CN108869641B - Pin gear cycloid speed reducer and industrial robot - Google Patents

Abstract

A pin gear cycloid speed reducer and industrial robot, pin gear cycloid speed reducer includes: the first cycloid structure system and the second cycloid structure system are arranged along the axial direction, the eccentric shaft is sleeved with the first cycloid structure system, and each cycloid structure system at least comprises one cycloid structure along the axial direction; the cycloid structure includes: the cycloid disc, the plurality of circumferentially distributed pin teeth and the pin tooth shell are sequentially arranged from inside to outside in the radial direction; the pin gear is rotatably fixed on the pin gear shell, and the cycloid disc is meshed with the pin gear; all the pin gear shells are coaxially arranged; at least one cycloid disk in the second cycloid structure system and at least one cycloid disk in the first cycloid structure system are circumferentially fixed, and the cycloid disks which are circumferentially fixed are coaxially arranged. When the eccentric shaft transmits power to the first cycloid structure system, the pin gear cycloid speed reducer performs first-time speed reduction; when the cycloid disc transmits power to the second cycloid structure system, the pin gear cycloid speed reducer performs second-time speed reduction so as to achieve the purpose of speed reduction.

Description

Pin gear cycloid speed reducer and industrial robot

Technical Field

The invention relates to the technical field of speed reducers, in particular to a pin gear cycloid speed reducer and an industrial robot.

Background

Industrial robots are machines that can perform various movements or other processes to replace human labor in the production process. An industrial robot includes an actuator and a power source for driving the actuator to perform various operations, and a speed reducer is usually disposed between the power source and the actuator, and the speed reducer is used to output power of a motor, an internal combustion engine, and the like, which are running at a high speed, to the actuator through the speed reducer, so as to achieve the purposes of speed reduction and torque increase.

At present, an RV type speed reducer (a pin gear cycloid speed reducer) produced by nabout precision machinery corporation (NABTESCO) of japan has become the most widely used speed reducer in industrial robots due to its characteristics of compact structure, strong transmission capability, and the like. The RV-type speed reducer generally comprises a pin gear shell, a cycloid disc capable of performing cycloid movement in the pin gear shell, and pin gears positioned between the pin gear shell and the cycloid disc, wherein the cycloid disc performs cycloid movement in the pin gear shell so as to achieve the purpose of speed reduction. The RV type reduction gear still includes the planet carrier, and the planet carrier passes through eccentric shaft connection in cycloid dish, and when making the cycloid dish cycloid motion transmit to the planet carrier, thereby the planet carrier only produces the rotation and exports power.

Researches find that the RV type speed reducer has relatively more parts and more complex structures, and the manufacturing precision requirement among the parts is extremely high, so that the product yield is low. In addition, investigations have shown that RV reducers are susceptible to damage during use, particularly the eccentric shafts disposed between the carrier and the cycloid discs, wear, or damage due to stress concentration.

Therefore, if a new pin gear cycloid speed reducer can be designed, the pin gear cycloid speed reducer does not need to utilize a planet carrier for output, so that the planet carrier can be omitted, the pin gear cycloid speed reducer has a relatively simple structure, and the pin gear cycloid speed reducer is convenient to produce and manufacture; in addition, in the using process, due to the fact that the planet carrier is not arranged, related parts of the speed reducer are not easy to damage.

Disclosure of Invention

The invention solves the problem of providing a novel pin gear cycloid speed reducer which is easier to produce and manufacture and is not easy to damage.

In order to solve the above problems, the present invention provides a pin gear cycloid speed reducer, comprising: the first cycloid structure system and the second cycloid structure system are arranged along the axial direction, the eccentric shaft is sleeved with the first cycloid structure system, and each cycloid structure system at least comprises one cycloid structure along the axial direction; the cycloid structure includes: the cycloid disc, the plurality of circumferentially distributed pin teeth and the pin tooth shell are sequentially arranged from inside to outside in the radial direction; the pin gear is rotatably fixed on the pin gear shell, and the cycloid disc is meshed with the pin gear; all the pin gear shells are coaxially arranged; at least one cycloid disk in the second cycloid structure system is circumferentially fixed with at least one cycloid disk in the first cycloid structure system, and the circumferentially fixed cycloid disks are coaxially arranged; when the eccentric shaft rotates, if the cycloid disk in the first cycloid structure system rotates a first angle alpha relative to the pin gear shell, the cycloid disk in the second cycloid structure system rotates a second angle beta relative to the pin gear shell, and the first angle alpha and the second angle beta meet the following requirements: α ≠ β.

Optionally, the second cycloid structure system is sleeved on the eccentric shaft.

Optionally, in the first system of cycloid structures, there is one cycloid structure; in the second system of cycloid structures, there is one cycloid structure.

Optionally, the first cycloid structure system and the second cycloid structure system each include at least two cycloid structures sequentially arranged along the axial direction; the number of the cycloid discs in the first cycloid structure system is equal to that of the cycloid discs in the second cycloid structure system, and the cycloid discs are fixedly connected in a circumferential direction.

Optionally, in the first cycloid disc structure system and the second cycloid disc structure system, two cycloid discs with the shortest distance in the axial direction are circumferentially fixed, and the other cycloid discs are sequentially circumferentially fixed.

Alternatively, the eccentric shaft has a plurality of eccentric portions, and the eccentric phases of any two eccentric portions are the same or opposite.

Optionally, the number of the eccentric portions is an even number, wherein half of the eccentric portions face a first direction together, and the other half of the eccentric portions face a second direction together, and the first direction and the second direction face opposite directions.

Optionally, the pin gear cycloid speed reducer further comprises a connecting piece to realize circumferential fixed connection of the cycloid disc.

Optionally, the connecting pieces are multiple and evenly distributed along the circumferential direction.

Optionally, the connecting piece is at least one of a pin, a bolt and a screw.

Optionally, the cycloid discs fixed circumferentially are of an integrated structure.

Optionally, the connecting piece includes a first connecting section and a second connecting section, which are sequentially arranged along the axial direction, the first connecting section is connected with the cycloid disc in the first cycloid structure system, and the second connecting section is connected with the cycloid disc in the second cycloid structure system; the first connecting section and the second connecting section are not on the same straight line, so that the cycloid discs fixedly connected in the circumferential direction have an angle difference in the circumferential direction.

Optionally, in at least one of the cycloid structures, a needle tooth groove is formed in an inner circumferential surface of the needle tooth housing, and the needle teeth are arranged in the needle tooth groove.

Optionally, the pin gear cycloid speed reducer further includes a limiting member, and the limiting member is used for axially limiting the pin gear in the pin gear groove.

Optionally, the limiting member includes an annular partition plate sleeved on the periphery of the eccentric shaft, and the annular partition plate is fixedly disposed at one axial end of the needle tooth groove.

Optionally, in at least one of the cycloid structures, the needle teeth are arranged in at least two rows along the axial direction, and all the needle teeth in the same row are distributed along the circumferential direction.

Optionally, in the first cycloid structure system, the number of teeth of all cycloid discs is 10-55, and the number of teeth of all pin gear cases is 10-55; and/or in the second cycloid structure system, the number of teeth of all cycloid discs is 10-55, and the number of teeth of all pin gear cases is 10-55.

Optionally, in at least one cycloid structure, the cycloid discs and the pin gear shells are arranged in a one-to-one manner; or, in at least one cycloid structure, one cycloid disc corresponds to more than two pin gear cases; or at least two adjacent cycloid structures in the first cycloid structure system share the same pin gear shell; or at least two adjacent cycloid structures in the second cycloid structure system share the same needle gear shell.

Optionally, in the first cycloid structure system, all the pin gear cases are fixedly connected, or the first cycloid structure system shares the same pin gear case.

Optionally, in the second cycloid structure system, all the pin gear cases are fixedly connected, or the second cycloid structure system shares the same pin gear case.

Optionally, in the first cycloid structural system, at least one of the cycloid discs is connected to the eccentric shaft through a bearing.

Optionally, in the second cycloid structure system, at least one of the cycloid discs is connected with the eccentric shaft through a bearing; and/or at least one of the pin gear cases is connected with the eccentric shaft through a bearing.

Optionally, the bearing comprises a cage and rollers disposed within the cage, the rollers contacting the eccentric shaft and the cycloid discs.

Optionally, the pin gear cycloidal reducer further comprises an outer shell, and a pin gear shell in the first cycloidal structure system is fixedly arranged on the outer shell.

Optionally, at least one of the pin housings in the second cycloidal structure system is connected to the outer housing through a bearing.

Optionally, the pin gear cycloid speed reducer further comprises an oil seal, and the oil seal is arranged between the pin gear shell and the outer shell which are connected through a bearing.

Optionally, the pin gear cycloid speed reducer further comprises a cover plate, and the cover plate, a pin gear shell in the first cycloid structure system and an outer shell are sequentially arranged along the axial direction; the needle gear shell in the first cycloid structure system is axially and fixedly arranged between the outer shell and the cover plate, and the cover plate is connected to the eccentric shaft through a bearing.

In order to solve the above technical problem, the present invention further provides an industrial robot, including: power supply and actuating mechanism, industrial robot still include above the pin tooth cycloid reduction gear, the fixed setting of pin tooth cycloid reduction gear is between power supply, actuating mechanism for reduce the rotational speed of power supply in order to export to actuating mechanism.

Compared with the prior art, the technical scheme of the invention has the following advantages:

according to the needle tooth cycloid speed reducer, the first cycloid structure system and the second cycloid structure system are arranged along the axial direction, the cycloid discs in the first cycloid structure system and the cycloid discs in the second cycloid structure system are circumferentially fixed, and the cycloid discs are rotatably arranged on the eccentric shaft. When the eccentric shaft rotates, the cycloid disc in the first cycloid structure system performs cycloid motion in the pin gear shell, and at the moment, the self-transmission motion of the eccentric shaft is converted into the rotation of the cycloid disc and the cycloid motion of revolution around the eccentric shaft; the cycloid discs in the second cycloid structure system are matched with the corresponding needle gear shells to drive the needle gear shells to rotate, and at the moment, the cycloid motion of the cycloid discs is converted into the rotation motion of the needle gear shells.

In the process that the eccentric shaft transmits power to a cycloid disc in a first cycloid structure system, the pin gear cycloid speed reducer is subjected to first speed reduction; in the process that the cycloid disc transmits power to the needle gear shell in the second cycloid structure system, the needle gear cycloid speed reducer is subjected to secondary speed reduction; thereby achieving the purposes of reducing speed and improving torque. Moreover, the rotation motion of the pin gear shell does not change the motion form of the eccentric shaft, so that the pin gear shell can be directly used as an output end to output power.

In addition, the mode of converting the cycloid motion into the autorotation motion in the pin gear cycloid speed reducer does not pass through the planet carrier, so that compared with the prior art, the pin gear cycloid speed reducer is relatively simple in structure, easy to produce and manufacture and capable of improving the product percent of pass; in addition, the pin gear cycloid speed reducer is not easy to damage in the using process, and the product quality is improved.

Drawings

FIG. 1 is a schematic diagram showing the motion transmission relationship of a first embodiment of a pin gear cycloid speed reducer according to the present invention;

fig. 2 is a schematic structural view of a first embodiment of a pin gear cycloid speed reducer of the present invention;

FIG. 3 is an exploded perspective view of the pin gear cycloidal reducer of FIG. 2;

FIG. 4 is a schematic diagram showing the motion transmission relationship of a second embodiment of a pin gear cycloid speed reducer according to the present invention;

FIG. 5 is a schematic structural view of a second embodiment of a pin gear cycloid speed reducer of the present invention;

FIG. 6 is an exploded perspective view of the pin gear cycloidal reducer of FIG. 5;

fig. 7 is a partial schematic view of a cycloid disc fixedly connected in the circumferential direction in the pin gear cycloid speed reducer shown in fig. 5.

Detailed Description

In order to output the torque output by the power source to the actuator to drive the actuator to perform the corresponding operation, the conventional industrial robot generally needs to reduce the rotation speed of the power source such as an electric motor and an internal combustion engine to a small rotation speed. At present mainly utilize pin tooth cycloid reduction gear to reduce the rotational speed, pin tooth cycloid reduction gear's core part is cycloid structure, and the cycloid structure mainly includes: the cycloid disc, the pin gear and the pin gear shell are sequentially arranged from inside to outside in the radial direction.

The eccentric shaft is used as an input end and penetrates through the cycloid disc, and in the rotating process of the eccentric shaft, the cycloid disc performs cycloid motion in an area surrounded by the pin gear shell so as to achieve the purpose of speed reduction (the rotating speed of the eccentric shaft is reduced). However, the cycloid movement of the cycloid disc includes the rotation movement of the cycloid disc and the revolution movement around the eccentric shaft, and therefore, the cycloid disc cannot directly output power as a power output end.

In the prior art, in order to convert the cycloid movement of the cycloid disc into the rotation movement which can be used as power output, a planet carrier is generally arranged, the planet carrier and a pin gear shell are coaxially arranged, the planet carrier and the cycloid disc are connected through another eccentric shaft, and the eccentric shaft is generally provided with a plurality of eccentric shafts and is distributed along the circumferential direction. Therefore, in the running process of the cycloid disc, the planet carrier can be driven to rotate to serve as a power output end to output power.

However, it has been found that such a reduction gear requires extremely high manufacturing accuracy between the respective parts, and for example, a plurality of eccentric shafts provided between the carrier and the cycloid discs need to be strictly parallel to each other. If there is an angular difference between any two eccentric shafts, stress concentration may occur, resulting in wear or damage. Due to the high requirement of manufacturing precision, care is needed in the specific use process, and once the reducer is acted by external force or is operated by mistake, the reducer is easily damaged.

In order to solve the above problems, the present invention provides a new pin gear cycloid speed reducer, wherein the motion conversion of the pin gear cycloid speed reducer is not through the above-mentioned planet carrier form.

Specifically, on the basis of an original cycloid structure (a first cycloid structure), another cycloid structure (a second cycloid structure) is arranged along the axial direction, and a first cycloid disc in the first cycloid structure is fixedly connected with a second cycloid disc in the second cycloid structure.

When the eccentric shaft rotates as an input end to drive the first cycloid disc to do cycloid motion, the first cycloid disc drives the second cycloid disc to do cycloid motion, the second cycloid disc drives the second pin gear shell to do rotation motion through matching with the second pin gear shell in the second cycloid structure, and the second pin gear shell serves as an output end to output power, so that the conversion of the motion form is realized.

Based on this, the invention provides a pin gear cycloid speed reducer, comprising: the first cycloid structure system and the second cycloid structure system are arranged along the axial direction, the eccentric shaft is sleeved with the first cycloid structure system, and each cycloid structure system at least comprises one cycloid structure along the axial direction.

The cycloid structure includes: the cycloid disc, the plurality of circumferentially distributed pin teeth and the pin tooth shell are sequentially arranged from inside to outside in the radial direction; the pin gear is rotatably fixed on the pin gear shell, and the cycloid disc is meshed with the pin gear.

Wherein all the pin gear shells are coaxially arranged; and at least one cycloid disk in the second cycloid structure system and at least one cycloid disk in the first cycloid structure system are circumferentially fixed, and the cycloid disks which are circumferentially fixed are coaxially arranged.

When the eccentric shaft rotates, all cycloid discs in the first cycloid structure system rotate by the same first angle alpha relative to the corresponding pin gear housings, all cycloid discs in the second cycloid structure system rotate by the same second angle beta relative to the corresponding pin gear housings, and the first angle alpha and the second angle beta meet the following requirements: α ≠ β.

In the invention, the first cycloid structure system can comprise one cycloid structure or a plurality of cycloid structures; the second cycloidal structure system may comprise one cycloidal structure or a plurality of cycloidal structures; however, as long as one of the cycloid discs in the first cycloid structure system is fixedly connected with one of the cycloid discs in the second cycloid structure system which is coaxially arranged, the transmission of power can be realized, and the movement form can be changed.

In addition, if in the rotation process of the eccentric shaft, the rotation angles of different cycloid discs in the first cycloid structure system relative to the corresponding pin gear housings are different; or the different cycloid discs in the second cycloid structure system rotate at different angles relative to the corresponding needle gear cases. The cycloid discs with different rotating speeds can interfere with each other, so that the pin gear cycloid speed reducer cannot normally operate.

Therefore, all cycloid structures in the first cycloid structure system need to rotate by the same first angle α relative to the corresponding needle tooth housings, and all cycloid structures in the second cycloid structure system need to rotate by the same second angle β relative to the corresponding needle tooth housings. However, the first angle α and the second angle β cannot be equal, otherwise, they cannot be output as power.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

First embodiment

In the present embodiment, in the first cycloid structure system, there is one cycloid structure; in the second system of cycloid configurations, there is one cycloid configuration.

Referring to fig. 1, 2 and 3, a pin gear cycloid speed reducer 100 includes: the first cycloid structure system I and the second cycloid structure system II are arranged along the axial direction. Wherein the first cycloidal structure system I comprises a first cycloidal structure 10 and the second cycloidal structure system II comprises a second cycloidal structure 20.

The first cycloid structure 10 includes: the first cycloid disc 11, the first pins 12 and the first pin housing 13 are arranged from inside to outside in the radial direction in sequence; the first needle bar 12 is rotatably fixed to the first needle bar housing 13, and the first cycloid disc 11 is engaged with the first needle bar 12.

The second cycloid structure 20 includes: the second cycloid disc 21, the plurality of second pin teeth 22 and the second pin tooth shell 23 are arranged in sequence from inside to outside in the radial direction; the second pin 22 is rotatably fixed to the second pin housing 23, and the second cycloid discs 21 are engaged with the second pin 22.

The pin gear cycloid speed reducer 100 further includes: the eccentric shaft 30, the eccentric shaft 30 has an eccentric portion 31, and the eccentric portion 31 has the same eccentric phase and eccentric amount at each position in the axial direction along the axial direction of the eccentric shaft. The first cycloid disc 11 is rotatably sleeved on the eccentric portion 31.

In this embodiment, the first and second needle gear cases 13 and 23 are coaxially disposed; the first cycloid disc 11 and the second cycloid disc 21 are circumferentially fixed and coaxially arranged. And when the eccentric shaft 30 rotates, the first cycloid disc 11 rotates a first angle alpha relative to the first pin gear housing 13, the second cycloid disc 21 rotates a second angle beta relative to the second pin gear housing 23, and the first angle alpha and the second angle beta satisfy the following conditions: α ≠ β.

Therefore, when the eccentric shaft 30 is rotated as an input end, the first cycloid disc 11 provided on the eccentric portion 31 performs cycloid motion within a range surrounded by the first pinion housing 13 (the first cycloid disc rotates on its own axis and revolves around the eccentric shaft); meanwhile, the first cycloid disc 11 drives the second cycloid disc 21 which is fixedly connected in the circumferential direction to perform cycloid movement, the second pin gear housing 23 rotates through the matching of the second cycloid disc 21 and the second pin gear housing 23, and the rotation movement of the second pin gear housing 23 does not change the movement form (both rotation) of the eccentric shaft 30, so that the second cycloid disc can be directly used as an output end to output power.

Specifically, in the process of transmitting power to the first cycloid structure 10 by the eccentric shaft 30, if the first needle housing 13 is kept circumferentially fixed, assuming that the rotation speed of the eccentric shaft 30 is V, the number of teeth of the first needle housing 13 is M1, and the number of teeth of the first cycloid disc 11 is N1(M1 > N1), then: rotation speed V1 of the first cycloid disk 11: v1 ═ V/(M1/(M1-N1)). The first cycloid disc 11 and the second cycloid disc 21 are circumferentially fixed, and then: the rotation speed of the second cycloid discs 21 is: v1 ═ V/(M1/(M1-N1)). The number of teeth of the second pin gear housing 23 is M2, the number of teeth of the second cycloid discs 21 is N2(M2 > N2), then: rotation speed V2 of the second pin gear housing 23: v2 ═ V/(M2/(M2-N2)) -V/(M1/(M1-N1)).

Order: i 1-M1/(M1-N1), i 2-M2/(M2-N2);

when i1 ═ i2, the rotation speed of the second pin gear housing 23: v2 ═ 0; at this time, the second needle housing 23 is circumferentially fixed to the first needle housing 13, and the second needle housing 23 cannot be output as power.

When i1 < i2, the rotation speed of the second pin gear housing 23: v2 ═ V/i 2-V/i 1; at this time, the second needle gear housing 23 rotates circumferentially relative to the first needle gear housing 13, can be used as power output, and can achieve the purpose of speed reduction; and the rotation direction of the second pin gear case 23 is opposite to the rotation direction of the eccentric shaft 30.

When i1 > i2, the rotation speed of the second pin gear housing 23: v2 ═ V/i 2-V/i 1; at this time, the second needle gear housing 23 rotates circumferentially relative to the first needle gear housing 13, can be used as power output, and can achieve the purpose of speed reduction; and the rotation direction of the second pin gear case 23 is the same as the rotation direction of the eccentric shaft 30.

In the cycloid structure, M-N is the difference of teeth, namely the difference of the number of teeth of the pin gear shell and the number of teeth of the cycloid disc.

When M-N is 1, namely, a tooth difference, that is, after the cycloid disk swings one turn on the pin gear housing, the cycloid disk advances one tooth relative to the pin gear housing; when M-N is 2, i.e. two teeth difference, i.e. after the cycloid disc has swung one turn on the pin housing, the cycloid disc advances two teeth with respect to the pin housing. By analogy, the cycloid structure with specific tooth difference can be designed according to the requirement.

In this embodiment, if the first cycloid structure 10 has a tooth difference, the second cycloid structure 20 has a tooth difference eccentric shaft 30 with a rotation speed V.

Then: rotation speed V1 of the first cycloid disk 11: when V1 is V/M1, the rotation speed of the second cycloid disc 21 is: v1 ═ V/M1; rotation speed V2 of the second pin gear housing 23: V2-V/M2-V/M1.

At this time, if M1 is M2, the second pinion housing 23 cannot be output as power; if M1 < M2, the rotation direction of the second pin gear case 23 is opposite to the rotation direction of the eccentric shaft 30; if M1 > M2, the rotation direction of the second pin gear case 23 is the same as the rotation direction of the eccentric shaft 30.

The first cycloid structure 10 and the second cycloid structure 20 are both exemplified as one tooth difference. In other modifications, the first cycloid structure 10 may be a two-tooth difference or more, and the second cycloid structure 20 may be a two-tooth difference or more.

In addition, when the first cycloid structure system i includes a plurality of cycloid structures, in order to prevent mutual interference of cycloid discs, in the rotation process of the eccentric shaft, in all cycloid structures, the cycloid discs need to rotate by the same first angle α relative to corresponding pin gear housings, but different cycloid structures may have different tooth differences; when the second cycloid structure system II comprises a plurality of cycloid structures, in order to prevent mutual interference of cycloid discs, in the rotation process of the eccentric shaft, in all cycloid joints, the cycloid discs rotate by the same second angle beta relative to corresponding pin gear housings, but different cycloid structures can have different tooth differences.

The mode that the pin gear cycloid speed reducer converts cycloid motion into autorotation motion does not pass through the planet carrier, so that the whole structure is relatively simple, the production and the manufacture are easy, and the product percent of pass can be improved; in addition, because the planet carrier is not involved, the pin gear cycloid speed reducer is not easy to damage in the using process, and the product quality can be improved.

It should be noted that, in a cycloid structure, the cycloid discs and the pin gear cases may be arranged in a one-to-one manner, or one cycloid disc may correspond to more than two pin gear cases. In addition, only one row of pin teeth may be provided between the cycloid discs and the pin tooth housings, or two or more rows of pin teeth may be provided in the circumferential direction.

In the present embodiment in particular, the first gerotor structure 10 comprises only one first needle housing 13 and one row of first needles 12, and the second gerotor structure 20 comprises only one second needle housing 23 and one row of second needles 22.

With continued reference to fig. 1, the eccentric shaft 30 passes axially through the second gerotor structure 20, namely: the first cycloid structure 10 and the second cycloid structure 20 are both sleeved on the eccentric shaft 30. Specifically, the first cycloid disc 11 and the second cycloid disc 21 are rotatably sleeved on the eccentric portion 31 to ensure that the first cycloid disc 11 and the second cycloid disc 21 are coaxially arranged; the non-eccentric portion of the eccentric shaft 30 passes through the center positions of the first and second needle housings 13 and 23 to ensure that the first and second needle housings 13 and 23 are coaxially disposed.

Further, it is also possible to make the eccentric shaft 30 pass through only the first cycloid structure 10. Other rotating shafts which are positioned on the same straight line with the eccentric shaft 30 penetrate through the second needle gear shell 23, so that the first needle gear shell 13 and the second needle gear shell 23 are coaxially arranged; the second cycloid disk 21 is directly fixed on the first cycloid disk 11, so that the first cycloid disk 11 and the second cycloid disk 21 are coaxially arranged.

Referring to fig. 2 and 3, the pin gear cycloid speed reducer 100 further includes a connecting member 40, and the connecting member 40 is used for fixedly connecting the first cycloid disc 11 and the second cycloid disc 21 in the circumferential direction. Specifically, the first cycloid disc 11 has a first mounting hole 41 arranged axially, the second cycloid disc 21 has a second mounting hole 42 arranged axially, and the first mounting hole 41 and the second mounting hole 42 are arranged axially opposite to each other. The connecting members 40 are inserted into the first and second mounting holes 41 and 42, respectively, to achieve circumferential fixation of the first and second cycloid discs 11 and 21.

The connecting member 40 may employ any one or more of a pin, a screw, or a bolt. Specifically, when the first cycloid disc 11 and the second cycloid disc 21 have only one first mounting hole 41 and one second mounting hole 42, which are oppositely arranged, respectively, the connecting member 40 may be any one of a pin, a screw, and a bolt. When the first cycloid disc 11 and the second cycloid disc 21 have a plurality of first mounting holes 41 and second mounting holes 42, respectively, which are oppositely disposed, the connecting member 40 may be any one or more of a pin, a screw, or a bolt.

In this embodiment, in order to make circumferential fixing of the first cycloid discs 11 and the second cycloid discs 21 more reliable, a plurality of connecting members 40 may be provided, so that the plurality of connecting members 40 are uniformly distributed in the circumferential direction. Correspondingly, the first cycloid disc 11 and the second cycloid disc 21 are respectively provided with a plurality of first mounting holes 41 and second mounting holes 42 which are uniformly distributed along the circumferential direction.

It should be noted that the connecting member 40 functions as: the first cycloid disc 11 and the second cycloid disc 21 are fixedly connected in the circumferential direction. The circumferential fixing of the first cycloid discs 11 and the second cycloid discs 21 can also be achieved in other ways, for example: the first cycloid disc 11 and the second cycloid disc 21 are integrated; alternatively, the second cycloid discs 21 may be fixed to the first cycloid discs 11 by means of clamping or adhesive bonding, for example.

Referring to fig. 3, the first needle 12 is rotatably fixed to the first needle housing 13 in the following manner: be equipped with a plurality of first tooth spaces 14 on the inner peripheral face of first tooth shell 13, first tooth space 14 sets up with first tooth 12 one-to-one, and first tooth 12 is fixed to be set up in first tooth space 14, and first tooth 12 can be rotatory around self.

When the first cycloid disk 11 performs cycloid movement in the first pinion housing 13, the first cycloid disk 11 can be meshed with the plurality of first pinions 12, the positions of the first cycloid disk 11, which are in contact with the first pinions 12, do not slide relatively, and the first cycloid disk 11 and the first pinion housing 13 rotate relatively through the rotation of the first pinions 12.

Similarly, the second pin 22 is rotatably fixed to the second pin housing 23 in the following manner: a plurality of second needle tooth grooves 24 are formed in the inner peripheral surface of the second needle tooth shell 23, the second needle tooth grooves 24 and the second needle teeth 22 are arranged in a one-to-one correspondence manner, the second needle teeth 22 are fixedly arranged in the second needle tooth grooves 24, and the second needle teeth 22 can rotate around themselves.

In first cycloid structure 10, the number of teeth of first cycloid dish 11, the number of teeth of first pinion housing 13 can set up as required, and is optional, makes the number of teeth control of first cycloid dish 11 between 10-55, and the number of teeth control of first pinion housing 13 is between 10-55 to can make things convenient for the manufacturing of first cycloid dish 11 and first pinion housing 13.

Similarly, in the second cycloid structure 20, the number of teeth of the second cycloid disc 21 and the number of teeth of the second pin gear case 23 may be set as required, and optionally, the number of teeth of the second cycloid disc 21 is controlled to be between 10 and 55, and the number of teeth of the second pin gear case 23 is controlled to be between 10 and 55, so that the second cycloid disc 21 and the second pin gear case 23 can be conveniently manufactured.

With continued reference to fig. 2 and 3, a first bearing 51 is disposed between the first cycloid disc 11 and the eccentric portion 31, that is, the first cycloid disc 11 is connected to the eccentric portion 31 through the first bearing 51, so that the first cycloid disc 11 is rotatably sleeved on the eccentric portion 31; a second bearing 52 is arranged between the second cycloid disc 21 and the eccentric part 31, that is, the second cycloid disc 21 is connected with the eccentric part 31 through the second bearing 52, so that the second cycloid disc 21 can be rotatably sleeved on the eccentric part 31.

Wherein, the first bearing 51 comprises a retainer and rollers arranged in the retainer, and the rollers of the first bearing are respectively contacted with the eccentric part 31 and the first cycloid disc 11; the second bearing 52 comprises a cage and rollers disposed within the cage, the rollers of the second bearing also contacting the eccentric portion 31 and the second cycloid disc 21, respectively. That is, the first bearing 51 and the second bearing 52 are not provided with the inner ring and the outer ring, so that the radial dimensions of the first cycloid structure 10 and the second cycloid structure 20 can be made more compact.

It should be noted that the first bearing 51 and the second bearing 52 may be designed as the same bearing, that is, the first cycloid disc 11 and the second cycloid disc 21 are sleeved on the same bearing together. In addition, the first bearing 51 and the second bearing 52 may be provided with an inner ring and an outer ring, which does not affect the implementation of the present embodiment.

In addition, a third bearing 53 is further disposed between the second pin gear housing 23 and the eccentric shaft 30, that is, the second pin gear housing 23 is connected to the eccentric shaft 30 through the third bearing 53, so that the second pin gear housing 23 is rotatably sleeved on the eccentric shaft 30. On one hand, the second needle gear shell 23 and the first needle gear shell 13 can be arranged coaxially; on the other hand, when the eccentric shaft 30 is used as an input end and the second pin gear housing 23 is used as an output end, the eccentric shaft 30 and the second pin gear housing 23 can have different rotation speeds.

In this embodiment, the pin gear cycloid speed reducer 100 further includes an outer casing 60, and the first cycloid structure 10, the second cycloid structure 20 and the eccentric shaft 30 are all fixedly disposed in the outer casing 60. A fourth bearing 54 is further disposed between the second pin gear housing 23 and the outer housing 60, and the second pin gear housing 23 is connected to the inner circumferential surface of the outer housing 60 through the fourth bearing 54, so that the second pin gear housing 23 can rotate relative to the outer housing 60 to serve as a power output end.

The pin gear cycloid speed reducer 100 is normally provided therein with lubricating oil for lubrication between the respective moving parts during operation. In order to prevent the leakage of the lubricating oil to the outside or the entry of foreign matter into the interior of the pin gear cycloid speed reducer 100, an oil seal 61 is further provided between the outer housing 60 and the second pin gear case 23.

Specifically, the oil seal 61 is an annular seal ring, and the outer casing 60 is provided with an annular groove in which the annular seal ring is fixedly arranged. In addition, the oil seal can adopt other forms of sealing elements which can play a role in sealing.

The pin gear cycloid speed reducer 100 further comprises a cover plate 62, and the cover plate 62, the first pin gear case 13 and the outer case 60 are sequentially arranged along the axial direction. The radially outer edge of the first needle housing 13 is arranged axially fixed between the outer housing 60 and the cover plate 62 by means of screws 63. The cover plate 62 has a center hole through which the eccentric shaft 30 passes, and a fifth bearing 55 is further provided between the cover plate 62 and the eccentric shaft 30, and the cover plate 62 is connected to the outer circumferential surface of the eccentric shaft 30 through the fifth bearing 55 so that the eccentric shaft 30 can rotate relative to the cover plate 62 to serve as a power input end.

It should be noted that the third bearing 53, the fourth bearing 54, and the fifth bearing 55 in this embodiment may not be provided with an inner ring and an outer ring, or may be provided with an inner ring and an outer ring, which does not affect the implementation of the present embodiment.

The pin gear cycloid speed reducer 100 further includes a limiting member 25, the limiting member 25 is an annular partition plate sleeved on the periphery of the eccentric shaft 30, and the annular partition plate is fixedly disposed at one axial end of the second pin gear housing 23 by using a screw 26 so as to prevent the second pin gear 22 from sliding out of the second pin gear groove 24 along the axial direction. At the other axial end of the second pin 22, the second pin housing 23 acts as a stopper to prevent the second pin 22 from sliding out of the second pin groove 24 from the other axial end.

In addition, the annular partition plate is also in contact with the fourth bearing 54 to axially limit the fourth bearing 54 and prevent the fourth bearing 54 from axially moving.

The axial both ends of first pin tooth 12 are equipped with fourth bearing 54 and apron 62 respectively, and fourth bearing 54 and apron 62 are as the locating part of first pin tooth 12 respectively to prevent that first pin tooth 12 from following the axial roll-off first tooth's socket 14.

In other embodiments, annular partition plates may be further disposed at both axial ends of the first needle 12 as limiting members 25 to prevent the first needle 12 from sliding out of the first needle slot 14 in the axial direction; alternatively, annular partition plates are provided as the stoppers 25 at both axial ends of the second pin 22 to prevent the second pin 22 from sliding out of the second pin slot 24 in the axial direction.

The present embodiment also provides an industrial robot including: a power source and actuator and a pin gear cycloidal reducer 100 as described above. The pin gear cycloid speed reducer 100 is fixedly arranged between a power source and an actuating mechanism, and the power source is connected with the eccentric shaft 30 to drive the eccentric shaft 30 to rotate; the second pin gear housing 23 is connected to the actuator to drive the actuator to operate, and the rotation speed of the second pin gear housing 23 is less than that of the eccentric shaft 30, so that the rotation speed of the power source can be reduced to output to the actuator.

Second embodiment

In the embodiment, the first cycloid structure system i comprises two cycloid structures, and the second cycloid structure system ii comprises two cycloid structures.

Referring to fig. 4, 5 and 6, the pin gear cycloid speed reducer 100 includes: the first cycloid structure system I and the second cycloid structure system II are arranged along the axial direction. Wherein, first cycloid structural system I includes: in the rotation process of the eccentric shaft 30, the cycloid discs in the first cycloid structure 10a and the second cycloid structure 10b rotate by the same first angle alpha; the second cycloid structure system II comprises: in the third and fourth cycloid structures 20a and 20b, the cycloid discs in the third and fourth cycloid structures 20a and 20b rotate by the same second angle β during the rotation of the eccentric shaft 30. The first angle α and the second angle β satisfy: α ≠ β.

The eccentric shaft 30 has two eccentric portions, a first eccentric portion 31 and a second eccentric portion 32, respectively. The first eccentric portion 31 and the second eccentric portion 32 are eccentric in opposite phases.

Referring to fig. 4, the first needle housing 13a, the second needle housing 13b, the third needle housing 23a, and the fourth needle housing 23b are coaxially disposed; the second cycloid disc 11b and the third cycloid disc 21a are circumferentially fixed and coaxially sleeved on the first eccentric part 31; the first cycloid disc 11a and the fourth cycloid disc 21b are circumferentially fixed and coaxially sleeved on the second eccentric portion 32.

Because the eccentric directions of the first eccentric portion 31 and the second eccentric portion 32 are opposite, when the eccentric shaft 30 rotates, the first cycloid disc 11a and the second cycloid disc 11b are always symmetrically located at two radial sides of the eccentric shaft 30, and the third cycloid disc 21a and the fourth cycloid disc 21b are always symmetrically located at two radial sides of the eccentric shaft 30. Therefore, the dynamic balance of the pin gear cycloid speed reducer 100 can be improved, and particularly, when the rotation speed of the eccentric shaft 30 is high and the load is large, the vibration of the pin gear cycloid speed reducer 100 can be effectively reduced.

When the eccentric shaft 30 rotates as an input end, the second cycloid disc 11b provided on the first eccentric portion 31 performs cycloid motion in a range surrounded by the second needle housing 13b, and the first cycloid disc 11a provided on the second eccentric portion 32 performs cycloid motion in a range surrounded by the first needle housing 13 a.

The first cycloid disc 11a and the second cycloid disc 11b have the same rotating speed, and drive the third cycloid disc 21a and the fourth cycloid disc 21b to perform cycloid movement at the same rotating speed.

The third cycloid discs 21a and the fourth cycloid discs 21b can rotate the third pin gear cases 23a and the fourth pin gear cases 23b, and have the same rotation speed. Therefore, the third and fourth pin gear cases 23a and 23b can directly serve as output ends to output power.

Specifically, in the present embodiment, the first and second needle housings 13a and 13b are the same needle housing, that is, the first and second cycloid structures 10a and 10b share the same needle housing. The third and fourth pin gear cases 23a and 23b are the same pin gear case, that is, the third and fourth cycloid structures 20a and 20b share the same pin gear case.

Referring to fig. 5 and 6, the second eccentric portion 32 includes a first eccentric mass 32a and a second eccentric mass 32b, and the first eccentric mass 32a and the second eccentric mass 32b are respectively located at two axial sides of the first eccentric portion 31. The first cycloid disc 11a is rotatably sleeved on the first eccentric block 32a, and the fourth cycloid disc 21b is rotatably sleeved on the second eccentric block 32 b.

That is, the first cycloid disc 11a and the fourth cycloid disc 21b are located on both axial sides of the second cycloid disc 11b and the third cycloid disc 21a, respectively. At this time, the second cycloid disc 11b and the third cycloid disc 21a with the shortest axial distance are circumferentially and fixedly connected, and the circumferential fixing manner may refer to the first embodiment, and specifically, a connection member or an integral molding manner may be adopted to achieve circumferential fixing.

The first cycloid disc 11a and the fourth cycloid disc 21b with the longest axial distance are circumferentially and fixedly connected, and the circumferential fixing mode thereof may also refer to the first embodiment, and specifically may adopt a connection member mode to achieve circumferential fixing. However, it should be noted that: because the second cycloid disc 11b and the third cycloid disc 21a are positioned between the first cycloid disc 11a and the fourth cycloid disc 21b, when the first cycloid disc 11a and the fourth cycloid disc 21b are connected by adopting a connecting piece, the connecting piece needs to pass through the second cycloid disc 11b and the third cycloid disc 21 a; therefore, through holes for allowing the connecting members to pass through are required to be opened in the second cycloid discs 11b and the third cycloid discs 21 a.

In this embodiment, the pin gear cycloid speed reducer 100 includes a first connecting member 40a and a second connecting member 40b, the first connecting member 40a is used for fixedly connecting the second cycloid disc 11b and the third cycloid disc 21a in the circumferential direction, and the second connecting member 40b is used for fixedly connecting the first cycloid disc 11a and the fourth cycloid disc 21b in the circumferential direction.

Specifically, the second cycloid disc 11b has a first through hole 41b arranged in the axial direction, the third cycloid disc 21a has a second through hole 42b arranged in the axial direction, and the first through hole 41b and the second through hole 42b are arranged in an axially opposite manner. The second connecting element 40b passes through the first and second through holes 41b, 42b to achieve circumferential fixation of the first and fourth cycloid discs 11a, 21 b.

In addition, during the rotation process of the eccentric shaft 30, the first cycloid disc 11a and the second cycloid disc 11b will generate relative movement, and the third cycloid disc 21a and the fourth cycloid disc 21b will also generate relative movement. Therefore, the first through hole 41b and the second through hole 42b should be larger than the diameter of the second connecting member 40b, so as to avoid the interference of the first through hole 41b and the second through hole 42b on the second connecting member 40b during operation and the obstruction of the movement of the cycloid disc.

Fig. 7 is a partial structure diagram of the first connecting member connecting the second cycloid disk and the third cycloid disk in this embodiment. The first connecting piece 40a comprises a first connecting section 43a and a second connecting section 44a, the first connecting section 43a is fixedly connected with the second cycloid disc 11b, and the second connecting section 44a is fixedly connected with the third cycloid disc 21 a; the first connection section 43a and the second connection section 44a are not on the same straight line, that is, the first connection section 43a and the second connection section 44a have a misalignment distance Δ therebetween; therefore, the second and third cycloid discs 11b, 21a can be made to have an angular difference in the circumferential direction, i.e., the teeth of the second and third cycloid discs 11b, 21a are not perfectly aligned in the axial direction, having an angular difference in the circumferential direction.

Because the first cycloid structure 10a and the second cycloid structure 10b share the same pin gear housing, if the first cycloid disc 11a and the fourth cycloid disc 21b do not have an angle difference in the circumferential direction, or the angle difference of the first cycloid disc 11a and the fourth cycloid disc 21b in the circumferential direction is different from the angle difference of the second cycloid disc 11b and the third cycloid disc 21a in the circumferential direction; an angular difference can be generated between the third cycloid disc 21a and the fourth cycloid disc 21 b.

Because the third cycloid structure 20a and the fourth cycloid structure 20b share the same pin gear shell, the angle difference between the third cycloid disc 21a and the fourth cycloid disc 21b can make the engagement between the third cycloid disc 21a and the fourth cycloid disc 21b and the pin gear shell more compact. In turn, the third cycloid disc 21a and the fourth cycloid disc 21b act on the second cycloid disc 11b and the first cycloid disc 11a through the connecting piece, so that an angle difference exists between the first cycloid disc 11a and the second cycloid disc 11b, and the first cycloid disc 11a and the second cycloid disc 11b are meshed with the pin gear shell more tightly.

In the process of processing and manufacturing the cycloid structure, the meshing position of the needle teeth inevitably generates a gap, and the gap at the meshing position of the needle teeth can be offset by the arrangement; meanwhile, the gap generated by abrasion at the meshing position of the pin teeth can be made up, so that the meshing among the cycloid disc, the pin teeth and the pin teeth shell is tighter.

Likewise, it can also be designed that: the second connecting member 40b is made to include two connecting sections, and the two connecting sections are not on the same straight line, so that the first cycloid disc 11a and the fourth cycloid disc 21b, which connect the two connecting sections respectively, have an angular difference in the circumferential direction. Or, the first connecting element 40a and the second connecting element 40b comprise two connecting sections which are not on the same straight line, so that the second cycloid disc 11b and the third cycloid disc 21a have an angle difference in the circumferential direction; the first cycloid discs 11a, the fourth cycloid discs 21b have an angular difference in the circumferential direction.

It should be noted that the eccentric shaft 30 in this embodiment has two eccentric portions, the first cycloid structure system i includes two cycloid structures, and the second cycloid structure system ii includes two cycloid structures. In other variations, the eccentric shaft 30 may have more eccentric portions with the same or opposite eccentric directions, the first cycloidal structure system i may include a number of cycloidal structures equal to the number of eccentric portions, and the second cycloidal structure system ii may include a number of cycloidal structures equal to the number of eccentric portions.

The arrangement mode of a plurality of eccentric portions can refer to the embodiment, so that the eccentric portions comprise two eccentric blocks, the two eccentric blocks are respectively positioned at two axial sides of the other eccentric portion, one cycloid structure in the first cycloid structure system I is arranged on one eccentric block, and one cycloid structure in the second cycloid structure system II is arranged on the other eccentric block. That is to say, in first cycloid dish structural system I and second cycloid structural system II, two cycloid dish circumference that are the shortest along axial direction distance are fixed, and other cycloid dish is fixed circumference in proper order.

Alternatively, among the plurality of eccentric portions, the number of eccentric portions having the same eccentric direction is made equal to the number of eccentric portions having an opposite eccentric direction to the above, that is: the number of the eccentric parts is even, wherein half of the eccentric parts face to a first direction together, the other half of the eccentric parts face to a second direction together, and the first direction and the second direction face to opposite directions. By such arrangement, the dynamic balance of the pin gear cycloid speed reducer 100 can be improved to a large extent, and the vibration of the pin gear cycloid speed reducer 100 is effectively reduced.

When the first cycloid structure system i includes a plurality of cycloid structures, all the needle tooth housings may be fixedly connected in the first cycloid structure system i, or all the cycloid structures may share the same needle tooth housing. When the second cycloid structure system II comprises a plurality of cycloid structures, all the needle tooth housings can be fixedly connected in the second cycloid structure system II, or all the cycloid structures can share the same needle tooth housing.

In addition, in other modifications, the first eccentric portion 31 and the second eccentric portion 32 may be provided as follows: the first eccentric portion 31 includes two eccentric pieces, the second eccentric portion 32 includes two eccentric pieces, and the two eccentric pieces of the first eccentric portion 31 and the two eccentric pieces of the second eccentric portion 32 are alternately arranged in the axial direction.

The first eccentric portion 31 and the second eccentric portion 32 may also have the same eccentric phase, that is, the first eccentric portion 31 and the second eccentric portion 32 face the same direction. If the first eccentric portion 31 and the second eccentric portion 32 have the same eccentric amount, it can be considered that the first cycloid disk 11a, the second cycloid disk 11b, the third cycloid disk 21a and the fourth cycloid disk 21b are all sleeved on the same eccentric portion, and at this time, the first cycloid disk 11a, the second cycloid disk 11b, the third cycloid disk 21a and the fourth cycloid disk 21b can be circumferentially and fixedly connected.

If the first eccentric portion 31 and the second eccentric portion 32 have different eccentric amounts, the first cycloid discs 11a, the second cycloid discs 11b, the third cycloid discs 21a, and the fourth cycloid discs 21b may be designed in a manner that the eccentric directions are opposite to each other.

Referring to fig. 5 and 6, in the present embodiment, a first bearing 51 is provided between the first cycloid disc 11a and the first eccentric mass 32a, a second bearing 52 is provided between the second cycloid disc 11b and the first eccentric mass 31, a third bearing 53 is provided between the third cycloid disc 21a and the first eccentric mass 31, and a fourth bearing 54 is provided between the fourth cycloid disc 21b and the second eccentric mass 32 b. Wherein, the first bearing 51, the second bearing 52, the third bearing 53 and the fourth bearing 54 are not provided with an inner ring and an outer ring, so that the radial sizes of the first cycloid structure system I and the second cycloid structure system II can be more compact.

In addition, a fifth bearing 55 is further disposed between the needle housing (i.e., the third needle housing 23a and the fourth needle housing 23b) and the eccentric shaft 30 in the second cycloidal structure system ii, so that the needle housing is rotatably sleeved on the eccentric shaft 30 and is coaxially disposed with the needle housing (i.e., the first needle housing 13a and the second needle housing 13b) in the first cycloidal structure system i.

In this embodiment, the pin gear cycloid speed reducer 100 further includes an outer casing 60, and the first cycloid structure system i, the second cycloid structure system ii and the eccentric shaft 30 are all fixedly disposed in the outer casing 60. Wherein, a sixth bearing 56 is arranged between the needle gear shell and the outer shell 60 in the second cycloid structure system II.

In order to prevent the lubricating oil in the pin gear cycloid speed reducer 100 from leaking to the outside or to prevent external impurities from entering the inside of the pin gear cycloid speed reducer 100, an oil seal 61 is further arranged between the pin gear shell and the outer shell 60 in the second cycloid structure system II.

The pin gear cycloid speed reducer 100 further comprises a cover plate 62, and the radial outer edge of a pin gear shell in the first cycloid structure system I is axially fixedly arranged between the outer shell 60 and the cover plate 62 through a screw 63. The cover plate 62 has a central hole through which the eccentric shaft 30 passes, and a seventh bearing 57 is further provided between the cover plate 62 and the eccentric shaft 30.

In this embodiment, the first cycloid structure 10a and the second cycloid structure 10b also share the first needle gear 12, and the first needle gear 12 is fixedly disposed in the needle gear groove of the needle gear housing in the first cycloid structure system i. The third cycloid structure 20a and the fourth cycloid structure 20b also share a second needle tooth 22, and the second needle tooth 22 is fixedly arranged in a needle tooth groove of a needle tooth shell in the second cycloid structure system II.

In addition, the pin gear cycloid speed reducer 100 further includes a limiting member 25, the limiting member 25 is an annular partition plate sleeved on the periphery of the eccentric shaft 30, and the annular partition plate is fixedly disposed at one axial end of the second pin gear 22 by using a screw 26 so as to prevent the second pin gear 22 from sliding out of the pin gear groove along the axial direction.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (23)

1. A pin gear cycloidal reducer comprising:

the first cycloid structure system and the second cycloid structure system are arranged along the axial direction, the eccentric shaft is sleeved with the first cycloid structure system, and each cycloid structure system at least comprises two cycloid structures which are arranged in sequence along the axial direction;

the cycloid structure includes: the cycloid disc, the plurality of circumferentially distributed pin teeth and the pin tooth shell are sequentially arranged from inside to outside in the radial direction; the pin gear is rotatably fixed on the pin gear shell, and the cycloid disc is meshed with the pin gear;

all the pin gear shells are coaxially arranged;

at least one cycloid disk in the second cycloid structure system is circumferentially fixed with at least one cycloid disk in the first cycloid structure system, and the circumferentially fixed cycloid disks are coaxially arranged;

when the eccentric shaft rotates, the cycloid disc in the first cycloid structure system rotates a first angle alpha relative to the pin gear shell, the cycloid disc in the second cycloid structure system rotates a second angle beta relative to the pin gear shell, and the first angle alpha and the second angle beta meet the following requirements: alpha is not equal to beta;

the eccentric shaft is provided with a plurality of eccentric parts with different phases, and the phases of the eccentric parts corresponding to the cycloid discs fixed in the circumferential direction are the same; in the first cycloid structure system and the second cycloid structure system, two cycloid discs with the shortest distance in the axial direction are circumferentially fixed, and the other cycloid discs are sequentially circumferentially fixed;

the pin gear cycloid speed reducer also comprises a connecting piece so as to realize the circumferential fixed connection of the cycloid disc; the connecting piece comprises a first connecting section and a second connecting section which are sequentially arranged along the axial direction, the first connecting section is connected with a cycloid disc in a first cycloid structure system, and the second connecting section is connected with a cycloid disc in a second cycloid structure system; the first connecting section and the second connecting section are not on the same straight line, so that the cycloid discs fixedly connected in the circumferential direction have an angle difference in the circumferential direction.

2. The pin-tooth cycloidal reducer of claim 1 in which said second cycloidal structural system is nested in said eccentric shaft.

3. The pin-tooth cycloidal reducer of claim 1,

the number of the cycloid discs in the first cycloid structure system is equal to that of the cycloid discs in the second cycloid structure system, and the cycloid discs are fixedly connected in a circumferential direction.

4. The pin-tooth cycloidal reducer of claim 1 in which the number of said eccentric portions is an even number, with half of the eccentric portions facing in common a first direction and the other half facing in common a second direction, said first and second directions facing in opposite directions.

5. The pin gear cycloid speed reducer of claim 4 wherein the connecting members are plural and evenly distributed in the circumferential direction.

6. The pin gear cycloid speed reducer of claim 4 wherein the connection is at least one of a pin, bolt, screw.

7. The pin-tooth cycloidal reducer of claim 1 in which said cycloidal disk, which is circumferentially fixed, is of unitary construction.

8. The pin gear cycloid speed reducer of claim 1 wherein at least one of the cycloid configurations has pin teeth grooves formed on an inner peripheral surface of the pin gear case, and the pin gears are disposed in the pin teeth grooves.

9. The pin gear cycloidal reducer of claim 8 further including a retainer for axially retaining said pin gear in said pin gear slot.

10. The pin gear cycloid speed reducer of claim 9 wherein the retainer comprises an annular spacer surrounding the eccentric shaft, the annular spacer being fixedly disposed at an axial end of the pin tooth slot.

11. The pin gear cycloidal reducer of claim 1 wherein in at least one of said cycloidal configurations, said pins are arranged in at least two rows along said axial direction, all of said pins in a row being disposed along said circumferential direction.

12. The pin-gear cycloidal reducer of claim 1 in which, in said first cycloidal configuration, all of the cycloidal discs have between 10-55 teeth and all of the pin gear housings have between 10-55 teeth;

and/or in the second cycloid structure system, the number of teeth of all cycloid discs is 10-55, and the number of teeth of all pin gear cases is 10-55.

13. The pin gear cycloid speed reducer of claim 1 wherein in at least one cycloid configuration, the cycloid discs and pin gear cases are arranged one-to-one; or, in at least one cycloid structure, one cycloid disc corresponds to more than two pin gear cases; or at least two adjacent cycloid structures in the first cycloid structure system share the same pin gear shell; or at least two adjacent cycloid structures in the second cycloid structure system share the same needle gear shell.

14. The pin gear cycloid speed reducer of claim 1 wherein the first cycloid structural system is characterized by all of the pin gear cases being fixedly connected or the first cycloid structural system sharing the same pin gear case.

15. The pin gear cycloid speed reducer of claim 1 wherein the second cycloid structural system is characterized by all of the pin gear cases being fixedly connected or the second cycloid structural system sharing the same pin gear case.

16. The pin-tooth cycloidal reducer of claim 1 in which in the first cycloidal configuration at least one of the cycloidal discs is connected to the eccentric shaft by a bearing.

17. The pin-tooth cycloidal reducer of claim 1 in which, in a second cycloidal configuration, at least one of the cycloidal disks is connected to the eccentric shaft by a bearing; and/or at least one of the pin gear cases is connected with the eccentric shaft through a bearing.

18. The pin-tooth cycloidal reducer of claim 16 or 17 wherein said bearing includes a cage and rollers disposed within said cage, said rollers contacting said eccentric shaft and cycloidal disk.

19. The pin gear cycloidal reducer of claim 1 further including an outer housing, the pin gear housing of said first cycloidal system being fixedly disposed in said outer housing.

20. The pin-tooth cycloidal reducer of claim 19 in which at least one of the pin-tooth shells of said second cycloidal system is connected to said outer housing by a bearing.

21. The pin gear cycloid speed reducer of claim 20 further comprising an oil seal disposed between the pin gear housing and the outer housing connected by a bearing.

22. The pin gear cycloidal reducer of claim 19 further including a cover plate, said cover plate, pin gear housing and outer housing of the first cycloidal system being disposed axially in sequence;

the needle gear shell in the first cycloid structure system is axially and fixedly arranged between the outer shell and the cover plate, and the cover plate is connected to the eccentric shaft through a bearing.

23. An industrial robot comprising: the power source and the actuator are characterized by further comprising a pin gear cycloid speed reducer as recited in any one of claims 1 to 22, wherein the pin gear cycloid speed reducer is fixedly arranged between the power source and the actuator and is used for reducing the rotating speed of the power source to output to the actuator.

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