TWI888253B - Cycloid speed reducer - Google Patents

Abstract

A cycloid speed reducer is disclosed for optimizing the component structure to realize the miniaturization application. The accommodation space required for the sealing component is integrated into the track ring to save the material costs and significantly reduce the overall volume of the cycloid speed reducer. Moreover, a spacer ring is placed between the front bearing and the rear bearing, and the thickness of the spacer ring can be used to adjust the clearances of the front bearing and the rear bearing to facilitate the quantitative production and control the yield. On the other hand, the position-limitation of the gear plate in the cycloid reducer usually relies on the output plate or the track ring to act as the bearing and limiting parts. The initial shape of the output plate is adjusted through mass production molding, and the thickness next to the protruding structures of the output plate is increased, so that the supporting plane can be milled through a lower-cost lathe processing, and the accuracy of bearing plane can meet the requirements. There is no need to perform full-circle milling on the output plate, and the processing hours are reduced significantly.

Description

Pendulum type reducer

This case is about a reducer structure, especially a cycloidal reducer, which is miniaturized by optimizing the component structure.

The reducers commonly used in robotic arms on the market can be roughly divided into two structural types: "pendulum type reducer" and "harmonic type reducer". Both types of reducers are lightweight, compact and have high-speed characteristics.

The harmonic reducer is mainly composed of a wave generator, a flexible gear and a rigid gear. The harmonic transmission of the harmonic reducer uses the elastic micro-deformation of the flexible gear to perform a pushing operation, thereby transmitting motion and power. Since the harmonic reducer uses a flexible gear transmission, its rigidity is relatively poor, so the harmonic reducer is not impact-resistant and contains the problem of tooth difference friction, resulting in a shorter service life.

The cycloid reducer includes an eccentric shaft and two cycloid discs with at least one tooth and are linked to the power input shaft and the power output shaft respectively. The operating principle is that the input shaft drives one of the cycloid discs to rotate through the eccentric shaft, which will drive the other cycloid disc to rotate the output shaft accordingly, and the rotation of the two cycloid discs actually needs to be realized by using the corresponding tooth structure. Although the traditional cycloid reducer includes the advantages of large transmission ratio, compact structure and high transmission efficiency, it still has a larger size compared to the harmonic reducer, which is not conducive to miniaturization.

In view of this, it is necessary to provide a cycloidal reducer that optimizes the component structure to achieve miniaturization and solve the deficiencies in conventional technology.

The purpose of this case is to provide a cycloidal reducer that can be miniaturized by optimizing the component structure. In order to achieve the design of the front and rear seals of the reducer, the space required for the seals is integrated into the track ring, and the traditional end cover design is omitted to save material costs and significantly reduce the overall volume of the reducer. In addition, in order to prevent the front and rear bearings of the input shaft from affecting the transmission due to the installation gap error, a spacer ring can be configured between the front and rear bearings, and the thickness of the spacer ring is used to adjust the front and rear bearing gap to facilitate quantitative production and control yield. On the other hand, the gear plate limit in the cycloidal reducer usually relies on the output plate or the track ring as the bearing limit. In this case, the mold is adjusted for mass production. When the mold is opened, the thickness is increased next to the protruding structure of the output plate. The milling of the bearing surface can be achieved by lathe processing at a lower cost, and the plane accuracy meets the requirements. There is no need to perform full-circle milling on the output plate, which greatly reduces the processing time. In this way, the pendulum type reducer in this case optimizes the above-mentioned component structure, not only realizing miniaturization application, but also saving materials and manufacturing costs.

To achieve the above-mentioned purpose, the present invention provides a cycloidal reducer including an input shaft, a cycloidal gear, a roller wheel assembly, an output plate, a track seat and a seal. The input shaft is arranged axially. The cycloidal gear includes a middle shaft hole and an outer tooth portion, wherein the middle shaft hole penetrates the cycloidal gear along the axial direction and is assembled for the input shaft to pass through, and the outer tooth portion is arranged on the outer ring surface of the cycloidal gear. The roller wheel assembly is sleeved on the cycloidal gear and includes a plurality of rollers spatially relative to the outer tooth portion of the cycloidal gear. The output plate is connected to the cycloid gear plate through the crankshaft, wherein when the input shaft drives the outer teeth of the cycloid gear plate to engage with the plurality of rollers of the roller wheel set, the cycloid gear plate rotates with the crankshaft, so that the crankshaft drives the output plate to rotate. The track seat body is arranged on the outer side of the roller wheel set and is spatially opposite to the outer peripheral wall of the output plate, wherein the track seat body further extends outward along the outer peripheral wall of the output plate, and a receiving space is formed between the track seat body and the outer peripheral wall of the output plate. The seal is accommodated in the receiving space and is tightly arranged between the track seat body and the output plate.

In one embodiment, the cycloid reducer further includes a roller bearing, which is disposed between the output plate and the track seat body, and includes a plurality of bearing rollers that roll between the track seat body and the output plate.

In one embodiment, the track seat body is spatially opposite to the output plate, and is in a parallelogram shape in a radial cross section, so that a plurality of bearing rollers of the roller bearing can roll between the track seat body and the output plate.

In one embodiment, the track seat body includes a groove, which is arranged around the inner peripheral wall of the track seat body and is assembled to engage with the outer peripheral edge of the sealing member.

In one embodiment, the cycloid reducer further includes a deep groove bearing, a needle bearing and a spacer ring, wherein the input shaft includes a deep groove bearing connecting section and a needle bearing connecting section, the deep groove bearing is connected between the deep groove bearing connecting section and the output plate, the needle bearing is connected between the needle bearing connecting section and the cycloid gear plate, and the deep groove bearing and the needle bearing connecting section are further connected through a spacer ring.

In one embodiment, the spacer ring includes a first spacer segment and a second spacer segment, which are axially connected to each other to form a stepped structure.

In one embodiment, the inner ring interference fit of the deep groove bearing bears against the first spacing segment, and the second spacing segment bears against the roller bearing connection segment.

In one embodiment, the first spacing segment has a first spacing outer diameter, the second spacing segment has a second spacing outer diameter, and the first spacing outer diameter is smaller than the second spacing outer diameter.

In one embodiment, the deep groove bearing connection section has a deep groove bearing inner diameter, the needle bearing connection section has a needle bearing inner diameter, and the relative distance between the axis of the needle bearing connection section and the axis of the deep groove bearing connection section has an eccentricity, wherein the first interval outer diameter is greater than the sum of the deep groove bearing inner diameter and 1.5 mm, and less than or equal to the needle bearing inner diameter, wherein the second interval outer diameter is greater than the sum of the first interval outer diameter and twice the eccentricity, and less than or equal to the needle bearing inner diameter, the difference between the needle bearing inner diameter and the deep groove bearing inner diameter, and the sum of twice the eccentricity.

In one embodiment, the output tray includes a plurality of protrusion structures disposed on a reference surface, and a plurality of supporting surfaces, which are respectively connected to the plurality of protrusion structures and are higher than the reference surface.

In one embodiment, a plurality of bearing surfaces are obtained by milling a protruding structure to increase the thickness of the overhanging structure, and the plurality of bearing surfaces are arranged at intervals from each other to assemble and support the bottom surface of the swing line gear disc.

In one embodiment, the output disc includes a first output disc and a second output disc, the first output disc and the second output disc are respectively located at two opposite outer sides of the roller wheel assembly, and respectively provide a power output.

1: Pendulum type reducer

10: Input shaft

101: Deep groove bearing connection section

102: Bearing needle bearing connection section

11: Swinging gear plate

110: Shaft hole

111: External teeth

112: Bottom surface

12: Roller wheel assembly

121: Roulette

122: Roller

13: Crankshaft

140:Raw materials

141: Baseline

142: Protrusion structure

143:Extended structure

144: Protrusion structure

145: Supporting surface

14a: First output tray

14b: Second output tray

15: Roller bearings

16: Deep groove bearings

17: Track seat

170: Storage space

171: Groove

18: Seal

19: Spacer ring

191: First interval

192: Second interval

20: Needle roller bearing

21: Roller bearing

ØA: Concentric outer diameter

ØB: Eccentric outer diameter

Ød: outer diameter of the first interval

ØD: Second interval outer diameter

C: Axial

e: Eccentricity

X, Y, Z: axis

Figure 1 is a three-dimensional structural diagram of the cycloid type reducer of the embodiment of this case.

Figure 2 is a cross-sectional view of the cycloid reducer of the embodiment of the present invention.

Figure 3 is a cross-sectional structural diagram of the cycloid reducer adjacent to the track seat body of the embodiment of this case.

Figure 4 is a diagram showing the dimensional relationship between the bearing, spacer ring and input shaft in the cycloid reducer of the embodiment of the present case.

Figure 5 is a three-dimensional structural diagram of the intermediate ring of the cycloid reducer of the embodiment of this case.

Figure 6 is a three-dimensional structural diagram of the first output disc processing raw materials in the pendulum-type speed reducer of the embodiment of this case.

Figure 7 is a three-dimensional structural diagram of the first output disc after processing in the cycloid type speed reducer of the embodiment of this case.

Figure 8 is a schematic diagram showing the first output disc supporting the cycloid gear disc in the cycloid type speed reducer of the present embodiment.

Some typical embodiments that embody 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 have various variations in different aspects, all of which do not deviate from the scope of the present invention, and the descriptions and drawings therein are essentially used for illustrative purposes rather than for limiting the present invention. For example, if the following content of the present disclosure describes that a first feature is disposed on or above a second feature, it means that it includes an embodiment in which the first feature and the second feature are directly in contact, and also includes an embodiment in which the additional feature can be disposed between the first feature and the second feature, so that the first feature and the second feature may not be in direct contact. In addition, different embodiments in the present disclosure may use repeated reference symbols and/or marks. These repetitions are for the purpose of simplification and clarity and are not intended to limit the relationship between the various embodiments and/or the described appearance structures. Furthermore, in order to facilitate the description of the relationship between a component or feature and another (plural) component or (plural) feature in the drawings, spatially related terms, such as "front", "back" and similar terms, may be used. In addition to the orientations shown in the drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be positioned otherwise (e.g., rotated 90 degrees or located in other orientations), and the description of the spatially related terms used may be interpreted accordingly. In addition, when a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of the present disclosure are approximate, the numerical values are stated as accurately as possible in the specific examples. In addition, it is understood that although the terms "first", "second", etc. may be used in the scope of the patent application to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example: the first component may be called the second component, and similarly, the second component may also be called the first component without departing from the scope of the embodiment. The term "and/or" used in this way includes any or all combinations of one or more of the relevant listed items.

FIG. 1 is a three-dimensional structural diagram of a cycloidal reducer according to an embodiment of the present invention. FIG. 2 is a cross-sectional diagram of a cycloidal reducer according to an embodiment of the present invention. Refer to FIG. 1 and FIG. 2. The present invention provides a cycloidal reducer 1, which can be used, but not limited to, in various motor devices, machine tools, robotic arms, automobiles, motorcycles or other power machines to provide an appropriate deceleration function. In the present embodiment, the cycloidal reducer 1 includes an input shaft 10, a cycloidal gear 11, a crankshaft 13, a first output disc 14a, a second output disc 14b and a roller wheel set 12. The roller wheel set 12 includes a wheel 121 and a plurality of rollers 122. The substantially central position of the wheel 121 includes a shaft hole (not shown) for a portion of the input shaft 10 to pass through, and the wheel 121 is also driven by the input shaft 10 to rotate, and a plurality of rollers 122 are arranged on the wheel 121. The input shaft 10 is arranged along the axial direction C, and can receive power input provided by a motor (not shown), and is driven to rotate by the power input, and the input shaft 10 is located at the substantially central position of the cycloid reducer 1. The cycloid gear 11 includes an axial hole 110 and an outer tooth portion 111, wherein the axial hole 110 is located at the substantial center of the cycloid gear 11 and corresponds to the location of the input shaft 10. The axial hole 110 is used to allow a portion of the input shaft 10 to pass through, so that the cycloid gear 11 is sleeved on the input shaft 10. When the input shaft 10 rotates, the cycloid gear 11 will be driven by the input shaft 10 to rotate. The roller wheel assembly 12 is sleeved on the cycloid gear 11 and includes a plurality of rollers 122 spaced relative to the outer tooth portion 111 of the cycloid gear 11. Of course, the outer teeth 111 of the cycloidal gear disc 11 may be, but are not limited to, formed by protrusions from the outer peripheral wall of the cycloidal gear disc 11 and contact the corresponding roller 122 of the roller wheel set 12. When the power input source provided by the motor is input through the input shaft 10, it can directly drive the outer teeth 111 of the cycloidal gear disc 11 to engage with the roller 122 of the roller wheel set 12.

In this embodiment, the cycloid gear 11 is connected to the input shaft 10 through a roller bearing 20, and is connected to the crankshaft 13 through a roller bearing 21. The crankshaft 13 is composed of, for example, four sections of eccentric shafts with the same diameter, the number of which is, for example, five. Each end of the crankshaft 13 includes a concentric end, and between the two concentric ends are two sections of eccentric structures corresponding to the cycloid gear 11. When the cycloid gear 11 is driven by the input shaft 10 to rotate, the cycloid gear 11 drives the crankshaft 13 to rotate by connecting with the eccentric end of the crankshaft 13, so that the concentric ends of the crankshaft 13 rotate synchronously and drive the first output disc 14a and the second output disc 14b to rotate respectively. The first output disc 14a and the second output disc 14b are located at two opposite outer sides of the cycloid reducer 1. For example, the first output disc 14a adjacent to the motor can be regarded as the rear end of the cycloid reducer 1, and the side where the second output disc 14b is located can be regarded as the front end of the cycloid reducer 1. Of course, the present invention is not limited to this. In this embodiment, at least one of the first output disc 14a and the second output disc 14b can be used as the power output of the cycloid reducer 1.

In this embodiment, the first output plate 14a and the second output plate 14b are respectively located at two opposite outer sides of the roller wheel assembly 12, so that the cycloidal gear plate 11 is located between the first output plate 14a and the second output plate 14b, and both the first output plate 14a and the second output plate 14b can be used as power output. In this embodiment, double-row roller bearings 15 are respectively disposed between the first output plate 14a and the second output plate 14b and the two opposite outer sides of the roller wheel assembly 12. A track seat 17 is respectively disposed on two opposite outer sides of the wheel plate 121 of the roller wheel assembly 12. The two track seats 17 are spatially opposite to the first output plate 14a and the second output plate 14b respectively, and are in a parallelogram shape on a radial cross section, so that the multiple bearing rollers of the double-row roller bearing 15 can roll between the track seat 17 and the first output plate 14a and between the track seat 17 and the second output plate 14b.

It is worth noting that in order to further realize the miniaturization of the cycloid reducer 1, the present invention omits the design of the sealing groove of the conventional front and rear end cover structure. FIG. 3 is a cross-sectional structural diagram of the cycloid reducer adjacent to the track seat body of the present embodiment. Taking the second output plate 14b as an example, the track seat body 17 further extends outward along the outer peripheral wall of the second output plate 14b to form a accommodating space 170 for the seal 18. The seal 18 passes through the accommodating space 170 formed by the extension of the track seat body 17, and is tightly arranged between the track seat body 17 and the second output plate 14b to realize the front end sealing of the cycloid reducer 1. Similarly, the first output plate 14a can also be provided with a track seat 17 and a seal 18 as described above, so as to realize the rear end sealing of the cycloid type reducer 1. Of course, the way in which the seal 18 is tightly fitted between the track seat 17 and the first output plate 14a or between the track seat 17 and the second output plate 14b can be adjusted according to the actual application requirements. In this embodiment, the seal 18 is, for example, a sealing ring structure, and the track seat 17 further includes a groove 171 corresponding to form an accommodating space 170, wherein the groove 171 is arranged around the inner peripheral wall of the track seat 17 and assembled with the outer peripheral edge of the seal 18. Of course, the present case is not limited thereto. Compared with the traditional sealing method of installing end covers before and after the ring gear to cover the reducer, this case integrates the accommodating space 170 of the seal 18 into the track seat 17, which can save the design of the end cover and has higher application flexibility. Of course, this case is not limited to this.

In this embodiment, the power source input by the motor (not shown) directly drives the input shaft 10, so that the cycloidal gear plate 11 and the roller wheel set 12 act. Therefore, the stability of the input source is extremely important. In order to ensure the stability of the input shaft 10, the present case further eliminates the gap and generates preload through the configuration of the deep groove bearing 16. In this embodiment, the input shaft 10 is connected to the first output plate 14a and the second output plate 14b by the deep groove bearing 16. The matching between the shaft hole of the deep groove bearing 16 and the input shaft 10 is mainly interference fit to ensure the stability of the input shaft 10. However, deep groove bearings 16 usually have larger tolerances. If the tolerances are too large, the accumulated value will not ensure that the deep groove bearings 16 can be over-pressurized after assembly to achieve the effect of eliminating backlash or generating pre-stress. Therefore, this case further solves the problem of accumulated tolerances that are difficult to control for bearings by adjusting the thickness of the spacer ring 19.

FIG. 4 is a diagram showing the dimensional relationship between the bearing, the spacer ring and the input shaft in the cycloid reducer of the embodiment of the present invention. FIG. 5 is a three-dimensional structural diagram showing the spacer ring in the cycloid reducer of the embodiment of the present invention. Refer to FIG. 1 to FIG. 5. In this embodiment, the input shaft 10 includes a deep groove bearing connection section 101 and a roller bearing connection section 102, the deep groove bearing 16 is connected between the deep groove bearing connection section 101 and the first output plate 14a/the second output plate 14b, the roller bearing 20 is connected between the roller bearing connection section 102 and the cycloidal gear plate 11, and the deep groove bearing 16 and the roller bearing connection section 102 are further connected through a spacer ring 19. The spacer ring 19 includes a first spacer section 191 and a second spacer section 192, which are connected to each other along the axial direction C to form a stepped structure. The outer ring of the deep groove bearing 16 is interference-fitted with the first output plate 14a and the second output plate 14b. The inner ring of the deep groove bearing 16 is interference-fitted with the first spacing segment 191 of the spacing ring 19, and the second spacing segment 192 of the spacing ring 19 is supported by the roller bearing connecting segment 102. In this embodiment, the first spacing segment 191 has a smaller first spacing outer diameter Ød, and the second spacing segment 192 has a larger second spacing outer diameter ØD. The deep groove bearing connecting section 101 of the input shaft 10 connected to the deep groove bearing 16 has a deep groove bearing inner diameter ØA, the roller bearing connecting section 102 connected to the roller bearing 20 has a roller bearing inner diameter ØB, and the relative distance between the axis of the roller bearing connecting section 102 and the axis of the deep groove bearing connecting section 101 has an eccentricity e. In this embodiment, in order to ensure that the deep groove bearing 16 can generate overpressure after assembly to achieve the effect of eliminating backlash or generating pre-stress, the size design of the spacer ring 19 is more compatible with the size of the input shaft 10. In this embodiment, with the processing size in mm as the unit, the first interval outer diameter Ød is greater than the sum of the deep groove bearing inner diameter ØA and a wall thickness, the wall thickness can be, for example, 1.5 mm, and is less than or equal to the roller bearing inner diameter ØB, as shown in the following formula (1). Furthermore, the second interval outer diameter ØD is greater than the sum of the first interval outer diameter Ød and twice the eccentricity e, and is less than or equal to the sum of the roller bearing inner diameter ØB, the difference between the roller bearing inner diameter ØB and the deep groove bearing inner diameter ØA, and twice the eccentricity e, as shown in the following formula (2).

Of course, the size design of the spacer ring 19 can also be adjusted to match the deep groove bearing 16, the first output plate 14a, the second output plate 14b or the actual application requirements, and this case is not limited to this. In addition, it should be noted that since the deep groove bearing 16 of this case is built into the reducer, compared with the known structure of arranging the bearing on the aluminum cover, the input shaft 10 structure of the cycloid reducer 1 of this case has a higher stability, and there will be no problems such as thermal expansion and interference caused by the bearing connecting the aluminum cover.

On the other hand, there is a problem of processing cost for some parts in the cycloid reducer 1. In addition to the high precision requirements, the structure of some parts is also relatively complex. Figure 6 is a three-dimensional structural diagram of the raw material processed by the first output disc in the cycloid reducer of the embodiment of the present case. Figure 7 is a three-dimensional structural diagram of the first output disc after processing in the cycloid reducer of the embodiment of the present case. Figure 8 is a schematic diagram of the first output disc supporting the cycloid gear disc in the cycloid reducer of the embodiment of the present case. In this embodiment, the first output disc 14a is usually a disc-shaped workpiece with several protrusion structures. For this kind of special-shaped workpiece, the cost can only be reduced by taking the mold opening strategy in mass production. And after the mold is opened, it is necessary to control the dimensional accuracy through machine processing. Traditional processing methods require processing too many processing surfaces, and thus cannot increase the benefits of mold opening. For example, the cycloidal gear plate 11 of the cycloidal reducer 1 is usually designed to be supported by the first output plate 14a for position limiting. It is known that the output plate needs to be processed and milled in detail after mold opening to ensure the accuracy of the supporting surface, and the milling range needs to surround the entire annular surface of the output plate to ensure accuracy, thus requiring heavy cost increase. In this embodiment, the first output plate 14a uses the raw material 140 as shown in FIG. 6, which is mainly composed of a protruding structure 142 connected to an extended structure 143 to increase the thickness and is formed on a reference surface 141. The raw material 140 can be manufactured by mold opening. Afterwards, the first output plate 14a can be finely structured by lathe processing at a relatively low cost, as shown in FIG. 7. The protruding structure 142 is turned to increase the thickness of the extended structure 143 to form the bearing surface 145 of the oscillating gear plate 11. The bearing surface 145 is higher than the reference surface 141 and corresponds to the connected protruding structure 144. The plurality of bearing surfaces 145 are arranged at intervals. Thus, the bottom surface 112 of the oscillating gear plate 11 can be accurately supported on the bearing surface 145, as shown in FIG. 8. Compared with the known processing method of milling the entire surface, the present case uses the extended structure 143 with a thicker thickness beside the protruding structure 142 when opening the mold, which can avoid the problem of milling the entire surface and greatly reduce the processing amount. Thus, the cycloidal reducer 1 of this case optimizes the aforementioned component structure, not only realizing miniaturization application, but also saving materials and manufacturing costs. Of course, this case is not limited to this.

As can be seen from the above, the cycloid reducer 1 of the present invention utilizes the design of the front and rear end seals 18, omitting the traditional end cover design, which can save material costs and significantly reduce the overall volume of the reducer. The spacer ring 19 that can be configured between the front and rear bearings can prevent the front and rear bearings of the input shaft 10 from affecting the transmission due to the installation gap error. Using the thickness of the spacer ring 19 to adjust the front and rear bearing gap is more conducive to quantitative production and control of yield. Since the cycloid reducer 1 of the present invention adopts the front and rear output terminals, it is more conducive to the assembly application of miniaturized structures. For example, when the rear output end of the cycloid reducer 1 in this case is assembled with the motor, an encoder can be configured between the cycloid reducer 1 and the motor, and the encoder feedback at the output end can be used to improve the accuracy of the cycloid reducer 1. The application of the cycloid reducer 1 configured with encoder feedback in this case is applicable to general standard servo motors, and is competitive in terms of cost and convenience. Of course, the application of the cycloid reducer 1 in this case is not limited to this, and will not be elaborated.

In summary, this case provides a cycloidal reducer that achieves miniaturization through optimized component structure. In order to achieve the design of sealing at the front and rear ends of the reducer, the space required for the seal is integrated into the track ring, and the traditional end cover design is omitted to save material costs and significantly reduce the overall volume of the reducer. In addition, in order to prevent the front and rear bearings of the input shaft from affecting the transmission due to installation clearance errors, a spacer ring can be configured between the front and rear bearings, and the thickness of the spacer ring is used to adjust the front and rear bearing clearance to facilitate quantitative production and control yield. On the other hand, the gear plate limit in the cycloidal reducer usually relies on the output plate or the track ring as the bearing limit. In this case, the mold is adjusted for mass production. When the mold is opened, the thickness is increased next to the protruding structure of the output plate. This allows the milling of the bearing surface to be achieved with a low-cost lathe, and the plane accuracy meets the requirements. There is no need to perform full-circle milling on the output plate, which greatly reduces the processing time. In this way, the pendulum-type reducer in this case optimizes the above-mentioned component structure, not only realizing miniaturization application, but also saving materials and manufacturing costs.

This case can be modified in various ways by people familiar with this technology, but it will not deviate from the scope of protection of the attached patent application.

1: Pendulum type reducer

10: Input shaft

11: Swinging gear plate

110: Shaft hole

111: External teeth

12: Roller wheel assembly

121: Roulette

122: Roller

13: Crankshaft

14a: First output tray

14b: Second output tray

15: Roller bearings

16: Deep groove bearings

17: Track seat

18: Seal

19: Spacer ring

20: Needle roller bearing

21: Roller bearing

C: Axial

Claims (12)

A cycloid reducer comprises: an input shaft arranged along an axial direction; an cycloid gear plate comprising a central shaft hole and an outer tooth portion, wherein the central shaft hole penetrates the cycloid gear plate along the axial direction and is configured for the input shaft to pass through, and the outer tooth portion is arranged on the outer ring surface of the cycloid gear plate; a roller wheel assembly sleeved on the cycloid gear plate and comprising a plurality of rollers spatially relative to the outer tooth portion of the cycloid gear plate; An output plate is connected to the cycloid gear plate through a crankshaft, wherein when the input shaft drives the outer teeth of the cycloid gear plate to engage with the plurality of rollers of the roller wheel set, the cycloid gear plate rotates with the crankshaft, so that the crankshaft drives the output plate to rotate; A track seat body is arranged on an outer side of the roller wheel set and is spatially opposite to the outer peripheral wall of the output plate, wherein the track seat body further extends outward along the outer peripheral wall of the output plate to form a accommodating space between the track seat body and the outer peripheral wall of the output plate; and A seal is accommodated in the accommodation space and is tightly arranged between the track seat and the output disc. The cycloid reducer as described in claim 1 further includes a roller bearing, wherein the roller bearing is disposed between the output plate and the track seat body, and includes a plurality of bearing rollers rolling between the track seat body and the output plate. The cycloid type speed reducer as described in claim 2, wherein the track seat body is spatially opposite to the output plate and is in a parallelogram shape in a radial cross section, so that the plurality of bearing rolling elements of the roller bearing can roll between the track seat body and the output plate. The cycloid reducer as described in claim 1, wherein the track seat body includes a groove, which is arranged around the inner circumferential wall of the track seat body and is assembled to engage with the outer circumference of the seal. The cycloid reducer as described in claim 1 further includes a deep groove bearing, a needle bearing and a spacer ring, wherein the input shaft includes a deep groove bearing connecting section and a needle bearing connecting section, the deep groove bearing is connected between the deep groove bearing connecting section and the output plate, the needle bearing is connected between the needle bearing connecting section and the cycloid gear plate, and the deep groove bearing and the needle bearing connecting section are further connected through the spacer ring. The cycloid reducer as described in claim 5, wherein the spacer ring includes a first spacer segment and a second spacer segment, which are axially connected to each other to form a stepped structure. A cycloid reducer as described in claim 6, wherein an inner ring of the deep groove bearing is supported by the first spacing section by interference fit, and the second spacing section is supported by the needle bearing connecting section. A cycloid-type speed reducer as described in claim 6, wherein the first interval segment has a first interval outer diameter, the second interval segment has a second interval outer diameter, and the first interval outer diameter is smaller than the second interval outer diameter. The cycloid reducer as described in claim 8, wherein the deep groove bearing connecting section has an inner diameter of the deep groove bearing, the needle bearing connecting section has an inner diameter of the needle bearing, and the relative distance between the axis of the needle bearing connecting section and the axis of the deep groove bearing connecting section has an eccentricity, wherein the outer diameter of the first interval is greater than the inner diameter of the deep groove bearing and 1.5 mm, and is less than or equal to the inner diameter of the roller bearing, wherein the outer diameter of the second interval is greater than the sum of the outer diameter of the first interval and twice the eccentricity, and is less than or equal to the sum of the inner diameter of the roller bearing, the difference between the inner diameter of the roller bearing and the inner diameter of the deep groove bearing, and twice the eccentricity. A cycloid-type speed reducer as described in claim 1, wherein the output disc includes a plurality of protrusion structures disposed on a reference plane, and a plurality of bearing surfaces respectively corresponding to and connected to the plurality of protrusion structures and higher than the reference plane. As described in claim 10, the plurality of bearing surfaces are made by milling an overhanging structure to increase the thickness of the protruding structure, and the plurality of bearing surfaces are arranged at intervals from each other and assembled to bear against the bottom surface of the cycloid gear disc. The cycloid type speed reducer as described in claim 1, wherein the output plate includes a first output plate and a second output plate, the first output plate and the second output plate are respectively located on two opposite outer sides of the roller pulley assembly and respectively provide a power output.

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