Oscillating-type speed reducer

Abstract

The application provides a cycloid speed reducer. The cycloid speed reducer comprises an input shaft, a roller wheel set comprising a wheel disc and a plurality of rollers, a first cycloid gear disc and a second cycloid gear disc, a crank shaft and at least one output disc. The first cycloid gear disc and the second cycloid gear disc are sleeved on the input shaft and respectively comprise a first tooth part and a second tooth part. The first tooth part and the second tooth part are respectively in contact with corresponding rollers. The crank shaft comprises integrally formed first concentric end, first eccentric end, second eccentric end and second concentric end. The first eccentric end is connected with the first cycloid gear disc, and the second eccentric end is connected with the second cycloid gear disc. There is an eccentric amount between any two adjacent ones of the first concentric end, the first eccentric end, the second eccentric end and the second concentric end. The diameters of the first concentric end, the first eccentric end, the second eccentric end and the second concentric end are the same.

Description

Technical Field

[0001] This invention relates to a speed reducer, and more particularly to a miniaturizable cycloidal speed reducer. Background Technology

[0002] Generally speaking, motors have the characteristics of high speed and low torque, so they are not easy to drive large loads. Therefore, when a motor is to be used to push heavy objects, a speed reducer must be used to reduce the speed, thereby increasing the torque.

[0003] Common types of speed reducers include RV (Rotary Vector) speed reducers, harmonic drive speed reducers, and cycloidal speed reducers. Due to their advantages of large transmission ratio, compact structure, and high transmission efficiency, cycloidal speed reducers are commonly used in various motor-related fields.

[0004] Traditional cycloidal reducers, due to the eccentric motion of the cycloidal gear, typically also include a crankshaft. The crankshaft is connected to the cycloidal gear and is used to transmit output torque. Furthermore, the crankshaft includes at least one eccentric end and at least one concentric end. The concentric end is coaxial with the crankshaft, while the eccentric end is eccentrically positioned on the crankshaft. The number of eccentric and concentric ends can be designed according to the number of cycloidal gears.

[0005] However, both the eccentric and concentric ends of the crankshaft in traditional cycloidal reducers require bearings. Therefore, to meet the requirements of bearing assembly processes, the diameters of the eccentric and concentric ends must be limited. Specifically, the diameter of the eccentric end located on the inner side of the crankshaft must be larger than the diameter of the concentric end located on the outer side. This diameter limitation hinders the miniaturization of traditional cycloidal reducers. Furthermore, the different diameters of the concentric and eccentric ends in traditional cycloidal reducers necessitate different bearing sizes, making it impossible to use the same materials.

[0006] Therefore, how to develop a cycloidal reducer that overcomes the above-mentioned defects is the most urgent issue to be addressed at present. Summary of the Invention

[0007] The purpose of this invention is to provide a cycloidal reducer to solve the defects of traditional cycloidal reducers, such as being unfavorable for miniaturization and being unable to share bearing materials.

[0008] To achieve the above objectives, a more generalized embodiment of the present invention provides a cycloidal reducer, comprising: an input shaft, the input shaft being rotatable; a roller wheel assembly, comprising a wheel disc and a plurality of rollers, the plurality of rollers being disposed on the wheel disc; a first cycloidal gear disc, sleeved on the input shaft and driven to rotate by the input shaft, and comprising a first tooth portion that contacts a portion of at least one corresponding roller; and a second cycloidal gear disc, sleeved on the input shaft and driven to rotate by the input shaft, and comprising a second tooth portion that contacts a portion of at least one corresponding roller, wherein the first cycloidal gear disc and the second cycloidal gear disc are respectively located on opposite sides of the roller wheel assembly; A crankshaft includes an integrally formed first concentric end, a first eccentric end, a second eccentric end, and a second concentric end arranged in sequence, wherein the first eccentric end is connected to a first cycloidal gear disk, the second eccentric end is connected to a second cycloidal gear disk, and any two adjacent first concentric ends, first eccentric ends, second eccentric ends, and second concentric ends have an eccentricity, and the diameters of the first concentric end, first eccentric end, second eccentric end, and second concentric end are all the same; and at least one output disc is connected to the first concentric end or the second concentric end, wherein the at least one output disc is the power output of the cycloidal reducer.

[0009] To achieve the above objectives, another broader embodiment of the present invention provides a cycloidal reducer, comprising: an input shaft, the input shaft being rotatable; a roller wheel assembly, comprising a wheel disk and a plurality of rollers, the plurality of rollers being disposed on the wheel disk; a cycloidal gear disk, sleeved on the input shaft and driven to rotate by the input shaft, and comprising teeth that contact the portions of at least one corresponding roller; a crankshaft, comprising an integrally formed first concentric end, an eccentric end, and a second concentric end arranged in sequence, wherein the eccentric end is connected to the cycloidal gear disk, and any two adjacent first concentric ends, eccentric ends, and second concentric ends are respectively eccentric, and the diameters of the first concentric end, the eccentric end, and the second concentric end are all the same; and at least one output disk, connected to the first concentric end or the second concentric end, wherein the at least one output disk is the power output of the cycloidal reducer.

[0010] The beneficial effect of the present invention is that it provides a cycloidal reducer in which the crankshaft of the cycloidal reducer is integrally formed, and the concentric end and the eccentric end have the same diameter. In this way, the cycloidal reducer can be miniaturized without increasing the diameter of the eccentric end. Attached Figure Description

[0011] Figure 1 This is an exploded structural diagram of the cycloidal reducer according to the first preferred embodiment of the present invention;

[0012] Figure 2 for Figure 1 The diagram shows the structure of the crankshaft of the cycloidal reducer.

[0013] Figure 3 for Figure 1 The diagram shows a cross-sectional structure of the cycloidal reducer.

[0014] Figure 4 for Figure 1 A partial structural diagram of the side of the cycloidal reducer is shown;

[0015] Figure 5 for Figure 4 A partially enlarged schematic diagram of the cycloidal reducer shown;

[0016] Figure 6 This is an exploded structural diagram of the cycloidal reducer according to the second preferred embodiment of the present invention;

[0017] Figure 7 for Figure 6 The diagram shows a cross-sectional structure of the cycloidal reducer.

[0018] Figure 8 for Figure 6 The diagram shows the structure of the crankshaft of the cycloidal reducer.

[0019] The attached figures are labeled as follows:

[0020] 1. 1a: Cycloidal reducer

[0021] 2: Input axis

[0022] 3: Roller wheel assembly

[0023] 4: First cycloidal toothed disc

[0024] 5: Second cycloidal toothed disc

[0025] 6: Crankshaft

[0026] 30: Roulette

[0027] 31: Roller

[0028] 40, 50, 40a: Shaft hole

[0029] 41: First tooth

[0030] 51: Second tooth

[0031] 7: First output disk

[0032] 8: Second output disk

[0033] 60, 60a: first concentric end

[0034] 61: First eccentric end

[0035] 62: Second eccentric end

[0036] 63, 63a: Second concentric end

[0037] φA, φC, φD, φB, d5, φA1, φC1, φB1: diameter

[0038] L1, L4: First eccentricity

[0039] L2, L5: Second eccentricity

[0040] L3: Third eccentricity

[0041] 42, 70, 52, 80, 42a: Socketing holes

[0042] 9, 9a: First bearing

[0043] 10, 22: Second bearing

[0044] 11: Output eccentric shaft needle roller

[0045] d1: Diameter of crankshaft

[0046] d2: Diameter of the eccentric shaft needle roller

[0047] d3: Diameter of the socket hole

[0048] 12, 23: Third bearing

[0049] 13: Fourth Bearing

[0050] 120, 130, 220, 230: Bearing outer ring

[0051] 121, 131, 221, 231: Inner ring of bearing

[0052] 122, 132, 222, 232: Rollers

[0053] d4: Inner diameter of the bearing outer ring

[0054] 4a: Cycloidal toothed disc

[0055] 6a: Crankshaft

[0056] 41a: Teeth

[0057] 61a: Eccentric end

[0058] d5: Outer diameter of the cycloidal gear disc

[0059] 14: Roller retainer

[0060] G: Gap amount Detailed Implementation

[0061] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 ,in Figure 1 This is an exploded structural diagram of the cycloidal reducer according to a first preferred embodiment of the present invention. Figure 2 for Figure 1 The diagram shows the structure of the crankshaft of the cycloidal reducer. Figure 3 for Figure 1 The diagram shows a cross-sectional structure of a cycloidal reducer. Figure 4 for Figure 1 The diagram shows a partial structural view of the side of the cycloidal reducer. Figure 5 for Figure 4 The diagram shows a partially enlarged view of the cycloidal reducer. The cycloidal reducer 1 of the present invention can be used, but is not limited to, in various motor devices, machine tools, robotic arms, automobiles, locomotives, or other power machinery to provide appropriate speed reduction.

[0062] The cycloidal reducer 1 includes an input shaft 2, a roller wheel assembly 3, a first cycloidal gear disc 4, a second cycloidal gear disc 5, at least one crankshaft 6, and at least one output disc. The roller wheel assembly 3 includes a disc 30 and a plurality of rollers 31. The disc 30 is a hollow annular structure and allows part of the input shaft 2 to pass through it. The disc 30 is also driven to rotate by the input shaft 2. The plurality of rollers 31 are disposed on the disc 30. The input shaft 2 can receive power input from, for example, a motor (not shown), and is driven to rotate by the power input. The input shaft 2 is located at the substantially central position of the cycloidal reducer 1.

[0063] The first cycloidal gear disk 4 includes a shaft hole 40 and at least one first tooth 41. The shaft hole 40 is located at the substantially center of the first cycloidal gear disk 4 and corresponds to the position of the input shaft 2. The shaft hole 40 is used for a portion of the input shaft 2 to pass through, so that the first cycloidal gear disk 4 is sleeved on the input shaft 2. When the input shaft 2 rotates, the first cycloidal gear disk 4 will be driven to rotate by the input shaft 2. The first tooth 41 may be formed by protrusion from the outer peripheral wall of the first cycloidal gear disk 4 and contacts a portion of the corresponding at least one roller 31. The second cycloidal gear disk 5 includes a shaft hole 50 and at least one second tooth 51. The shaft hole 50 is located at the substantially center of the second cycloidal gear disk 5 and corresponds to the position of the input shaft 2. The shaft hole 50 is used for a portion of the input shaft 2 to pass through, so that the second cycloidal gear disk 5 is sleeved on the input shaft 2. When the input shaft 2 rotates, the second cycloidal gear disk 5 will be driven to rotate by the input shaft 2. The second tooth 51 may be formed by protruding from the outer peripheral wall of the second cycloidal tooth disk 5 and in contact with a portion of the corresponding at least one roller 31.

[0064] The output disk contains, for example Figure 1The first output disk 7 and the second output disk 8 shown are located on the two opposite outer sides of the cycloidal reducer 1, so that the first cycloidal gear disk 4 and the second cycloidal gear disk 5 are located between the first output disk 7 and the second output disk 8, and at least one of the first output disk 7 and the second output disk 8 can be used as the power output of the cycloidal reducer 1.

[0065] The number of crankshafts 6 can be one or more. Figure 1 This example illustrates five crankshafts 6, each connected to a first cycloidal gear 4, a second cycloidal gear 5, a first output disk 7, and a second output disk 8. Each crankshaft 6 includes an integrally formed first concentric end 60, a first eccentric end 61, a second eccentric end 62, and a second concentric end 63 arranged sequentially. The first concentric end 60 is connected to the first output disk 7, the first eccentric end 61 is connected to the first cycloidal gear 4, the second eccentric end 62 is connected to the second cycloidal gear 5, and the second concentric end 63 is connected to the second output disk 8. Furthermore, any two adjacent first concentric ends 60, 61, 62, and 63 have an eccentricity. Moreover, the diameters φA of the first concentric end 60, φC of the first eccentric end 61, φD of the second eccentric end 62, and φB of the second concentric end 63 are all the same, equal to the diameter of the crankshaft 6.

[0066] As can be seen from the above, the cycloidal reducer 1 of this embodiment does not require the diameter of the eccentric end of the crankshaft to be larger than that of the concentric end, as is the case with traditional cycloidal reducers. Instead, the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 of the crankshaft 6 have the same diameter (φA=φC=φD=φB). In this way, the cycloidal reducer 1 can be miniaturized without increasing the diameter of the first eccentric end 61 and the second eccentric end 62. In addition, since the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 of the crankshaft 6 have the same diameter, when corresponding bearings need to be fitted onto the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 of the crankshaft 6, multiple bearings can use the same specification, thereby reducing material costs. Furthermore, the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 of the crankshaft 6 of the present invention are integrally formed, which can further improve the accuracy of the setting and alignment of the crankshaft 6 in the cycloidal reducer 1.

[0067] In this embodiment, as Figure 2As shown, the eccentricity between the first concentric end 60 and the first eccentric end 61 is defined as the first eccentricity L1, the eccentricity between the second concentric end 63 and the second eccentric end 62 is defined as the second eccentricity L2, and the eccentricity between the first eccentric end 61 and the second eccentric end 62 is defined as the third eccentricity L3. Thus, the first eccentricity L1 is equal to the second eccentricity L2, and the third eccentricity L3 is equal to twice the first eccentricity L1. This allows the corresponding bearings to be respectively fitted onto the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 of the crankshaft 6. Furthermore, in this embodiment, the first concentric end 60 and the second concentric end 63 are coaxial with the crankshaft 6, while the first eccentric end 61 and the second eccentric end 62 are eccentrically positioned on the crankshaft 6, with the eccentricity direction of the first eccentric end 61 opposite to that of the second eccentric end 62.

[0068] In some embodiments, the first cycloidal gear 4 further includes at least one set of holes 42, each set of holes 42 being positioned corresponding to a corresponding crankshaft 6, for the first eccentric end 61 of the crankshaft 6 to pass through, so that the first eccentric end 61 can be connected to the first cycloidal gear 4. The first output disk 7 further includes at least one set of holes 70, each set of holes 70 being positioned corresponding to a corresponding crankshaft 6, for the first concentric end 60 of the crankshaft 6 to pass through, so that the first concentric end 60 can be connected to the first output disk 7. The second cycloidal gear 5 further includes at least one set of holes 52, each set of holes 52 being positioned corresponding to a corresponding crankshaft 6, for the second eccentric end 62 of the crankshaft 6 to pass through, so that the second eccentric end 62 can be connected to the second cycloidal gear 5. The second output disk 8 also includes at least one set of holes 80, each set of holes 80 being positioned corresponding to the corresponding crankshaft 6, so that the second concentric end 63 of the crankshaft 6a can pass through, and the second concentric end 63 can be connected to the second output disk 8.

[0069] Furthermore, in some embodiments, such as Figure 3 , Figure 4 and Figure 5 As shown, the cycloidal reducer 1 also includes a first bearing 9 and a second bearing 10 with identical structures. The first bearing 9 is sleeved between the sleeve hole 42 of the first cycloidal gear disk 4 and the first eccentric end 61, and the second bearing 10 is sleeved between the sleeve hole 52 of the second cycloidal gear disk 5 and the second eccentric end 62. Furthermore, the first bearing 9 and the second bearing 10 each include multiple output eccentric shaft needle rollers 11 (since the first bearing 9 and the second bearing 10 have the same structure, only one is mentioned). Figure 4Example: Output eccentric shaft needle rollers 11 of the first bearing 9. Multiple output eccentric shaft needle rollers 11 of the first bearing 9 surround the body of the first bearing 9. When the first bearing 9 is sleeved between the sleeve hole 42 of the first cycloidal gear disk 4 and the first eccentric end 61, multiple output eccentric shaft needle rollers 11 of the first bearing 9 surround the outer ring wall of the first eccentric end 61. Multiple output eccentric shaft needle rollers 11 of the second bearing 10 surround the body of the second bearing 10. When the second bearing 10 is sleeved between the sleeve hole 52 of the second cycloidal gear disk 5 and the second eccentric end 62, multiple output eccentric shaft needle rollers 11 of the second bearing 10 surround the outer ring wall of the second eccentric end 62. Furthermore, the diameter of the crankshaft 6 is d1 (i.e., the diameters of the first concentric end 60, the first eccentric end 61, the second eccentric end 62, and the second concentric end 63 are d1, which is also equal to φA=φC=φD=φB), the diameter of each eccentric shaft needle roller 11 is d2, and the diameters of the sleeve hole 42 and the sleeve hole 52 are d3 (e.g., ... Figure 5 As shown), the diameters d3 of the sleeve holes 42 and 52 are equal to the sum of the diameters d1 of the second eccentric end 62 and d2 of twice the diameter of the eccentric shaft needle roller 11 (i.e., d3 = d1 + 2d2). Furthermore, the diameter d2 of twice the diameter of the eccentric shaft needle roller 11 is greater than or equal to the first eccentricity L1 (i.e., 2d2 ≥ L1).

[0070] In some embodiments, the first bearing 9 and the second bearing 10 further include roller retainers 14 (since the first bearing 9 and the second bearing 10 have the same structure, only the roller retainer 14 is mentioned). Figure 5 For example, the roller retainer 14 of the first bearing 9 covers and supports the eccentric shaft needle rollers 11. In addition, each eccentric shaft needle roller 11 may have a clearance G inside the corresponding bearing (between the eccentric shaft needle roller 11 and the roller retainer 14), so that when the diameter d2 of twice the eccentric shaft needle roller 11 is greater than or equal to the first eccentricity L1, it can be ensured that the first bearing 9 and the second bearing 10 can be respectively fitted onto the corresponding eccentric ends 61 and 62.

[0071] In some embodiments, the first cycloidal toothed disc 4 and the second cycloidal toothed disc 5 may be disposed within the disc 30 of the roller wheel assembly 3, and the first output disc 7 and the second output disc 8 are respectively at least partially disposed within the disc 30.

[0072] Furthermore, the cycloidal reducer 1 also includes a third bearing 12 and a fourth bearing 13 with similar structure and size. The third bearing 12 includes an outer bearing ring 120, an inner bearing ring 121, and at least one roller 122. The outer bearing ring 120 is disposed on the inner wall surface of the wheel 30, adjacent to but spaced apart from the first output disc 7. The inner bearing ring 121 is formed from a portion of the first output disc 7. The roller 122 connects the outer bearing ring 120 and the inner bearing ring 121. The fourth bearing 13 includes an outer bearing ring 130, an inner bearing ring 131, and at least one roller 132. The outer bearing ring 130 is disposed on the inner wall surface of the wheel 30, adjacent to but spaced apart from the second output disc 8. The inner bearing ring 131 is formed from a portion of the second output disc 8. At least one roller 132 connects the outer bearing ring 130 and the inner bearing ring 131. Furthermore, the inner diameter d4 of each of the outer bearing rings 120 and 130 (e.g., ...) Figure 3 (As shown) is greater than the respective cycloidal tooth disk outer diameter d5 of the first cycloidal tooth disk 4 and the second cycloidal tooth disk 5 (e.g. Figure 4 (As shown).

[0073] The power transmission method of the cycloidal reducer 1 in this embodiment is as follows: When the input shaft 2 rotates, the first cycloidal gear disk 4 and the second cycloidal gear disk 5 are driven to rotate by the input shaft 2. The first cycloidal gear disk 4 and the second cycloidal gear disk 5 are respectively connected to the first eccentric end 61 and the second eccentric end 62 of the crankshaft 6, thereby driving the crankshaft 6 to rotate. This causes the first concentric end 60 and the second concentric end 63 of the crankshaft 6 to rotate synchronously and drive the first output disk 7 and the second output disk 8 to rotate respectively. The first output disk 7 and / or the second output disk 8 then serve as the power output of the cycloidal reducer 1. In other embodiments, the first output disk 7 and / or the second output disk 8 can be fixed, and the power output of the cycloidal reducer 1 can be replaced by the wheel disk 30.

[0074] Please see Figure 6 , Figure 7 and Figure 8 ,in Figure 6 This is an exploded view of the cycloidal reducer according to a second preferred embodiment of the present invention. Figure 7 for Figure 6 The diagram shows a cross-sectional structure of a cycloidal reducer. Figure 8 for Figure 6 The diagram shows the structure of the crankshaft of the cycloidal reducer. The structure of the cycloidal reducer 1a in this embodiment is generally similar to... Figure 1 The cycloidal reducer 1 shown uses the same component designations to represent the same components, structures, and functions, which will not be described again here. However, compared to... Figure 1The cycloidal reducer 1 shown is a reducer with a double cycloidal gear disc. The reducer 1a in this embodiment is a reducer with a single cycloidal gear disc. That is, reducer 1a includes an input shaft 2, a roller wheel assembly 3, a cycloidal gear disc 4a, at least one crankshaft 6a, and at least one output disc. The roller wheel assembly 3 includes a disc 30 and a plurality of rollers 31. The disc 30 has a hollow annular structure and allows part of the input shaft 2 to pass through it. The disc 30 is also driven to rotate by the input shaft 2. The plurality of rollers 31 are disposed on the disc 30. The input shaft 2 can receive power input from, for example, a motor (not shown), and is driven to rotate by this power input. The input shaft 2 is located substantially at the center of the cycloidal reducer 1a.

[0075] The cycloidal gear disk 4a includes a shaft hole 40a and at least one tooth 41a. The shaft hole 40a is located at the substantially center of the cycloidal gear disk 4a and corresponds to the position of the input shaft 2. The shaft hole 40a is used to allow a portion of the input shaft 2 to pass through, so that the cycloidal gear disk 4a is sleeved on the input shaft 2. When the input shaft 2 rotates, the cycloidal gear disk 4a will be driven to rotate by the input shaft 2. The tooth 41a may be formed by protrusion from the outer peripheral wall surface of the cycloidal gear disk 4a and contacts a portion of the corresponding at least one roller 31.

[0076] The output disk contains, for example Figure 6 The first output disk 7 and the second output disk 8 shown are located on the two opposite outer sides of the cycloidal reducer 1a, so that the cycloidal gear disk 4a is located between the first output disk 7 and the second output disk 8, and at least one of the first output disk 7 and the second output disk 8 can be used as the power output of the cycloidal reducer 1a.

[0077] The crankshaft 6a is connected to the cycloidal gear disk 4a, the first output disk 7, and the second output disk 8, and includes an integrally formed first concentric end 60a, an eccentric end 61a, and a second concentric end 63a arranged in sequence. The first concentric end 60a is connected to the first output disk 7, the eccentric end 61a is connected to the cycloidal gear disk 4a, and the second concentric end 63a is connected to the second output disk 8. Furthermore, there is an eccentricity between any two adjacent first concentric ends 60a, eccentric ends 61a, and second concentric ends 63a. Moreover, the diameters φA1 of the first concentric end 60a, φC1 of the eccentric end 61a, and φB1 of the second concentric end 63a are all the same, equal to the diameter of the crankshaft 6a.

[0078] As can be seen from the above, the cycloidal reducer 1a in this embodiment does not require the diameter of the eccentric end of the crankshaft to be larger than that of the concentric end, as is the case with traditional cycloidal reducers. Instead, the first concentric end 60a, the eccentric end 61a, and the second concentric end 63a of the crankshaft 6a have the same diameter (φA1=φC1=φB1). In this way, the cycloidal reducer 1a can be miniaturized without increasing the diameter of the eccentric end 61a. Furthermore, since the first concentric end 60a, the eccentric end 61a, and the second concentric end 63a of the crankshaft 6a have the same diameter, when corresponding bearings need to be fitted onto the first concentric end 60a, the eccentric end 61a, and the second concentric end 63a of the crankshaft 6a, multiple bearings can use the same specifications, thereby reducing material costs. Furthermore, the first concentric end 60a, the eccentric end 61a, and the second concentric end 63a of the crankshaft 6a of the present invention are integrally formed, which can further improve the setting accuracy of the crankshaft 6a in the cycloidal reducer 1a.

[0079] In this embodiment, as Figure 8 As shown, the eccentricity between the first concentric end 60a and the eccentric end 61a is defined as the first eccentricity L4, and the eccentricity between the second concentric end 63a and the eccentric end 61a is defined as the second eccentricity L5. Therefore, the first eccentricity L1 equals the second eccentricity L5, which facilitates the corresponding bearings being respectively fitted onto the first concentric end 60a, the eccentric end 61a, and the second concentric end 63a of the crankshaft 6a. Furthermore, in this embodiment, the first concentric end 60a and the second concentric end 63a are coaxial with the crankshaft 6a, while the eccentric end 61a is eccentrically positioned on the crankshaft 6.

[0080] In some embodiments, the cycloidal gear disk 4a further includes at least one set of holes 42a, each set of holes 42a being positioned corresponding to a corresponding crankshaft 6a, for the eccentric end 61a of the crankshaft 6a to pass through, so that the eccentric end 61a can be connected to the cycloidal gear disk 4a. The first output disk 7 further includes at least one set of holes 70, each set of holes 70 being positioned corresponding to a corresponding crankshaft 6a, for the first concentric end 60a of the crankshaft 6a to pass through, so that the first concentric end 60a can be connected to the first output disk 7. The second output disk 8 further includes at least one set of holes 80, each set of holes 80 being positioned corresponding to a corresponding crankshaft 6a, for the second concentric end 63a of the crankshaft 6a to pass through, so that the second concentric end 63a can be connected to the second output disk 8.

[0081] Furthermore, in some embodiments, the cycloidal reducer 1a also includes a first bearing 9a, the structure and characteristics of which are similar to those of... Figure 4 and Figure 5The first bearing 9a is shown below; therefore, its structure will only be briefly described in words, and its detailed structure will not be shown in the accompanying drawings. The first bearing 9a is fitted between the fitting hole 42a of the cycloidal gear disk 4a and the eccentric end 61a. Furthermore, the first bearing 9a includes multiple output eccentric shaft needle rollers (not shown), which surround the body of the first bearing 9a. When the first bearing 9a is fitted between the fitting hole 42a of the cycloidal gear disk 4a and the eccentric end 61a, the multiple output eccentric shaft needle rollers surround the outer ring wall of the eccentric end 61a. Moreover, the diameter of the fitting hole 42a is equal to the sum of the diameter of the eccentric end 61a and twice the diameter of the eccentric shaft needle rollers. Furthermore, twice the diameter of the eccentric shaft needle rollers is greater than or equal to the first eccentricity L4.

[0082] In some embodiments, the first bearing 9a further includes a roller retainer (not shown) to cover and support the eccentric shaft needle rollers. Furthermore, each eccentric shaft needle roller may have a clearance within the first bearing 9a (between the eccentric shaft needle roller and the roller retainer), thus ensuring that the first bearing 9a can be fitted onto the eccentric end 61a when the diameter of twice the eccentric shaft needle roller is greater than or equal to the first eccentricity L4.

[0083] In some embodiments, the cycloidal toothed disk 4a may be disposed within the disk 30 of the roller wheel assembly 3, and the first output disk 7 and the second output disk 8 are respectively at least partially disposed within the disk 30.

[0084] Furthermore, similar to Figure 2 The cycloidal reducer 1 shown includes a third bearing 12 and a fourth bearing 13. The cycloidal reducer 1a also includes a second bearing 22 and a third bearing 23. The second bearing 22 includes an outer bearing ring 220, an inner bearing ring 221, and at least one roller 222. The outer bearing ring 220 is disposed on the inner wall of the wheel 30, adjacent to but spaced apart from the first output disc 7. The inner bearing ring 221 is formed from a portion of the first output disc 7. At least one roller 222 connects the outer bearing ring 220 and the inner bearing ring 221. The third bearing 23 includes an outer bearing ring 230, an inner bearing ring 231, and at least one roller 232. The outer bearing ring 230 is disposed on the inner wall of the wheel 30, adjacent to but spaced apart from the second output disc 8. The inner bearing ring 231 is formed from a portion of the second output disc 8. At least one roller 232 connects the outer bearing ring 230 and the inner bearing ring 231. In addition, the inner diameter of the outer rings 220 and 230 is larger than the outer diameter of the cycloidal gear disk 4a.

[0085] The power transmission method of the cycloidal reducer 1a in this embodiment is as follows: when the input shaft 2 rotates, the cycloidal gear disk 4a is driven to rotate by the input shaft 2. The cycloidal gear disk 4a drives the crank shaft 6a to rotate through its connection with the eccentric end 61a of the crank shaft 6a. This causes the first concentric end 60a and the second concentric end 63a of the crank shaft 6a to rotate synchronously and drive the first output disk 7 and the second output disk 8 to rotate respectively. The first output disk 7 and / or the second output disk 8 then serve as the power output of the cycloidal reducer 1a. In other embodiments, the first output disk 7 and / or the second output disk 8 can be fixed, and the power output of the cycloidal reducer 1a can be replaced by the wheel disk 30.

[0086] In summary, this invention provides a cycloidal reducer in which the concentric and eccentric ends of the crankshaft have the same diameter. This allows the cycloidal reducer to be miniaturized without increasing the diameter of the eccentric end. Furthermore, because the concentric and eccentric ends of the crankshaft have the same diameter, the bearings fitted onto both ends can be of the same specification, thereby reducing material costs. Moreover, since the concentric and eccentric ends of the crankshaft are integrally formed, the accuracy of the crankshaft's placement and alignment within the cycloidal reducer is further improved.

Claims

1. A cycloidal reducer, comprising: One input shaft, which is rotatable; A roller wheel assembly includes a disc and a plurality of rollers disposed on the disc; A first cycloidal toothed disc is sleeved on the input shaft and rotated by the input shaft, and includes a first tooth portion that contacts the portion of at least one of the corresponding rollers; A second cycloidal toothed disc is sleeved on the input shaft and rotated by the input shaft, and includes a second tooth portion that contacts at least one of the corresponding rollers, wherein the first cycloidal toothed disc and the second cycloidal toothed disc are respectively located on opposite sides of the roller wheel assembly; A crankshaft includes an integrally formed first concentric end, a first eccentric end, a second eccentric end, and a second concentric end arranged in sequence. The first eccentric end is connected to a first cycloidal gear, and the second eccentric end is connected to a second cycloidal gear. Any two adjacent first concentric ends, first eccentric ends, second eccentric ends, and second concentric ends have an eccentricity. The diameters of the first concentric end, the first eccentric end, the second eccentric end, and the second concentric end are all the same. At least one output disc is connected to the first concentric end or the second concentric end, wherein the at least one output disc is the power output of the cycloidal reducer.

2. The cycloidal reducer as described in claim 1, wherein the eccentricity between the first concentric end and the first eccentric end is a first eccentricity, the eccentricity between the second concentric end and the second eccentric end is a second eccentricity, the eccentricity between the first eccentric end and the second eccentric end is a third eccentricity, and the first eccentricity is equal to the second eccentricity, and the third eccentricity is equal to twice the first eccentricity.

3. The cycloidal reducer as described in claim 2, wherein the cycloidal reducer further comprises a first bearing and a second bearing, and the first bearing and the second bearing respectively comprise a plurality of output eccentric shaft needle rollers, wherein twice the diameter of the output eccentric shaft needle rollers is greater than or equal to the first eccentricity.

4. The cycloidal reducer as claimed in claim 3, wherein the plurality of output eccentric shaft needle rollers of the first bearing surround an outer ring wall of the first eccentric end, and the plurality of output eccentric shaft needle rollers of the second bearing surround an outer ring wall of the second eccentric end.

5. The cycloidal reducer as claimed in claim 1, wherein the at least one output disc includes a first output disc and a second output disc, located on two opposite outer sides of the cycloidal reducer, and the first output disc further includes a sleeve hole, the sleeve hole of the first output disc being disposed at a position corresponding to the crankshaft for the first concentric end of the crankshaft to pass through, and the second output disc further includes a sleeve hole, the sleeve hole of the second output disc being disposed at a position corresponding to the crankshaft for the second concentric end of the crankshaft to pass through.

6. The cycloidal reducer as described in claim 5, wherein the cycloidal reducer further comprises a third bearing and a fourth bearing, the third bearing and the fourth bearing each comprising a bearing outer ring, the bearing outer ring of the third bearing being disposed on the inner wall surface of the wheel disk and adjacent to the first output disk, the bearing outer ring of the fourth bearing being disposed on the inner wall surface of the wheel disk and adjacent to the second output disk, wherein the inner diameter of the bearing outer ring of the third bearing and the inner diameter of the bearing outer ring of the fourth bearing are respectively larger than the outer diameter of the first cycloidal gear disk and the second cycloidal gear disk.

7. A cycloidal reducer, comprising: One input shaft, which is rotatable; A roller wheel assembly includes a disc and a plurality of rollers disposed on the disc; A cycloidal gear disk is sleeved on the input shaft and rotated by the input shaft, and includes a tooth portion that contacts at least one of the corresponding rollers. A crankshaft includes an integrally formed first concentric end, an eccentric end, and a second concentric end arranged in sequence, wherein the eccentric end is connected to a cycloidal gear disk, and any two adjacent first concentric ends, the eccentric end, and the second concentric end are respectively separated by an eccentricity, and the diameters of the first concentric end, the eccentric end, and the second concentric end are all the same; and At least one output disc is connected to the first concentric end or the second concentric end, wherein the at least one output disc is the power output of the cycloidal reducer.

8. The cycloidal reducer as claimed in claim 7, wherein the eccentricity between the first concentric end and the eccentric end is a first eccentricity, the eccentricity between the second concentric end and the eccentric end is a second eccentricity, and the first eccentricity is equal to the second eccentricity.

9. The cycloidal reducer as claimed in claim 8, wherein the cycloidal reducer further includes a first bearing, and the first bearing includes a plurality of output eccentric shaft needle rollers, wherein twice the diameter of the eccentric shaft needle rollers is greater than or equal to the first eccentricity.

10. The cycloidal reducer as claimed in claim 9, wherein the plurality of output eccentric shaft needle rollers surround an outer ring wall of the eccentric end.

11. The cycloidal reducer as claimed in claim 7, wherein the at least one output disc comprises a first output disc and a second output disc, located on two opposite outer sides of the cycloidal reducer, and the first output disc further comprises a sleeve hole, the sleeve hole of the first output disc being disposed at a position corresponding to the crankshaft for the first concentric end of the crankshaft to pass through, and the second output disc further comprises a sleeve hole, the sleeve hole of the second output disc being disposed at a position corresponding to the crankshaft for the second concentric end of the crankshaft to pass through.

12. The cycloidal reducer as claimed in claim 11, wherein the cycloidal reducer further comprises a second bearing and a third bearing, the second bearing and the third bearing each comprising a bearing outer ring, the bearing outer ring of the second bearing being disposed on the inner wall surface of the wheel disk and adjacent to the first output disk, the bearing outer ring of the third bearing being disposed on the inner wall surface of the wheel disk and adjacent to the second output disk, wherein the inner diameter of the bearing outer ring of the second bearing and the inner diameter of the bearing outer ring of the third bearing are respectively larger than the outer diameter of the cycloidal gear disk.

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