The reducer is a core component of the rotating joints in humanoid robots, ensuring high precision and stability in motion control by reducing speed and increasing torque.

Classification of Humanoid Robot ReducersThe precision reducers for humanoid robot joint modules mainly include harmonic reducers, RV reducers, and planetary reducers.The RV reducer consists of a first-stage planetary reduction mechanism and a second-stage cycloidal pinwheel reduction mechanism, composed of an input gear (sun gear), a spur gear (planet gear), RV gear, crankshaft, pin teeth, housing, output shaft, and more.The RV reducer features high precision, high rigidity, and high durability, providing stable and reliable power support for load-bearing joints, primarily applied in the waist and legs of robots.The RV reducer has very high requirements for dimensional tolerances and positional accuracy, with the cycloidal wheel, crankshaft, and pin teeth being the most challenging components to process, requiring high machining precision.Crankshaft: The processing difficulty of the crankshaft bearing hole and external tooth profile is high. The crankshaft bearing hole and intermediate process holes have stringent requirements for diameter, positional accuracy, and perpendicularity, necessitating high precision for the fixtures.Cycloidal Wheel: The manufacturing precision requirement reaches the micron level. The cycloidal wheel is thin and has a complex structure; after heat treatment, the end face of the cycloidal wheel is prone to warping and deformation. Conventional flat grinding processes cannot be used to process both end faces, requiring thermodynamic simulation analysis of the quenching process and selection of appropriate grinding amounts to effectively control thermal deformation. Additionally, during the actual transmission process of the RV reducer, to compensate for manufacturing errors and facilitate assembly and disassembly while ensuring good lubrication, there must be a gap between the teeth of the cycloidal wheel and the pin wheel. Therefore, the actual cycloidal wheel cannot use standard tooth profiles and must employ modified tooth profiles. The modification methods for the cycloidal pin wheel (equal-distance modification, offset modification, and angular modification) each have their advantages and disadvantages, and these three methods can also be combined (e.g., negative equal-distance + negative offset provides good lubrication effects and reduces the impact of transmission errors; negative equal-distance + positive offset can make the contact stress distribution of the meshing tooth surfaces uniform, significantly improving the stress conditions), requiring careful selection.

Pin Teeth Housing:The processing and assembly precision requirements for the pin teeth housing are high.The dimensional accuracy, geometric tolerances, and surface roughness of the support holes for the angular contact ball bearings at both ends of the pin teeth housing must meet certain precision levels, and the processing of the needle holes requires high precision.

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