of the pipe body 500. The fastener 610 is arranged through the ring piece 630 and fixedly connected to the support flange 220, and the ring piece 630 abuts against the first mounting wall 511 and the second mounting wall 222 on one side in the first direction, respectively, so that the ring piece 630 and the support flange 220 are relatively fixed. It can be understood that the scheme of using the ring piece 630 can effectively limit the displacement of the pipe body 500 in the second direction, avoid the pipe body 500 from falling off, and improve the overall reliability of the RV speed reducer 1000.

[0063] In the embodiment of the present application, the limiting member 600 is detachably connected to the support flange 220, and when the pipe body 500 needs to be disassembled, the pipe body 500 can be extracted after the limiting member 600 is disassembled, so as to replace or clean the pipe body 500, meeting the use requirements in different situations.

[0064] Referring to FIG. 5, in the embodiment of the present application, the side wall of the recess 213 is provided with a groove 214, and the groove 214 is arranged around the side wall of the recess 213, i.e., the groove 214 is annular. The sealing member 215 is installed in the groove 214 and abuts against the outer peripheral wall of the pipe body 500. The sealing member 215 can be made of elastic materials such as rubber, so as to increase the friction force, thereby limiting the rotation of the pipe body 500 relative to the planet carrier 200.

[0065] In the embodiment of the present application, the pipe body 500 is made of a metal pipe. Since the pipe body 500 does not need to be provided with the groove 214 for accommodating the sealing member 215, the wall thickness is relatively thin. Also, there is no flange for mounting the screw, so the shape is close to the national standard pipe material. In this embodiment, a seamless steel pipe with a wall thickness of 3 mm to 10 mm can be used to process the pipe body 500, so the machining cutting amount is small, the machining efficiency is high, and the cost is low.

[0066] When the RV reducer 1000 is applied to an industrial robot, the industrial robot will move the cable during operation; therefore, even if the pipe body 500 does not move relative to the planet carrier 200, the cable passing out of the RV reducer 1000 is prone to wear. In order to further improve the cable wear at the passing-out port, referring to FIG. 1, in the embodiment of the application, the output flange 210 is provided with a mounting feature 216, the mounting feature 216 is formed at the end of the output flange 210 away from the support flange 220, that is, the end of the output flange 210 facing the outside is provided with the mounting feature 216, and the mounting feature 216 extends to the bottom wall of the groove 213. It should be noted that the mounting feature 216 is used to mount a protective sleeve, and the cable passing through the pipe body 500 can be in contact with the protective sleeve, thereby reducing the wear of the cable and improving the reliability and service life of the cable. Wherein, the outer contour line of the cross section of the mounting feature 216 is a convex arc, which avoids the occurrence of cutting the cable due to the presence of sharp edges. In another embodiment, the outer contour line of the cross section of the mounting feature 216 can also be a bevel, that is, the opening of the mounting feature 216 is funnel-shaped, and the appropriate scheme is selected according to the actual situation.

[0067] Referring to FIG. 12, the mounting method of the RV reducer 1000 according to the above-mentioned embodiments of the application includes the following steps:

[0068] Step S1201: Assemble the pin gear housing 100, the planet carrier 200, the crank shaft 300 and the trochoid wheel 400, and install the sealing member 215 to the side wall of the groove 213 of the output flange 210. The sealing member 215 can be installed in the output flange 210 of the planet carrier 200 before assembly, or can be installed in the output flange 210 of the planet carrier 200 after the assembly of the crank shaft 300, the pin gear housing 100 and the trochoid wheel 400 and other structures. Referring to FIG. 13, due to the large weight of the output flange 210, the output flange 210 is generally placed on the workbench in the direction shown in FIG. 13, and then the main bearing 130, the pin gear housing 100, the crank shaft 300, the trochoid wheel 400, the support flange 220 and other structures are installed on the output flange 210. During this process, the position of the output flange 210 does not need to be adjusted, which can simplify the installation steps and improve the installation efficiency.

[0069] Step S1202: Insert the pipe body 500 along the first direction until the bottom wall of the groove 213 is abutted, at this time the direction indicated by the first direction is from top to bottom as shown in FIG. 13, so during the installation of the pipe body 500, the position of the output flange 210 does not need to be changed and the output flange 210 does not need to be turned over, so the installation of the pipe body 500 is more convenient.

[0070] Step S1203: Install the limiting member 600 to the support flange 220, and make the limiting member 600 abut against the boss 510 of the pipe body 500. At this time, the first installation wall 511 is open upward, the gasket 620 of the limiting member 600 is placed on the upward side of the support flange 220, and the gasket 620 is fixed on the support flange 220 through the fastener 610, so that the gasket 620 abuts against the boss 510, thereby limiting the position of the pipe body 500, and therefore the installation of the limiting member 600 is simple and convenient.

[0071] Step S1204: Install the double gear 230 to the support flange 220. The double gear 230 is sleeved on the pipe body 500 and can rotate relative to the pipe body 500, and the double gear 230 is installed to the support flange 220 through a bearing. The crank shaft 300 is installed with the planetary gear 240, and each crank shaft 300 is correspondingly installed with one planetary gear 240, so that the plurality of planetary gears 240 mesh with the double gear 230. The double gear 230 can be driven by the input shaft component 700, and in turn drive the planetary gear 240 and the crank shaft 300 to rotate.

[0072] By using the above installation method, the assembly of other structures is completed without changing the position of the output flange 210, and the output flange 210 does not need to be turned over when the pipe body 500 is installed, so that the assembly steps can be simplified and the assembly efficiency can be improved.

[0073] The industrial robot of an embodiment of the present application comprises the RV reducer 1000 of the above embodiment, and the industrial robot can be a carrying robot, a welding robot, an assembly robot, a machining robot, a spraying robot, a cleaning robot, a collaborative robot, etc.

[0074] The industrial robot of the embodiment of the present application adopts the RV reducer 1000 of the above-mentioned embodiment, the RV reducer 1000 supports a plurality of crank shafts 300 in the pin gear housing 100 by arranging the planet carrier 200, and the plurality of crank shafts 300 are used to drive the oscillation of the cycloid wheel 400. The planet carrier 200 comprises a connected output flange 210 and support flange 220, the output flange 210 is provided with a first center hole 212, the support flange 220 is provided with a second center hole 221, the cycloid wheel 400 is provided with a third center hole 430, and the pipe body 500 is arranged in the first center hole 212, the second center hole 221 and the third center hole 430. The pipe body 500 is limited by the sealing piece 215 and the limiting piece 600 to limit the rotation of the pipe body 500 relative to the planet carrier 200. Therefore, the cable and other structures can be arranged in the RV reducer 1000 through the pipe body 500, which is convenient for the layout of the cable. Since the displacement of the pipe body 500 along the first direction is limited by the groove 213 of the output flange 210, and the displacement of the pipe body 500 along the second direction is limited by the limiting piece 600, the support flange 220 is installed first, and then the pipe body 500 is installed, which can not change the original assembly sequence of the RV reducer 1000, adapt to the original process, and reduce the production cost. During the process of inserting the pipe body 500 into the bottom wall of the groove 213, the limiting piece 600 has not been installed to the support flange 220, so the pipe body 500 can be smoothly installed to the bottom wall of the groove 213. After that, since the boss 510 and the side of the support flange 220 away from the output flange 210 are in an open state, the limiting piece 600 can be conveniently installed to the support flange 220 without the help of a press and corresponding tooling, which reduces the assembly difficulty and improves the assembly efficiency.

[0075] The industrial robot of the embodiment of the present application adopts all the technical solutions of the RV reducer 1000 of the above-mentioned embodiment, so it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiment, which will not be repeated here.

[0076] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above-mentioned embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the purpose of the present application.

Claims

1. A RV reducer, comprising: a pin gear housing; a planet carrier arranged in the pin gear housing and capable of rotating relative to the pin gear housing, the planet carrier comprising an output flange and a support flange, the output flange comprising a plurality of struts arranged around the circumference of the planet carrier, the plurality of struts being fixedly connected to the support flange, the output flange being provided with a first central hole, the side of the output flange facing the support flange being provided with a groove, the support flange being provided with a second central hole coaxial with the first central hole; a plurality of crank shafts rotatably supported by the planet carrier, the crank shafts comprising eccentric portions; a trochoid wheel connected to the eccentric portions of the plurality of crank shafts and capable of oscillating rotation in the pin gear housing, the trochoid wheel being provided with a plurality of through holes equal in number to the plurality of struts, the trochoid wheel being arranged through the corresponding plurality of struts through the plurality of through holes, the trochoid wheel being provided with a third central hole; a tube body arranged through the first central hole, the third central hole and the second central hole, one end of the tube body abutting against the bottom wall of the groove to limit the movement of the tube body in a first direction, the outer circumferential wall of the tube body being provided with a boss, the side of the boss facing away from the output flange being provided with a first mounting wall along the axial direction of the tube body; a limiting piece fixedly connected to the support flange, the limiting piece being capable of abutting against the first mounting wall to limit the movement of the tube body in a second direction opposite to the first direction; and a sealing piece arranged between the tube body and the side wall of the groove, the sealing piece being capable of limiting the rotation of the tube body relative to the planet carrier.

2. The RV reducer of claim 1, wherein, The tube body is configured to limit the movement and rotation of the tube body by mounting the limiting piece after being inserted into the bottom wall of the groove along the first direction.

3. The RV-reducer according to claim 1 or 2, wherein The side of the support flange facing away from the output flange is provided with a second mounting wall, and the limiting piece is capable of abutting against the first mounting wall and the second mounting wall.

4. The RV reducer of claim 3, wherein, The limiting piece comprises a fastener and a gasket, the side of the gasket along the first direction abutting against the first mounting wall and the second mounting wall respectively, and the fastener being used for fixedly connecting the gasket and the support flange.

5. The RV reducer of claim 4, wherein: The gasket is configured to apply a pre-tightening force along the first direction to the boss.

6. The RV reducer of claim 5, wherein, The first mounting wall protrudes from the second mounting wall along the axial direction of the tube body.

7. The RV-reducer according to any one of claims 3 to 6, wherein The limiting piece comprises a fastener and a ring piece, the ring piece being arranged around the outside of the tube body, the side of the ring piece along the first direction abutting against the first mounting wall and the second mounting wall respectively, and the fastener being used for fixedly connecting the ring piece and the support flange.

8. The RV-reducer according to any one of claims 1 to 7, wherein, The limiting piece is detachably connected to the support flange.

9. The RV-reducer according to any one of claims 1 to 8, wherein, The side wall of the groove is provided with a groove, and the sealing piece is arranged in the groove and abuts against the outer circumferential wall of the tube body.

10. The RV-reducer according to any one of claims 1 to 9, wherein, The tube body is cut from a metal tube with a wall thickness of 3mm to 10mm.

11. The RV-reducer according to any one of claims 1 to 10, wherein The output flange is provided with a mounting feature formed at one end of the output flange facing away from the support flange, and the mounting feature extends to the bottom wall of the groove.

12. The RV reducer of claim 11, wherein, The outer contour line of the cross section of the mounting feature is a convex arc.

13. A mounting method of the RV reducer, applied to the RV reducer of any one of claims 1 to 12, and comprising the following steps: assembling the pin gear shell, the planet carrier, the crank shaft and the cycloid wheel, and installing the seal to the side wall of the groove of the output flange; inserting the pipe body along the first direction until abutting against the bottom wall of the groove; installing the limiting piece to the support flange, and making the limiting piece abut against the boss of the pipe body; and installing the double gear to the support flange.

14. An industrial robot, comprising the RV reducer of any one of claims 1 to 12.

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