Super-flat high-rigidity speed reducer

Abstract

The application provides an ultra-flat high-rigidity speed reducer, and relates to the technical field of speed reducers.The ultra-flat high-rigidity speed reducer comprises a pin gear shell, an input shaft, two cycloid wheels, a plurality of eccentric shafts, and planet wheels arranged at the end of the eccentric shafts; a true circle and cams located on both sides of the true circle are arranged on the eccentric shafts; the two cycloid wheels are respectively connected with eccentric cam through first needle rollers and retainer bearings; two groups of needle rollers meshing with the cycloid wheels are arranged in the pin gear shell; a cross roller bearing is arranged between the two cycloid wheels; the inner ring of the cross roller bearing is connected with the eccentric wheel true circle through second needle rollers and retainer bearings; the outer ring is limitingly connected with the inner wall of the pin gear shell; a first stop ring is arranged on the side of the pin gear shell away from the planet wheel; a second stop ring is arranged on the side of the pin gear shell close to the planet wheel; the first stop ring and the second stop ring are fixedly connected with the inner ring of the cross roller bearing through first cylindrical pins and first screws. The application greatly reduces the axial thickness under the premise of guaranteeing the bearing capacity and rigidity performance, and realizes ultra-flat high-rigidity.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to an ultra-flat high-rigidity reducer. Background Art

[0002] The RV reducer in the prior art includes a pinion housing, an output shaft, an output end cover, an eccentric shaft, a cycloid wheel, a planetary gear, an input shaft and other structures. The output shaft and the output end cover are both installed in the pinion housing by mounting bearings. The mounting bearings can be angular contact ball bearings, deep groove ball bearings or tapered roller bearings. A skeleton sealing ring is also required between the output shaft and the pinion housing for sealing. The true circles at both ends of the eccentric shaft need to be installed in the circular holes of the output shaft and the output end cover respectively using retainer bearings or tapered roller bearings. Some eccentric shaft ends also need to be equipped with deep groove ball bearings to prevent axial displacement of the eccentric shaft. The above structure results in a large axial thickness of the RV reducer and a compact internal structure. It is impossible to significantly reduce the axial thickness of the reducer while ensuring the overall load-bearing capacity and stiffness performance of the reducer. Summary of the Invention

[0003] The purpose of the present invention is to provide an ultra-flat high-rigidity reducer, which can greatly reduce the axial thickness of the reducer while ensuring the overall load-bearing capacity and stiffness performance of the reducer, thereby achieving ultra-flat and high-rigidity of the reducer, and the positions of the input end, output end and fixed end of the reducer can be flexibly selected, thereby effectively improving the applicability of the reducer.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] The cam is connected to the gear of the said eccentric shaft by the said first and second gears and the cam is connected with the gear of the eccentric shaft by the said first and second gears and the cam is connected with the gear of the eccentric shaft by the said second gears.

[0006] By adopting the above technical solution, the input shaft drives the planetary gear to rotate and drives the eccentric shaft to rotate. The eccentric shaft drives the cycloid wheel to perform yaw motion and engage with the needle roller on the pinion housing. When the pinion housing is fixed, the cycloid wheel not only performs deflection motion, but also rotates in a circular direction. At the same time, it drives the inner ring of the cross roller bearing to drive the first retaining ring and the second retaining ring to rotate, thereby realizing output.

[0007] The present invention realizes a significant reduction in the axial thickness of the reducer and an ultra-flat and high-rigidity reducer while ensuring the overall load-bearing capacity and rigidity performance of the reducer from the following aspects:

[0008] First, the output shaft and output end cover in the original reducer are replaced by a combination of a cross roller bearing inner ring and the first and second retaining rings. At the same time, the mounting bearings for the output shaft and output end cover are omitted. A single cross roller bearing can ensure the axial and radial load-bearing capacity, reducing the number of bearings while maintaining the same stiffness performance.

[0009] Secondly, the eccentric shaft of the present invention is only provided with a true circle and is installed by only one cross roller bearing, which reduces the number of bearings by one compared with the original reducer in which both ends of the eccentric shaft need to use cage bearings or tapered roller bearings.

[0010] In addition, the first retaining ring and the second retaining ring are used to axially limit the eccentric shaft, needle roller, cycloid, first needle roller and cage bearing from both sides to prevent axial movement, and the deep groove ball bearing used for axial limitation at the end of the eccentric shaft in the existing reducer is omitted.

[0011] Finally, the fixed end body, input end body, and output end body can be used to achieve sealing of the reducer, and the skeleton sealing ring between the output shaft and the pinion housing in the original reducer can be omitted. Only when the fixed end body, the input end body, and the output end body are located on the same side is it necessary to add additional sealing to one side of the present invention. However, even if an additional sealing structure is added, the axial thickness of the present invention is greatly reduced compared to the original reducer.

[0012] In addition, in the present invention, the first retaining ring, the second retaining ring, and the two cycloid wheels are symmetrically arranged about the cross roller bearing, and the first retaining ring and the second retaining ring are fixedly connected to the inner ring of the cross roller bearing, so that the first retaining ring and the second retaining ring can be used as output ends or fixed ends, and the reducer can be directly flipped over for use without disassembling and installing the planetary gear and the input shaft to the side close to the first retaining ring. The positions of the output end, input end and fixed end can be flexibly selected according to actual use requirements, effectively improving the scope of application of the present invention.

[0013] Furthermore, the needle gear housing includes two coaxial and symmetrically arranged shells, the two shells are fixedly connected by a second cylindrical pin and a second screw, and the outer rings of the cross roller bearing are installed on both sides on the limiting steps on the side where the two shells are close to each other; the two shells correspond to the two cycloid wheels one by one, and the needle rollers engaged with the cycloid wheels are respectively arranged on the corresponding shells.

[0014] By adopting the above technical solution, the pin gear housing is configured as two coaxially symmetrical shells, which are fixedly connected by a second conical pin and a second screw. This facilitates the installation of the outer ring of the cross roller bearing by utilizing the steps on the inner rings of the two shells. In addition, when machining the tooth grooves for installing the needle rollers, the two shells are fixed into a single pin gear housing by a second cylindrical pin and a second screw. The inner tooth grooves of the pin gear housing are machined in the same way as in the prior art, ensuring that the needle rollers on the two shells are identical to those in the prior art. The only difference is that the inner tooth grooves of the needle rollers and the pin gear housing are divided into two, which does not affect the meshing of the needle rollers and the cycloidal wheel. The structure is simple, easy to operate, and has a significant effect.

[0015] Furthermore, the first retaining ring is provided with a limit friction reduction hole corresponding to the eccentric shaft, the limit friction reduction hole is coaxially arranged with the eccentric shaft and its diameter is smaller than the diameter of the cam on the eccentric shaft.

[0016] By adopting the above technical solution, the first retaining ring is used to limit the eccentric shaft axially, and a limiting friction-reducing hole is set, and the diameter of the limiting friction-reducing hole is smaller than the diameter of the cam on the eccentric shaft. In this way, only a portion of the end of the eccentric shaft abuts against the first retaining ring. While ensuring the axial limiting effect of the first retaining ring on the eccentric shaft, the contact area between the first retaining ring and the end of the eccentric shaft is reduced, thereby reducing the wear of the first retaining ring and the end of the eccentric shaft. The structure is simple and the effect is obvious.

[0017] Furthermore, the second retaining ring is provided with a clearance hole that cooperates with the end of the eccentric shaft. The clearance hole is coaxial with the limiting friction reduction hole and has the same size. The eccentric shaft passes through the clearance hole and there is a gap between its outer wall and the inner wall of the clearance hole.

[0018] By adopting the above technical solution, a clearance hole is provided on the second retaining ring to facilitate the eccentric shaft end to pass through the clearance hole to install the planetary gear. The clearance hole and the anti-friction hole are coaxial and of the same size. On the one hand, only a portion of the second retaining ring abuts against the cam side wall on the eccentric shaft, ensuring the axial limiting effect of the second retaining ring on the eccentric shaft. On the other hand, the first retaining ring and the second retaining ring have the same structure, and there is no need to distinguish between the first and second retaining rings during assembly, which facilitates assembly. Among them, a gap is provided between the outer wall of the eccentric shaft and the inner wall of the clearance hole to prevent the eccentric shaft and the clearance hole from contacting, thus preventing friction from affecting transmission efficiency. The structure is simple and the effect is obvious.

[0019] Furthermore, a plurality of mounting screw holes corresponding to and passing through the first retaining ring and the second retaining ring are provided in a circumferential array on the first retaining ring and the second retaining ring, and the axes of the mounting screw holes are parallel to the axes of the first retaining ring and the second retaining ring.

[0020] By adopting the above technical solution, a plurality of mounting screw holes are provided on the first retaining ring and the second retaining ring, which facilitates the installation of the output end body or the fixed end body, and the output end body can be installed on either the first retaining ring or the second retaining ring. Similarly, the fixed end body can be installed on either the first retaining ring or the second retaining ring. The structure is simple, the operation is convenient, and the selection flexibility is strong.

[0021] Furthermore, the centers of the first retaining ring, the second retaining ring, the cycloid wheel, and the cross roller bearing are provided with mounting holes corresponding to the input shaft, and the center of the input shaft is provided with a threading hole coaxial therewith.

[0022] By adopting the above technical solution, a mounting hole is provided so that the input shaft can pass through the mounting hole and be combined with the planetary gear when the first retaining ring side is the input side, and a threading hole is provided on the center line of the input shaft. Regardless of whether the first retaining ring side or the second retaining ring side is the input side, the mounting hole and the threading hole are convenient for the cable to pass through.

[0023] Furthermore, the pinion housing is used as a fixed end to install the fixed end body, the input shaft passes through the mounting hole from one side of the first retaining ring and engages with the planetary gear close to the planetary gear, the first retaining ring side is used to install the input end body, and the first retaining ring or the second retaining ring is used to install the output end body.

[0024] Furthermore, the pin gear housing is used as a fixed end to install the fixed end body, the input shaft is installed from the side close to the planetary gear to engage with the planetary gear, the second retaining ring side is used to install the input end body, and the first retaining ring or the second retaining ring is used to install the output end body.

[0025] Furthermore, the first retaining ring or the second retaining ring is used as a fixed end to install the fixed end body, the input shaft passes through the mounting hole from one side of the first retaining ring and engages with the planetary gear close to the planetary gear, the first retaining ring side is used as the input end to install the input end body, and the pin gear housing is used as the output end to install the output end body.

[0026] Furthermore, the first retaining ring or the second retaining ring is used as the fixed end to install the fixed end body, the input shaft is installed from the side close to the planetary gear to engage with the planetary gear, the second retaining ring side is used as the input end to install the input end body, and the pinion housing is used as the output end to install the output end body.

[0027] By adopting the above technical solution, when the pin tooth housing is used as the fixed end to install the fixed end body, the first retaining ring side and the second retaining ring side can both be used as the output end or the input end; when the first retaining ring side or the second retaining ring side is used as the fixed end, the pin tooth housing is used as the output end, and the first retaining ring side and the second retaining ring side can both be used as the input end. That is to say, the output end, the input end and the fixed end can be on the same side, or two of them can be located on the same side and the other can be located on the other side, so that the output end, the input end and the fixed end can be flexibly selected according to actual usage, thereby effectively improving the scope of application of the present invention.

[0028] In summary, the present invention has the following beneficial effects:

[0029] 1. The present invention provides a cross roller bearing located between the two cycloid wheels and a first retaining ring and a second retaining ring fixedly connected to the inner ring of the cross roller bearing. These replace the output shaft, output disc frame, mounting bearings between the output shaft and output disc frame and the pin gear housing, needle roller and cage bearings or tapered roller bearings at both ends of the eccentric shaft, deep groove ball bearings for axial limitation at the end of the eccentric shaft, and a skeleton seal ring between the output shaft and the pin gear housing in the prior art. This significantly reduces the axial thickness of the reducer while ensuring the overall load-bearing capacity and rigidity performance of the reducer, thereby achieving an ultra-flat and high-rigidity reducer.

[0030] 2. In the present invention, when the pin gear housing is used as the fixed end to install the fixed end body, the first retaining ring side and the second retaining ring side can be used as the output end or the input end. When the first retaining ring side or the second retaining ring side is used as the fixed end, the pin gear housing is used as the output end, and the first retaining ring side and the second retaining ring side can be used as the input end. The positions of the input end, output end and fixed end of the reducer can be flexibly selected, which effectively improves the applicable range of the reducer.

[0031] 3. In the present invention, when the fixed end, input end and output end are not located on the same side, the fixed end body, input end body and output end body are directly used to seal the reducer, thereby ensuring the overall sealing performance of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the overall structure of an ultra-flat high-rigidity reducer, which is used to show that the first retaining ring side is the input side;

[0033] Figure 2 It is a schematic diagram of the overall structure of an ultra-flat high-rigidity reducer, which is used to reflect that the second retaining ring side is the input side.

[0034] In the figure, 1. pinion housing; 11. housing; 12. second cylindrical pin; 13. second screw; 2. needle roller; 3. cycloid wheel; 31. first needle roller and retainer bearing; 4. eccentric shaft; 41. true circle; 42. cam; 43. second needle roller and retainer bearing; 5. cross roller bearing; 51. inner ring; 52. outer ring; 53. first cylindrical pin; 54. first screw; 6. planetary gear; 61. retaining ring; 7. first retaining ring; 71. limit and friction reducing hole; 8. second retaining ring; 81. clearance hole; 9. input shaft; 91. threading hole; 101. mounting screw hole; 102. mounting hole. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] An ultra-flat high-rigidity reducer, such as Figure 1 As shown, the pinion housing 1 comprises an input shaft 9 with a gear on its end, two cycloid gears 3, and at least two eccentric shafts 4 arranged in a circumferential array. In this embodiment, three eccentric shafts 4 are arranged in a circumferential array. Each eccentric shaft 4 is provided with a planetary gear 6 at its end, meshing with a gear on the input shaft 9. Retaining springs 61 are provided on either side of the planetary gear 6 to constrain the eccentric shaft 6 axially. Each eccentric shaft 4 is provided with a coaxial true circle 41 and cams 42 located on either side of the true circle 41. The two cycloid gears 3 are each mounted and connected to the two cams 42 of the eccentric shaft 4 via a first needle roller and retainer bearing 31. Two sets of needle rollers 2 are arranged in a circumferential array within the pinion housing 1, each meshing with the two cycloid gears 3. A cross roller bearing 5 is positioned between the two cycloid gears 3. The inner ring 51 of the cross roller bearing 5 is mounted and connected to the true circle 41 of the eccentric gear via a second needle roller and retainer bearing 43. The outer ring 52 of the cross roller bearing 5 is fixedly mounted and connected to the inner wall of the pinion housing 1.

[0037] like Figure 1 As shown, a first retaining ring 7 is provided on the side of the pinion housing 1 away from the planetary gear 6, and a second retaining ring 8 is provided on the side of the pinion housing 1 close to the planetary gear 6. The first retaining ring 7 and the second retaining ring 8 are fixedly connected to the inner ring 51 of the cross roller bearing 5 via a first cylindrical pin 53 and a first screw 54. The second retaining ring 8 is provided with a clearance hole 81 that cooperates with the end of the eccentric shaft 4. The end of the eccentric shaft 4 passes through the clearance hole 81 to install the planetary gear 6. A certain gap exists between the outer wall of the eccentric shaft 4 and the inner wall of the clearance hole 81 to prevent friction between the eccentric shaft 4 and the clearance hole 81 from affecting the transmission efficiency.

[0038] like Figure 1As shown, the side wall of the needle gear housing 1, the needle roller 2, the cycloid wheel 3, the first needle roller and the retaining frame bearing 31 and the first retaining ring 7 close to each other abut against each other, and the side wall of the needle gear housing 1, the needle roller 2, the cycloid wheel 3, the first needle roller and the retaining frame bearing 31 and the second retaining ring 8 close to each other abut against each other, and the first retaining ring 7 and the second retaining ring 8 limit them axially to avoid axial movement.

[0039] like Figure 1 As shown, the first retaining ring 7, the second retaining ring 8 and the inner ring 51 of the cross roller bearing 5 in the present invention are fixedly connected, which is equivalent to the output shaft and output end cover in the prior art. When the input shaft 9 drives the planetary gear 6 to rotate and drives the eccentric shaft 4 to rotate, the eccentric shaft 4 drives the cycloid wheel 3 to perform a yaw motion and engage with the needle roller 2 on the pinion housing 1. When the pinion housing 1 is fixed, the cycloid wheel 3 not only performs a deflection motion, but also rotates in a circular direction, and at the same time drives the inner ring 51 of the cross roller bearing 5 to drive the first retaining ring 7 and the second retaining ring 8 to rotate, thereby realizing output.

[0040] like Figure 1 As shown, compared with the prior art, the present invention uses a cross roller bearing 5 to realize the installation of the first retaining ring 7 and the second retaining ring 8. The cross roller bearing 5 has good load-bearing capacity in both axial and radial directions, replacing the two mounting bearings between the output shaft and the output end cover and the pinion housing 1 in the prior art. While ensuring the overall load-bearing capacity and stiffness performance, it effectively reduces the axial thickness of the reducer and achieves ultra-flat and high rigidity of the reducer. Similarly, the eccentric shaft 4 is only installed and connected to the pinion housing 1 through a cross roller bearing 5, omitting the needle roller 2 and retainer bearing or tapered roller bearing between the two ends of the eccentric shaft 4 and the output shaft and the output end cover in the prior art. In addition, the first retaining ring 7 and the second retaining ring 8 prevent the eccentric shaft 4 from axial movement from both sides, omitting the deep groove ball bearing at the end of the eccentric shaft 4 in the prior art, greatly reducing the axial thickness of the reducer.

[0041] like Figure 1As shown, in this embodiment, to facilitate the installation of the outer ring 52 of the cross roller bearing 5, the pin gear housing 1 is configured to include two coaxial and symmetrically arranged housings 11. The two housings 11 are fixedly connected by a second cylindrical pin 12 and a second screw 13. The outer ring 52 of the cross roller bearing 5 is mounted on both sides on the limiting steps on the side of the two housings 11 that are close to each other, achieving a limited installation of the outer ring 52. The two housings 11 correspond one-to-one with the two cycloid wheels 3, and the needle rollers 2 that engage with the cycloid wheels 3 are respectively mounted on the corresponding housings 11. Thus, when machining the grooves for mounting the needle rollers 2, the two housings 11 are fixed together into a single pin gear housing 1 using the second cylindrical pin 12 and the second screw 13. The internal grooves of the pin gear housing 1 are machined similarly to those in the prior art, ensuring that the needle rollers 2 on the two housings 11 are identical to those in the prior art. This is achieved by simply dividing the needle rollers 2 and the internal grooves of the pin gear housing 1 into two, without affecting the meshing of the needle rollers 2 with the cycloid wheels 3.

[0042] like Figure 1 As shown, in this embodiment, the first retaining ring 7 is provided with a limit friction-reducing hole 71 corresponding to the eccentric shaft 4. The limit friction-reducing hole 71 is coaxial with the eccentric shaft 4 and has a smaller diameter than the diameter of the cam 42 on the eccentric shaft 4. The clearance hole 81 on the second retaining ring 8 is coaxial with the limit friction-reducing hole 71 and is the same size. That is, only a portion of the side wall of the cam 42 of the eccentric shaft 4 near the first retaining ring 7 abuts the first retaining ring 7, and only a portion of the side wall of the cam 42 of the eccentric shaft 4 near the second retaining ring 8 abuts the second retaining ring 8. This ensures that the first and second retaining rings 7 and 8 have an axial limit effect on the eccentric shaft 4 while reducing the contact area between the first and second retaining rings 7 and 8 and the end of the eccentric shaft 4, thereby reducing wear on the first and second retaining rings 7 and 8 and the end of the eccentric shaft 4. In addition, the identical structures of the first and second retaining rings 7 and 8 make the reducer symmetrical. The planetary gear 6 does not need to be selected during installation, and the reducer can be used in various directions by simply flipping it.

[0043] like Figure 1 As shown, in this embodiment, the first retaining ring 7 and the second retaining ring 8 are both fixedly connected to the inner ring 51 of the cross roller bearing 5, so that the first retaining ring 7 and the second retaining ring 8 can both serve as output ends or fixed ends. In order to facilitate the installation of the output end body or the fixed end body, a plurality of mounting screw holes 101 corresponding to each other and passing through the first retaining ring 7 and the second retaining ring 8 are provided in a circumferential array, and the axes of the mounting screw holes 101 are parallel to the axes of the first retaining ring 7 and the second retaining ring 8.

[0044] like Figure 1 and Figure 2As shown, mounting holes 102 corresponding to the input shaft 9 are provided at the centers of the first retaining ring 7, the second retaining ring 8, the cycloid gear 3, and the cross roller bearing 5. A coaxial threading hole 91 is also provided at the center of the input shaft 9. This allows the input shaft 9 to mesh with the planetary gears 6 either through the mounting hole 102 from the first retaining ring 7 side or from the second retaining ring 8 side. This means that both the first retaining ring 7 and second retaining ring 8 sides can serve as the input side, and the mounting hole 102 and threading hole 91 can be used to route cables.

[0045] like Figure 1 and Figure 2 As shown, the positions of the fixed end, output end and input end in the present invention can be flexibly selected to effectively improve the applicable range of deceleration, and the positions of the fixed end, output end and input end mainly include the following situations:

[0046] (1) The pinion housing 1 is used as a fixed end for mounting the fixed end body. The input shaft 9 passes through the mounting hole 102 from one side of the first retaining ring 7 and approaches the planetary gear 6 to engage with the planetary gear 6. The first retaining ring 7 side is the input end, where the input end body is mounted. The first retaining ring 7 or the second retaining ring 8 is the output end, where the output end body is mounted.

[0047] (2) The pinion housing 1 is used as a fixed end for installing the fixed end body. The input shaft 9 is installed from the side close to the planetary gear 6 to engage with the planetary gear 6. The second retaining ring 8 side is the input end, where the input end body is installed. The first retaining ring 7 or the second retaining ring 8 is the output end, where the output end body is installed.

[0048] (3) The pinion housing 1 is used as the output end for mounting the output end body, and the first retaining ring 7 or the second retaining ring 8 is used as the fixed end for mounting the fixed end body. The input shaft 9 passes through the mounting hole 102 from one side of the first retaining ring 7 and engages with the planetary gear 6 close to the planetary gear 6. The side of the first retaining ring 7 is the input end, and the input end body is mounted.

[0049] (4) The pinion housing 1 is used as the output end to install the output end body, the first retaining ring 7 or the second retaining ring 8 is used as the fixed end to install the fixed end body, the input shaft 9 is installed from the side close to the planetary gear 6 to engage with the planetary gear 6, and the second retaining ring 8 side is the input end, where the input end body is installed.

[0050] Among them, when the pin gear housing 1 is used as the fixed end or the output end, the fixed end body or the output end body can be installed on the side of the first retaining ring 7 or the side of the second retaining ring 8. Except for the case where the fixed end body, the output end body and the input end body are located on the same side, in other installation cases, the fixed end body, the output end body and the input end body can be used to seal the reducer, omitting the skeleton sealing ring between the output shaft and the pin gear housing 1 in the prior art, further reducing the axial thickness of the reducer. In addition, even if the fixed end body, the output end body and the input end body are located on the same side, it is only necessary to add an additional sealing structure on the side where the body is not installed and is in a non-upper state and needs to be sealed, but relatively speaking, the axial thickness of the present invention is still greatly reduced compared to the prior art.

[0051] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. An ultra-flat high-rigidity reducer, characterized by: The invention comprises a pinion housing (1), an input shaft (9), two cycloid wheels (3), and at least two eccentric shafts (4) arranged in a circumferential array. The end of each eccentric shaft (4) is provided with a planetary wheel (6) meshing with the input shaft (9); each eccentric shaft (4) is provided with a true circle (41) coaxial with the eccentric shaft and cams (42) located on both sides of the true circle (41); the two cycloid wheels (3) are respectively connected to the two cams (42) of the eccentric shaft (4) through first needle rollers and cage bearings (31); the inner circumferential array of the pinion housing (1) is provided with two groups of needle rollers (2) respectively meshing with the two cycloid wheels (3); a pinion wheel (4) is provided between the two cycloid wheels (3); A cross roller bearing (5), wherein the inner ring (51) of the cross roller bearing (5) is connected to the true circle (41) of the eccentric wheel through a second needle roller and a retainer bearing (43), and the outer ring (52) of the cross roller bearing (5) is connected to the inner wall of the pinion housing (1) in a position-limiting manner; a first retaining ring (7) is provided on the side of the pinion housing (1) away from the planetary gear (6), and a second retaining ring (8) is provided on the side of the pinion housing (1) close to the planetary gear (6); the first retaining ring (7) and the second retaining ring (8) are fixedly connected to the inner ring (51) of the cross roller bearing (5) through a first cylindrical pin (53) and a first screw (54); The pin gear housing (1) comprises two coaxial and symmetrically arranged housings (11), the two housings (11) being fixedly connected by a second cylindrical pin (12) and a second screw (13), and the outer ring (52) of the cross roller bearing (5) is mounted on two sides of the limiting steps on the side close to each other of the two housings (11); the two housings (11) correspond to the two cycloid wheels (3) respectively, and the needle rollers (2) meshing with the cycloid wheels (3) are respectively arranged on the corresponding housings (11); The first retaining ring (7) is provided with a limit friction reduction hole (71) corresponding to the eccentric shaft (4); the limit friction reduction hole (71) is coaxially arranged with the eccentric shaft (4) and has a diameter smaller than the diameter of the cam (42) on the eccentric shaft (4).

2. The ultra-flat high-rigidity reducer according to claim 1, characterized in that: The second retaining ring (8) is provided with a clearance hole (81) that matches the end of the eccentric shaft (4). The clearance hole (81) is coaxial with the limit friction reduction hole (71) and has the same size. The eccentric shaft (4) passes through the clearance hole (81) and a gap exists between the outer wall of the clearance hole (81) and the inner wall of the clearance hole (81).

3. The ultra-flat high-rigidity reducer according to claim 1, characterized in that: A plurality of mounting screw holes (101) corresponding to each other and passing through the first retaining ring (7) and the second retaining ring (8) are provided in a circumferential array on the first retaining ring (7) and the second retaining ring (8), and the axes of the mounting screw holes (101) are parallel to the axes of the first retaining ring (7) and the second retaining ring (8).

4. The ultra-flat high-rigidity reducer according to claim 1, characterized in that: The centers of the first retaining ring (7), the second retaining ring (8), the cycloid wheel (3), and the cross roller bearing (5) are provided with mounting holes (102) corresponding to the input shaft (9), and the center of the input shaft (9) is provided with a threading hole (91) coaxial therewith.

5. The ultra-flat high-rigidity reducer according to claim 4, characterized in that: The pin gear housing (1) serves as a fixed end for mounting a fixed end body, the input shaft (9) passes through a mounting hole (102) from one side of the first retaining ring (7) and approaches the planetary gear (6) to engage with the planetary gear (6), the first retaining ring (7) side serves as an input end for mounting an input end body, and the first retaining ring (7) or the second retaining ring (8) serves as an output end for mounting an output end body.

6. The ultra-flat high-rigidity reducer according to claim 1, characterized in that: The pin gear housing (1) is used as a fixed end to mount a fixed end body, the input shaft (9) is mounted from a side close to the planetary gear (6) to engage with the planetary gear (6), the second retaining ring (8) side is used as the input end to mount the input end body, and the first retaining ring (7) or the second retaining ring (8) is used as the output end to mount the output end body.

7. The ultra-flat high-rigidity reducer according to claim 4, characterized in that: The first retaining ring (7) or the second retaining ring (8) serves as a fixed end to mount the fixed end body, the input shaft (9) passes through the mounting hole (102) from one side of the first retaining ring (7) and approaches the planetary gear (6) to engage with the planetary gear (6), the first retaining ring (7) side serves as the input end to mount the input end body, and the pinion housing (1) serves as the output end to mount the output end body.

8. The ultra-flat high-rigidity reducer according to claim 1, characterized in that: The first retaining ring (7) or the second retaining ring (8) serves as a fixed end to install the fixed end body, the input shaft (9) is installed from the side close to the planetary gear (6) to engage with the planetary gear (6), the second retaining ring (8) side serves as the input end to install the input end body, and the pinion housing (1) serves as the output end to install the output end body.

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