CN108799415B - Cycloidal reducer - Google Patents

Abstract

The present invention relates to a cycloid reducer, which includes two sets of rotating disc groups, and each rotating disc group includes two cycloid discs. Therefore, the cycloid reducer of the present invention can use four cycloid discs to contact the corresponding rollers, so that the load borne by each cycloid disc can be reduced, so the cycloid reducer of the present invention has a strong structural strength. In addition, the eccentric assembly of the eccentric device of the cycloid reducer of the present invention also includes a plurality of eccentric cylinders eccentrically arranged on the rotating shaft, and each eccentric cylinder is arranged in the axial hole of the corresponding cycloid disc, and the plurality of eccentric cylinders will make the eccentric direction of two cycloid discs among the four cycloid discs opposite to the eccentric direction of the remaining two cycloid discs, so that the cycloid reducer can achieve dynamic balance when it is in action.

Description

Cycloidal reducer

technical field

The invention relates to a reducer, in particular to a cycloid reducer with high rigidity and dynamic balance.

Background technique

Generally speaking, the motor has the characteristics of high rotation speed and low torque, so it is difficult to drive a large load. Therefore, when the motor is to be used to push heavy objects, a speed reducer must be used for deceleration, thereby increasing the torque.

Common reducers include RV (Rotary Vector) reducer, harmonic reducer (Harmonic Drive) and cycloid reducer. The RV reducer, such as the RV-E series reducer produced by Nabtesco, Japan, is a two-stage reduction type, which includes a first reduction part of a spur gear reduction mechanism and a differential gear reduction mechanism. The gears in the first and second deceleration parts can be composed of metal elements respectively. This series of reducers can reduce vibration and inertia at the same time when increasing the reduction ratio through the two-stage deceleration design. However, although the RV reducer has excellent performance in terms of high rigidity and high reduction ratio, and the rolling contact elements in the RV reducer can also ensure high efficiency and long life of the product, its volume and weight are relatively large, and due to There are quite a lot of components, resulting in a relatively high cost of the RV reducer.

As for the harmonic reducer, it is mainly composed of a wave generator, flexible gears and rigid gears, and the harmonic drive of the harmonic reducer uses the elastic micro-deformation of the flexible gear to push and operate, thereby transmitting Movement and motivation. Although the harmonic reducer has the advantages of small size, light weight and high precision compared with the RV reducer, because the harmonic reducer has flexible gears, its rigidity is poor, so the harmonic reducer is not resistant to Impact and include tooth differential friction, resulting in shorter service life. Furthermore, the input speed of the harmonic reducer has a certain limit and cannot be too high, resulting in a relatively poor high reduction ratio of the harmonic reducer.

The cycloid reducer includes an eccentric shaft and two cycloid discs that include at least one tooth portion and are respectively in linkage relationship with the power input shaft and the power output shaft. The operating principle is that the input shaft drives one of the cycloids through the eccentric shaft. The rotation of the disk will cause the other cycloid disk to drive the output shaft to rotate correspondingly, and the rotation of the two cycloid disks actually needs to be realized by the corresponding tooth structure. Although the traditional cycloid reducer has the advantages of large transmission ratio, compact structure and high transmission efficiency, when the traditional cycloid reducer needs to be used in the occasion of high load, it represents the two cycloids of the traditional cycloid reducer. The disk also needs to bear high load, so if the structural strength of the two cycloid disks is not enough, it may cause damage to the cycloid disk, making the traditional cycloid reducer unable to operate normally. In addition, due to the use of the eccentric shaft in the traditional cycloid reducer, the cycloid disk will rotate in a specific direction during the operation of the cycloid reducer. Therefore, if the traditional cycloid reducer does not cost extra to set up a bias compensation device, If the compensation of dynamic balance is carried out, the traditional cycloid reducer will not be able to achieve dynamic balance during operation, and there is a problem of large vibration in operation.

Therefore, how to develop a cycloid reducer that can improve the above-mentioned defects of the known technology, include the characteristics of the RV reducer and the harmonic reducer at the same time, and can achieve a high reduction ratio, high rigidity and dynamic balance, is actually a Problems that are urgently needed to be solved by those in the relevant technical field.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a cycloid reducer to solve the defects of the traditional RV reducer, such as relatively large volume and weight, and relatively high cost, and to solve the problems of impact resistance, shock resistance, etc. Defects such as tooth difference friction and relatively poor high reduction ratio. In addition, the cycloid reducer of the present invention can also achieve the advantages of high rigidity and dynamic balance.

In order to achieve the above-mentioned purpose, a broader implementation aspect of the present invention is to provide a cycloid reducer, which includes an eccentric device, a first roller wheel set, a second roller wheel set, a first turntable set and Second turntable group. The eccentric device includes a rotating shaft and an eccentric assembly, the rotating shaft is rotatable, and the eccentric assembly is eccentrically fixed on the rotating shaft and located between the first end and the second end of the rotating shaft, and is driven by the rotating shaft to deflect relative to the axis of the rotating shaft; The first roller wheel group includes a first wheel and a plurality of first rollers, and the plurality of first rollers are arranged on the first wheel; the second roller wheel group includes a second wheel and a plurality of first rollers. Two rollers, a plurality of second rollers are arranged on the second wheel disc; a first turntable set is arranged on the eccentric assembly and is driven by the eccentric assembly to rotate, and includes a first cycloid disk and a second cycloid disk , the first cycloidal disc is adjacent to the first wheel disc, and includes at least one first convex tooth portion, the first convex tooth portion is in contact with the corresponding at least one first roller, and the second cycloid disc is in contact with the first outer convex tooth portion. A cycloidal disk is disposed adjacent to the first cycloidal disk and is located on opposite sides of the first cycloidal disk, and includes at least one second convex tooth portion, and the second convex tooth portion corresponds to the corresponding at least one first cycloid disk. The rollers are in contact; the second turntable group is arranged on the eccentric component and is driven by the eccentric component to rotate, and includes a third cycloid disk and a fourth cycloid disk, and the third cycloid disk is arranged on the second cycloid disk and the first cycloid disk. Between the two wheel discs, at least one third outer convex tooth portion is included, the third outer convex tooth portion is in contact with the corresponding at least one second roller, and the fourth cycloidal disc is arranged on the third cycloidal disc and the second wheel Between the discs, at least one fourth outer convex tooth portion is included, and the fourth outer convex tooth portion is in contact with the corresponding at least one second roller.

The beneficial effect of the present invention is that the cycloid reducer provided by the present invention includes two sets of turntable groups, and each turntable group includes two cycloid disks, so the cycloid reducer of the present invention can utilize four pendulums Therefore, the cycloid reducer of the present invention has strong structural strength, and can be used in applications that need to bear high loads. occasion.

Description of drawings

FIG. 1 is a schematic diagram of the combined structure of the cycloid reducer according to the first preferred embodiment of the present invention.

FIG. 2 and FIG. 3 are schematic diagrams of the explosion structure of the cycloid reducer shown in FIG. 1 under different viewing angles.

FIG. 4 is a schematic diagram of an exemplary cross-sectional structure of the cycloid reducer shown in FIG. 1 .

FIG. 5 is a schematic structural diagram of the eccentric assembly and a bearing set shown in FIG. 1 .

6 is a schematic cross-sectional structural diagram of the rotating shaft shown in FIG. 4 and any eccentric cylinder arranged on the rotating shaft in an assembled manner.

FIG. 7 is a schematic diagram of the action sequence of the cycloid reducer of the present invention.

FIG. 8 and FIG. 9 are schematic cross-sectional structural diagrams of the cycloid reducer in different viewing angles according to the second preferred embodiment of the present invention.

FIG. 10 is a schematic side view of the cross-sectional structure of the cycloid reducer shown in FIG. 8 .

FIG. 11 is a schematic structural diagram of the eccentric assembly and a bearing set shown in FIG. 8 .

The reference numbers are as follows:

1, 1': Cycloidal reducer

2, 2': Eccentric device

20, 20': Spindle

200, 200': first end

201, 201': the second end

21, 21': Eccentric components

22, 22': the first eccentric cylinder

23, 23': the second eccentric cylinder

24, 24': the third eccentric cylinder

25, 25': Fourth eccentric cylinder

26: snap pin

3, 3': The first roller wheel set

30, 30': First Roulette

31, 31': the first roller

32, 32': housing part

300, 400, 300', 400': Center hole

4, 4': The second roller wheel set

40, 40': Second Roulette

41, 41': the second roller

5, 5': The first turntable group

50, 50': The first cycloid disc

51, 51': The second cycloid disc

52: The first connector

52': Connector

54, 53': The first outer convex teeth

56, 55': the first through hole

55, 54': the second convex teeth

57, 56': the first shaft hole

58, 57': the second shaft hole

6, 6': The second turntable group

60, 60': The third cycloid disc

61, 61': Fourth cycloid disc

53: Second connector

63, 63': The third outer convex tooth

62, 62': the second through hole

64, 64': Fourth outer convex tooth

65, 65': the third shaft hole

66, 66': Fourth shaft hole

8, 8': bearing set

80, 80': Fourth bearing

90, 90': first bearing

91, 91': Second bearing

93, 93': The third bearing.

Detailed ways

Some typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can be modified in various ways without departing from the scope of the present invention, and the descriptions and illustrations therein are for illustrative purposes only, rather than limiting the present invention. invention.

Please refer to FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , wherein FIG. 1 is a schematic view of the combined structure of the cycloid reducer according to the first preferred embodiment of the present invention, and FIG. 2 and FIG. 3 are the cycloid shown in FIG. 1 . Schematic diagram of the explosion structure of the cycloid reducer from different viewing angles, FIG. 4 is a schematic cross-sectional structure diagram of an exemplary cycloid reducer shown in FIG. 1 . As shown in FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , the cycloid reducer 1 of this embodiment can be applied to, but not limited to, various motor devices, machine tools, robotic arms, automobiles, locomotives or other power machinery In order to provide a proper deceleration function, in addition, the cycloid reducer 1 is actually a two-stage cycloid reducer. The cycloid reducer 1 includes an eccentric device 2 , a first roller wheel set 3 , a second roller wheel set 4 , a first turntable set 5 and a second turntable set 6 .

The eccentric device 2 can receive a power input provided by, for example, a motor (not shown), and is driven to rotate by the power input, and includes a rotating shaft 20 and an eccentric assembly 21 . The rotating shaft 20 is rotated by receiving the power input from the motor (not shown), and has a first end 200 and a second end 201 opposite to each other. The eccentric assembly 21 is eccentrically fixed on the rotating shaft 20 (that is, the center of rotation of the eccentric assembly 21 is not the axis of the rotating shaft 20 ), and is located between the first end 200 and the second end 201 of the rotating shaft, and is driven by the rotating shaft 20 . The deflection is performed relative to an axis of the rotating shaft 20 .

The first roller wheel set 3 has a first wheel 30 and a plurality of first rollers 31 . The first wheel disc 30 is a circular disc-shaped element or a hollow cylindrical cover-shaped element made of metal or alloy, and the first wheel disc 30 has a central hole 300 in its geometric center, and the central hole 300 can be provided with a first bearing 90 (as shown in FIG. 4 ), the form of the first bearing 90 is not limited to, for example, a ball bearing, a needle bearing or an oil bearing, etc., so that the rotating shaft 20 is partially accommodated in the first wheel disc using the first bearing 90 The first end 200 and the second end 201 of the rotating shaft 20 are located on opposite sides of the first wheel disc 30 respectively in the central hole 300 of the 30 . The plurality of first rollers 31 may be respectively, but not limited to, short cylindrical bodies made of metal or alloy, and are arranged in an equidistant ring on the first wheel disc 30 . In this embodiment, the first roller wheel set 3 does not rotate around the axis of the rotating shaft 20 , in other words, the first wheel 30 and the plurality of first rollers 31 cannot rotate around the axis of the rotating shaft 20 . make a turn. However, the plurality of first rollers 31 can rotate on their own axes, that is, self-rotate.

In some embodiments, the first roller wheel set 3 may further include a housing part 32, the housing part 32 is assembled on the first wheel 30 and has a hollow structure, when the eccentric device 2, the first roller When the wheel group 3 , the second roller wheel group 4 , the first turntable group 5 and the second turntable group 6 are combined to form the cycloid reducer 1 , as shown in FIG. 1 , the hollow structure of the housing portion 32 can be At least part of the eccentric device 2 , the second roller wheel group 4 , the first turntable group 5 and the second turntable group 6 are accommodated. Of course, in other embodiments, the hollow structure of the housing portion 32 may only accommodate part of the eccentric device 2 , the second roller wheel set 4 and the second turntable set 6 , while the first wheel 30 accommodates the first wheel set 30 . A turntable group 5 , as shown in FIG. 4 , for example.

The second roller wheel set 4 has a second wheel 40 and a plurality of second rollers 41 . The second wheel disk 40 can also be a circular disk-shaped element or a hollow cylindrical cover-shaped element made of metal or alloy, and the second wheel disk 40 has a central hole 400 in its geometric center, and the central hole 400 can be provided with a second wheel Bearing 91 (as shown in FIG. 4 ), the form of the second bearing 91 is not limited to, for example, a ball bearing, a needle bearing or an oil-impregnated bearing, so that the rotating shaft 20 is partially accommodated in the second wheel by using the second bearing 91 Inside the central hole 400 of the disc 40 , the first end 200 and the second end 201 of the rotating shaft 20 are located on opposite sides of the second wheel disc 40 , respectively. The plurality of second rollers 41 may be respectively, but not limited to, short cylindrical bodies made of metal or alloy, and are arranged on the second wheel disc 40 equidistantly. In this embodiment, the second roller wheel set 4 can rotate on the axis of the rotating shaft 20, in other words, the second wheel 40 and the plurality of second rollers 41 can rotate on the axis of the rotating shaft 20. In addition, The second disc 40 is actually the power output of the cycloid reducer 1 . In some embodiments, the plurality of second rollers 41 can rotate on their own axes.

In some embodiments, the cycloid reducer 1 further includes a third bearing 93 (as shown in FIG. 4 ), which is disposed in the hollow structure of the housing portion 32 and located between the housing portion 32 and the second wheel disc 40 . During this time, the second roller wheel set 4 can rotate within the housing portion 32 .

The first turntable group 5 is disposed on the eccentric assembly 21 and is driven by the eccentric assembly 21 to rotate, and includes a first cycloid disk 50 and a second cycloid disk 51 . The first cycloidal disk 50 is disposed adjacent to the first wheel disk 30 , and includes a plurality of first connecting pieces 52 and at least one first convex tooth portion 54 . The first convex tooth portion 54 is formed by the first cycloidal disk 50 . The outer peripheral wall of the roller is formed protrudingly, and is in contact with the corresponding at least one first roller 31 . The second cycloidal disk 51 is disposed adjacent to the first cycloidal disk 50 , and is located on opposite sides of the first cycloidal disk 50 from the first cycloidal disk 30 , and includes at least one second convex tooth portion 55 , a plurality of A second connecting member 53 and a plurality of first through holes 56 , the second outer convex teeth 55 are formed by protruding from the outer peripheral wall of the second cycloidal disk 51 and are in contact with the corresponding at least one first roller 31 . touch.

The second turntable group 6 is disposed on the eccentric assembly 21 to be driven by the eccentric assembly 21 to rotate, and includes a third cycloid disk 60 and a fourth cycloid disk 61 . The third cycloidal disk 60 is disposed between the second cycloidal disk 51 and the second wheel disk 40 , and includes a plurality of second through holes 62 and at least one third outer convex tooth portion 63 . The third outer convex tooth portion 63 is formed by protruding from the outer peripheral wall surface of the third cycloidal disk 60 and is in contact with the corresponding at least one second roller 41 . The fourth cycloidal disc 61 is disposed between the third cycloidal disc 60 and the second wheel disc 40 , and includes at least one fourth outer convex tooth portion 64 , which is formed by the fourth cycloidal disc 61 . The outer peripheral wall is protruded and in contact with the corresponding at least one second roller 41 .

In the above-mentioned embodiment, each first connecting piece 52 is located between the first cycloidal disc 50 and the third cycloidal disc 60 and passes through a corresponding first through hole 56, and each first connecting piece One end of the 52 is fixedly connected with the first cycloidal disc 50, and the other end of the first connecting member 52 is assembled with the third cycloidal disc 60, so the first cycloidal disc 50 and the third cycloidal disc 60 can pass through the first cycloidal disc 50. A connecting member 52 is connected to each other. Each second connecting member 53 is located between the second cycloidal disk 51 and the fourth cycloidal disk 61, and passes through a corresponding second through hole 62, and one end of each second connecting member 53 is connected to the second cycloidal disk 61. The cycloidal disk 51 is fixedly connected to each other, and the other end of the second connecting member 53 is assembled with the fourth cycloidal disk 61 , so the second cycloidal disk 51 and the fourth cycloidal disk 61 can be connected to each other through the second connecting member 53 . Assemble.

In some embodiments, the first cycloidal disk 50 includes a first shaft hole 57 , and the second cycloidal disk 51 includes a second shaft hole 58 . The first shaft hole 57 of the first cycloidal disk 50 and the second shaft hole 58 of the second cycloidal disk 51 are respectively set at the geometric center positions of the first cycloidal disk 50 and the second cycloidal disk 51, and some eccentric components 21 is rotatably arranged in the first shaft hole 57 and the second shaft hole 58, so when the eccentric device 2 rotates, the first cycloid disk 50 and the second cycloid disk 51 are driven by the eccentric component 21 of the eccentric device 2 In addition, since the first cycloidal disk 50 and the third cycloidal disk 60 are assembled by a plurality of first connectors 52, the first cycloidal disk 50 and the third cycloidal disk 60 will be synchronized and in the same direction operation. The third cycloid disk 60 includes a third shaft hole 65 , and the fourth cycloid disk 61 includes a fourth shaft hole 66 . The third shaft hole 65 of the third cycloid disk 60 and the fourth shaft hole 66 of the fourth cycloid disk 61 are respectively set at the geometric center positions of the third cycloid disk 60 and the fourth cycloid disk 61, and some eccentric components 21 is rotatably arranged in the third shaft hole 65 and the fourth shaft hole 66, so when the eccentric assembly 21 rotates, the third cycloid disk 60 and the fourth cycloid disk 61 are driven by the eccentric assembly 21 to rotate. , since the second cycloidal disk 51 and the fourth cycloidal disk 61 are assembled by a plurality of second connecting members 53 , the second cycloidal disk 51 and the fourth cycloidal disk 61 will run synchronously and in the same direction.

As can be seen from the above, because the cycloid reducer 1 of the present invention includes two sets of turntable groups, namely the first turntable group 5 and the second turntable group 6, and the first turntable group 5 includes two cycloid disks, that is, the first turntable group 5. The cycloid disk 50 and the second cycloid disk 51, and the second turntable group 6 also includes two cycloid disks, namely the third cycloid disk 60 and the fourth cycloid disk 61, so the cycloid reducer 1 of the present invention In fact, four cycloidal discs are used to contact the first rollers 31 of the first roller wheel set 3 and the second rollers 41 of the second roller wheel set 4, so compared to the The traditional cycloid reducer only uses two cycloid disks to contact the rollers, and the load on each cycloid disk of the cycloid reducer 1 of the present invention can be reduced, so the cycloid reducer 1 has Strong structural strength to achieve high rigidity, so it can be used in occasions that need to withstand high loads.

Please refer to FIG. 5 , in conjunction with FIGS. 2 and 4 , wherein FIG. 5 is a schematic structural diagram of the eccentric assembly and a bearing set shown in FIG. 1 . In some embodiments, the eccentric assembly 21 can actually be rotatably disposed in the first shaft hole 57 , the second shaft hole 58 , the third shaft hole 65 and the fourth shaft hole 66 through the bearing set 8 , wherein the bearing set 8 may be, but is not limited to, constituted by four independent fourth bearings 80 . In addition, the eccentric assembly 21 further includes a first eccentric cylinder 22, a second eccentric cylinder 23, a third eccentric cylinder 24, and a fourth eccentric cylinder 25 that are eccentrically disposed on the rotating shaft 20 and are adjacent to each other in sequence. The four bearings 80 are respectively sleeved on the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24 and the fourth eccentric cylinder 25, so that the first shaft hole 57 of the first cycloid disk 50 passes through the corresponding fourth The first eccentric cylinder 22 is provided with the bearing 80, the second shaft hole 58 of the second cycloid disk 51 is provided for the second eccentric cylinder 23 through the corresponding fourth bearing 80, and the third shaft hole of the third cycloid disk 60 is provided. 65 through the corresponding fourth bearing 80 for the third eccentric cylinder 24 to set, the fourth shaft hole 66 of the fourth cycloid disk 61 through the corresponding fourth bearing 80 for the fourth eccentric cylinder 25 to set, so the first cycloid The disk 50 , the second cycloid disk 51 , the third cycloid disk 60 and the fourth cycloid disk 61 are respectively sleeved on the first eccentric cylinder 22 , the second eccentric cylinder 23 , the third eccentric cylinder 24 and the fourth eccentric cylinder 25 . , and the eccentric directions of the first eccentric cylinder 22 and the third eccentric cylinder 24 are the same, the eccentric directions of the second eccentric cylinder 23 and the fourth eccentric cylinder 25 are the same, and the first eccentric cylinder 22 and the third eccentric cylinder 24 The eccentric direction is opposite to the eccentric direction of the second eccentric cylinder 23 and the fourth eccentric cylinder 25. In this way, the eccentric direction of the first cycloid disk 50 and the third cycloid disk 60 will be the same as the second cycloid disk 51 and the fourth cycloid disk 51. The eccentric directions of the cycloid disks 61 are opposite, so the cycloid reducer 1 of the present invention can perform dynamic balance compensation without additionally disposing an eccentricity compensation device.

In some embodiments, both the first outer convex teeth 54 of the first cycloidal disk 50 and the second outer convex teeth 55 of the second cycloidal disk 51 need to be in contact with the first rollers 31 , and the third The third outer convex tooth portion 63 of the cycloidal disk 60 and the fourth outer convex tooth portion 64 of the fourth cycloidal disk 61 both need to be in contact with the second roller 41 , so the first outer convex portion of the first cycloidal disk 50 The number of teeth 54 and the tooth shape formed by the teeth 54 are actually the same as the number of teeth and the tooth shape formed by the second convex teeth 55 of the second cycloidal disk 51 . The third external convex teeth of the third cycloid disk 60 The number of teeth of 63 and the tooth shape formed therefrom are the same as the number of teeth of the fourth outer convex teeth 64 of the fourth cycloid disk 61 and the tooth shape formed therefrom. In addition, the number of the first rollers 31 is at least one more than the number of the first convex teeth 54 of the first cycloidal disc 50 and the number of the second convex teeth 55 of the second cycloidal disc 51 by at least one, and the second The number of the rollers 41 is at least one more than the numbers of the third externally convex tooth portions 63 of the third cycloidal disk 60 and the fourth externally convex toothed portions 64 of the fourth cycloidal disk 61 , respectively.

In addition, in order to prevent the plurality of second connecting members 53 from interfering with the operation of the first cycloidal disk 50 and the third cycloidal disk 60 when the first cycloidal disk 50 and the third cycloidal disk 60 rotate synchronously, each When the two connecting pieces 53 are pierced through the corresponding second piercing holes 62 , they are spaced apart from the walls of the corresponding second piercing holes 62 and not in contact with each other. Similarly, in order to prevent the plurality of first connecting members 52 from interfering with the operation of the second cycloidal disk 51 and the fourth cycloidal disk 61 when the second cycloidal disk 51 and the fourth cycloidal disk 61 rotate synchronously, each When the first connecting member 52 is pierced through the corresponding first piercing hole 56 , it is spaced apart from the wall surface of the corresponding first piercing hole 56 and is not in contact with each other.

In addition, as shown in FIG. 2 , the first connecting member 52 and the second connecting member 53 can be respectively formed of trapezoidal cylinders, so the shapes of the first through holes 56 and the second through holes 62 are correspondingly trapezoidal. However, the shapes of the first connecting member 52 , the second connecting member 53 , the first through hole 56 and the second through hole 62 are not limited to this, and can be implemented in different ways according to actual needs, such as the first connecting member 52 and the second connecting member 53 can be respectively formed by cylinders, so the shapes of the first through holes 56 and the second through holes 62 are correspondingly circular.

In some embodiments, the rotating shaft 20 and the first eccentric cylinder 22 , the second eccentric cylinder 23 , the third eccentric cylinder 24 and the fourth eccentric cylinder 25 of the eccentric assembly 21 can be integrally formed, and in order to make the plurality of fourth bearings 80 The first eccentric cylinder 22, the third eccentric cylinder 24, the second eccentric cylinder 23 and the fourth eccentric cylinder 25 can be respectively sleeved, so the Under the condition that the four eccentric cylinders 25 are integrally formed, the radius of the second eccentric cylinder 23 is greater than that of the first eccentric cylinder 22 , and the radius of the third eccentric cylinder 24 is greater than that of the fourth eccentric cylinder 25 .

Of course, the rotating shaft 20 and the first eccentric cylinder 22 , the second eccentric cylinder 23 , the third eccentric cylinder 24 and the fourth eccentric cylinder 25 of the eccentric device 2 are not limited to be integrally formed. The first eccentric cylinder 22, the third eccentric cylinder 24, the second eccentric cylinder 23 and the fourth eccentric cylinder 25 can be respectively sleeved, so in other embodiments, the first eccentric cylinder 22, the second eccentric cylinder 23, the third Among the eccentric cylinders 24 and the fourth eccentric cylinder 25 , at least two eccentric cylinders are disposed on the rotating shaft 20 in an assembled manner, and the remaining eccentric cylinders and the rotating shaft 20 are integrally formed.

Please refer to FIG. 6 , which is a schematic cross-sectional structural diagram of the rotating shaft shown in FIG. 4 and any eccentric cylinder arranged on the rotating shaft in an assembled manner. As shown in FIG. 6 , since the eccentric cylinders can be assembled on the rotating shaft 20 , the rotating force of the rotating shaft 20 can be smoothly transmitted to each eccentric cylinder assembled on the rotating shaft 20 . Each eccentric cylinder (illustrated by the first eccentric cylinder 22 in FIG. 6 ) on the rotating shaft 20 may also include a latching pin 26 for engaging with the rotating shaft 20 when the eccentric cylinder is disposed on the rotating shaft 20 , thereby The eccentric cylinder can be tightly fitted on the rotating shaft 20 .

The reduction ratio that can be achieved by the cycloid reducer 1 of the present invention will be exemplified below. Referring to FIGS. 1 to 5 again, it is assumed that the number of the first rollers 31 of the first roller wheel set 3 is N, and the number of the second rollers 41 of the second roller wheel set 4 is M It is assumed that the number of the first rollers 31 is one more than that of the first externally protruding teeth 54 and the second externally protruding teeth 55 respectively, and the number of the second rollers 41 is greater than that of the third externally protruding teeth 64 and 55 respectively. If there is one more fourth convex teeth 64, the number of the first convex teeth 54 of the first cycloidal disc 50 and the second convex teeth 55 of the second cycloidal disc 51 is N-1, and the number of the third convex teeth 54 is N-1. The number of the outer convex teeth 63 and the fourth outer convex teeth 64 is M-1, so the reduction ratio R that can be achieved by the cycloid reducer 1 of the present invention is R=(N-1)*M/(N-M ), in which in order to achieve the purpose of deceleration, N is not equal to M in the design, and in order to strengthen the effect of dynamic balance, N and M must be even numbers, and N≥2 and M≥2. In addition, when N>M, the reduction ratio R is a positive value, and the rotation direction of the second wheel 40 serving as the power output is the same as the rotation direction of the rotating shaft 20. When N<M, the reduction ratio R is a negative value, serving as the power The rotation direction of the output second wheel 40 is opposite to the rotation direction of the rotating shaft 20 .

The action mode of the cycloid reducer of the present embodiment will be exemplarily described below with reference to FIG. 7 . In FIG. 7 , the number of the first rollers 31 is N=4, and the number of the second rollers 41 is M. =2, reduction ratio=(4-1)*2/(4-2)=3 as an example, and the time interval between each operation state and the next operation state shown in FIG. 7 is one rotation of the rotating shaft 20 . Please refer to FIG. 7 , in conjunction with FIGS. 1 to 5 , wherein FIG. 7 is a schematic diagram of the action sequence of the cycloid reducer of the present invention. As can be seen from FIG. 7 , when the rotating shaft 20 receives the power input provided by the motor (not shown) and rotates counterclockwise, the first eccentric cylinder 22 , the second eccentric cylinder 23 , the third eccentric cylinder 24 and the fourth eccentric cylinder 25 will Driven by the rotating shaft 20 to rotate eccentrically, and the respective deflection movements of the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24 and the fourth eccentric cylinder 25 will become a pushing force to push the first cycloid disk 50 respectively. , The second cycloid disk 51 , the third cycloid disk 60 and the fourth cycloid disk 61 slowly rotate clockwise. Furthermore, since the first roller wheel set 3 does not rotate around the axis of the rotating shaft 20, the third outer convex tooth portion 63 of the third cycloid disk 60 and the fourth outer convex portion of the fourth cycloid disk 61 The tooth portion 64 pushes against the plurality of second rollers 41 of the second roller wheel set 4 , so that the plurality of second rollers 41 rotate counterclockwise around the axis of the rotating shaft 20 . The movement of the second roller 41 drives the second wheel 40 to rotate counterclockwise, so the second roller wheel set 4 actually rotates counterclockwise. In this embodiment, the second wheel 40 of the rotating second roller wheel set 4 generates power output.

Please refer to FIG. 8 , FIG. 9 and FIG. 10 , wherein FIG. 8 and FIG. 9 are schematic cross-sectional structural diagrams of the cycloid reducer of the second preferred embodiment of the present invention from different viewing angles, and FIG. 10 is the one shown in FIG. 8 . A schematic side view of the cross-sectional structure of the cycloid reducer. As shown in FIG. 8 , FIG. 9 and FIG. 10 , the cycloid reducer 1 ′ of the present embodiment can be used in, but not limited to, various motor devices, machine tools, robotic arms, automobiles, locomotives or other power machines. In order to provide a proper deceleration function, in addition, the cycloid reducer 1' is actually a two-stage cycloid reducer. The cycloid reducer 1' includes an eccentric device 2', a first roller wheel set 3', a second roller wheel set 4', a first turntable set 5' and a second turntable set 6'.

The eccentric device 2' can receive a power input provided by, for example, a motor (not shown), and is driven to rotate by the power input, and includes a rotating shaft 20' and an eccentric assembly 21'. The rotating shaft 20' receives the power input from the motor (not shown) to rotate, and has a first end 200' and a second end 201' opposite to each other. The eccentric assembly 21 ′ is eccentrically fixed on the rotating shaft 20 ′ and is located between the first end 200 ′ and the second end 201 ′ of the rotating shaft, and is driven by the rotating shaft 20 ′ to move relative to the axis of the rotating shaft 20 ′ deflection.

The first roller wheel set 3' has a first wheel 30' and a plurality of first rollers 31'. The first wheel disc 30' is a circular disc-shaped element or a hollow cylindrical cover-shaped element made of metal or alloy, and the first wheel disc 30' has a central hole 300' in its geometric center, and the central hole 300' can be provided with The first bearing 90', the form of the first bearing 90' is not limited to, for example, a ball bearing, a needle bearing or an oil bearing, etc., so that the rotating shaft 20' is partially accommodated in the first wheel disc using the first bearing 90' Inside the central hole 300' of the 30', the first end 200' and the second end 201' of the rotating shaft 20' are respectively located on opposite sides of the first wheel 30'. The plurality of first rollers 31' may be respectively, but not limited to, short cylindrical bodies made of metal or alloy, and are arranged in an equidistant ring on the first wheel disc 30'.

In some embodiments, the first roller wheel set 3 ′ may further include a housing portion 32 ′, and the housing portion 32 ′ is assembled on the first wheel disc 30 and has a hollow structure. When the eccentric device 2 ′, When the first roller wheel group 3', the second roller wheel group 4', the first turntable group 5' and the second turntable group 6' are combined into the cycloid reducer 1', the The hollow structure can accommodate at least part of the eccentric device 2', the second roller wheel set 4', the first turntable set 5' and the second turntable set 6'.

In this embodiment, however, the first roller wheel set 3' does not rotate around the axis of the rotating shaft 20', in other words, the first wheel 30', the plurality of first rollers 31' and the housing portion None of the 32' can be rotated around the axis of the rotating shaft 20'. However, the plurality of first rollers 31' can rotate on their own axes, that is, rotate.

The second roller wheel set 4' has a second wheel 40' and a plurality of second rollers 41'. The second wheel 40 ′ can also be a circular disk-shaped element or a hollow cylindrical cover-shaped element made of metal or alloy, and the second wheel 40 ′ has a central hole 400 ′ in its geometric center, and the central hole 400 ′ can be A second bearing 91' is provided, and the form of the second bearing 91' is not limited to, for example, a ball bearing, a needle bearing or an oil-impregnated bearing, so that the rotating shaft 20' is partially accommodated in the second bearing 91' by using the second bearing 91'. Inside the central hole 400' of the wheel 40', the first end 200' and the second end 201' of the rotating shaft 20' are located on opposite sides of the second wheel 40', respectively. The plurality of second rollers 41' can be respectively, but not limited to, short cylindrical bodies made of metal or alloy, and are arranged in an equidistant ring on the second wheel disc 40'. In this embodiment, the second roller wheel set 3' can rotate on the axis of the rotating shaft 20', in other words, the second wheel 40' and the plurality of second rollers 41' can rotate on the axis of the rotating shaft 20' In addition, the second wheel 40' is actually the power output of the cycloid reducer 1'. In some embodiments, the plurality of second rollers 41' can rotate on their own axes.

In some embodiments, the cycloid reducer 1 ′ further includes a third bearing 93 ′, which is disposed in the hollow structure of the housing portion 32 ′ and located between the housing portion 32 ′ and the second wheel disc 40 ′, As a result, the second roller wheel set 4' can be rotated within the housing portion 32'.

The first turntable group 5' is disposed on the eccentric assembly 21' and is driven by the eccentric assembly 21' to rotate, and includes a first cycloid disk 50' and a second cycloid disk 51'. The first cycloidal disc 50' is disposed adjacent to the first wheel disc 30', and includes a plurality of connecting pieces 52' and at least one first convex tooth portion 53', the first convex tooth portion 53' is formed by the first pendulum The outer peripheral wall surface of the spool 50' is formed protrudingly, and is in contact with the corresponding at least one first roller 31'. The second cycloidal disk 51 ′ is disposed adjacent to the first cycloidal disk 50 ′, and is located on opposite sides of the first cycloidal disk 50 ′ from the first cycloidal disk 30 ′, and includes at least one second outer convex tooth 54' and a plurality of first through holes 55', the second outer convex teeth 54' are formed by protruding from the outer peripheral wall of the second cycloidal disc 51', and correspond to at least one first roller 31' contact. The second turntable group 6' is disposed on the eccentric assembly 21' and is driven by the eccentric assembly 21' to rotate, and includes a third cycloid disk 60' and a fourth cycloid disk 61'. The third cycloidal disk 60' is disposed between the second cycloidal disk 51' and the second wheel disk 40', is fixedly connected with the second cycloidal disk 51', and includes a plurality of second through holes 62' and at least one third convex tooth portion 63 ′, the third convex tooth portion 63 ′ is formed by protruding from the outer peripheral wall of the third cycloidal disk 60 ′, and is in contact with the corresponding at least one second roller 41 ′ . The fourth cycloidal disc 61' is disposed between the third cycloidal disc 60' and the second wheel disc 40', and includes at least one fourth outer convex tooth portion 64'. The fourth outer convex tooth portion 64' is formed by protruding from the outer peripheral wall surface of the fourth cycloid disk 61', and is in contact with the corresponding at least one second roller 41'. The arrangement positions of the plurality of second through holes 62' correspond to the positions of the plurality of first through holes 55'.

Each connecting member 52' is provided with a corresponding first penetration hole 55' and a corresponding second penetration hole 62', and is located between the first cycloidal disk 50' and the fourth cycloidal disk 61'. In addition, One end of each connecting piece 52' is fixedly connected with the first cycloidal disc 50', and the other end of each connecting piece 52' is assembled with the fourth cycloidal disc 61', so the first cycloidal disc 50' and The fourth cycloid disk 61 ′ can be connected to each other through the connecting member 52 ′.

In the above embodiment, the first cycloidal disk 50' includes the first shaft hole 56', and the second cycloidal disk 51' includes the second shaft hole 57'. The first shaft hole 56' of the first cycloidal disk 50' and the second shaft hole 57' of the second cycloidal disk 51' are respectively disposed at the geometric centers of the first cycloidal disk 50' and the second cycloidal disk 51' position, and part of the eccentric assembly 21' is rotatably disposed in the first shaft hole 56' and the second shaft hole 57', so when the eccentric device 2' rotates, the first cycloid disk 50' and the second cycloid disk 51' is driven to rotate by the eccentric component 21' of the eccentric device 2'.

The third cycloid disk 60' includes a third shaft hole 65', and the fourth cycloid disk 61' includes a fourth shaft hole 66'. The third shaft hole 65' of the third cycloid disk 60' and the fourth shaft hole 66' of the fourth cycloid disk 61' are respectively disposed at the geometric centers of the third cycloid disk 60' and the fourth cycloid disk 61' position, and part of the eccentric assembly 21' is rotatably disposed in the third shaft hole 65' and the fourth shaft hole 66', so when the eccentric assembly 21' rotates, the third cycloid disk 60' and the fourth cycloid disk 61' is driven by the eccentric assembly 21' to rotate. In addition, since the first cycloidal disk 50 ′ and the fourth cycloidal disk 61 ′ are assembled by a plurality of connecting members 52 ′, the first cycloidal disk 50 ′ and the fourth cycloidal disk 61 ′ will be synchronized and in the same direction operation. Since the second cycloidal disk 51' and the third cycloidal disk 60' are fixedly connected to each other, the second cycloidal disk 51' and the third cycloidal disk 60' will run synchronously and in the same direction. As can be seen from the above, since the cycloid reducer 1' of the present invention includes two sets of turntable groups, namely the first turntable group 5' and the second turntable group 6', and the first turntable group 5' includes two cycloid disks, That is, the first cycloidal disk 50' and the second cycloidal disk 51', and the second turntable group 6' also includes two cycloidal disks, namely the third cycloidal disk 60' and the fourth cycloidal disk 61', so The cycloid type reducer 1' of the present invention actually utilizes four cycloid disks to connect with the plurality of first rollers 31' and the second roller disk group 4' of the first roller wheel group 3'. The second rollers 41' are in contact, so compared to the conventional cycloid reducer that only uses two cycloid disks to contact the rollers, each cycloid disk of the cycloid reducer 1' of the present invention The load it bears can be reduced, so the cycloid reducer 1 ′ has strong structural strength and achieves high rigidity, so it can be applied to occasions that need to bear high load.

Please refer to FIG. 11 again in conjunction with FIGS. 8 and 10 , wherein FIG. 11 is a schematic structural diagram of the eccentric assembly and a bearing set shown in FIG. 8 . In some embodiments, the eccentric component 21' further includes a first eccentric cylinder 22', a second eccentric cylinder 23', a third eccentric cylinder 24' and a first eccentric cylinder 22', a second eccentric cylinder 23', a third eccentric cylinder 24' and a first eccentric cylinder 22', a second eccentric cylinder 23', a Four eccentric cylinders 25', wherein the eccentric directions of the first eccentric cylinder 22' and the fourth eccentric cylinder 25' are the same, the eccentric directions of the second eccentric cylinder 23' and the third eccentric cylinder 24' are the same, and the first eccentric cylinder 25' has the same eccentric direction. The eccentric directions of 22' and the fourth eccentric cylinder 25' are opposite to the eccentric directions of the second eccentric cylinder 23' and the third eccentric cylinder 24'. In addition, the eccentric assembly 21' can actually be rotatably disposed in the first shaft hole 56', the second shaft hole 57', the third shaft hole 65' and the fourth shaft hole 66' through the bearing set 8', wherein The bearing set 8' can be, but is not limited to, constituted by at least three independent fourth bearings 80', and the first shaft hole 56' of the first cycloid disk 50' passes through the corresponding fourth bearings 80' for the first The eccentric cylinder 22' is arranged, and since the eccentric directions of the adjacent second eccentric cylinder 23' and the third eccentric cylinder 24' are the same, the second shaft hole 57' of the second cycloid disk 51' and the third cycloid disk 51' The third shaft hole 65' of the 60' can share the same fourth bearing 80', that is, the second shaft hole 57' of the second cycloid disk 51' and the third shaft hole 65' of the third cycloid disk 60' pass through. The corresponding single fourth bearing 80' is provided for the second eccentric cylinder 23' and the third eccentric cylinder 24', respectively, and the fourth shaft hole 66' of the fourth cycloid disk 61' passes through the corresponding fourth bearing 80'. A fourth eccentric cylinder 25' is provided. In this way, the eccentric direction of the first cycloid disk 50' and the fourth cycloid disk 61' will be opposite to the eccentric direction of the second cycloid disk 51' and the third cycloid disk 60', so the pendulum of the present invention The linear reducer 1' can perform dynamic balance compensation without additionally setting an offset compensation device. Of course, the second shaft hole 57 ′ of the second cycloid disk 51 ′ and the third shaft hole 65 ′ of the third cycloid disk 60 ′ can also use independent fourth bearings 80 ′ to supply the fourth eccentric cylinder 25 respectively. ' and the second eccentric cylinder 23' are arranged, so the bearing set 8' can be composed of four independent fourth bearings 80'.

In some embodiments, both the first convex tooth portion 53 ′ of the first cycloidal disk 50 ′ and the second convex tooth portion 54 ′ of the second cycloidal disk 51 ′ need to be in contact with the first roller 31 ′. contact, and the third convex teeth 63' of the third cycloidal disc 60' and the fourth convex teeth 64' of the fourth cycloid disc 61' both need to be in contact with the second roller 41', so the first The number of teeth of the first convex teeth 53' of a cycloid disk 50' and the tooth shape formed by it are actually the same as the number of teeth of the second convex teeth 54' of the second cycloid disk 51' and the tooth shape formed by it In the same way, the number of teeth of the third convex teeth 63 ′ of the third cycloidal disk 60 ′ and the tooth profiles formed by them are the same as the number of teeth of the fourth convex teeth 64 ′ of the fourth cycloid disk 61 ′ and the teeth formed by the teeth. same type. In addition, the number of the first rollers 31 ′ is at least greater than the number of the first convex teeth 53 ′ of the first cycloidal disc 50 ′ and the number of the second convex teeth 54 ′ of the second cycloidal disc 51 ′. One, the number of the second rollers 41' is at least more than the number of the third externally convex teeth 63' of the third cycloidal disc 60' and the number of the fourth externally convex teeth 64' of the fourth cycloidal disc 61' respectively. One.

In addition, in order to prevent the plurality of connecting members 52' from interfering with the operation of the second cycloidal disk 51' and the third cycloidal disk 60' when the second cycloidal disk 51' and the third cycloidal disk 60' rotate synchronously, the Each connecting member 52' is spaced apart from the walls of the corresponding first and second through holes 55' and 62' when the corresponding first through holes 55' and 62' are passed through. without contacting each other.

In addition, as shown in FIG. 8, the connecting members 52' can be respectively formed of cylinders, so the shapes of the first through holes 55' and the second through holes 62' are also circular. However, the connecting members 52', The shapes of the first piercing hole 55' and the second piercing hole 62' are not limited to this, and can be implemented in different ways according to actual needs. The hole shapes of the first through hole 55' and the second through hole 62' are also correspondingly trapezoidal.

In some embodiments, the first eccentric cylinder 22', the second eccentric cylinder 23, the third eccentric cylinder 24' and the fourth eccentric cylinder 25' of the eccentric component 21' can be integrally formed, and The bearing 80' can be sleeved on the first eccentric cylinder 22', the second eccentric cylinder 23', the third eccentric cylinder 24' and the fourth eccentric cylinder 25', so the first eccentric cylinder 22', the second eccentric cylinder 23' , under the condition that the third eccentric cylinder 24' and the fourth eccentric cylinder 25' are integrally formed, the radius of the second eccentric cylinder 23' is greater than that of the first eccentric cylinder 22', and the radius of the third eccentric cylinder 24' is greater than that of the fourth eccentric cylinder 24'. Radius of the eccentric cylinder 25'.

Of course, the first eccentric cylinder 22', the second eccentric cylinder 23', the third eccentric cylinder 24' and the fourth eccentric cylinder 25' of the eccentric device 2' are not limited to be integrally formed. The bearing 80' can be respectively sleeved with the first eccentric cylinder 22', the fourth eccentric cylinder 25', the second eccentric cylinder 23' and the third eccentric cylinder 24', so in other embodiments, the first eccentric cylinder 22', the At least two of the two eccentric cylinders 23', the third eccentric cylinder 24' and the fourth eccentric cylinder 25' need to be assembled on the rotating shaft 20', while the remaining eccentric cylinders and the rotating shaft 20' are integrally formed . Of course, similar to the content disclosed in the aforementioned FIG. 6 , since the eccentric cylinder of the present embodiment can also be assembled on the rotating shaft 20 ′, so that the rotational force of the rotating shaft 20 ′ can be smoothly transmitted to the rotating shaft 20 . On each eccentric cylinder on ', each eccentric cylinder arranged on the rotating shaft 20' in an assembled manner may also include a latching pin (not shown) for engaging when the eccentric cylinder is disposed on the rotating shaft 20' on the rotating shaft 20', so that the eccentric cylinder can be tightly fitted on the rotating shaft 20'.

In addition, since the reduction ratio and the operation principle that the cycloid reducer 1' shown in FIG. 8 can achieve are actually similar to the cycloid reducer 1 shown in FIG. 1 , the details are not repeated here.

In summary, the present invention provides a cycloid reducer, which includes two sets of turntable groups, and each turntable group includes two cycloid disks, so the cycloid reducer of the present invention can utilize four cycloids Therefore, the cycloid reducer of the present invention has strong structural strength and can be applied to occasions that need to bear high loads , In addition, the eccentric assembly of the eccentric device of the cycloid reducer of the present invention also includes a plurality of eccentric cylinders eccentrically arranged on the rotating shaft, and each eccentric cylinder is arranged in the corresponding cycloid. A plurality of eccentric cylinders will make the eccentric direction of two cycloid disks in the four cycloid disks opposite to the eccentric direction of the remaining two cycloid disks, so the cycloid reducer of the present invention does not require extra cost to design. The weight compensation device can achieve dynamic balance.

Claims (15)

1. A cycloid reducer, comprising: An eccentric device includes a rotating shaft and an eccentric assembly, the rotating shaft is rotatable, the eccentric assembly is eccentrically fixed on the rotating shaft and is located between a first end and a second end of the rotating shaft, and is driven by the rotating shaft and deflected relative to an axis of the shaft; a first roller wheel set, comprising a first wheel and a plurality of first rollers, and the plurality of first rollers are arranged on the first wheel; a second roller wheel set, comprising a second wheel and a plurality of second rollers, and the plurality of second rollers are arranged on the second wheel; A first turntable set is disposed on the eccentric assembly and driven by the eccentric assembly to rotate, and includes a first cycloidal disk and a second cycloidal disk, the first cycloidal disk and the first wheel disk Adjacent to and including at least one first convex tooth portion, the first convex tooth portion is in contact with the corresponding at least one of the first rollers, and the second cycloidal disk is disposed adjacent to the first cycloid disk , and are located on opposite sides of the first cycloidal disk respectively with the first wheel, and include at least one second convex tooth portion, the second convex tooth portion is in contact with the corresponding at least one of the first rollers ;as well as A second turntable set is disposed on the eccentric assembly and driven by the eccentric assembly to rotate, and includes a third cycloid disk and a fourth cycloid disk, the third cycloid disk is disposed on the second pendulum Between the wire disc and the second wheel disc, at least one third outer convex tooth portion is included, the third outer convex tooth portion is in contact with the corresponding at least one of the second rollers, and the fourth cycloidal disc is arranged on the Between the third cycloidal disk and the second wheel disk, at least one fourth outer convex tooth portion is included, and the fourth outer convex tooth portion is in contact with the corresponding at least one of the second rollers. 2 . The cycloid reducer as claimed in claim 1 , wherein the rotating shaft receives a power input and drives the eccentric assembly to rotate synchronously, and the first roller wheel set does not rotate about the axis of the rotating shaft, and The second roller wheel is rotated by the pushing motion between each of the second rollers and the corresponding third and fourth convex teeth, thereby driving the second wheel to rotate and produce a power output. 3 . The cycloidal reducer as claimed in claim 1 , wherein the first roller wheel set further comprises a housing part assembled on the first wheel and having a hollow structure, the hollow structure Part of the eccentric device, the second roller wheel set and the second turntable set are accommodated, and the first turntable set is accommodated in the first wheel disc or the hollow structure. 4. The cycloid reducer as claimed in claim 1, wherein the first cycloid disk further comprises a plurality of first connecting elements, the second cycloid disk further comprises a plurality of second connecting elements and a plurality of first connecting elements Through holes, the third cycloidal disk also includes a plurality of second through holes, each of the first connecting pieces is pierced through the corresponding first through holes, and the first cycloidal disk and the third pendulum are The cycloids are connected, and each of the second connecting pieces passes through the corresponding second through holes to connect the second cycloid disk and the fourth cycloid disk. 5. The cycloid reducer as claimed in claim 4, wherein each of the second connecting pieces is spaced apart from the wall surface of the second through hole and not in contact with each other, and each of the first connecting pieces is connected to the first The walls of the piercing holes are spaced apart and not in contact with each other, and each of the first connecting pieces and each of the second connecting pieces is formed by a trapezoidal cylinder or a cylinder respectively, and a plurality of the first piercing holes and The hole shapes of the plurality of second through holes are respectively trapezoidal or circular corresponding to the first connecting piece and the second connecting piece. 6 . The cycloid reducer as claimed in claim 4 , wherein the eccentric component comprises a first eccentric cylinder, a second eccentric cylinder, a third eccentric cylinder that are disposed on the rotating shaft in an eccentric manner and are adjacent to each other in sequence. 7 . Eccentric cylinder and a fourth eccentric cylinder, the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder and the fourth eccentric cylinder are respectively used for the first cycloid disk, the second cycloid disk, the The tricycloid disc and the fourth cycloid disc are sleeved, and the eccentric directions of the first eccentric cylinder and the third eccentric cylinder are the same, the eccentric directions of the second eccentric cylinder and the fourth eccentric cylinder are the same, and the third eccentric cylinder has the same eccentric direction. The eccentric directions of an eccentric cylinder and the third eccentric cylinder are opposite to the eccentric directions of the second eccentric cylinder and the fourth eccentric cylinder. 7. The cycloid reducer as claimed in claim 6, wherein the rotating shaft, the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder and the fourth eccentric cylinder are integrally formed, and the second eccentric cylinder The radius of the cylinder is greater than the radius of the first eccentric cylinder, and the radius of the third eccentric cylinder is greater than the radius of the fourth eccentric cylinder. 8. The cycloid reducer as claimed in claim 6, wherein at least two of the eccentric cylinders are assembled in the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder and the fourth eccentric cylinder is arranged on the rotating shaft, and the other eccentric cylinders are integrally formed with the rotating shaft. 9. The cycloid reducer as claimed in claim 8, wherein each of the eccentric cylinders arranged on the rotating shaft in an assembled manner also has a latching pin for when the eccentric cylinder is arranged on the rotating shaft snapped onto the shaft. 10 . The cycloid reducer as claimed in claim 1 , wherein the third cycloid disk is fixedly connected to the second cycloid disk, the first cycloid disk further comprises a plurality of connecting pieces, and the second cycloid disk The spool further includes a plurality of first through holes, the third cycloid plate further includes a plurality of second through holes, and each of the connecting pieces is through the corresponding first through hole and the corresponding second through hole A hole is provided to connect the first cycloid disk and the fourth cycloid disk. 11 . The cycloid reducer as claimed in claim 10 , wherein each of the connecting pieces is spaced apart from the walls of the corresponding first through hole and the corresponding second through hole without contacting each other, and each One of the connecting pieces is composed of a trapezoidal cylinder or a cylinder, respectively, and the shape of each of the first through holes and each of the second through holes is trapezoidal or circular, respectively, corresponding to the connecting piece. 12. The cycloid reducer as claimed in claim 10, wherein the eccentric component comprises a first eccentric cylinder, a second eccentric cylinder, a third eccentric cylinder, which are arranged on the rotating shaft in an eccentric manner and are sequentially adjacent to each other Eccentric cylinder and a fourth eccentric cylinder, the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder and the fourth eccentric cylinder are respectively used for the first cycloid disk, the second cycloid disk, the The tricycloid disk and the fourth cycloid disk are sleeved, and the eccentric directions of the second eccentric cylinder and the third eccentric cylinder are the same, the eccentric directions of the first eccentric cylinder and the fourth eccentric cylinder are the same, and the third eccentric cylinder has the same eccentric direction. The eccentric directions of the second eccentric cylinder and the third eccentric cylinder are opposite to the eccentric directions of the first eccentric cylinder and the fourth eccentric cylinder. 13. The cycloid reducer as claimed in claim 12, wherein the rotating shaft, the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder and the fourth eccentric cylinder are integrally formed, and the second eccentric cylinder The radius of the cylinder and the radius of the third eccentric cylinder are respectively larger than the radius of the first eccentric cylinder and the radius of the fourth eccentric cylinder. 14. The cycloidal reducer as claimed in any one of claims 4 or 10, wherein the number of teeth of the first externally convex teeth of the first cycloidal disk and the tooth profile formed thereof are related to the second cycloidal disk The number of teeth of the second convex teeth and the tooth shape formed by the second cycloidal disk are the same, and the number of teeth of the third external convex teeth of the third cycloid disk and the tooth shape formed are the same as those of the fourth cycloid of the fourth cycloid. The number of teeth and the tooth shape formed by the external convex teeth are the same. 15. The cycloid reducer as claimed in claim 1, wherein two cycloidal disks among the first cycloidal disk, the second cycloidal disk, the third cycloidal disk and the fourth cycloidal disk The eccentric direction of is opposite to the eccentric direction of the remaining two cycloid disks.

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