CN116032067A

CN116032067A - Cycloidal needle type RV speed reducer

Info

Publication number: CN116032067A
Application number: CN202310035400.5A
Authority: CN
Inventors: 赖琼峰; 陈果; 姚焜发
Original assignee: Shenzhen Fighter Technology Co ltd
Current assignee: Shenzhen Fighter Technology Co ltd
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-04-28

Abstract

The invention discloses a cycloidal pin type RV speed reducer, belongs to the technical field of speed reducing equipment, and is used for solving the problem that the speed reducer in the fields of robots, machine tools and medical equipment is large in size and small in torsion. The invention comprises a base, a motor and a speed reducer, wherein a PCB control board is arranged on the base and is electrically connected with the motor, an output shaft of the motor is connected with an eccentric shaft of the speed reducer through a transmission connecting seat, the eccentric shaft penetrates through a first cycloid gear and a second cycloid gear in the speed reducer, a plurality of bearings and pins are distributed in the first cycloid gear and the second cycloid gear around a central shaft, and the end parts of the pins are respectively connected with a shell of the motor and an end cover of the speed reducer. The invention eliminates redundant pin sleeves, annular supports and other parts, directly installs pins between the motor shell and the end cover, adopts the motor, the PCB board and the speed reducer to be assembled, and adopts the pin tooth shell as an output end, so that the integral precision is high, the volume is small, and the torsion is large.

Description

Cycloidal needle type RV speed reducer

Technical Field

The invention belongs to the technical field of speed reduction equipment, and particularly relates to a cycloidal pin RV speed reducer.

Background

The RV reducer consists of a front stage of a planetary gear reducer and a rear stage of a cycloidal pin gear reducer, has compact structure, large transmission ratio and self-locking function under certain conditions, is one of the most commonly used reducers, has small vibration, low noise and low energy consumption, and is widely applied to the fields of industrial robots, machine tools, medical detection equipment, satellite receiving systems and the like. In particular, in the field of robots, very precise rotation speed, strong torsion and small volume are required, so by taking effort on a motor and a speed reducer, as disclosed in chinese patent 202221608966X, a cycloidal pin gear speed reducer is disclosed, which comprises a housing, a front cover, an input shaft, a pin assembly, a cycloidal gear, a pin assembly and an output shaft, which are sequentially disposed between the housing and the front cover, wherein the pin assembly comprises a pin holder and a plurality of pins mounted on the pin holder, elastic elements are circumferentially disposed in the housing, and the pin holder is in close contact with the elastic elements. The speed reducer is not integrated with the motor, and the output shaft is too small and adopts an independent pin sleeve, so that the speed reducer cannot bear excessive torsion. For this purpose, a cycloidal pin type RV speed reducer is proposed.

Disclosure of Invention

The invention aims to provide a cycloidal pin type RV speed reducer, and aims to solve the problems of low integration level and small torsion of the existing speed reducer in the background technology. In order to achieve the purpose, the cycloidal pin type RV speed reducer adopts the technical scheme that an independent pin sleeve is removed, redundant accessories are reduced, and a circuit, a motor and the speed reducer are combined to form a speed reduction power device with high aggregation, so that the purposes of small volume and large torsion are achieved. The scheme specifically includes base, motor and speed reducer, and the base is equipped with PCB control panel and motor electric connection, and the rotational speed and the moment of torsion of control motor, and the output shaft of motor pass through the eccentric shaft connection of transmission connecting seat and speed reducer, and the eccentric shaft runs through the inside first cycloid gear of speed reducer and second cycloid gear, has a plurality of bearings and pin around the center pin distribution in first cycloid gear and the second cycloid gear, and the tip of pin is connected with the casing of motor, the end cover of speed reducer respectively. The post tooth outer shell of the speed reducer is sleeved on the first cycloid gear and the second cycloid gear, a post tooth ring inside the post tooth outer shell is in line contact with the first cycloid gear and the second cycloid gear, and outer bearings are arranged at two ends of the post tooth outer shell and are respectively installed with the shell and the end cover. When the motor is started, the eccentric shaft is driven to rotate, the eccentric shaft drives the first cycloid gear and the second cycloid gear to rotate so as to drive the cylindrical gear shell to rotate, and after the eccentric shaft passes through the first cycloid gear, the second cycloid gear and the cylindrical gear shell, the cylindrical gear shell outputs lower rotating speed and larger torque to the outside.

Further describing the foregoing solution, the base further includes a dust cover and a mounting base, wherein the PCB control board is mounted between the dust cover and the mounting base, and is sealed and protected, the motor is fixedly mounted on the mounting base, the mounting base is provided with a circuit socket, and an external plug can be directly connected with the PCB control board.

More preferably, the transmission connecting seat is also provided with a heat dissipation fan, and the shell is provided with corresponding heat dissipation holes for assisting the heat dissipation of the motor.

More preferably, the cylindrical tooth shell is provided with a plurality of mounting holes, and the actuating elements such as the manipulator and the like can be directly and fixedly mounted with the cylindrical tooth shell.

Further describing the scheme, the eccentric shaft is excessively matched with the bearings at the centers of the first cycloid gear and the second cycloid gear.

Further describing the foregoing, the diameter of the bearing inner ring of the first cycloid gear and the second cycloid gear around the axis is greater than the diameter of the pin.

Further describing the scheme, more than three pins are fixedly arranged on the end cover and the shell, the end cover limits the outer bearing and the axis of the stud tooth shell, and the stud tooth shell is prevented from moving on the axis.

More preferably, the motor is the motor, and the motor noise is little, anti-interference is strong, outage auto-lock, and the auto-lock moment is 2.5 times of motion moment, and the moment is big, is 5 times of same volume electromagnetic motor moment, and the motor resolution is 0.00028, especially adapted robot, lathe, medical treatment check out test set field.

Compared with the prior art, the invention reduces redundant pin sleeves, annular supports and other parts, directly installs pins between the motor shell and the end cover, reduces the volume and can bear larger torsion, and adopts the pin tooth shell as an output end, thus being capable of bearing larger load. The motor, the PCB and the speed reducer are integrated, so that the precision is high, the size is small, and the torsion is large.

Drawings

FIG. 1 is a schematic diagram of the present invention of China patent 2021213901548;

FIG. 2 is a schematic diagram of an embodiment of the present invention;

FIG. 3 is an exploded view of an embodiment of the present invention;

FIG. 4 is a schematic diagram of a structure provided by an embodiment of the present invention;

FIG. 5 is an exploded view of a motor according to an embodiment of the present invention;

FIG. 6 is an exploded view of a speed reducer according to an embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of an embodiment of the present invention;

fig. 8 is a schematic diagram of the embodiment of the present invention.

Wherein, each reference sign in the figure:

1. a base; 11. a dust cover; 12. a PCB control board; 13. a mounting base; 2. a motor module; 21. a motor; 22. a transmission connecting seat; 23. a heat dissipation fan; 24. an eccentric shaft; 25. a housing; 251. a heat radiation hole; 3. a speed reducer; 31. a post tooth housing; 311. column gear ring; 32. an outer bearing; 33. a first cycloidal gear; 331. a bearing; 34. a second cycloidal gear; 341. a pin; 35. an end cap.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The technical scheme of the patent is further described in detail below with reference to the specific embodiments.

As shown in fig. 2-8, the scheme specifically includes a base 1, a motor 21 and a speed reducer 3, the base 1 is provided with a PCB control board 12 electrically connected with the motor 21, to control the rotation speed and torque of the motor 21, an output shaft of the motor 21 is connected with an eccentric shaft 24 of the speed reducer 3 through a transmission connection seat 22, the eccentric shaft 24 penetrates through a first cycloid gear 33 and a second cycloid gear 34 inside the speed reducer 3, a plurality of bearings 331 and pins 341 are distributed around a central shaft in the first cycloid gear 33 and the second cycloid gear 34, and end parts of the pins 341 are respectively connected with a casing 25 of the motor 21 and an end cover 35 of the speed reducer 3. The post gear housing 31 of the speed reducer 3 is sleeved on the first cycloid gear 33 and the second cycloid gear 34, and the post gear ring 311 inside the post gear housing 31 is in line contact with the first cycloid gear 33 and the second cycloid gear 34, and the two ends of the post gear housing 31 are provided with outer bearings 32 and are respectively mounted with the casing 25 and the end cover 35. When the motor 21 is started, the eccentric shaft 24 is driven to rotate, the eccentric shaft 24 drives the first cycloid gear 33 and the second cycloid gear 34 to rotate so as to drive the cylindrical gear housing 31 to rotate, and after the eccentric shaft 24 passes through the first cycloid gear 33, the second cycloid gear 34 and the cylindrical gear housing 31, the cylindrical gear housing 31 outputs lower rotating speed and larger torque to the outside.

As shown in fig. 4, specifically, the base 1 further includes a dust cover 11 and a mounting seat 13, wherein the PCB control board 12 is mounted between the dust cover 11 and the mounting seat 13, and is sealed and protected, so as to achieve the purposes of water resistance, dust resistance and corrosion resistance, the motor 21 is fixedly mounted on the mounting seat 13, the mounting seat 13 is provided with a circuit socket, and an external plug can be directly connected with the PCB control board 12. As shown in fig. 5, in order to dissipate heat from the motor 21, a heat dissipation fan 23 is designed on the transmission connection seat 22, and a corresponding heat dissipation hole 251 is formed on the casing 25.

As shown in fig. 8, in order to better connect the actuator such as a manipulator to the post housing 31, a plurality of mounting holes are formed in the post housing 31. In order to provide the reduction and increase of torque force to the cycloid gear and the post-tooth casing 31, the eccentric shaft 24 is excessively fitted to the bearings 331 at the centers of the first cycloid gear 33 and the second cycloid gear 34. The diameter of the inner ring of the bearing 331 of the first cycloid gear 33 and the second cycloid gear 34 around the axis is larger than the diameter of the pin 341. And more than three pins 341 are fixedly arranged with the end cover 35 and the shell 25, and the end cover 35 limits the axes of the external bearing 32 and the stud shell 31, so as to prevent the stud shell 31 from moving on the axes.

In order to be suitable for the fields of robots, machine tools and medical detection equipment, in the embodiment, the motor 21 is the motor 21, and the motor 21 has the advantages of low noise, high interference resistance, power failure self-locking, self-locking moment which is 2.5 times of motion moment, large moment which is 5 times of the moment of the electromagnetic motor with the same volume and resolution of 0.00028 degrees.

The manner of installation and use of the cycloidal pin RV reducer is further described below for a clearer understanding of the present invention.

When in installation, the motor module 2 is assembled firstly, as shown in fig. 5, the transmission connecting seat 22, the heat dissipation fan 23 and the eccentric shaft 24 are connected with the motor 21, the casing 25 and the installation seat 13 seal and wrap the transmission connecting seat 22, the heat dissipation fan 23, the eccentric shaft 24 and the motor 21, the PCB control board 12 is installed on the installation seat 13 and electrically connected with the motor 21, then the dust cover 11 is fixed with the installation seat 13, and the PCB control board 12 is sealed. The speed reducer 3 is then combined with the motor module 2. An outer bearing 32 is first mounted on the housing 25, a pin 341 is screwed into a pin hole of the housing 25, and then the first and second cycloid gears 33 and 34 with the bearing 331 mounted thereon are passed through the pin 341 and the eccentric shaft 24, as shown in fig. 8. The first cycloidal gear 33 and the second cycloidal gear 34 are sleeved with the cylindrical gear shell 31, the inner parts of two ends of the cylindrical gear shell 31 are sleeved on the outer bearing 32, finally, the end cover 35 is installed, the pin 341 and the end cover 35 are fixedly installed, and the end cover 35 props against the outer bearing 32 to prevent the cylindrical gear shell 31 from moving.

In actual use, the executing components such as the manipulator are connected with the cylindrical gear shell 31, the external controller is electrically connected with the PCB control board 12, and when the electronic device is started, the motor 21 drives the heat dissipation fan 23 and the eccentric shaft 24 to rotate, the eccentric shaft 24 drives the first cycloidal gear 33, the second cycloidal gear 34 and the cylindrical gear shell 31 to rotate, the cylindrical gear shell 31 obtains lower rotating speed and larger torque at the moment, and the cylindrical gear shell 31 drives the executing components such as the manipulator again. Since the rotational speed and torque of the motor 21 are adjustable, the spur gear housing 31 can output a designated rotational speed and torque to accommodate different occasions.

In summary, the invention eliminates redundant pin sleeves, annular brackets and other parts, the pins 341 are directly arranged between the shell 25 and the end cover 35 of the motor 21, the volume is reduced, and the invention can bear larger torsion, and the pin tooth shell 31 is adopted as an output end, so that larger load can be borne. The motor 21, the PCB control board 12 and the speed reducer 3 are adopted for assembly, so that the precision is high, the volume is small, and the torsion is large.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiments, and the terms "upper," "lower," "left," "right," "front," "back," and the like are used herein with reference to the positional relationship of the drawings.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The above embodiments are only for illustrating the present invention, not for limiting the present invention, and various changes and modifications may be made by one of ordinary skill in the relevant art without departing from the spirit and scope of the present invention, and therefore, all equivalent technical solutions are also within the scope of the present invention, and the scope of the present invention is defined by the claims.

Claims

1. The utility model provides a cycloidal needle RV speed reducer, includes base (1), motor (21) and speed reducer (3), its characterized in that: the base (1) is provided with a PCB control board (12) and a motor (21) in electric connection, an output shaft of the motor (21) is connected with an eccentric shaft (24) of a speed reducer (3) through a transmission connecting seat (22), the eccentric shaft (24) penetrates through a first cycloid gear (33) and a second cycloid gear (34) inside the speed reducer (3), a plurality of bearings (331) and pins (341) are distributed in the first cycloid gear (33) and the second cycloid gear (34) around a central shaft, the end parts of the pins (341) are respectively connected with a shell (25) of the motor (21) and an end cover (35) of the speed reducer (3), a stud shell (31) of the speed reducer (3) is sleeved on the first cycloid gear (33) and the second cycloid gear (34), a stud gear ring (311) inside the stud shell (31) is in line contact with the first cycloid gear (33) and the second cycloid gear (34), and two ends of the stud shell (31) are provided with an outer bearing (32) and are respectively installed with the shell (25) and the end cover (35).

2. The cycloidal pin RV speed reducer of claim 1 wherein: the base (1) further comprises a dust cover (11) and a mounting seat (13), the PCB control board (12) is mounted between the dust cover (11) and the mounting seat (13), and the motor (21) is fixedly mounted on the mounting seat (13).

3. The cycloidal pin RV speed reducer of claim 1 wherein: and the transmission connecting seat (22) is also provided with a heat dissipation fan (23), and the shell (25) is provided with corresponding heat dissipation holes (251).

4. The cycloidal pin RV speed reducer of claim 1 wherein: and a plurality of mounting holes are formed in the cylindrical tooth shell (31).

5. The cycloidal pin RV speed reducer of claim 1 wherein: the eccentric shaft (24) is excessively matched with the bearings (331) at the centers of the first cycloid gear (33) and the second cycloid gear (34).

6. The cycloidal pin RV speed reducer of claim 1 wherein: the diameter of the inner ring of the bearing (331) of the first cycloidal gear (33) and the second cycloidal gear (34) around the axis is larger than the diameter of the pin (341).

7. The cycloidal pin RV speed reducer of claim 1 wherein: the three or more pins (341) are fixedly arranged with the end cover (35) and the shell (25), and the end cover (35) limits the axes of the external bearing (32) and the pin tooth shell (31).

8. The cycloidal pin RV speed reducer according to any one of claims 1-7 wherein: the motor (21) is a motor.