CN219380708U

CN219380708U - Cycloid speed reducer assembly and cycloid servo joint

Info

Publication number: CN219380708U
Application number: CN202223228566.9U
Authority: CN
Inventors: 陈万楷; 刘彦禹; 江微杰; 何川甫; 郑淳馨; 熊佳伟; 赵常屹; 李路
Original assignee: Hangzhou Ruiwo Robot Technology Co ltd
Current assignee: Wuxi Quanzhibo Technology Co ltd
Priority date: 2022-12-03
Filing date: 2022-12-03
Publication date: 2023-07-21
Anticipated expiration: 2032-12-03

Abstract

The utility model discloses a cycloidal reducer assembly and a cycloidal servo joint, comprising an output disc and a cycloidal reducer body arranged on the output disc; at least two connecting lugs are arranged on the periphery of the output disc, and connecting holes are formed in the connecting lugs. The utility model uses the connecting lugs to connect with other functional mechanisms, improves the stress structure of the output disc, and is convenient to assemble and disassemble.

Description

Cycloid speed reducer assembly and cycloid servo joint

Technical Field

The utility model relates to the technical field of robots, in particular to a cycloidal reducer assembly and a cycloidal servo joint.

Background

The cycloidal reducer is a common transmission mechanism, has the advantages of large reduction ratio, high transmission efficiency, instantaneous transmission ratio assurance, low noise, long service life and the like, and is widely applied to industries such as petroleum, chemical industry, transportation and the like.

In the prior art, the output disc of the cycloid speed reducer is generally arranged on other functional mechanisms along the axial direction of the crankshaft through bolts, and when the cycloid speed reducer works, shearing stress acting on the bolts exists between the output disc of the cycloid speed reducer and the other functional mechanisms, so that the bolts are easily damaged, the connection of the output disc and the corresponding functional mechanisms is affected, and the conditions of separation or deflection and the like are caused.

Disclosure of Invention

In order to solve the technical problems, the utility model provides the cycloidal reducer assembly and the cycloidal servo joint, which are connected to other functional mechanisms by using the connecting lugs of the output disc, so that the stress structure of the output disc is improved, and the cycloidal reducer assembly is convenient to assemble and disassemble.

The utility model adopts the following technical scheme:

the cycloidal reducer assembly is characterized by comprising an output disc and a cycloidal reducer body arranged on the output disc; at least two connecting lugs are arranged on the periphery of the output disc, and connecting holes are formed in the connecting lugs.

Preferably, the connecting earlobe is disposed vertically between the upper and lower surfaces of the output disc.

Preferably, the upper and lower surfaces of the output disc are outwardly extended with a flange, and the flange is located between the two connecting lugs.

Preferably, the cycloidal reducer body comprises a crankshaft, an epicycloidal wheel and a hypocycloidal wheel which are arranged on the crankshaft, an input flange plate arranged at one end of the crankshaft, and an output flange plate arranged at the other end of the crankshaft.

Preferably, the crankshaft is provided with two eccentric circular tables, and the two eccentric circular tables are eccentric to each other; the epicycloidal wheel and the hypocycloidal wheel are respectively arranged on the two eccentric circular tables.

A cycloid servo joint comprises a cycloid speed reducer assembly, a bearing seat, a rotor assembly, a stator assembly and a shell; the cycloidal reducer component is arranged on one side of the bearing seat; the shell is arranged on the other side of the bearing seat and is matched with the bearing seat to form an installation space; the rotor assembly is connected to the output shaft of the cycloid reducer assembly and is arranged in the installation space; the stator assembly is disposed between the rotor assembly and the housing.

Preferably, the first surface of the housing is recessed inwardly to form a first mounting cavity, and a drive plate is disposed in the first mounting cavity.

Preferably, the side surface of the shell is provided with a plurality of layers of radiating fins.

Preferably, the second surface of the housing is recessed inwardly to form an annular mounting cavity, and the stator assembly is embedded within the annular mounting cavity.

Preferably, a bearing is provided between the housing and the rotor assembly.

Compared with the prior art, the utility model has the following advantages:

1. the utility model provides a cycloidal reducer assembly, wherein at least two connecting lugs are arranged on the circumference of an output disc, connecting holes are arranged on the connecting lugs, and the cycloidal reducer assembly is connected to other functional mechanisms through the connecting lugs, so that the stress structure of the output disc is improved, and the cycloidal reducer assembly is convenient to assemble and disassemble.

2. The utility model provides a cycloid servo joint, wherein a first surface of a shell of the cycloid servo joint is inwards recessed to form a first mounting cavity, a driving plate is arranged in the first mounting cavity, the driving plate is arranged in the shell of the cycloid servo joint, the existing driving plate mounting structure is omitted, and the cycloid servo joint is convenient to move.

Drawings

Fig. 1 is a schematic diagram of the structure of a cycloidal servo joint.

Fig. 2 is a schematic view of another view angle structure of a cycloidal servo joint.

Fig. 3 is a cross-sectional view of a cycloidal servo joint.

Fig. 4 is a bottom view of a cycloidal servo joint.

Fig. 5 is an exploded view of a cycloidal servo joint.

In the figure, an output disc 1, a connecting lug 11, a connecting hole 12, a flange 13, a cycloid reducer body 2, a crankshaft 21, an eccentric circular table 211, an epicycloidal wheel 22, a hypocycloid wheel 23, an input flange 24, an output flange 25, a rotor assembly 3, a boss 31, a stator assembly 4, a housing 5, a first mounting cavity 51, an annular mounting cavity 52, boss notches 53, a bearing seat 6, a heat radiation fin 7 and a driving plate 8.

Detailed Description

In order to facilitate understanding of the technical scheme of the present utility model, the following detailed description is made with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in fig. 1-5, a cycloidal reducer assembly includes an output disc 1 and a cycloidal reducer body provided on the output disc 1; at least two connecting lugs 11 are arranged on the periphery of the output disc 1, and connecting holes 12 are formed in the connecting lugs 11.

In this embodiment, two connection lugs 11 are disposed on the output disc 1 in the circumferential direction, and each connection lug 11 is provided with two connection holes 12 arranged in an axial direction; compared with the traditional bolt connection, the cycloidal reducer assembly is connected to the functional mechanism through the two connecting lugs 11, the stress structure of the output disc 1 is improved, the shearing stress is prevented from directly acting on the stud of the bolt, and the cycloidal reducer assembly is convenient to assemble and disassemble.

In this embodiment, it is not particularly noted that the axial direction and the radial direction are defined by the crankshaft 21 of the cycloidal reducer body.

The connecting lugs 11 are vertically arranged between the upper surface and the lower surface of the output disc 1, namely the connecting holes 12 are radially arranged (vertical to the traditional bolt connection mode); after the cycloidal reducer assembly is installed through the two connecting lugs 11, the bolts are radially arranged, so that shearing stress is prevented from directly acting on the studs of the bolts.

The upper and lower surfaces of the output disc 1 are outwardly extended with ribs 13, and the ribs 13 are located between the two connection lugs 11, which function to increase the bending moment carrying capacity of the part.

The cycloidal reducer body 2 comprises a crankshaft 21, an epicycloidal wheel 22, a hypocycloidal wheel 23, an input flange 24 and an output flange 25;

the epicycloidal wheel 22 and the hypocycloidal wheel 23 are arranged on the crankshaft 21;

the input flange 24 is arranged at one end of the crankshaft 21;

the output flange 25 is arranged at the other end of the crankshaft 21;

the crankshaft 21 is provided with two eccentric circular tables 211, the eccentric circular tables 211 are arranged eccentrically relative to the crankshaft 21, and the two eccentric circular tables 211 are mutually eccentric;

the outer balance 22 is connected with an eccentric round table 211, and the outer balance 22 drives the output flange 25 to rotate;

the hypocycloid wheel 23 is connected with the other eccentric round table 211, and the hypocycloid wheel 23 drives the input flange 24 to rotate;

an inner cross roller bearing is arranged on the outer side of the input flange 24, and the input flange 24 is connected with the output disc 1 through the inner cross roller bearing;

the outer side of the output flange plate 25 is provided with an outer crossed roller bearing, and the output flange plate 25 is connected with the output plate 1 through the outer crossed roller bearing;

the crankshaft 21 is connected with an input flange 24 and an output flange 25 through two bearings respectively;

the crankshaft 21 drives the epicycloidal wheel 22 and the hypocycloidal wheel 23 to swing through two eccentric circular tables 211;

the section of the output end of the crankshaft 21 is in a D-shaped structure.

The cycloid servo joint comprises a cycloid speed reducer assembly, a rotor assembly 3, a stator assembly 4, a shell 5 and a bearing seat 6;

the cycloidal reducer assembly is arranged on one side of the bearing seat 6;

the shell 5 is arranged on the other side of the bearing seat 6 and is matched with the bearing seat 6 to form an installation space;

the rotor assembly 3 is connected to a crankshaft 21 of the cycloid reducer assembly, is installed in the installation space, and drives the cycloid reducer assembly to revolve around the crankshaft;

the stator assembly 4 is arranged between the rotor assembly 3 and the housing 5.

The embodiment connects the motor driving part and the cycloidal reducer assembly to form a finished cycloidal servo joint, and has higher space utilization rate.

In order to realize power transmission, the output end of the crankshaft 21 of the embodiment is connected with a boss of the rotor assembly 3, and power is transmitted from the rotor assembly 3 to the cycloid reducer body; meanwhile, in order to achieve revolution and rotation, the middle part of the crankshaft 21 is provided with two eccentric circular tables 211 which are eccentrically arranged and have a cross section size larger than that of the main shaft, and the hypocycloid wheel 23 and the epicycloidal wheel 22 are connected by the eccentric circular tables 211 so as to drive the hypocycloid wheel 23 and the epicycloidal wheel 22 to revolve around the same; the hypocycloid wheel 23 and the epicycloidal wheel 22 respectively drive the input flange 24 and the output flange 25 to rotate, and the power is decelerated and output; the input flange 24 and the output flange 25 are respectively connected with the output disc 1 through an inner crossed roller bearing and an outer crossed roller bearing, and the power output part is protected through the output disc 1, so that high integration and good output environment are realized.

Specifically, in this embodiment, a bearing is installed in the groove on the outer side of the rotor assembly 3, and the rotor assembly 3 is connected with the bearing seat 6 through the bearing;

a boss 31 on the inner side of the rotor assembly 3 is provided with another bearing, and the rotor assembly 3 is connected with a boss notch 53 of the shell 5 through the bearing;

the second surface of the housing 5 is recessed inward to form an annular mounting cavity 52, the stator assembly 4 is embedded in the annular mounting cavity 52, and the stator assembly 4 is coaxially arranged with the rotor assembly 3.

The first surface of shell 5 inwards sunken formation first installation cavity 51, be equipped with drive plate 8 in the first installation cavity 51, first installation cavity 51 be with drive plate 8 complex shape, drive plate 8 just imbeds in first installation cavity 51 to connect fixedly through the bolt.

The first surface is the right side surface shown in fig. 5, and the second surface is the left side surface shown in fig. 5.

The side of the shell 5 is provided with a plurality of layers of heat dissipation fins 7 for heat dissipation of the rotor assembly 3 and the stator assembly 4.

The shell 5 is coaxially arranged on the bearing seat 6, the side surfaces of the shell 5 and the bearing seat 6 are provided with matched mounting holes, and the shell is connected with screws through the mounting holes.

During operation, the rotor assembly 3 is driven to rotate and cut the magnetic induction line of the stator assembly 4, so that the rotor assembly 3 drives the crankshaft 21 in the cycloid reducer assembly to synchronously rotate, and the two eccentric circular tables 211 of the crankshaft 21 drive the epicycloidal wheel 22 and the hypocycloid wheel 23 to revolve around the epicycloidal wheel and drive the input flange 24 and the output flange 25 to rotate.

The utility model effectively combines the motor driving part and the cycloidal reducer assembly, and adopts the cycloidal reducer mode to achieve the aim of reducing the speed of converting high-speed input into low-speed output.

The foregoing is merely a preferred embodiment of the present utility model, and the scope of the utility model is defined by the claims, and those skilled in the art should also consider the scope of the present utility model without departing from the spirit and scope of the utility model.

Claims

1. A cycloidal reducer assembly, which is characterized by comprising an output disc (1) and a cycloidal reducer body (2) arranged on the output disc (1); at least two connecting lugs (11) are arranged on the periphery of the output disc (1), and connecting holes (12) are formed in the connecting lugs (11).

2. A cycloidal reducer assembly according to claim 1, characterized in that the connecting lugs (11) are arranged vertically between the upper and lower surfaces of the output disc (1).

3. A cycloidal reducer assembly according to claim 1, characterized in that the upper and lower surfaces of the output disc (1) are outwardly extended with ribs (13), and that the ribs (13) are located between the two coupling lugs (11).

4. The cycloidal reducer assembly according to claim 1, characterized in that the cycloidal reducer body (2) comprises a crankshaft (21), an epicycloidal wheel (22) and a hypocycloidal wheel (23) provided on the crankshaft (21), an input flange (24) provided at one end of the crankshaft (21), and an output flange (25) provided at the other end of the crankshaft (21).

5. The cycloidal reducer assembly according to claim 4, characterized in that the crankshaft (21) is provided with two eccentric bosses (211), and the two eccentric bosses (211) are eccentric to each other; the epicycloidal wheel (22) and the hypocycloidal wheel (23) are respectively arranged on the two eccentric circular tables (211).

6. A cycloidal servo joint, characterized by comprising a cycloidal reducer assembly according to any one of claims 1-5, further comprising a bearing seat (6), a rotor assembly (3), a stator assembly (4), a housing (5);

the cycloidal reducer assembly is arranged on one side of the bearing seat (6);

the shell (5) is arranged on the other side of the bearing seat (6) and is matched with the bearing seat (6) to form an installation space;

the rotor assembly (3) is connected to an output shaft of the cycloid reducer assembly and is arranged in the installation space;

the stator assembly (4) is arranged between the rotor assembly (3) and the housing (5).

7. A cycloidal servo joint according to claim 6, characterized in that the first surface of the housing (5) is recessed inwards to form a first mounting cavity (51), said first mounting cavity (51) being provided with a drive plate (8).

8. A cycloidal servo joint according to claim 6, characterized in that the housing (5) is provided laterally with a plurality of layers of cooling fins (7).

9. The cycloidal servo joint according to claim 6 wherein the second surface of the housing (5) is concave inwardly to form an annular mounting cavity (52) and the stator assembly (4) is embedded within the annular mounting cavity (52).

10. A cycloidal servo joint according to claim 6, characterized in that a bearing is provided between the housing (5) and the rotor assembly (3).