WO2020073496A1 - 减速器、减速电机和机器人 - Google Patents

减速器、减速电机和机器人 Download PDF

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Publication number
WO2020073496A1
WO2020073496A1 PCT/CN2018/122845 CN2018122845W WO2020073496A1 WO 2020073496 A1 WO2020073496 A1 WO 2020073496A1 CN 2018122845 W CN2018122845 W CN 2018122845W WO 2020073496 A1 WO2020073496 A1 WO 2020073496A1
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WO
WIPO (PCT)
Prior art keywords
gear
rigid disk
housing
bearing
crankshaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/122845
Other languages
English (en)
French (fr)
Inventor
刘成
胡余生
钟成堡
崔中
程中甫
田珍珍
孙豹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gree Electric Appliances Inc of Zhuhai
Original Assignee
Gree Electric Appliances Inc of Zhuhai
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gree Electric Appliances Inc of Zhuhai filed Critical Gree Electric Appliances Inc of Zhuhai
Priority to JP2021514997A priority Critical patent/JP7213958B2/ja
Publication of WO2020073496A1 publication Critical patent/WO2020073496A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/08—Program-controlled manipulators characterised by modular constructions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio 
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears

Definitions

  • the present application relates to the technical field of deceleration equipment, in particular to a reducer, a deceleration motor, and a robot using the deceleration motor.
  • the traditional RV reducer and the drive motor are integrally connected by flange docking.
  • the traditional RV reducer includes a pin gear housing, a rigid disk, a planet carrier, a crankshaft, a planet gear, a needle roller, a needle bearing, a cycloid wheel, and a gear shaft; the middle part of the pin gear housing has a working cavity that penetrates the axial direction, rigid
  • the disk is rotatably mounted on the first axial end of the working chamber through the first bearing
  • the planet carrier is rotatably mounted on the second axial end of the working chamber through the second bearing
  • the cycloid wheel is located between the rigid disk and the planetary carrier
  • a plurality of needle rollers are meshed between the outer tooth surface of the cycloid wheel and the inner tooth surface of the pin gear housing.
  • the crankshaft is rotatably connected between the rigid disk and the planetary carrier, the needle bearing is sleeved on the eccentric portion of the crank shaft, and the eccentric portion and the needle bearing are located in the bearing hole of the cycloid wheel.
  • the planet carrier is provided with a gear placement position facing the outer side of the RV reducer.
  • the planet gears are installed on the crankshaft and located in the gear placement position.
  • the outer periphery of the planet gear is protected by the planet carrier;
  • the center hole of the, the center hole of the cycloid wheel and the center hole of the planet carrier mesh with the planet gears.
  • the pin gear shell is connected with a first flange at an axial end close to the rigid disk, the second flange on the drive motor housing is butted with the first flange, and the output shaft of the drive motor is axially docked with the gear shaft.
  • the problem with the conventional connection between the RV reducer and the drive motor is that because the planetary gears are located on the axial end of the RV reducer that faces away from the drive motor, the planetary gears are not located in the working cavity of the RV reducer or in the RV deceleration
  • the sealed connection between the gear and the drive motor, so the planetary carrier is provided with a gear placement to protect the outer circumference of the planetary gear.
  • the planetary carrier increases the volume due to the need to set the planetary gear to accommodate the planetary gear.
  • the overall RV reducer The volume also increases, and the installation method of the reducer and the drive motor in the robot is therefore limited.
  • the first object of the present application is to provide a reducer with reduced volume and effective protection of planetary gears.
  • the second object of the present application is to provide a geared motor with reduced volume and effective protection of planetary gears.
  • the third object of the present application is to provide another reduction motor with a reduced volume and effective protection of planetary gears.
  • the fourth object of the present application is to provide another reduction gear motor with reduced volume and effective protection of planetary gears.
  • the fifth object of the present application is to provide another geared motor with reduced volume and effective protection of planetary gears.
  • the sixth object of the present application is to provide a robot with reduced volume and effective protection of planetary gears.
  • the reducer provided in the present application includes a pin gear housing, a rigid disk, a planet carrier, a crankshaft, a planet gear, a needle roller, a needle bearing, and a cycloid wheel;
  • the working cavity, the rigid disc is rotatably mounted on the axial first end of the working cavity through the first bearing
  • the planet carrier is rotatably mounted on the axial second end of the working cavity through the second bearing
  • the cycloid wheel is located on the rigid disc
  • a plurality of needle rollers are meshed between the outer tooth surface of the cycloid wheel and the inner tooth surface of the pin gear housing
  • the crankshaft is rotatably connected between the rigid disk and the planet carrier, and the needle roller bearing is sleeved on the crank shaft
  • the eccentric part and the needle bearing are located in the bearing hole of the cycloid wheel
  • the planetary gear is installed on the crankshaft and is located in the working cavity
  • both the tooth surface of the first gear set and the tooth surface of the second gear set have a convex arc shape.
  • the double-arc meshing is used between the first gear set and the second gear set to make the load distribution of the tooth surface uniform, the tooth profile is not easy to wear, and the load carrying capacity is strong. Can guarantee the strength and service life of the gear.
  • the speed reducer includes at least two cycloid wheels, and an eccentric portion matching the number of cycloid wheels is provided on the crankshaft.
  • the deceleration motor provided by the present application includes a drive motor and a reducer.
  • the decelerator uses the above-mentioned reducer; the housing of the drive motor is fixedly connected to the rigid disk, and the output shaft of the drive motor is provided with a first The gear set, the first gear set meshes with the second gear set of the planet gears.
  • the working cavity of the pin gear shell has a large inner diameter, and placing the planetary gear in the working cavity can eliminate the setting of the gear placement position on the planetary carrier, reducing the volume of the planetary carrier and reducing the volume of the reducer
  • the overall volume of the geared motor is also reduced, and the planetary gears in the working cavity are effectively protected and fully lubricated.
  • the output shaft of the driving motor is a gear shaft
  • the first gear set is formed on the output shaft
  • the rigid disk and the housing of the drive motor are locked by bolts.
  • the rigid disk is directly connected with the housing of the drive motor to further reduce the volume of the gear motor.
  • the rigid disk is integrally formed with the housing of the drive motor.
  • the integral formation of the rigid disk and the end cover of the drive motor can reduce the rear end of the drive motor end cover and the rigid disk, and further reduce the axial size of the reduction motor.
  • the deceleration motor provided by the present application includes a drive motor and a reducer.
  • the decelerator uses the above-mentioned reducer; the outer shell of the drive motor is fixedly connected to the pin gear housing, and the A gear set, the first gear set meshes with the second gear set of the planetary gear.
  • the inner diameter of the working cavity of the pin gear shell is larger, and placing the planetary gear in the working cavity can cancel the setting of the gear placement position on the planetary carrier, reducing the volume of the planetary carrier and reducing the volume of the reducer.
  • the overall volume of the geared motor is also reduced, and the planetary gears in the working cavity are effectively protected and fully lubricated.
  • the output shaft of the driving motor is a gear shaft
  • the first gear set is formed on the output shaft
  • the pin gear housing and the housing of the driving motor are fixedly connected by a fixing frame.
  • the fixing frame is ring-shaped, the first axial end of the fixing frame is sheathed outside the pin gear housing, and the second axial end of the fixing frame is sheathed outside the housing of the drive motor.
  • the geared motor provided by the present application includes a drive motor and a reducer
  • the reducer includes a pinion housing, a rigid disc, a planet carrier, a crankshaft, a planetary gear, a needle roller, a needle roller bearing and a cycloid wheel
  • the middle part of the pin gear housing has a working cavity penetrating the axial direction
  • the rigid disk is rotatably mounted on the first axial end of the working cavity through the first bearing
  • the planet carrier is rotatably mounted on the axial first end of the working cavity through the second bearing
  • the cycloid wheel is located between the rigid disc and the planet carrier, and a plurality of needle rollers are meshed between the outer tooth surface of the cycloid wheel and the inner tooth surface of the pin gear housing
  • the crankshaft is rotatably connected between the rigid disc and the planet carrier
  • the needle bearing is set on the eccentric part of the crankshaft, and the eccentric part and the
  • both the tooth surface of the first gear set and the tooth surface of the second gear set have a convex arc shape.
  • the double-arc meshing is used between the first gear set and the second gear set to make the load distribution of the tooth surface uniform, the tooth profile is not easy to wear, and the load carrying capacity is strong. Can guarantee the strength and service life of the gear.
  • the output shaft of the driving motor is a gear shaft
  • the first gear set is formed on the output shaft
  • the rigid disk and the housing of the drive motor are fixedly connected by a fixing frame.
  • the fixing frame is ring-shaped, the first axial end of the fixing frame is sheathed outside the rigid disk, and the second axial end of the fixing frame is sheathed outside the housing of the drive motor.
  • the geared motor provided by the present application includes a drive motor and a reducer.
  • the reducer includes a pinion housing, a rigid disk, a planet carrier, a crankshaft, a planetary gear, a needle roller, a needle roller bearing, and a cycloid wheel ;
  • the middle part of the pin gear housing has a working cavity penetrating the axial direction, the rigid disk is rotatably mounted on the first axial end of the working cavity through the first bearing, and the planet carrier is rotatably mounted on the axial first end of the working cavity through the second bearing
  • the cycloid wheel is located between the rigid disc and the planet carrier, and a plurality of needle rollers are meshed between the outer tooth surface of the cycloid wheel and the inner tooth surface of the pin gear housing;
  • the crankshaft is rotatably connected between the rigid disc and the planet carrier Between, the needle bearing is set on the eccentric part of the crankshaft, and the eccentric part and
  • both the tooth surface of the first gear set and the tooth surface of the second gear set have a convex arc shape.
  • the output shaft of the driving motor is a gear shaft
  • the first gear set is formed on the output shaft
  • the pin gear housing and the housing of the driving motor are fixedly connected by a fixing frame.
  • the fixing frame is ring-shaped, the first axial end of the fixing frame is sheathed outside the pin gear housing, and the second axial end of the fixing frame is sheathed outside the housing of the drive motor.
  • the robot provided by the present application includes a second component that rotates with respect to the first component, and the robot further includes a deceleration motor as described above, the deceleration motor is connected to the Between the first component and the second component.
  • the robot using the above-mentioned reduction gear motor also has the characteristics of small volume, and the installation method of the smaller reduction gear motor in the robot is increased.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a geared motor of this application.
  • FIG. 2 is a schematic structural diagram of a second embodiment of a geared motor of this application.
  • FIG. 3 is a schematic structural diagram of a third embodiment of a geared motor of this application.
  • FIG. 4 is a schematic structural diagram of a fourth embodiment of a geared motor of this application.
  • FIG. 5 is a schematic structural diagram of a fifth embodiment of a geared motor of this application.
  • the reducer and the reduction motor provided in this application are applied to the joints of the robot.
  • the robot may be an industrial robot arm.
  • the industrial robot arm has a first arm portion (first component) and a second arm portion (second component).
  • the first arm portion There is a joint part between the second arm part and the reducer or the reduction motor is arranged at the joint part, and the relative rotation is realized between the first arm part and the second arm part through the reduction gear or the speed reduction belt driving motor.
  • FIG. 1 is a schematic structural diagram of a first embodiment of a geared motor of this application.
  • the reducer motor is an integrated machine composed of the RV reducer 1 and the drive motor 2.
  • the RV reducer 1 includes a pinion housing 11, a rigid disk 12, a planet carrier 13, a needle roller 14, a cycloid wheel 15, a crankshaft 16, and needle roller bearings 162, the planetary gear 17, the bearing set, and the oil seal ring 19.
  • the bearing set includes a first bearing 181, a second bearing 182, a third bearing 183, and a fourth bearing 184.
  • a working cavity penetrating the axial direction is formed in the pin gear housing 11, and the pin gear housing 11 is provided with an internal tooth surface on the inner peripheral wall of the working cavity;
  • the rigid disk 12 has a through hole in the middle, and the rigid disk 12 is rotatably rotated through the first bearing 181 Installed at the axial first end of the working cavity,
  • the planet carrier 13 has a through hole in the middle, the planet carrier 13 is rotatably installed at the axial second end of the working cavity through the second bearing 182, and the planet carrier 13 and the pin gear shell
  • An oil seal ring 19 is provided between the inner walls of the second axial end of 11.
  • the oil seal ring 19 is fixedly embedded in the axial second end of the pin gear housing 11, and the oil seal ring 19 is in clearance fit with the planet carrier 13.
  • the two cycloid wheels 15 are disposed in the working chamber and are located between the rigid disk 12 and the planet carrier 13.
  • the cycloid wheel 15 has a through hole in the middle thereof, the through hole in the middle of the rigid disk 12 and the two through holes in the middle of the two cycloid wheels 15 And the through holes of the planet carrier 13 communicate with each other.
  • the outer periphery of the cycloid wheel 15 is provided with an external tooth surface, and the number of teeth on the external tooth surface is smaller than the number of teeth on the inner tooth surface of the inner periphery of the pin gear housing 11. 11 between the internal tooth surfaces.
  • the cycloid wheel 15 is provided with two bearing holes penetrating the axial direction in the axial direction.
  • the middle part of the crankshaft 16 has two eccentric parts 161 whose eccentric positions are different from each other.
  • the first axial end of the crankshaft 16 is rotatably mounted on the rigid disk 12 through a third bearing 183, and the second axial end of the crankshaft 16 passes through the
  • the four bearings 184 are rotatably mounted on the planet carrier 13, two eccentric portions 161 are located in the working cavity, and each eccentric portion 161 is located in the bearing hole of the cycloid wheel 15 corresponding to its axial position, and the needle
  • the bearing 162 is fitted on the eccentric portion 161, and the plurality of rollers of the needle roller bearing 162 are in rolling contact with the outer peripheral surface of the eccentric portion 161 and the inner peripheral surface of the bearing hole of the cycloid 15.
  • the crankshaft 16 passes through the rigid disk 12 and protrudes out of the rigid disk 12 from the working chamber.
  • the planetary gear 17 is fixedly installed on the portion of the crankshaft 16 that protrudes from the rigid disk 12, so the planetary gear 17 is entirely located outside the working chamber and is located in the rigid
  • the disk 12 is axially outside.
  • the drive motor 2 has a housing 21 that includes an end cover 211 at one end in the axial direction.
  • the end cover 211 has a convex portion 212 protruding outward in the axial direction.
  • the end cover 211 forms a stepped portion at the outer peripheral position of the convex portion 212.
  • the driving motor 2 further includes an output shaft 22 protruding from the end where the end cover 211 is located.
  • the peripheral surface of the end of the output shaft 22 is provided with a first gear set.
  • the output shaft 22 of the driving motor 2 is a gear shaft, and the first gear The assembly is formed on the output shaft 22.
  • the driving motor 2 and the reducer 1 are connected by a fixing frame 3.
  • the fixing frame 3 has a ring shape as a whole, and in the radial section of the fixing frame 3, the fixing frame 3 is L-shaped, and the fixing frame 3 has the first axial direction
  • the end has a first fixing portion 31 extending in the radial direction, and the second end in the axial direction of the fixing frame 3 has a second fixing portion 32 extending in the axial direction.
  • the first fixing portion 31 is fixedly fitted on the outer circumferential surface of the rigid disk 12, and the second fixing portion 32 is fixedly fitted on the convex portion 212 of the end cover 211.
  • the planetary gear 17 is located in the gap between the rigid disk 12 and the drive motor 2.
  • the output shaft 22 of the drive motor 2 extends between the two planetary gears 17 and faces the input through which the through hole in the middle of the rigid disk 12, the through hole in the middle of the two cycloid wheels 15 and the through hole in the planet carrier 13 communicate with each other Through hole 10.
  • the first gear set of the output shaft 22 meshes with the second gear set of the planetary gear 17, the tooth surface of the first gear set of the output shaft 22 and the tooth surface of the second gear set of the planetary gear 17 are both convex Arc-shaped.
  • the setting of the gear placement position on the planetary carrier 13 can be eliminated, and the volume of the planetary carrier 13 can be reduced to reduce the overall volume of the reducer and the reduction motor, while the planetary gear 17 is located on the rigid disk In the gap between 12 and the drive motor 2, the fixing frame 3 connected between the reducer 1 and the drive motor 2 is sealed around the gap, and the planetary gear can be effectively protected without additional protection mechanism.
  • FIG. 2 is a schematic structural diagram of a second embodiment of a geared motor of the present application.
  • the outer periphery of the pin gear shell 11 is provided with a first through hole 111 penetrating in the axial direction
  • the fixing frame 4 is L-shaped in a cross section in the warp direction
  • the first axial end of the fixing frame 4 has a first fixing extending radially
  • the first fixing portion 41 is provided with a second through hole 411 penetrating in the axial direction.
  • the second axial end of the fixing frame 4 has a second fixing extending in the axial direction and extending in the radial direction toward the axis Part 42, the first fixing part 41 is fixedly sleeved on the outer peripheral surface of the rigid disk 12, and the first through hole 111 penetrates through the second through hole 411, the bolt passes through the first through hole 111 and the second through hole 411 and is connected with the nut
  • the second fixing portion 42 is fixedly sleeved on the convex portion 212 of the end cover 211.
  • FIG. 3 is a schematic structural diagram of a third embodiment of a geared motor of the present application.
  • the reducer motor is an integrated machine composed of the RV reducer 5 and the drive motor 6.
  • the RV reducer 5 is composed of a pin gear housing 51, a rigid disk 52, a planet carrier 53, a needle roller 54, a cycloidal gear 55, a crankshaft 56, and needle roller bearings 562, a planetary gear 57, a bearing set, and an oil seal ring 59.
  • the bearing set includes a first bearing 581, a second bearing 582, a third bearing 583, and a fourth bearing 584.
  • a working cavity 510 penetrating the axial direction is formed in the pin tooth housing 51.
  • the pin tooth housing 51 is provided with an inner tooth surface on the inner peripheral wall of the working cavity 510; the rigid disc 52 has a through hole in the middle, and the rigid disc 52 can pass through the first bearing 581 It is rotatably installed at the axial first end of the working chamber.
  • the planet carrier 53 has a through hole in the middle.
  • the planet carrier 53 is rotatably installed at the axial second end of the working chamber 510 through the second bearing 582.
  • An oil seal ring 59 is provided between the inner walls of the second axial end of the pin gear shell 51.
  • the oil seal ring 59 is fixedly embedded in the second axial end of the pin gear shell 51, and the oil seal ring 59 is in clearance fit with the planet carrier 53.
  • Two cycloidal wheels 55 are arranged in the working chamber and are located between the rigid disc 52 and the planet carrier 53.
  • the cycloidal wheel 55 has a through hole in the middle
  • the rigid disc 52 has a through hole in the middle
  • the two cycloidal wheels 55 have a through hole in the middle
  • the through holes of the planet carrier 53 communicate with each other.
  • the outer periphery of the cycloid gear 55 is provided with an outer tooth surface, and the number of teeth on the outer gear surface is smaller than that of the inner tooth surface of the inner periphery of the needle gear housing 51. Between 51 internal tooth surfaces.
  • the cycloid wheel 55 is provided with two bearing holes penetrating the axial direction in the axial direction.
  • the middle part of the crankshaft 56 has two eccentric parts 561 whose eccentric positions are different from each other.
  • the first axial end of the crankshaft 56 is rotatably mounted on the rigid disk 52 through a third bearing 583, and the second axial end of the crankshaft 56 passes through the first
  • the four bearings 584 are rotatably mounted on the planet carrier 53, the two eccentric portions 561 are located in the working cavity 510, and each eccentric portion 561 is located in the bearing hole of the cycloid wheel 55 corresponding to its axial position, and rolls
  • the needle bearing 562 is fitted on the eccentric portion 561, and the plurality of rollers of the needle bearing 562 are in rolling contact with the outer peripheral surface of the eccentric portion 561 and the inner peripheral surface of the bearing hole of the cycloid 55.
  • the driving motor 6 has a housing 61, and the housing 61 includes an end cover 611 at one end in the axial direction.
  • the driving motor 6 further includes an output shaft 62 extending from the end where the end cover 611 is located.
  • a peripheral surface of the end of the output shaft 62 is provided with a first For the gear set, the output shaft 62 of the drive motor 6 is a gear shaft, and the first gear set is processed and formed on the output shaft 62.
  • the driving motor 6 and the speed reducer 5 are fixed by bolts.
  • the end cover 611 is provided with a through hole for the bolt 63 to pass through
  • the rigid disk 52 is provided with a threaded hole on the axial outer surface
  • the bolt 63 passes through the through hole of the end cover 611 and locks with the threaded hole on the rigid disk 52 to further fix each other between the drive motor 6 and the reducer 5.
  • the rigid disk 52 is integrally formed with the end cover 611 of the drive motor 6 to replace the bolt connection in this embodiment.
  • the output shaft 62 of the drive motor 6 passes through the through hole in the middle of the rigid disk 52 and then extends between the two planetary gears 57 and is directly opposite to each other through the through holes in the middle of the two cycloidal wheels 55 and the through holes in the planet carrier 53 ⁇ ⁇ ⁇ ⁇ 50 ⁇ The input through hole 50.
  • the first gear set of the output shaft 62 meshes with the second gear set of the planetary gear 57, the tooth surface of the first gear set of the output shaft 62 and the tooth surface of the second gear set of the planetary gear 57 are both convex Arc-shaped.
  • the inner diameter of the working cavity 510 of the pin gear housing 51 is relatively large. Placing the planetary gear 57 in the working cavity 510 can eliminate the setting of the gear placement position on the planetary carrier 53 and reduce the volume of the planetary carrier 53 so that the volume of the reducer 5 As the size decreases, the overall volume of the geared motor also decreases, and the planetary gear 57 located in the working chamber 510 is effectively protected and fully lubricated.
  • FIG. 4 is a schematic structural diagram of a fourth embodiment of a geared motor of the present application.
  • the planetary gear 57 is also disposed in the working chamber 510 between the cycloid 55 and the rigid disk 7.
  • the rigid disk 7 is provided with an indented mounting position 71 on the axial outer end surface, and the protrusion 612 on the end cover 611 of the drive motor 6 is snapped into the mounting position 71 to achieve fixation .
  • bolt bolt holes can be added between the end cap 611 and the rigid disk 7 to stabilize it.
  • FIG. 5 is a schematic structural diagram of a fifth embodiment of a geared motor of this application.
  • the planetary gear 57 is also disposed in the working chamber 510, and is located between the cycloid 55 and the rigid disk 8.
  • the speed reducer 5 and the drive motor 6 are connected by a fixing frame 9.
  • the fixing frame 9 includes a ring shape.
  • the fixing frame 9 is L-shaped, and the axial first end of the fixing frame 9 It has a first fixing portion 91 extending in the axial direction, and the second axial end of the fixing frame 9 has a second fixing portion 92 extending in the radial direction.
  • the first fixing portion 91 is sleeved on the outer peripheral surface of the pin tooth housing 51.
  • the two fixing portions 92 are fitted on the outer circumferential surface of the convex portion 612 of the end cover 611 of the drive motor 6, and there is a gap between the axially outer end surface of the rigid disk 8 and the end cover 611 to ensure that the rigid disk 8 can be opposite to the end cover 611 rotates relatively.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

本申请提供一种减速器、减速电机和机器人，减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；针齿壳具有工作腔，刚性盘安装于工作腔的轴向第一端，行星架安装于工作腔的轴向第二端，摆线轮位于刚性盘与行星架之间，多个滚针啮合在摆线轮的外齿面与针齿壳的内齿面之间；曲轴转动连接在刚性盘与行星架之间，曲轴的偏心部和滚针轴承位于摆线轮的轴承孔中；行星齿轮位于刚性盘与摆线轮之间或位于刚性盘外。减速电机包括减速器和驱动电机，机器人包括减速电机。行星齿轮放置在工作腔或设置在减速器外可取消行星架上齿轮放置位的设置，减小行星架的体积使减速器体积缩小，位于工作腔中的行星齿轮得到有效保护和充分润滑。

Description

减速器、减速电机和机器人
相关申请
本申请要求2018年10月12日申请的，申请号为201811187936.4，名称为“减速器、减速电机和机器人”的中国专利申请的优先权，在此将其全文引入作为参考。
技术领域
本申请涉及减速设备技术领域，具体涉及一种减速器、减速电机和应用该减速电机的机器人。
背景技术
传统的RV减速器与驱动电机之间通过法兰对接而进行一体化连接。通常，传统的RV减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承、摆线轮和齿轮轴；针齿壳中部具有贯穿轴向的工作腔，刚性盘通过第一轴承可转动地安装于工作腔的轴向第一端，行星架通过第二轴承可转动地安装于工作腔的轴向第二端，摆线轮位于刚性盘与行星架之间，多个滚针啮合在摆线轮的外齿面与针齿壳的内齿面之间。
曲轴可转动地连接在刚性盘与行星架之间，滚针轴承套装在曲轴的偏心部上，偏心部以及滚针轴承位于摆线轮的轴承孔中。行星架上设置有朝向RV减速器的外侧的齿轮放置位，行星齿轮安装在曲轴上且位于齿轮放置位中，行星齿轮的外周由行星架进行保护；齿轮轴的齿面端依次穿过刚性盘的中心孔、摆线轮的中心孔和行星架的中心孔后与行星齿轮啮合。针齿壳在靠近刚性盘的轴向一端连接有第一法兰，驱动电机外壳上的第二法兰与第一法兰对接，驱动电机的输出轴与齿轮轴轴向对接。
传统的RV减速器与驱动电机的连接方式存在的问题是，由于行星齿轮位于RV减速器上背对驱动电机的轴向端上，行星齿轮并非位于RV减速器的工作腔内也并非位于RV减速器与驱动电机的密封连接处，因此行星架上设置齿轮放置位而对行星齿轮进行外周保护，行星架因需设置能容纳行星齿轮的齿轮放置位而体积增大，对应地RV减速器的整体体积也随之增大，减速器与驱动电机在机器人中的安装方式也因此受到限制。
发明内容
本申请的第一目的在于提供一种体积减小且有效保护行星齿轮的减速器。
本申请的第二目的在于提供一种体积减小且有效保护行星齿轮的减速电机。
本申请的第三目的在于提供另一种体积减小且有效保护行星齿轮的减速电机。
本申请的第四目的在于提供另一种体积减小且有效保护行星齿轮的减速电机。
本申请的第五目的在于提供另一种体积减小且有效保护行星齿轮的减速电机。
本申请的第六目的在于提供一种体积减小且有效保护行星齿轮的机器人。
为解决本申请的第一目的，本申请提供的减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；针齿壳中部具有贯穿轴向的工作腔，刚性盘通过第一轴承可转动地安装于工作腔的轴向第一端，行星架通过第二轴承可转动地安装于工作腔的轴向第二端，摆线轮位于刚性盘与行星架之间，多个滚针啮合在摆线轮的外齿面与针齿壳的内齿面之间；曲轴可转动地连接在刚性盘与行星架之间，滚针轴承套装在曲轴的偏心部上，偏心部以及滚针轴承位于摆线轮的轴承孔中；行星齿轮安装在曲轴上且位于工作腔内，在针齿壳的轴向上，行星齿轮位于刚性盘与摆线轮之间。
由上述方案可见，由于针齿壳中部的工作腔需要容纳可转摆的摆线轮，工作腔内径较大，将行星齿轮放置在工作腔内则可取消行星架上齿轮放置位的设置，减小行星架的体积而使减速器的整体体积缩小，位于工作腔中的行星齿轮得到有效保护和充分润滑。
在其中一个实施例中，第一轮齿组的齿面和第二轮齿组的齿面均具为凸圆弧状。
由上可见，第一轮齿组与第二轮齿组之间采用双圆弧啮合，使齿面载荷分布均匀，齿廓不易磨损、承载能力强，在齿轮制造过程中无需采用渗透淬火工艺即可保证齿轮强度和使用寿命。
在其中一个实施例中，减速器包括至少两个摆线轮，曲轴上设置有与摆线轮数量匹配的偏心部。
为解决本申请的第二目的，本申请提供的减速电机包括驱动电机和减速器，减速器采用上述的减速器；驱动电机的外壳与刚性盘固定连接，驱动电机的输出轴上设有第一轮齿组，第一轮齿组与行星齿轮的第二轮齿组啮合。
由上述方案可见，针齿壳的工作腔内径较大，将行星齿轮放置在工作腔内则可取消行星架上齿轮放置位的设置，减小行星架的体积而使减速器的体积随之缩小，减速电机的整体体积也随之缩小，而位于工作腔中的行星齿轮得到有效保护和充分润滑。
在其中一个实施例中，驱动电机的输出轴为齿轮轴，第一轮齿组加工成型于输出轴上。
由上可见，由于行星齿轮靠近刚性盘的轴向端，即行星齿轮与驱动电机的输出轴的位置较为接近，驱动电机的输出轴无需外接输出轴，而直接在驱动电机的输出轴上加工第一轮齿组上即可，从而减小减速器中部输入轴孔的孔径，进一步减小减速电机的整体体积。
在其中一个实施例中，刚性盘与驱动电机的外壳之间通过螺栓锁紧。
由上可见，刚性盘与驱动电机的外壳之间直接连接以进一步减小减速电机的体积。
在其中一个实施例中，刚性盘与驱动电机的外壳一体成型。
由上可见，刚性盘与驱动电机的端盖一体成型可减小驱动电机端盖与刚性盘的后端，进一步缩小减速电机的轴向尺寸。
为解决本申请的第三目的，本申请提供的减速电机包括驱动电机和减速器，减速器采用上述的减速器；驱动电机的外壳与针齿壳固定连接，驱动电机的输出轴上设有第一轮齿组，第一轮齿组与行星齿轮的第二轮齿组啮合。
由上可见，针齿壳的工作腔内径较大，将行星齿轮放置在工作腔内则可取消行星架上齿轮放置位的设置，减小行星架的体积而使减速器的体积随之缩小，减速电机的整体体积也随之缩小，而位于工作腔中的行星齿轮得到有效保护和充分润滑。
在其中一个实施例中，驱动电机的输出轴为齿轮轴，第一轮齿组加工成型于输出轴上。
在其中一个实施例中，针齿壳与驱动电机的外壳之间通过固定架固定连接。
在其中一个实施例中，固定架呈环状，固定架的轴向第一端套装在针齿壳外，固定架的轴向第二端套装在驱动电机的外壳外。
由上可见，采用环状的固定架代替原有的法兰连接可减小减速器以及减速电机的径向尺寸。
为解决本申请的第四目的，本申请提供的减速电机包括驱动电机和减速器，减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；针齿壳中部具有贯穿轴向的工作腔，刚性盘通过第一轴承可转动地安装于工作腔的轴向第一端，行星架通过第二轴承可转动地安装于工作腔的轴向第二端，摆线轮位于刚性盘与行星架之间，多个滚针啮合在摆线轮的外齿面与针齿壳的内齿面之间；曲轴可转动地连接在刚性盘与行星架之间，滚针轴承套装在曲轴的偏心部上，偏心部以及滚针轴承位于摆线轮的轴承孔中；行星齿轮安装在曲轴上且位于工作腔外，在针齿壳的轴向上，行星齿轮位于刚性盘外侧；驱动电机的外壳与刚性盘固定连接且外壳与刚性盘之间具有间隙，行星齿轮位于间隙中，驱动电机的输出轴上设有第一轮齿组，第一轮齿组与行星齿轮的第二轮齿组啮合。
由上述方案可见，将行星齿轮设置在刚性盘外，则可取消行星架上齿轮放置位的设置，减小行星架的体积而使减速器以及减速电机的整体体积缩小；而行星齿轮位于刚性盘与驱动电机之间的间隙中，连接在减速器与驱动电机之间的固定架或法兰对间隙密封围绕，无需额外设置保护机构即可对行星齿轮有效保护。
在其中一个实施例中，第一轮齿组的齿面和第二轮齿组的齿面均具为凸圆弧状。
由上可见，第一轮齿组与第二轮齿组之间采用双圆弧啮合，使齿面载荷分布均匀，齿廓不易磨损、承载能力强，在齿轮制造过程中无需采用渗透淬火工艺即可保证齿轮强度和使用寿命。
在其中一个实施例中，驱动电机的输出轴为齿轮轴，第一轮齿组加工成型于输出轴上。
在其中一个实施例中，刚性盘与驱动电机的外壳之间通过固定架固定连接。
在其中一个实施例中，固定架呈环状，固定架的轴向第一端套装在刚性盘外，固定架的轴向第二端套装在驱动电机的外壳外。
为解决本申请的第五目的，本申请提供的减速电机包括驱动电机和减速器，减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；针齿壳中部具有贯穿轴向的工作腔，刚性盘通过第一轴承可转动地安装于工作腔的轴向第一端，行星架通过第二轴承可转动地安装于工作腔的轴向第二端，摆线轮位于刚性盘与行星架之间，多个滚针啮合在摆线轮的外齿面与针齿壳的内齿面之间；曲轴可转动地连接在刚性盘与行星架之间，滚针轴承套装在曲轴的偏心部上，偏心部以及滚针轴承位于摆线轮的轴承孔中；行星齿轮安装在曲轴上且位于工作腔外，在针齿壳的轴向上，行星齿轮位于刚性盘外侧；驱动电机的外壳与针齿壳固定连接，外壳与刚性盘之间具有间隙且行星齿轮位于间隙中，驱动电机的输出轴上设有第一轮齿组，第一轮齿组与行星齿轮的第二轮齿组啮合。
由上述方案可见，将行星齿轮设置在刚性盘外，则可取消行星架上齿轮放置位的设置，减小行星架的体积而使减速器以及减速电机的整体体积缩小；而行星齿轮位于刚性盘与驱动电机之间的间隙中，连接在减速器与驱动电机之间的固定架或法兰对间隙密封围绕，无需额外设置保护机构即可对行星齿轮有效保护。
在其中一个实施例中，第一轮齿组的齿面和第二轮齿组的齿面均具为凸圆弧状。
在其中一个实施例中，驱动电机的输出轴为齿轮轴，第一轮齿组加工成型于输出轴上。
在其中一个实施例中，针齿壳与驱动电机的外壳之间通过固定架固定连接。
在其中一个实施例中，固定架呈环状，固定架的轴向第一端套装在针齿壳外，固定架的轴向第二端套装在驱动电机的外壳外。
为解决本申请的第五目的，本申请提供的机器人包括第一部件相对于所述第一部件转动的第二部件，所述机器人还包括如上述的减速电机，所述减速电机连接于所述第一部件与所述第二部件之间。
由上述方案可见，采用上述的减速电机的机器人同样具有体积小的特点，且体积较小的减速电机在机器人的安装方式增多。
附图说明
图1为本申请减速电机第一实施例的结构示意图。
图2为本申请减速电机第二实施例的结构示意图。
图3为本申请减速电机第三实施例的结构示意图。
图4为本申请减速电机第四实施例的结构示意图。
图5为本申请减速电机第五实施例的结构示意图。
以下结合附图及实施例对本申请作进一步说明。
具体实施方式
本申请提供的减速器以及减速电机应用于机器人关节处，机器人可以为工业机械臂，工业机械臂具有第一臂部(第一部件)和第二臂部(第二部件)，第一臂部和第二臂部之间具有关节部件，减速器或减速电机设置在关节部件处，第一臂部和第二臂部之间通过减速器或减速带驱动电机实现相对转动。
减速电机第一实施例
参见图1，图1为本申请减速电机第一实施例的结构示意图。减速电机为RV减速器1与驱动电机2组合成的一体机，RV减速器1包括针齿壳11、刚性盘12、行星架13、滚针14、摆线轮15、曲轴16、滚针轴承162、行星齿轮17、轴承组以及油封圈19，轴承组包括第一轴承181、第二轴承182、第三轴承183和第四轴承184。
针齿壳11内形成贯穿其轴向的工作腔，针齿壳11在工作腔的内周壁上设置有内齿面；刚性盘12中部具有通孔，刚性盘12通过第一轴承181可转动地安装于工作腔的轴向第一端，行星架13的中部具有通孔，行星架13通过第二轴承182可转动地安装于工作腔的轴向第二端，且行星架13与针齿壳11的轴向第二端的内壁之间设置有油封圈19，油封圈19固定内嵌在针齿壳11的轴向第二端，且油封圈19与行星架13间隙配合。
两个摆线轮15设置在工作腔中且位于刚性盘12与行星架13之间，摆线轮15中部具有通孔，刚性盘12中部的通孔、两个摆线轮15中部的通孔以及行星架13的通孔相互连通。摆线轮15的外周设置有外齿面，外齿面上齿数小于针齿壳11内周的内齿面的齿数，多个滚针14啮合在摆线轮15的外齿面与针齿壳11的内齿面之间。摆线轮15的轴向上设置有贯穿轴向方向的两个轴承孔。
曲轴16的中部具有两个彼此偏心位置不相同的偏心部161，曲轴16的轴向第一端通过第三轴承183可转动地安装在刚性盘12上，曲轴16的轴向第二端通过第四轴承184可转动地安装在行星架13上，两个偏心部161均位于工作腔内，且每个偏心部161分别位 于与其轴向位置对应的摆线轮15的轴承孔中，且滚针轴承162套装在偏心部161上，滚针轴承162的多个滚子滚动抵接于偏心部161的外周面与摆线轮15的轴承孔的内周面之间。
曲轴16穿过刚性盘12并从工作腔伸出于刚性盘12外，行星齿轮17固定安装在曲轴16上突出于刚性盘12的部分上，因此行星齿轮17整体位于工作腔外，且位于刚性盘12的轴向外侧。
驱动电机2具有外壳21，外壳21包括位于轴向一端的端盖211，端盖211具有向轴向外侧突起的凸起部212，端盖211在凸起部212的外周位置形成一个阶梯部，驱动电机2还包括从端盖211所在一端伸出的输出轴22，输出轴22的末端的周面上设置有第一轮齿组，驱动电机2的输出轴22为齿轮轴，第一轮齿组加工成型于输出轴22上。
驱动电机2与减速器1之间通过固定架3实现连接，固定架3整体呈环状，且在固定架3的径向截面上，固定架3呈L型，固定架3的轴向第一端具有沿径向延伸的第一固定部31，固定架3的轴向第二端具有沿轴向延伸的第二固定部32，第二固定部32在图1中自上而下的沿径向方向向轴心方向延伸，第一固定部31固定套装在刚性盘12的外周面上，第二固定部32固定套装在端盖211的凸起部212上。行星齿轮17位于刚性盘12与驱动电机2之间的间隙中。
驱动电机2的输出轴22伸至两个行星齿轮17之间，并正对由刚性盘12中部的通孔、两个摆线轮15中部的通孔以及行星架13的通孔相互连通的输入通孔10。输出轴22的第一轮齿组与行星齿轮17的第二轮齿组啮合，输出轴22的第一轮齿组的齿面和行星齿轮17的第二轮齿组的齿面均具为凸圆弧状。
将行星齿轮17设置在刚性盘12外，则可取消行星架13上齿轮放置位的设置，减小行星架13的体积而使减速器以及减速电机的整体体积缩小，而行星齿轮17位于刚性盘12与驱动电机2之间的间隙中，连接在减速器1与驱动电机2之间的固定架3对间隙密封围绕，无需额外设置保护机构即可对行星齿轮有效保护。
参见图2，图2为本申请减速电机第二实施例的结构示意图。针齿壳11的外周设置有沿轴向贯穿的第一通孔111，固定架4在经向的截面上呈L型，固定架4的轴向第一端具有延径向延伸的第一固定部41，第一固定部41上设置有沿轴向贯穿的第二通孔411，固定架4的轴向第二端具有沿轴向延伸且沿径向方向向轴心方向延伸的第二固定部42，第一固定部41固定套装在刚性盘12的外周面上，且第一通孔111于第二通孔411贯通，螺栓穿过第一通孔111和第二通孔411后与螺母配合以实现减速器1与固定架4之间的固定连接，第二固定部42固定套装在端盖211的凸起部212上。
参见图3，图3为本申请减速电机第三实施例的结构示意图。减速电机为RV减速器5与驱动电机6组合成的一体机，RV减速器5由针齿壳51、刚性盘52、行星架53、滚针54、摆线轮55、曲轴56、滚针轴承562、行星齿轮57、轴承组以及油封圈59，轴承组包括第一轴承581、第二轴承582、第三轴承583和第四轴承584。
针齿壳51内形成贯穿其轴向的工作腔510，针齿壳51在工作腔510的内周壁上设置有内齿面；刚性盘52中部具有通孔，刚性盘52通过第一轴承581可转动地安装于工作腔的轴向第一端，行星架53的中部具有通孔，行星架53通过第二轴承582可转动地安装于工作腔510的轴向第二端，且行星架53与针齿壳51的轴向第二端的内壁之间设置有油封圈59，油封圈59固定内嵌在针齿壳51的轴向第二端，且油封圈59与行星架53间隙配合。
两个摆线轮55设置在工作腔中且位于刚性盘52与行星架53之间，摆线轮55中部具有通孔，刚性盘52中部的通孔、两个摆线轮55中部的通孔以及行星架53的通孔相互连通。摆线轮55的外周设置有外齿面，外齿面上齿数小于针齿壳51内周的内齿面的齿数，多个滚针54啮合在摆线轮55的外齿面与针齿壳51的内齿面之间。摆线轮55的轴向上设置有贯穿轴向方向的两个轴承孔。
曲轴56的中部具有两个彼此偏心位置不相同的偏心部561，曲轴56的轴向第一端通过第三轴承583可转动地安装在刚性盘52上，曲轴56的轴向第二端通过第四轴承584可转动地安装在行星架53上，两个偏心部561均位于工作腔510内，且每个偏心部561分别位于与其轴向位置对应的摆线轮55的轴承孔中，且滚针轴承562套装在偏心部561上，滚针轴承562的多个滚子滚动抵接于偏心部561的外周面与摆线轮55的轴承孔的内周面之间。
在工作腔510中，摆线轮55与刚性盘52之间具有空间，行星齿轮57固定安装在曲轴56上，且行星齿轮57位于510中并位于摆线轮55与刚性盘52之间的空间中。驱动电机6具有外壳61，外壳61包括位于轴向一端的端盖611，驱动电机6还包括从端盖611所在一端伸出的输出轴62，输出轴62的末端的周面上设置有第一轮齿组，驱动电机6的输出轴62为齿轮轴，第一轮齿组加工成型于输出轴62上。
驱动电机6与减速器5之间通过螺栓锁紧固定。端盖611上设置有供螺栓63穿过的通孔，刚性盘52的轴向外表面上设置有螺纹孔，螺栓63穿过端盖611的通孔与刚性盘52上的螺纹孔锁紧配合，进而实现驱动电机6与减速器5之间的相互固定。可选的是，刚性盘52与驱动电机6的端盖611一体成型以替代本实施例中的螺栓连接。
驱动电机6的输出轴62穿过刚性盘52中部的通孔后伸至两个行星齿轮57之间，并正对由两个摆线轮55中部的通孔以及行星架53的通孔相互连通的输入通孔50。输出轴 62的第一轮齿组与行星齿轮57的第二轮齿组啮合，输出轴62的第一轮齿组的齿面和行星齿轮57的第二轮齿组的齿面均具为凸圆弧状。
针齿壳51的工作腔510内径较大，将行星齿轮57放置在工作腔510内则可取消行星架53上齿轮放置位的设置，减小行星架53的体积而使减速器5的体积随之缩小，减速电机的整体体积也随之缩小，而位于工作腔510中的行星齿轮57得到有效保护和充分润滑。
参见图4，图4为本申请减速电机第四实施例的结构示意图。本实施例中，与第三实施例相比，行星齿轮57同样设置在工作腔510中，位于摆线轮55与刚性盘7之间。与上一实施例不同的是，刚性盘7在轴向外端面上设置有内陷的安装位71，驱动电机6的端盖611上的凸起部612卡装到安装位71中以实现固定。当然，端盖611与刚性盘7之间可增加螺栓螺孔配合加以稳固。
参见图5，图5为本申请减速电机第五实施例的结构示意图。本实施例中，行星齿轮57同样设置在工作腔510中，位于摆线轮55与刚性盘8之间。减速器5与驱动电机6之间通过固定架9实现连接，固定架9包括呈环状，在固定架9的径向截面上，固定架9呈L型，固定架9的轴向第一端具有沿轴向延伸的第一固定部91，固定架9的轴向第二端具有沿径向延伸的第二固定部92，第一固定部91套装在针齿壳51的外周面上，第二固定部92套装在驱动电机6的端盖611的凸起部612的外周面上，刚性盘8的轴向外端面与端盖611之间具有间隙，以保证刚性盘8可相对于端盖611相对转动。
最后需要强调的是，以上所述仅为本申请的优选实施例，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种变化和更改，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (22)

  1. 一种减速器，包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；
    所述针齿壳中部具有贯穿自身轴向的工作腔，所述刚性盘通过第一轴承可转动地安装于所述工作腔的轴向第一端，所述行星架通过第二轴承可转动地安装于所述工作腔的轴向第二端，所述摆线轮位于所述刚性盘与所述行星架之间，多个所述滚针啮合在所述摆线轮的外齿面与所述针齿壳的内齿面之间；
    所述曲轴可转动地连接在所述刚性盘与所述行星架之间，所述滚针轴承套装在所述曲轴的偏心部上，所述偏心部以及所述滚针轴承位于所述摆线轮的轴承孔中；
    其特征在于：
    所述行星齿轮安装在所述曲轴上且位于所述工作腔内，在所述针齿壳的轴向上，所述行星齿轮位于所述刚性盘与所述摆线轮之间。
  2. 根据权利要求1所述的减速器，其特征在于：
    所述第一轮齿组的齿面和所述第二轮齿组的齿面均具为凸圆弧面。
  3. 根据权利要求1或2所述的减速器，其特征在于：
    所述减速器包括至少两个所述摆线轮，所述曲轴上设置有与所述摆线轮数量匹配的所述偏心部。
  4. 减速电机，包括驱动电机和减速器，其特征在于：
    所述减速器采用上述权利要求1至3任一项所述的减速器；
    所述驱动电机的外壳与所述刚性盘固定连接，所述驱动电机的输出轴上设有第一轮齿组，所述第一轮齿组与所述行星齿轮的第二轮齿组啮合。
  5. 根据权利要求4所述的减速电机，其特征在于：
    所述驱动电机的输出轴为齿轮轴，所述第一轮齿组加工成型于所述输出轴上。
  6. 根据权利要求4或5所述的减速电机，其特征在于：
    所述刚性盘与所述驱动电机的外壳之间通过螺栓固定连接。
  7. 根据权利要求4或5所述的减速电机，其特征在于：
    所述刚性盘与所述驱动电机的外壳一体成型。
  8. 一种减速电机，包括驱动电机和减速器，其特征在于：
    所述减速器采用上述权利要求1至3任一项所述的减速器；
    所述驱动电机的外壳与所述针齿壳固定连接，所述驱动电机的输出轴上设有第一轮齿组，所述第一轮齿组与所述行星齿轮的第二轮齿组啮合。
  9. 根据权利要求8所述的减速电机，其特征在于：
    所述驱动电机的输出轴为齿轮轴，所述第一轮齿组加工成型于所述输出轴上。
  10. 根据权利要求8或9所述的减速电机，其特征在于：
    所述针齿壳与所述驱动电机的外壳之间通过固定架固定连接。
  11. 根据权利要求10所述的减速电机，其特征在于：
    所述固定架呈环状，所述固定架的轴向第一端套装在所述针齿壳外，所述固定架的轴向第二端套装在所述驱动电机的外壳外。
  12. 一种减速电机，包括驱动电机和减速器，所述减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；
    所述针齿壳中部具有贯穿轴向的工作腔，所述刚性盘通过第一轴承可转动地安装于所述工作腔的轴向第一端，所述行星架通过第二轴承可转动地安装于所述工作腔的轴向第二端，所述摆线轮位于所述刚性盘与所述行星架之间，多个所述滚针啮合在所述摆线轮的外齿面与所述针齿壳的内齿面之间；
    所述曲轴可转动地连接在所述刚性盘与所述行星架之间，所述滚针轴承套装在所述曲轴的偏心部上，所述偏心部以及所述滚针轴承位于所述摆线轮的轴承孔中；
    其特征在于：
    所述行星齿轮安装在所述曲轴上且位于所述工作腔外，在所述针齿壳的轴向上，所述行星齿轮位于所述刚性盘外侧；
    所述驱动电机的外壳与所述刚性盘固定连接，所述外壳与所述刚性盘之间具有间隙且所述行星齿轮位于所述间隙中，所述驱动电机的输出轴上设有第一轮齿组，所述第一轮齿组与所述行星齿轮的第二轮齿组啮合。
  13. 根据权利要求12所述的减速电机，其特征在于：
    所述第一轮齿组的齿面和所述第二轮齿组的齿面均具为凸圆弧面。
  14. 根据权利要求12所述的减速电机，其特征在于：
    所述驱动电机的输出轴为齿轮轴，所述第一轮齿组加工成型于所述输出轴上。
  15. 根据权利要求12至14任一项所述的减速电机，其特征在于：
    所述刚性盘与所述驱动电机的外壳之间通过固定架固定连接。
  16. 根据权利要求15所述的减速电机，其特征在于：
    所述固定架呈环状，所述固定架的轴向第一端套装在所述刚性盘外，所述固定架的轴 向第二端套装在所述驱动电机的外壳外。
  17. 一种减速电机，包括驱动电机和减速器，所述减速器包括针齿壳、刚性盘、行星架、曲轴、行星齿轮、滚针、滚针轴承和摆线轮；
    所述针齿壳中部具有贯穿轴向的工作腔，所述刚性盘通过第一轴承可转动地安装于所述工作腔的轴向第一端，所述行星架通过第二轴承可转动地安装于所述工作腔的轴向第二端，所述摆线轮位于所述刚性盘与所述行星架之间，多个所述滚针啮合在所述摆线轮的外齿面与所述针齿壳的内齿面之间；
    所述曲轴可转动地连接在所述刚性盘与所述行星架之间，所述滚针轴承套装在所述曲轴的偏心部上，所述偏心部以及所述滚针轴承位于所述摆线轮的轴承孔中；
    其特征在于：
    所述行星齿轮安装在所述曲轴上且位于所述工作腔外，在所述针齿壳的轴向上，所述行星齿轮位于所述刚性盘外侧；
    所述驱动电机的外壳与所述针齿壳固定连接，所述外壳与所述刚性盘之间具有间隙且所述行星齿轮位于所述间隙中，所述驱动电机的输出轴上设有第一轮齿组，所述第一轮齿组与所述行星齿轮的第二轮齿组啮合。
  18. 根据权利要求17所述的减速电机，其特征在于：
    所述第一轮齿组的齿面和所述第二轮齿组的齿面均具为凸圆弧面。
  19. 根据权利要求17所述的减速电机，其特征在于：
    所述驱动电机的输出轴为齿轮轴，所述第一轮齿组加工成型于所述输出轴上。
  20. 根据权利要求17至19任一项所述的减速电机，其特征在于：
    所述针齿壳与所述驱动电机的外壳之间通过固定架固定连接。
  21. 根据权利要求20所述的减速电机，其特征在于：
    所述固定架呈环状，所述固定架的轴向第一端套装在所述针齿壳外，所述固定架的轴向第二端套装在所述驱动电机的外壳外。
  22. 一种机器人，包括第一部件和相对于所述第一部件转动的第二部件，其特征在于：
    所述机器人还包括如上述权利要求4至21任一项所述的减速电机，所述减速电机连接于所述第一部件与所述第二部件之间。
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