CN216692034U

CN216692034U - RV decelerator and robot

Info

Publication number: CN216692034U
Application number: CN202220288896.8U
Authority: CN
Inventors: 杨辉; 张笑天; 谭利彬
Original assignee: Nanjing Nanchuan Intelligent Technology Co ltd
Current assignee: Nanjing Nanchuan Intelligent Technology Co ltd
Priority date: 2022-02-11
Filing date: 2022-02-11
Publication date: 2022-06-07
Anticipated expiration: 2032-02-11

Abstract

The application relates to the technical field of speed reducers, and provides an RV speed reducer and a robot, wherein the RV speed reducer comprises an output frame, a support flange, a primary speed reducer, a secondary speed reducer and a pin gear shell, a central connecting shaft and a circumferential connecting shaft are arranged on the output frame, a central through hole and a circumferential through hole are formed in the support flange, a first fastener penetrates through the central through hole and the central connecting shaft, and a second fastener penetrates through the circumferential through hole and the circumferential connecting shaft so as to connect the output frame with the support flange; a planetary gear of the primary speed reducing mechanism is arranged on the supporting flange; the both ends of second grade reduction gears's crank axle are connected with planetary gear and output frame respectively, go up cycloid wheel and lower cycloid wheel and rotate with the first eccentric portion and the second eccentric portion of crank axle respectively and be connected, the pin wheel shell cup joints the outside at last cycloid wheel and lower cycloid wheel to be connected with last cycloid wheel and lower cycloid wheel meshing, the RV decelerator of this application has torsional rigidity big, effect that bearing capacity is strong.

Description

RV decelerator and robot

Technical Field

The application relates to the technical field of speed reducers, in particular to an RV speed reducer and a robot.

Background

The RV reducer is a reducer developed on the basis of traditional pin-cycloid planetary transmission, generally comprises a first-stage cylindrical gear planetary reduction mechanism and a second-stage cycloid pin gear reduction mechanism, has a series of advantages of small size, light weight, large transmission ratio range, long service life, stable precision, high efficiency, stable transmission and the like, and is widely applied to the fields of robots and the like.

The existing RV reduction gear has the defects of small torsional rigidity and weak bearing capacity of an output structure.

SUMMERY OF THE UTILITY MODEL

To the problem that exists among the above-mentioned prior art, the purpose of this application embodiment provides an RV decelerator and robot, and the RV decelerator that this application embodiment provided has torsional rigidity big, and bearing capacity is strong, the strong effect of impact resistance.

In a first aspect, an embodiment of the present application provides an RV reduction device, including: the planet carrier comprises an output frame and a supporting flange, wherein a central connecting shaft and a circumferential connecting shaft are arranged on the output frame, a first threaded hole and a second threaded hole are respectively formed in one side, facing the supporting flange, of the central connecting shaft and one side, facing the supporting flange, of the circumferential connecting shaft, a central through hole and a circumferential through hole are respectively formed in the supporting flange corresponding to the first threaded hole and the second threaded hole, a first fastener penetrates through the central through hole and the first threaded hole, and a second fastener penetrates through the circumferential through hole and the second threaded hole so as to connect the output frame with the supporting flange; the primary speed reducing mechanism comprises an input gear and a planetary gear in meshed connection with the input gear, and the planetary gear is mounted on the support flange; the two-stage speed reducing mechanism comprises a crankshaft, an upper cycloidal gear and a lower cycloidal gear which is arranged adjacent to the upper cycloidal gear, wherein one end of the crankshaft is connected with the supporting flange and is connected with the planetary gear, the other end of the crankshaft is connected with the output frame, a first eccentric part and a second eccentric part are arranged in the middle of the crankshaft, and the upper cycloidal gear and the lower cycloidal gear are respectively in rotating connection with the first eccentric part and the second eccentric part; the pin gear shell is sleeved outside the upper cycloidal gear and the lower cycloidal gear and is connected with the upper cycloidal gear and the lower cycloidal gear in a meshing manner.

The RV reduction gear provided by the embodiment of the application comprises a planet carrier, a primary reduction mechanism, a secondary reduction mechanism and a pin gear shell; the planet carrier comprises an output frame and a supporting flange connected with the output frame, and particularly, a central connecting shaft and a circumferential connecting shaft are arranged on one side of the output frame, which faces the supporting flange, wherein the central connecting shaft and the output frame are coaxially arranged, a first threaded hole is formed in the central connecting shaft, the first threaded hole extends along the axial direction of the central connecting shaft, a second threaded hole is formed in the circumferential connecting shaft, the second threaded hole extends along the axial direction of the circumferential connecting shaft, a central through hole and a circumferential through hole are respectively formed in the supporting flange, corresponding to the first threaded hole and the second threaded hole, a first fastener penetrates through the central through hole and the first threaded hole, and a second fastener penetrates through the circumferential through hole and the second threaded hole, so that the output frame is connected with the supporting flange; the primary speed reducing mechanism comprises an input gear and a planetary gear in meshed connection with the input gear, the input gear is meshed with the planetary gear when rotating to drive the planetary gear to rotate, it should be noted that when the RV speed reducing device operates, an external power mechanism (such as a motor) needs to be connected, the input gear is installed at the output end of the power mechanism, and the output end of the power mechanism rotates to drive the input gear to rotate; the two-stage speed reducing mechanism comprises a crankshaft, an upper cycloidal gear and a lower cycloidal gear, wherein the upper cycloidal gear and the lower cycloidal gear are arranged adjacently and are positioned between an output frame and a supporting flange, the upper cycloidal gear and the lower cycloidal gear are respectively provided with a central connecting hole and a circumferential connecting hole, the central connecting hole and the circumferential connecting hole are respectively arranged corresponding to a central connecting shaft and a circumferential connecting shaft so as to be penetrated through by the central connecting shaft and the circumferential connecting shaft, so that a first threaded hole and a second threaded hole are respectively abutted against and communicated with the central through hole and the circumferential through hole, in addition, the upper cycloidal gear and the lower cycloidal gear are also provided with crank shaft holes, the output frame is provided with bearing holes corresponding to the crank shaft holes, one end of the crankshaft is connected with the supporting flange and is simultaneously connected with the planetary gear, the other end of the crankshaft is connected with the output frame, and particularly, the other end of the crankshaft sequentially penetrates through the crank shaft holes and the bearing holes and then is connected with the output frame, and the middle part of the crankshaft is also provided with a first eccentric part and a second eccentric part, the first eccentric part is positioned at the crankshaft hole of the upper cycloidal gear and is rotationally connected with the upper cycloidal gear, the second eccentric part is positioned at the crankshaft hole of the lower cycloidal gear and is rotationally connected with the lower cycloidal gear, the needle gear shell is sleeved at the peripheries of the upper cycloidal gear and the lower cycloidal gear, the needle gear shell is provided with an inner gear, the upper cycloidal gear and the lower cycloidal gear are provided with outer gears, and the needle gear shell is in gear engagement connection with the upper cycloidal gear and the lower cycloidal gear. When the input gear rotates, the planetary gear is driven to rotate, the input gear and the planetary gear realize primary speed reduction, after the planetary gear rotates, a crank shaft connected with the planetary gear also rotates, and a first eccentric part and a second eccentric part of the crank shaft respectively drive the upper cycloid wheel and the lower cycloid wheel to rotate relative to the pin gear shell, so that secondary speed reduction is realized.

According to the RV reduction device provided by the embodiment of the application, the central connecting shaft and the circumferential connecting shaft are arranged on the output frame of the RV reduction device, so that the output frame and the supporting flange are connected through the central connecting shaft and the circumferential connecting shaft; and the output structure among the prior art, that is to say only set up the circumferential connecting axle on the output frame among the prior art, only make output frame and support flange connection through the circumferential connecting axle, and then set up the centre bore in the middle part of output frame and be used for supplying the lubricated thing to pass through, prior art's RV decelerator bears the load under the condition that bears the load, so, compare with prior art's RV decelerator, the output frame that this application provided bears the ability reinforcing of load.

Meanwhile, the output frame and the supporting flange are connected through the central connecting shaft and the circumferential connecting shaft, and the central connecting shaft and the circumferential connecting shaft share the load borne by the RV speed reducer together, compared with the prior art that the load is borne only through the circumferential connecting shaft, under the condition that the RV speed reducer bears the same load, the circumferential connecting shaft of the output frame of the RV speed reducer provided by the application is smaller than the load borne by the circumferential connecting shaft of the output frame in the prior art, therefore, when the output frame of the RV speed reducer provided by the application is produced, the size of the circumferential connecting shaft can be properly reduced, namely, the diameter of the circumferential connecting shaft can be properly reduced, when the diameter of the circumferential connecting shaft is properly reduced, the design theoretical value of the diameter of the circumferential connecting hole for the circumferential connecting shaft to pass through on the upper cycloidal gear and the lower cycloidal gear can be properly reduced, therefore, the distance between the circumferential connecting holes on the upper cycloid wheel and the lower cycloid wheel is increased, namely the wall thickness between the circumferential connecting holes is increased, and the wall thickness between the circumferential connecting holes and the central connecting hole is increased in the same way, so that the integral rigidity of the upper cycloid wheel and the lower cycloid wheel is enhanced, and deformation is not easy to generate; it should be noted that the circumferential connecting shaft of the output frame passes through the circumferential connecting holes of the upper cycloid wheel and the lower cycloid wheel, and the outer wall of the circumferential connecting shaft does not contact with the inner wall of the circumferential connecting hole, so that, under the condition that the diameter of the circumferential connecting hole is not changed, when the diameter of the circumferential connecting shaft is properly reduced, the gap between the circumferential connecting shaft of the output frame and the through holes of the upper cycloid wheel and the lower cycloid wheel is increased, the gap between the outer wall of the circumferential connecting shaft and the inner wall of the circumferential connecting hole is increased, generally, in order to improve the bearing capacity of the output frame, the diameter of the circumferential connecting shaft needs to be as large as possible, while the diameters of the circumferential connecting holes of the upper cycloid wheel and the lower cycloid wheel need to be as small as possible to increase the rigidity, so the gap between the circumferential connecting shaft and the circumferential connecting hole is itself small, in addition, in the running process of the RV speed reducer, the upper cycloid wheel and the lower cycloid wheel do eccentric motion, the via hole gap can be further reduced, in order to reduce the machining cost, the upper cycloid wheel and the lower cycloid wheel are generally non-machined surfaces, namely blank surfaces, so that the dimensional tolerance is large, the possibility of interference between the circumferential connecting shaft and the circumferential connecting hole can be caused due to poor design dimensional control of the circumferential connecting shaft and the circumferential connecting hole, and after the via hole gap is enlarged, when the upper cycloid wheel and the lower cycloid wheel are machined, the machining tolerance range is enlarged, so that the machining precision is reduced, and the machining cost is also reduced.

In addition, the output frame of the prior art is provided with a central hole in the middle, so that certain rigidity of the output frame is sacrificed, the output frame of the RV speed reducer of the application is not provided with a hole in the middle, but is provided with a central connecting shaft, in comparison, the output frame of the RV speed reducer of the application has higher rigidity and higher torsional rigidity, because the RV speed reducer not only bears torque but also bending moment when being loaded, the central hole of the output frame of the prior art is provided with a hollow center and larger deformation when bearing larger bending moment, the central connecting shaft is arranged in the middle of the output frame of the application, so that the middle of the output frame is supported, the integral rigidity is also improved, meanwhile, the central connecting shaft is provided with a first threaded hole, a first fastening piece penetrates through the central through hole on the supporting flange and a first threaded hole on the central connecting shaft, and generates friction between the first fastening piece and the central through hole and the first threaded hole, therefore, the RV speed reducing device can transmit larger torque, and the overall torsional deformation resistance is increased, namely the torsional rigidity is increased.

In one possible implementation, the second fastener is a bolt; the planet carrier still includes the bolt adapter sleeve, the bolt adapter sleeve is at least partly to be inlayed and is established in the second screw hole, the second fastener passes the circumference through-hole bolt adapter sleeve with the second screw hole, in order with output frame with support flange connects.

In the implementation process, a bolt connecting sleeve is arranged in the second threaded hole, specifically, the bolt connecting sleeve and the second threaded hole are coaxially arranged, one part of the bolt connecting sleeve is embedded in the second threaded hole, the other part of the bolt connecting sleeve is embedded in the circumferential through hole which is in abutting communication with the second threaded hole, the second fastener is a bolt, the bolt penetrates through the circumferential through hole, the bolt connecting sleeve and the second threaded hole so as to connect the output frame with the support flange, through the arrangement of the bolt connecting sleeve, the second fastener is not easy to lose efficacy when facing a large impact load, so that the impact resistance of the RV speed reducer is enhanced, when the RV speed reducer is subjected to external impact in the operation process, a large torque can be applied to the RV speed reducer, at the moment, a large shearing force can be generated on the second fastener by the connecting surface of the output frame and the support flange, and the shearing resistance of the second fastener can be increased after the bolt connecting sleeve is added, the second fastener is less likely to fail in the face of large impact loads.

In a possible implementation manner, the bolt connecting sleeve is cylindrical or conical, and the second threaded hole is communicated with the circumferential through hole and defines a connecting sleeve hole matched with the bolt connecting sleeve.

In the implementation process, the bolt connecting sleeve can be cylindrical, conical or truncated cone-shaped, the corresponding second threaded hole is abutted and communicated with the circumferential through hole and defines a connecting sleeve hole matched with the bolt connecting sleeve, in other words, the inner wall surface of the second threaded hole is matched with the inner wall surface of the circumferential through hole to define a connecting surface matched with the outer wall surface of the bolt connecting sleeve, so that the outer wall surface of the bolt connecting sleeve is abutted with the inner wall surface of the second threaded hole and the inner wall surface of the circumferential through hole; of course, after the second threaded hole is in abutting communication with the circumferential through hole, a suitable bolt connecting sleeve can be selected according to the specific structure of the connecting surface defined by the inner wall surface of the second threaded hole and the inner wall surface of the circumferential through hole.

In a possible implementation manner, the second fastening piece is a stepped bolt, and the second threaded hole is communicated with the circumferential through hole and defines a stepped hole matched with the stepped bolt.

In the implementation process, the second fastener may be a step bolt, and the step bolt includes a bolt head and a step bolt bar, where the step bolt bar includes a first step bar and a second step bar connected to the first step bar, the first step bar and the second step bar are coaxially arranged, a diameter of the first step bar is greater than a diameter of the second step bar, the bolt head and the first step bar are coaxially arranged and connected, and a diameter of the bolt head is greater than a diameter of the first step bar; correspondingly, the second threaded hole is communicated with the circumferential through hole after being abutted, the second threaded hole and the circumferential through hole define a step hole for a step bolt to pass through, concretely, the second threaded hole comprises a first step hole and a second step hole which is coaxially arranged with and communicated with the first step hole, wherein the diameter of the first step hole is matched with the diameter of the first step rod of the step bolt, the diameter of the second step hole is matched with the diameter of the second step rod of the step bolt, the depth of the second step hole is equal to the length of the second step rod, the circumferential through hole comprises a bolt head hole and a connecting hole which is coaxially arranged with and communicated with the bolt head hole, the diameter and the length of the bolt head hole are matched with those of a bolt head of the step bolt, the connecting hole is abutted to and communicated with the first step hole, the diameter of the connecting hole is the same as that of the first step hole, and the sum of the lengths of the connecting hole and the first step hole is equal to the length of the first step rod; the first step hole, the second step hole, the connecting hole and the bolt head hole form a step hole, and the step bolt is embedded in the step hole to connect the output frame with the support flange.

In a possible implementation manner, a fixing hole matched with the central connecting shaft is formed in the supporting flange, the diameter of the central connecting shaft is larger than that of the fixing hole, a local outer side wall of the central connecting shaft is tightly connected with an inner side wall of the fixing hole, and the first fastening piece penetrates through the central through hole and the first threaded hole in the central connecting shaft so as to connect the output frame with the supporting flange.

In the above-mentioned realization process, the diameter of center connecting axle is greater than the diameter of fixed orifices, the local lateral wall of center connecting axle and the inside wall tight joint of fixed orifices, first fastener passes the first screw hole on center through-hole and the center connecting axle, link to each other output frame and support flange, thereby the rigidity of planet carrier has been strengthened, the interference fit of center connecting axle and fixed orifices is passed through to this application, make output frame inseparabler that can be connected with support flange, because output frame and support flange are connected inseparabler more, the whole moment of torsion that can bear of planet carrier is big more, holistic rigidity is also better.

In a possible implementation manner, the number of the first threaded holes is three, the three first threaded holes are arranged on one side, facing the support flange, of the central connecting shaft and are arranged along the axial extension of the central connecting shaft, and the three first threaded holes are arranged along the circumference of the central connecting shaft.

In the above-mentioned realization process, through set up three first screw hole on central connecting axle to three first screw hole sets up along central connecting axle circumference, like this, passes central through-hole and first screw hole and will export the frame and support flange connection back at first fastener, can guarantee the stability of connecting, and at RV decelerator operation in-process, central connecting axle atress is even, difficult emergence damage, thereby has prolonged RV decelerator's life.

In a possible implementation manner, a central oil through hole is formed in the central connecting shaft, extends along the axial direction of the central connecting shaft, and penetrates through the output frame.

In the implementation process, the central oil through hole is formed in the central connecting shaft and penetrates through the output frame, lubricating substances such as lubricating oil or grease are poured into the central oil through hole from one side, far away from the supporting flange, of the central oil through hole, the lubricating substances such as the lubricating oil or the grease flow to the supporting flange along the central oil through hole, and therefore smoothness of the input gear and the planetary gear in rotation is guaranteed.

In a possible implementation manner, the central connecting shaft is further provided with at least one lateral oil through hole, the lateral oil through hole is formed in a side wall of the central connecting shaft and extends in the radial direction of the central connecting shaft, and the lateral oil through hole is communicated with the central oil through hole.

In the implementation process, at least one lateral oil through hole is further formed in the central connecting shaft, the lateral oil through hole is perpendicular to the central oil through hole and is communicated with the central oil through hole, specifically, after the central connecting shaft sequentially penetrates through the central connecting hole of the upper cycloidal gear and the central connecting hole of the lower cycloidal gear, when the output frame is connected with the supporting flange through the central connecting shaft and the circumferential connecting shaft, at the moment, the lateral oil through hole is positioned at the adjacent position of the upper cycloidal gear and the lower cycloidal gear, namely, at the abutting position of the central connecting hole of the upper cycloidal gear and the central connecting hole of the lower cycloidal gear, one end of the lateral oil through hole is communicated with the central oil through hole, and the other end of the lateral oil through hole faces the adjacent positions of the upper cycloidal gear and the lower cycloidal gear, so that part of lubricating substances such as lubricating oil or grease in the central oil through hole can flow to the lateral oil through hole and flow to the upper cycloidal gear and the lower cycloidal gear from the lateral oil through hole, thereby guaranteeing the fluency of the upper cycloidal gear and the lower cycloidal gear during rotation.

It should be noted that the number of the lateral oil through holes may be one or more, and when the number of the lateral oil through holes is more than one, the lateral oil through holes are arranged at intervals along the circumference of the side wall of the central connecting shaft.

In a possible implementation manner, the output frame is provided with at least one circumferential oil through hole, and the circumferential oil through hole extends along the axial direction of the output frame and penetrates through the output frame.

In the implementation process, the circumferential oil through holes are formed in the output frame, specifically, the circumferential oil through holes are located beside the central connecting shaft and extend along the circumferential direction of the output frame to be arranged and penetrate through the output frame, when the central connecting shaft sequentially penetrates through the central connecting hole of the upper cycloidal gear and the central connecting hole of the lower cycloidal gear to enable the output frame and the supporting flange to be connected through the central connecting shaft and the circumferential connecting shaft, at the moment, one end of the circumferential oil through hole located beside the central connecting shaft faces the end face of the lower cycloidal gear, lubricating substances such as lubricating oil or grease are filled into the circumferential oil through holes from one side, far away from the supporting flange, of the circumferential oil through holes, and the lubricating substances such as the lubricating oil or the grease can flow into the end face of the lower cycloidal gear along the circumferential oil through holes, so that the smoothness of the upper cycloidal gear and the lower cycloidal gear during rotation is further improved.

In a second aspect, an embodiment of the present application provides a robot, including: a robot body and an RV deceleration device as defined in any of the embodiments of the first aspect, said RV deceleration device being mounted on said robot body.

In the implementation process, the RV speed reducer can be applied to the mechanical arm of the robot body and can also be applied to the head and other positions of the robot body, and a user can install the RV speed reducer provided by the embodiment of the first aspect of the application at any position of the robot body according to the specific structure and actual requirements of the robot body.

The robot provided in the second aspect of the present application includes the RV decelerating device described in the first aspect of the present application, so that the robot has the technical effects of any of the above embodiments, and details are not repeated herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a partial structural schematic view of an RV reduction gear provided in an embodiment of the present application;

FIG. 2 is a sectional view taken along line A-A in FIG. 1;

fig. 3 is a schematic perspective view of an output frame according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a connection position of a circumferential connecting shaft of a support flange and an output frame when a second fastener provided by the embodiment of the present application is a stepped bolt;

fig. 5 is a schematic perspective view of a support flange according to an embodiment of the present application.

Icon: 100-RV retarding devices; 1-a needle gear shell; 2-an output frame; 3-a support flange; 4-a central connecting shaft; 5-circumferential connecting shaft; 401-a first threaded hole; 501-a second threaded hole; 502-positioning holes; 301-central through hole; 302-circumferential through hole; 303-positioning pin holes; 304-a fixation hole; 6-a first fastener; 7-a second fastener; 8-positioning pins; 701-bolt head; 702-a first step bar; 703-a second step bar; 5011-first step hole; 5012-second step hole; 3021-bolt head hole; 3022-connecting hole; 9-input gear; 10-a planetary gear; 11-a crankshaft; 12-an upper cycloid gear; 13-lower cycloid gear; 1101-crank shaft hole; 1102-a bearing bore; 1103 — a first eccentric portion; 1104-a second eccentric portion; 14-bolt connection sleeve; 402-a central oil through hole; 403-lateral oil through hole; 404-circumferential oil through holes; 15-a main bearing; 16-a bearing; 17-needle bearing.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In a first aspect, as shown in fig. 1 and fig. 2, an RV reduction gear 100 provided in an embodiment of the present application includes a planet carrier, a primary reduction mechanism, a secondary reduction mechanism, and a pin gear housing 1; the planet carrier comprises an output frame 2 and a supporting flange 3 connected with the output frame 2, specifically, a central connecting shaft 4 and a circumferential connecting shaft 5 are arranged on one side of the output frame 2 facing the supporting flange 3, wherein the central connecting shaft 4 and the output frame 2 are coaxially arranged, a first threaded hole 401 is formed in the central connecting shaft 4, the first threaded hole 401 extends along the axial direction of the central connecting shaft 4, a second threaded hole 501 and a positioning hole 502 are formed in the circumferential connecting shaft 5, the second threaded hole 501 and the positioning hole 502 both extend along the axial direction of the circumferential connecting shaft 5, a central through hole 301, a circumferential through hole 302 and a positioning pin hole 303 are respectively formed in the supporting flange 3 corresponding to the first threaded hole 401, the second threaded hole 501 and the positioning hole 502, a first fastener 6 penetrates through the central through hole 301 and the first threaded hole 401, and a second fastener 7 penetrates through the circumferential through hole 302 and the second threaded hole 501, The positioning pin 8 passes through the positioning pin hole 303 and the positioning hole 502, so that the output frame 2 is connected with the support flange 3; the primary speed reducing mechanism comprises an input gear 9 and a planetary gear 10 meshed with the input gear 9, the input gear 9 is meshed with the planetary gear 10 when rotating to drive the planetary gear 10 to rotate, it should be noted that when the RV speed reducing device 100 operates, an external power mechanism (such as a motor) needs to be connected, the input gear 9 is installed at the output end of the power mechanism, and the output end of the power mechanism rotates to drive the input gear 9 to rotate; the secondary speed reducing mechanism comprises a crankshaft 11, an upper cycloidal gear 12 and a lower cycloidal gear 13, wherein the upper cycloidal gear 12 and the lower cycloidal gear 13 are arranged adjacently and are positioned between the output frame 2 and the supporting flange 3, the upper cycloidal gear 12 and the lower cycloidal gear 13 are respectively provided with a central connecting hole and a circumferential connecting hole, the central connecting hole and the circumferential connecting hole are respectively arranged corresponding to the central connecting shaft 4 and the circumferential connecting shaft 5 so as to be penetrated through by the central connecting shaft 4 and the circumferential connecting shaft 5, so that the first threaded hole 401 and the second threaded hole 501 are respectively abutted and communicated with the central through hole 301 and the circumferential through hole 302, in addition, the upper cycloidal gear 12 and the lower cycloidal gear 13 are also provided with a crank shaft hole 1101, the output frame 2 is provided with a bearing hole 1102 corresponding to the crank shaft hole 1101, one end of the crankshaft 11 is connected with the planetary gear 10, and the other end is connected with the output frame 2 after sequentially penetrating through the crank shaft hole 1101 and the bearing hole 1102, specifically, the portion of the crankshaft 11 located in the crankshaft hole 1101 is connected to the upper cycloid wheel 12 and the lower cycloid wheel 13 via needle bearings 17, the portion of the crankshaft 11 located in the bearing hole 1102 is connected to the output carrier 2 via bearings 16, and the middle portion of the crank shaft 11 is further provided with a first eccentric portion 1103 and a second eccentric portion 1104, the first eccentric portion 1103 is located at the crank shaft hole 1101 of the upper cycloid wheel 12, and is rotatably connected to the upper cycloid wheel 12, the second eccentric portion 1104 is located at the crank shaft hole 1101 of the lower cycloid wheel 13, and is rotationally connected with a lower cycloid wheel 13, a pin gear shell 1 is sleeved on the peripheries of an upper cycloid wheel 12 and the lower cycloid wheel 13, an inner gear is arranged on the pin gear shell 1, an outer gear is arranged on the upper cycloid wheel 12 and the lower cycloid wheel 13, the pin gear shell 1 is in gear engagement connection with the upper cycloid wheel 12 and the lower cycloid wheel 13, meanwhile, the planet carrier is supported in the pin gear shell 1 through the main bearing 15 and can perform coaxial rotary motion relative to the pin gear shell 1; when the input gear 9 rotates, the planetary gear 10 is driven to rotate, the input gear 9 and the planetary gear 10 realize primary speed reduction, after the planetary gear 10 rotates, the crank shaft 11 connected with the planetary gear 10 also rotates, and the first eccentric portion 1103 and the second eccentric portion 1104 of the crank shaft 11 respectively drive the upper cycloidal gear 12 and the lower cycloidal gear 13 to rotate relative to the pin gear housing 1, so that secondary speed reduction is realized.

In the RV reduction device 100 provided in the embodiment of the present application, the central connecting shaft 4 and the circumferential connecting shaft 5 are disposed on the output frame 2 of the RV reduction device 100, so that the output frame 2 and the support flange 3 are connected by the central connecting shaft 4 and the circumferential connecting shaft 5, and during the operation of the RV reduction device 100, that is, under the condition that the RV reduction device 100 bears a load, when the primary reduction mechanism and the secondary reduction mechanism rotate, the central connecting shaft 4 and the circumferential connecting shaft 5 share the load borne by the RV reduction device 100; and the output structure among the prior art, that is to say only set up the circumferential connecting axle on the output frame among the prior art, only make output frame and support flange connection through the circumferential connecting axle, and then set up the centre bore in the middle part of output frame and be used for supplying the lubricated thing to pass through, prior art's RV decelerator bears the load under the condition that bears the load, so, compare with prior art's RV decelerator, the output frame 2 of RV decelerator 100 that this application provided bears the ability reinforcing of load.

Meanwhile, in the RV reducer 100 provided by the present application, the output frame 2 and the support flange 3 are connected by the central connecting shaft 4 and the circumferential connecting shaft 5, and the central connecting shaft 4 and the circumferential connecting shaft 5 share the load borne by the RV reducer 100, compared with the prior art in which the load is borne only by the circumferential connecting shaft, under the condition that the RV reducer 100 bears the same load, the circumferential connecting shaft 5 of the output frame 2 of the RV reducer 100 provided by the present application is smaller than the load borne by the circumferential connecting shaft of the output frame of the prior art, so that the size of the circumferential connecting shaft 5 can be properly reduced when the output frame 2 of the RV reducer 100 provided by the present application is produced, that is, the diameter of the circumferential connecting shaft 5 can be properly reduced, when the diameter of the circumferential connecting shaft 5 is properly reduced, the design theoretical value of the diameter of the circumferential connecting holes through which the circumferential connecting shaft 5 passes on the upper cycloid wheel 12 and the lower cycloid wheel 13 can be properly reduced, in this way, the distance between the circumferential connecting holes on the upper cycloid wheel 12 and the lower cycloid wheel 13 is increased, that is, the wall thickness between the circumferential connecting holes is increased, and similarly, the wall thickness between the circumferential connecting hole and the central connecting hole is also increased, so that the overall rigidity of the upper cycloid wheel 12 and the lower cycloid wheel 13 is enhanced, and deformation is not easy to generate; it should be noted that the circumferential connecting shaft 5 of the output frame 2 passes through the circumferential connecting holes of the upper cycloid wheel 12 and the lower cycloid wheel 13, and the outer wall of the circumferential connecting shaft 5 does not contact with the inner wall of the circumferential connecting hole, so that, when the diameter of the circumferential connecting shaft 5 is properly reduced under the condition that the diameter of the circumferential connecting hole is not changed, the via hole gap between the circumferential connecting shaft 5 of the output frame 2 and the upper cycloid wheel 12 and the lower cycloid wheel 13 becomes larger, and the via hole gap refers to the distance between the outer wall of the circumferential connecting shaft 5 and the inner wall of the circumferential connecting hole when the circumferential connecting shaft 5 of the output frame 2 passes through the circumferential connecting holes on the upper cycloid wheel 12 and the lower cycloid wheel 13, generally, in order to improve the bearing capacity of the output frame 2, the diameter of the circumferential connecting shaft 5 needs to be as large as possible, while the diameters of the circumferential connecting holes of the upper cycloid wheel 12 and the lower cycloid wheel 13 need to be as small as possible in order to increase the rigidity, therefore, the via hole clearance between the circumferential connecting shaft 5 and the circumferential connecting hole is small, and in the operation process of the RV reduction gear 100, the upper cycloid wheel 12 and the lower cycloid wheel 13 eccentrically move, the via hole clearance can be further reduced, in order to reduce the processing cost, the upper cycloid wheel 12 and the lower cycloid wheel 13 are usually non-processing surfaces, namely blank surfaces, so that the dimensional tolerance is large, the circumferential connecting shaft 5 and the circumferential connecting hole are not well designed in dimensional control, the possibility of interference between the circumferential connecting shaft 5 and the circumferential connecting hole can be generated, and after the via hole clearance is increased, when the upper cycloid wheel 12 and the lower cycloid wheel 13 are processed, the processing tolerance range is increased, so that the processing precision is reduced, and the processing cost is also reduced.

In addition, the center hole is formed in the middle of the output frame in the prior art, so that certain rigidity of the output frame is sacrificed, the center of the output frame 2 of the RV speed reducer 100 of the present application is not provided with the hole, but is provided with the center connecting shaft 4, in contrast, the output frame 2 of the RV speed reducer 100 of the present application has higher rigidity and higher torsional rigidity, because the RV speed reducer 100 bears not only torque but also bending moment when loaded, the center hole of the output frame of the prior art is formed, when bearing a larger bending moment, the center is empty and the deformation is larger, the center connecting shaft 4 is arranged in the middle of the output frame 2 of the present application, so that the middle of the output frame 2 is supported, the integral rigidity is also improved, meanwhile, the center connecting shaft 4 is provided with the first threaded hole 401, and the first fastening piece 6 penetrates through the center through hole 301 in the support flange 3 and the first threaded hole 401 in the center connecting shaft 4, Friction is generated between the first fastening member 6 and the central through hole 301 and the first threaded hole 401, so that the RV reduction device 100 can transmit a larger torque, and the overall resistance to torsional deformation, i.e., torsional rigidity, is increased.

In a possible implementation, the second fastener 7 is a bolt; the planet carrier further comprises a bolt connecting sleeve 14, the bolt connecting sleeve 14 is at least partially embedded in the second threaded hole 501, and the second fastening member 7 penetrates through the circumferential through hole 302, the bolt connecting sleeve 14 and the second threaded hole 501 to connect the output frame 2 with the support flange 3.

In the implementation process, the bolt connecting sleeve 14 is arranged in the second threaded hole 501, specifically, the bolt connecting sleeve 14 and the second threaded hole 501 are coaxially arranged, one part of the bolt connecting sleeve 14 is embedded in the second threaded hole 501, the other part of the bolt connecting sleeve 14 is embedded in the circumferential through hole 302 which is in butt communication with the second threaded hole 501, the second fastening member 7 is a bolt, the bolt penetrates through the circumferential through hole 302, the bolt connecting sleeve 14 and the second threaded hole 501, so as to connect the output frame 2 with the support flange 3, by arranging the bolt connecting sleeve 14, when facing a large impact load, the second fastening member 7 is not easy to fail, so that the impact resistance of the RV speed reducer 100 is enhanced, when the RV speed reducer 100 is subjected to external impact in the operation process, a large torque is applied to the RV speed reducer 100, and then a large shearing force is generated on the second fastening member 7 at the connecting surface of the output frame 2 and the support flange 3, the addition of the bolt connecting sleeve 14 can increase the shear resistance of the second fastening member 7, and the second fastening member 7 is not easy to fail in the face of large impact load.

In a possible implementation, the bolt-connecting sleeve 14 is cylindrical or conical, and the second threaded hole 501 communicates with the circumferential through hole 302 and defines a connecting sleeve hole adapted to the bolt-connecting sleeve 14.

In the implementation process, the bolt connecting sleeve 14 may be cylindrical, conical or truncated cone, the corresponding second threaded hole 501 is in abutting communication with the circumferential through hole 302 and defines a connecting sleeve hole adapted to the bolt connecting sleeve 14, in other words, an inner wall surface of the second threaded hole 501 is matched with an inner wall surface of the circumferential through hole 302 to define a connecting surface adapted to an outer wall surface of the bolt connecting sleeve 14, so that the outer wall surface of the bolt connecting sleeve 14 abuts against the inner wall surface of the second threaded hole 501 and the inner wall surface of the circumferential through hole 302; of course, after the second threaded hole 501 is in contact communication with the circumferential through hole 302, an appropriate bolt connecting sleeve 14 may be selected according to a specific structure of a connecting surface defined by an inner wall surface of the second threaded hole 501 and an inner wall surface of the circumferential through hole 302.

As shown in fig. 4, in one possible implementation, the second fastening member 7 is a stepped bolt, and the second threaded hole 501 communicates with the circumferential through hole 302 and defines a stepped hole adapted to the stepped bolt.

In the implementation process, the second fastener 7 may be a step bolt, and the step bolt includes a bolt head 701 and a step bolt shaft, where the step bolt shaft includes a first step shaft 702 and a second step shaft 703 connected to the first step shaft 702, the first step shaft 702 and the second step shaft 703 are coaxially disposed, a diameter of the first step shaft 702 is greater than a diameter of the second step shaft 703, the bolt head 701 is coaxially disposed and connected to the first step shaft 702, and a diameter of the bolt head 701 is greater than a diameter of the first step shaft 702; correspondingly, the second threaded hole 501 is connected with the circumferential through hole 302 in an abutting manner and then communicated, the second threaded hole 501 and the circumferential through hole 302 define a step hole through which the step bolt passes, specifically, the second threaded hole 501 comprises a first step hole 5011 and a second step hole 5012 which is coaxially arranged with and communicated with the first step hole 5011, wherein the diameter of the first step hole 5011 is matched with the diameter of the first step rod 702 of the step bolt, the diameter of the second step hole 5012 is matched with the diameter of the second step rod 703 of the step bolt, the depth of the second step hole 5012 is equal to the length of the second step rod 703, the circumferential through hole 302 comprises a bolt head hole 3021 and a connecting hole 3022 which is coaxially arranged with and communicated with the bolt head hole 3021, wherein the diameter and the length of the bolt head hole 3021 are matched with the diameter and the length of the bolt head of the step bolt, the connecting hole 3022 is abutted with and communicated with the first step hole 5011, and the connecting hole 3022 has the same diameter as the first step hole 5011, and the sum of the lengths of the connection hole 3022 and the first step hole 5011 is equal to the length of the first step lever 702; the first step hole 5011, the second step hole 5012, the connection hole 3022 and the bolt head hole 3021 together constitute a step hole, and a step bolt is inserted into the step hole to connect the output frame 2 with the support flange 3.

As shown in fig. 5, in a possible implementation manner, the support flange 3 is provided with a fixing hole 304 adapted to the central connecting shaft 4, the diameter of the central connecting shaft 4 is larger than that of the fixing hole 304, a partial outer side wall of the central connecting shaft 4 is tightly connected with an inner side wall of the fixing hole 304, and the first fastening member 6 passes through the central through hole 301 and a first threaded hole 401 on the central connecting shaft 4 to connect the output frame 2 with the support flange 3.

In the above-mentioned realization process, the diameter of center connecting axle 4 is greater than the diameter of fixed orifices 304, the local lateral wall of center connecting axle 4 and the inside wall tight joint of fixed orifices 304, first fastener 6 passes first screw hole 401 on center through-hole 301 and the center connecting axle 4, link to each other output frame 2 and supporting flange 3, thereby the rigidity of planet carrier has been strengthened, this application is through the interference fit of center connecting axle 4 with fixed orifices 304, make output frame 2 inseparabler that can be connected with supporting flange 3, because output frame 2 is inseparabler with supporting flange 3 is connected more, the whole moment of torsion that can bear of planet carrier is big more, holistic rigidity is also better.

As shown in fig. 3, in one possible implementation, the number of the first threaded holes 401 is three, three first threaded holes 401 are provided on one side of the center connecting shaft 4 facing the support flange 3 and extend in the axial direction of the center connecting shaft 4, and three first threaded holes 401 are provided along the circumference of the center connecting shaft 4.

In the above-mentioned realization process, through set up three first screw hole 401 on central connecting axle 4 to three first screw hole 401 sets up along 4 circumferences of central connecting axle, like this, pass central through-hole 301 and first screw hole 401 and be connected the back with output frame 2 and support flange 3 at first fastener 6, can guarantee the stability of connecting, and at RV decelerator 100 operation in-process, central connecting axle 4 atress is even, difficult emergence damage, thereby RV decelerator 100's life has been prolonged.

As shown in fig. 2 and 3, in one possible implementation, a central oil through hole 402 is opened on the central connecting shaft 4, and the central oil through hole 402 extends along the axial direction of the central connecting shaft 4 and penetrates through the output frame 2.

In the implementation process, the central oil passing hole 402 is formed in the central connecting shaft 4, the central oil passing hole 402 penetrates through the output frame 2, lubricating substances such as lubricating oil or grease are poured into the central oil passing hole 402 from one side, far away from the supporting flange 3, of the central oil passing hole 402, the lubricating substances such as the lubricating oil or the grease flow towards the supporting flange 3 along the central oil passing hole 402, and therefore smoothness of the input gear 9 and the planetary gear 10 in rotation is guaranteed.

In a possible implementation manner, the central connecting shaft 4 is further provided with at least one lateral oil through hole 403, the lateral oil through hole 403 is disposed on a side wall of the central connecting shaft 4 and extends along a radial direction of the central connecting shaft 4, and the lateral oil through hole 403 is communicated with the central oil through hole 402.

In the implementation process, at least one lateral oil through hole 403 is further formed in the central connecting shaft 4, the lateral oil through hole 403 is perpendicular to the central oil through hole 402 and is communicated with the central oil through hole 402, specifically, after the central connecting shaft 4 sequentially passes through the central connecting hole of the upper cycloidal gear 12 and the central connecting hole of the lower cycloidal gear 13, when the output frame 2 and the supporting flange 3 are connected 5 through the central connecting shaft 4 and the circumferential connecting shaft, at this time, the lateral oil through hole 403 is located at the adjacent position of the upper cycloidal gear 12 and the lower cycloidal gear 13, that is, at the abutting position of the central connecting hole of the upper cycloidal gear 12 and the central connecting hole of the lower cycloidal gear 13, one end of the lateral oil through hole 403 is communicated with the central oil through hole 402, and the other end faces the adjacent position of the upper cycloidal gear 12 and the lower cycloidal gear 13, so that part of lubricating substances such as lubricating oil or grease in the central oil through hole 402 can flow to the lateral oil through hole 403, and flows to the upper cycloid wheel 12 and the lower cycloid wheel 13 from the lateral oil through hole 403, thereby ensuring the fluency of the upper cycloid wheel 12 and the lower cycloid wheel 13 during rotation.

It should be noted that the number of the lateral oil through holes 403 may be one or plural, and when the number of the lateral oil through holes 403 is plural, the plural lateral oil through holes 403 are provided at intervals along the circumference of the side wall of the center connecting shaft 4.

In a possible implementation manner, at least one circumferential oil through hole 404 is opened on the output frame 2, and the circumferential oil through hole 404 extends along the axial direction of the output frame 2 and penetrates through the output frame 2.

In the implementation process, by arranging the circumferential oil through hole 404 on the output frame 2, specifically, the circumferential oil through hole 404 is located beside the central connecting shaft 4, extends along the circumferential direction of the output frame 2 and penetrates through the output frame 2, when the central connecting shaft 4 sequentially passes through the central connecting hole of the upper cycloidal wheel 12 and the central connecting hole of the lower cycloidal wheel 13 to connect the output frame 2 with the supporting flange 3 through the central connecting shaft 4 and the circumferential connecting shaft 5, at this time, one end of the circumferential oil through hole 404 located beside the central connecting shaft 4 faces the end surface of the lower cycloid wheel 13, lubricating substances such as lubricating oil or grease are poured into the circumferential oil through hole 404 from the side of the circumferential oil through hole 404 away from the supporting flange 3, and the lubricating substances such as the lubricating oil or the grease flow to the end surface of the lower cycloid wheel 13 along the circumferential oil through hole 404, so that the fluency of the upper cycloid wheel 12 and the lower cycloid wheel 13 during rotation is further improved.

In a second aspect, an embodiment of the present application provides a robot, including: a robot body and an RV decelerating device 100 as described in any of the embodiments of the first aspect, the RV decelerating device 100 being mounted on the robot body.

In the implementation process, the RV reducer 100 can be applied to the mechanical arm of the robot body, and can also be applied to the head of the robot body, and the user can install the RV reducer 100 provided in the embodiment of the first aspect of the present application at any position of the robot body according to the specific structure and the actual requirement of the robot body.

The robot provided in the second aspect of the present application includes the RV decelerating device 100 described in the first aspect of the present application, so that the robot has the technical effects of any of the embodiments described above, and details are not repeated herein.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims

1. An RV reduction device characterized by comprising:

the planet carrier comprises an output frame and a supporting flange, wherein a central connecting shaft and a circumferential connecting shaft are arranged on the output frame, a first threaded hole and a second threaded hole are respectively formed in one side, facing the supporting flange, of the central connecting shaft and one side, facing the supporting flange, of the circumferential connecting shaft, a central through hole and a circumferential through hole are respectively formed in the supporting flange corresponding to the first threaded hole and the second threaded hole, a first fastener penetrates through the central through hole and the first threaded hole, and a second fastener penetrates through the circumferential through hole and the second threaded hole so as to connect the output frame with the supporting flange;

the primary speed reducing mechanism comprises an input gear and a planetary gear in meshed connection with the input gear, and the planetary gear is mounted on the support flange;

the two-stage speed reducing mechanism comprises a crankshaft, an upper cycloidal gear and a lower cycloidal gear which is arranged adjacent to the upper cycloidal gear, wherein one end of the crankshaft is connected with the supporting flange and is connected with the planetary gear, the other end of the crankshaft is connected with the output frame, a first eccentric part and a second eccentric part are arranged in the middle of the crankshaft, and the upper cycloidal gear and the lower cycloidal gear are respectively in rotating connection with the first eccentric part and the second eccentric part;

the pin gear shell is sleeved outside the upper cycloidal gear and the lower cycloidal gear and is connected with the upper cycloidal gear and the lower cycloidal gear in a meshing manner.

2. The RV deceleration device of claim 1, wherein said second fastener is a bolt;

the planet carrier still includes the bolt adapter sleeve, the bolt adapter sleeve is at least partly to be inlayed and is established in the second screw hole, the second fastener passes the circumference through-hole bolt adapter sleeve with the second screw hole, in order with output frame with support flange connects.

3. The RV deceleration device according to claim 2, wherein said bolted connection sleeve is cylindrical or conical, said second threaded hole communicating with said circumferential through hole and defining a connection sleeve hole adapted to said bolted connection sleeve.

4. The RV deceleration device according to claim 1, wherein said second fastener is a stepped bolt, said second threaded bore communicating with said circumferential through-bore and defining a stepped bore adapted to said stepped bolt.

5. The RV reduction gear according to any one of claims 1-4, characterized in that said support flange is provided with a fixing hole adapted to said central connecting shaft, the diameter of said central connecting shaft is larger than the diameter of said fixing hole, a partial outer sidewall of said central connecting shaft is tightly connected with the inner sidewall of said fixing hole, said first fastening member passes through said central through hole and said first threaded hole on said central connecting shaft to connect said output frame with said support flange.

6. The RV reduction device according to any one of claims 1-4, wherein said first threaded holes are three in number, three of said first threaded holes being provided on a side of said center connecting shaft facing said support flange and being provided along an axial extension of said center connecting shaft, three of said first threaded holes being provided along a circumference of said center connecting shaft.

7. The RV reduction gear according to any one of claims 1-4, wherein a central oil through hole is opened on the central connecting shaft, and the central oil through hole is arranged along the axial extension of the central connecting shaft and penetrates through the output frame.

8. The RV reduction device according to claim 7, wherein the center connecting shaft is further provided with at least one lateral oil through hole, the lateral oil through hole is formed in a side wall of the center connecting shaft and extends along the radial direction of the center connecting shaft, and the lateral oil through hole is communicated with the center oil through hole.

9. The RV reduction gear according to any one of claims 1-4, characterized in that at least one circumferential oil through hole is opened on the output frame, and the circumferential oil through hole extends along the axial direction of the output frame and penetrates through the output frame.

10. A robot, comprising:

a robot body;

the RV decelerating device of any one of claims 1-9 mounted on the robot body.