A modified single-slider double planetary reducer with low tooth difference

Abstract

This invention discloses a modified single-slider double planetary reducer with low tooth difference, belonging to the field of reducer technology. It includes a housing with internal teeth on its inner circumferential surface, serving as internal gears. A motor coupling, a backlash-free transmission module, and an output flange are sequentially arranged along the axial direction within the housing. The input end of the backlash-free transmission module is connected to a motor via the motor coupling, and its output end is connected to an actuator via an output flange, completing torque transmission between the prime mover and the actuator. The backlash-free transmission module is a double eccentric planetary gear cooperative transmission. This invention employs parallel formation, and the structural features of the output cross slider help shorten the axial dimension and ensure the orthogonality of the two protrusions, enabling effective transmission of the planetary reducer. Simultaneously, it effectively eliminates the imbalance and impact caused by eccentric inertia, eliminates the 1 / 2 meshing backlash of the single planetary gear, and reduces the return backlash.

Description

Technical Field

[0001] This invention belongs to the field of speed reducer technology, specifically relating to a modified single-slider double planetary speed reducer with low tooth difference. Background Technology

[0002] With the development of modern industry and the continuous improvement of mechanization and automation, higher requirements are placed on speed reducers. They are required to be small in size, light in weight, have a large transmission ratio and high efficiency, as well as have high load-bearing capacity, high reliability, long service life and high cost performance.

[0003] There are many types of speed reducers on the market, but ordinary cylindrical gear reducers are large in size and have a bulky structure; ordinary worm gear reducers have low efficiency at large transmission ratios; although cycloidal pinwheel planetary reducers and two-stage differential planetary gear reducers with few tooth differences can meet the above requirements, their structures are complex, their processing costs are high, and they require special equipment to manufacture.

[0004] To address the shortcomings of existing reducers, such as large size, small reduction ratio, low efficiency, complex structure, and high processing cost, the existing technology discloses a single eccentric shaft planetary reducer, which consists of a pair of internal meshing gears with different numbers of teeth, an eccentric shaft, and an output mechanism. This technology features small size, light weight, large transmission ratio, compact structure, high efficiency, and ease of standardization, serialization, and industrial design and manufacturing. It is also easy to assemble and integrate with electromechanical control systems and servo systems. However, this planetary reducer has a large backlash and large fluctuation. Summary of the Invention

[0005] The technical problem to be solved:

[0006] To avoid the shortcomings of existing technologies, this invention provides a modified single-slider double planetary reducer with low tooth difference. It adopts an optimized slider and eccentric shaft combination to effectively solve the problems of large backlash and large fluctuation in existing single eccentric shaft planetary reducers.

[0007] The technical solution of the present invention is: a deformable single-slider double planetary reducer with low tooth difference, comprising a body, wherein internal teeth are provided on the inner peripheral surface of the body as internal gears; a motor coupling, a backlash-free transmission module and an output flange are arranged sequentially along the axial direction inside the body; the input end of the backlash-free transmission module is connected to the motor through the motor coupling, and its output end is connected to the actuator through the output flange seat, thereby completing the torque transmission between the prime mover and the actuator;

[0008] The backlash-free transmission module is an eccentric planetary gear cooperative transmission.

[0009] A further technical solution of the present invention is: the backlash-free transmission module includes an input shaft, an upper planetary gear, a lower planetary gear, and an integrated deformable output end cross slider; the input shaft is a double eccentric shaft, with non-eccentric shaft sections at both ends, and the middle is divided into an upper eccentric section and a lower eccentric section along the axial direction, with the central axes of the upper and lower eccentric sections symmetrical about the central axis of the non-eccentric shaft section of the input shaft;

[0010] The upper planetary gear and the lower planetary gear are coaxially mounted on the upper and lower eccentric sections of the input shaft via bearings, and both mesh with the internal gear. The input shaft is driven to rotate by a motor, which in turn causes the upper and lower planetary gears to revolve around the central axis of the input shaft. At the same time, through meshing with the internal gear, the upper and lower planetary gears rotate around their own central axis.

[0011] One end of the integrated deformable output end cross slider is connected to the upper planetary gear and the lower planetary gear, and the other end is connected to the output flange seat, so as to realize the coordinated transmission of the upper planetary gear and the lower planetary gear.

[0012] A further technical solution of the present invention is as follows: the integrated deformable output end cross slider body is a ring structure, with two output protrusions symmetrically arranged on one end of the ring surface, which are connected to the two radial sliding grooves on the output flange seat; four input protrusions are arranged on the other end of the ring surface, namely two long protrusions and two short protrusions, which are connected to the four radial sliding grooves of the upper planetary gear respectively, wherein the two long protrusions extend axially to the lower planetary gear and are connected to the two radial sliding grooves of the lower planetary gear.

[0013] The protrusions at both ends of the integrated deformable output end cross slider slide radially in the radial grooves of the output flange seat and the upper and lower planetary gears, respectively. The radial sliding distance is equal to the eccentric distance of the upper and lower eccentric sections of the input shaft.

[0014] A further technical solution of the present invention is: the two output protrusions of the integrated deformable output end cross slider are symmetrically arranged at 180°; the four input protrusions are evenly distributed along the circumference, the two short protrusions are symmetrically arranged and located in the opposite extension direction of the two output protrusions, and the two long protrusions are symmetrically arranged.

[0015] A further technical solution of the present invention is: the eccentric distance between the upper and lower eccentric sections of the input shaft is 0.54mm; non-eccentric shaft sections are provided at both ends of the upper and lower eccentric sections, the axial length of the non-eccentric shaft sections is 40mm, and the input center and the output center are coaxial.

[0016] A further technical solution of the present invention is: the tip circle diameter of the internal gear is Φ61.85mm, and the number of teeth is 89.

[0017] A further technical solution of the present invention is: the upper planetary gear is an involute cylindrical spur gear with a tooth tip circle diameter of Φ64.47mm and a tooth number of 88; the center of the cross groove of the upper planetary gear coincides with the tooth tip center line.

[0018] A further technical solution of the present invention is: the lower planetary gear is an involute cylindrical spur gear with a tooth tip circle diameter of Φ64.47mm and a tooth number of 88; the center of the cross groove of the lower planetary gear coincides with the center line of the tooth groove.

[0019] A further technical solution of the present invention is as follows: the backlash-free transmission module includes an input shaft, an upper planetary gear, a middle planetary gear, a lower planetary gear, and an integrated deformable output end three-stage transmission slider; the integrated deformable input shaft is a three-stage eccentric shaft, with non-eccentric shaft sections at both ends and an axially divided upper eccentric section, middle eccentric section, and lower eccentric section in the middle; the upper planetary gear, middle planetary gear, and lower planetary gear are coaxially mounted on the upper eccentric section, middle eccentric section, and lower eccentric section of the input shaft respectively via bearings, and all mesh with internal gears; the input shaft is driven to rotate by a motor, which in turn drives the upper planetary gear, middle planetary gear, and lower planetary gear to revolve around the central axis of the input shaft, and simultaneously, through meshing with internal gears, causes the upper planetary gear, middle planetary gear, and lower planetary gear to rotate around their own central axis;

[0020] One end of the integrated deformable output end three-stage transmission slider is connected to the upper planetary gear, middle planetary gear, and lower planetary gear, and the other end is connected to the output flange seat, realizing the coordinated transmission of the upper planetary gear, middle planetary gear, and lower planetary gear. The main body of the integrated deformable output end three-stage transmission slider is a ring structure. Two output protrusions are symmetrically arranged on one end of the ring surface, which are installed and connected with two radial sliding grooves on the output flange seat. Six input protrusions are evenly distributed circumferentially on the other end of the ring surface, namely two long protrusions, two medium protrusions, and two short protrusions. All six input protrusions are installed and connected with the six radial sliding grooves of the upper planetary gear. Among them, two medium protrusions and two long protrusions extend axially to the middle planetary gear and are installed and connected with the four radial sliding grooves of the middle planetary gear. Among them, two long protrusions extend axially to the lower planetary gear and are installed and connected with the two radial sliding grooves of the lower planetary gear.

[0021] The protrusions at both ends of the three-stage transmission slider of the integrated deformable output end slide radially in the radial grooves of the output flange seat and the upper, middle and lower planetary gears, respectively. The radial sliding distance is equal to the eccentric distance of the upper, middle and lower eccentric sections of the input shaft.

[0022] A further technical solution of the present invention is: a motor base is fixedly installed at one end of the machine body, and the motor is installed on the motor base through a motor flange seat; an output positioning seat is fixedly installed at the other end of the machine body;

[0023] The input end of the input shaft is rotatably connected to the motor base via an input shaft bearing spacer and a deep groove ball bearing, and the output end is rotatably connected to the output flange seat via a deep groove ball bearing. The output flange seat is rotatably connected to the machine body via a crossed roller bearing.

[0024] Working principle and operation process: The output shaft of the motor is connected to the input end of the input shaft through a motor coupling, driving the input shaft to rotate. The input shaft drives the planetary gear set (upper planetary gear + lower planetary gear or upper planetary gear + middle planetary gear + lower planetary gear) to perform planetary rotation around the internal gear. For each revolution of the input shaft, the external planetary gear set rotates N teeth in the opposite direction (N equals the number of teeth of the internal gear minus the number of teeth of a single planetary gear in the external planetary gear set). The planetary rotation of the external planetary gear set is converted into the rotation of the output flange seat through a slider. Since the external planetary gear set is driven by the input shaft to revolve around the center line of the input shaft while also rotating around its own center line, the purpose of speed reduction transmission is achieved.

[0025] Beneficial effects

[0026] The beneficial effects of this invention are as follows:

[0027] 1. To reduce the backlash and fluctuations in planetary reducers, the art typically employs a scheme where a single planetary gear meshes with an internal gear, instead of a single planetary gear meshing with an internal gear, a scheme where two planetary gears mesh with an internal gear. However, when this method is applied to the aforementioned single-eccentric-shaft planetary reducer, it is found that after actual machining and assembly, the planetary gears can only rotate 1 / 4 revolution, failing to achieve transmission. Therefore, directly changing the single-gear meshing to double-gear meshing cannot solve the problem of large backlash and fluctuations in this planetary reducer. This invention employs a backlash-free transmission module, solving the above problems.

[0028] The advantage of the backlash-free transmission module lies in its use of a double eccentric shaft with two eccentric sections set at 180 degrees in the middle, which simultaneously drives two planetary gears to mesh with the internal gear. The internal gear is fixed, with the center of the cross groove of the upper planetary gear coinciding with the center line of the tooth tip, and the center of the cross groove of the lower planetary gear coinciding with the center line of the tooth groove, both using the bearing hole as the machining reference. At the same time, one end of the cross slider is machined into cross sliders of different lengths arranged at 90 degrees. The output cross slider engages with both the upper and lower planetary gears and slides within their respective radial grooves. That is, the upper and lower planetary gears drive the output cross sliders respectively, forming a parallel relationship. This output cross slider helps to shorten the axial dimension and ensure the orthogonality of the protrusions on both sides, enabling effective transmission of the planetary reducer. At the same time, it can effectively eliminate the imbalance and impact caused by eccentric inertia, and also eliminate the 1 / 2 meshing backlash of a single planetary gear, reducing the return backlash.

[0029] 2. This invention adopts a parallel design, with a gap only half that of a series structure, which can effectively eliminate backlash and reduce fluctuations. The upper planetary gear is associated with the long cross protrusion of the integrated deformable output cross slider; the lower planetary gear is associated with the short cross protrusion of the integrated deformable output cross slider; the slider slides within the grooves of the gears, which is a sliding friction; the cross slider has two dead points (mechanical limit positions). When reverse driving occurs, due to the large transmission ratio and the existence of sliding friction, the reverse driving of the mechanism requires a very large torque, thus the reducer has a certain self-locking capability.

[0030] 3. In another technical solution of the present invention, a three-stage parallel transmission slider at the output end is adopted, and an upper planetary gear, a middle planetary gear, and a lower planetary gear are set in parallel. By connecting the transmission of the three planetary gears simultaneously through the three-stage parallel transmission slider at the output end, the backlash can be further eliminated. It is suitable for fields and equipment where the requirements for transmission efficiency are not high but the requirements for backlash elimination performance are high. It can accurately realize the torque transmission between the prime mover and the actuator, such as in the field of antenna servo drive.

[0031] 4. This invention uses a slow wire EDM method for processing, which has the advantages of low cost and easy manufacturing.

[0032] 5. The present invention uses a specially designed deformed single cross slider to connect two planetary gears to the output shaft. The structure is simple, easy to manufacture, and low in cost. It can also compensate for errors introduced by assembly and / or parts manufacturing.

[0033] 6. The present invention has a simple and reliable structure, high transmission accuracy, small size and light weight, and is particularly suitable for low-power and low-speed motion transmission in places where there are strict restrictions on weight and size.

[0034] 7. The upper planetary gear, lower planetary gear, and slider are all arranged symmetrically, which can effectively reduce the influence of inertial forces. Attached Figure Description

[0035] Figure 1 This is a cross-sectional view of an embodiment of the planetary reducer of the present invention.

[0036] Figure 2 This is an exploded view of an embodiment of the planetary reducer of the present invention.

[0037] Figure 3 This is a schematic diagram of the structure of the input shaft (double eccentric shaft) in an embodiment of the planetary reducer of the present invention;

[0038] Figure 4 This is a schematic diagram of the cross slider output of the present invention;

[0039] Figure 5 This is a view of the output end of Embodiment 1 of the planetary reducer of the present invention.

[0040] Explanation of reference numerals in the attached drawings: 1. Body (internal gear), 2. Upper planetary gear, 3. Lower planetary gear, 4. Motor base, 5. Hole retaining ring, 6. Motor flange seat, 7. Motor coupling, 8. Input shaft bearing spacer, 9. Input shaft, 10. Deep groove ball bearing, 11. Integrated deformable output end cross slider, 12. Cross roller bearing, 13. Shaft retaining ring, 14. Output flange seat, 15. Output positioning seat, 16. Shaft retaining ring. Detailed Implementation

[0041] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Example 1:

[0044] Reference Figure 1 , 5 As shown, the modified single cross slider double planetary low tooth difference reducer of this embodiment includes a body 1, with internal teeth provided on the inner circumferential surface of the body 1 as internal gears; a motor coupling, a backlash-free transmission module and an output flange 14 are arranged sequentially along the axial direction inside the body 1; the input end of the backlash-free transmission module is connected to the motor through a motor coupling 7, and its output end is connected to the actuator through the output flange seat 14 to complete the torque transmission between the prime mover and the actuator;

[0045] The backlash-free transmission module includes an input shaft 9, an upper planetary gear 2, a lower planetary gear 3, and an integrated deformable output end cross slider 11; (Refer to...) Figure 3As shown, the input shaft 9 is a double eccentric shaft, with non-eccentric shaft sections at both ends and an axially divided upper and lower eccentric section in the middle. The central axes of the upper and lower eccentric sections are symmetrical about the central axis of the non-eccentric shaft section of the input shaft. The upper planetary gear 2 and the lower planetary gear 3 are coaxially mounted on the upper and lower eccentric sections of the input shaft 9 via bearings, and both mesh with the internal gear 1. The input shaft 9 is driven to rotate by a motor, which in turn drives the upper planetary gear 2 and the lower planetary gear 3 to revolve around the central axis of the input shaft 9. At the same time, through meshing with the internal gear 1, the upper planetary gear 2 and the lower planetary gear 3 rotate around their own central axis. One end of the integrated deformable output end cross slider 11 is connected to the upper planetary gear 2 and the lower planetary gear 3, and the other end is connected to the output flange seat 14, realizing the coordinated transmission of the upper planetary gear 2 and the lower planetary gear 3.

[0046] Preferably, the eccentricity distance between the upper and lower eccentric sections of the input shaft is 0.54 mm.

[0047] The planetary external gear set consists of an upper planetary gear 2 and a lower planetary gear 3. Both the upper planetary gear 2 and the lower planetary gear 3 are involute spur gears. The upper planetary gear 2 and the lower planetary gear 3 are respectively mounted on the upper and lower eccentric sections of the input shaft 9 via deep groove ball bearings. When the upper planetary gear 2 and the lower planetary gear 3 are driven by the upper and lower eccentric sections of the input shaft 9 to revolve around the center line of the input shaft 9, the upper planetary gear 2 and the lower planetary gear 3 also rotate around their own center lines. The end face of the upper planetary gear 2 is provided with radial grooves for matching the four rectangular tenons on the end face of the integrated deformable output end cross slider 11, and the end face of the lower planetary gear 3 is provided with radial grooves for matching the two longer rectangular tenons on the end face of the cross slider 11.

[0048] The output flange seat 14 is coaxial with the non-eccentric section of the output end of the input shaft 9. The end face of the output flange seat 14 is provided with two radial grooves arranged at 180 degrees. These two radial grooves are used to match the two rectangular tenons on the end face of the integrated deformable output end cross slider 11.

[0049] Reference Figure 4As shown, the integrated deformable output end cross slider 11 is disposed between the planetary external gear set and the output flange seat 14, and is used to transmit the decelerated motion of the planetary external gear set to the output flange seat 14. The integrated deformable output end cross slider 11 includes an annular body, and both ends of the annular body are provided with raised rectangular tenons; the end face of the annular body facing the output flange seat 14 is defined as the first end face, and the end face facing the planetary external gear set is defined as the second end face; the two rectangular tenons on the first end face are arranged at 180 degrees and have equal lengths along the axial direction; the four rectangular tenons on the second end face are arranged at 90 degrees and have unequal lengths along the axial direction. The shorter rectangular tenons are only used to cooperate with the upper planetary gear 2, and the longer rectangular tenons are located in the opposite direction of the two rectangular tenons on the first end face and are used to cooperate with both the upper planetary gear 2 and the lower planetary gear 3 at the same time. During assembly, the two rectangular tenons on the first end face of the integrated deformable output end cross slider 11 are respectively embedded into the two radial grooves on the end face of the output flange seat 14. Of the four rectangular tenons on the second end face of the integrated deformable output end cross slider 11, the longer tenon is embedded into both the two radial grooves on the end faces of the upper planetary gear 2 and the lower planetary gear 3, while the shorter tenon is embedded only into the two radial grooves on the end face of the upper planetary gear 2. During the operation of the reducer, the rectangular tenons of the cross slider slide up and down in the radial grooves of the output flange seat 14 and the planetary external gear set. The vertical sliding distance is equal to the eccentric distance of the upper and lower eccentric sections on the input shaft, ultimately transmitting the reduced motion of the planetary external gear set to the output flange seat 14.

[0050] Reference Figure 2 As shown, a motor base 4 is fixedly installed at one end of the machine body 1, and the motor is installed on the motor base 4 through a motor flange seat 6; an output positioning seat 15 is fixedly installed at the other end of the machine body 1; the input end of the input shaft 9 is rotatably connected to the motor base 4 through an input shaft bearing spacer 8 and a deep groove ball bearing 10, and the output end is rotatably connected to the output flange seat 14 through a deep groove ball bearing 10, and the output flange seat 14 is rotatably connected to the machine body 1 through a crossed roller bearing 12.

[0051] The principle and operation process of this embodiment are as follows:

[0052] The output shaft of the motor is connected to the input end of the input shaft 9 through the motor coupling 7, driving the input shaft 9 (double eccentric shaft) to rotate. The input shaft 9 drives the planetary gear set (upper planetary gear 2 + lower planetary gear 3) to perform planetary rotation around the internal gear 1. For each revolution of the input shaft 9, the planetary external gear set rotates N teeth in the opposite direction (N equals the number of teeth of the internal gear 1 minus the number of teeth of a single planetary gear in the planetary external gear set). The planetary rotation of the planetary external gear set is converted into the rotation of the output flange seat 14 through the cross slider 11.

[0053] Since the planetary external gear set is driven by the input shaft 9 to revolve around the center line of the input shaft 9, it also rotates around its own center line, thus achieving the purpose of speed reduction and transmission.

[0054] In this embodiment, the external gear has 88 teeth and the internal gear has 89 teeth.

[0055] The transmission ratio of the reducer of this invention:

[0056]

[0057] In the formula: i is the transmission ratio, Z1 is the number of teeth of a single planetary external gear, and Z2 is the number of teeth of an internal gear ring.

[0058] Example 2:

[0059] The modified single-stage slider and planetary low-tooth-difference reducer of this embodiment have the same structure and principle as those in Embodiment 1, except for the backlash-eliminating transmission module. This reducer can further eliminate backlash and can be applied to transmission in low-backlash fields (such as antenna servo).

[0060] The backlash-free transmission module includes an input shaft, an upper planetary gear, a middle planetary gear, a lower planetary gear, and a three-stage transmission slider at the output end. The input shaft is a three-stage eccentric shaft, with non-eccentric shaft sections at both ends and an axially divided upper, middle, and lower eccentric section in the middle. The upper, middle, and lower planetary gears are coaxially mounted on the upper, middle, and lower eccentric sections of the input shaft via bearings, and all mesh with the internal gear ring. The input shaft is driven to rotate by a motor, which in turn causes the upper, middle, and lower planetary gears to revolve around the central axis of the input shaft, while simultaneously meshing with the internal gear ring, causing the upper and lower planetary gears to rotate around their own central axes.

[0061] One end of the three-stage transmission slider at the output end is connected to the upper planetary gear, the middle planetary gear, and the lower planetary gear, and the other end is connected to the output flange seat, realizing the coordinated transmission of the upper planetary gear, the middle planetary gear, and the lower planetary gear. The main body of the three-stage transmission slider at the output end is a ring structure. Two output protrusions are symmetrically arranged on one end of the ring surface, which are installed and connected with two radial sliding grooves on the output flange seat. Six input protrusions are evenly distributed circumferentially on the other end of the ring surface, namely two long protrusions, two medium protrusions, and two short protrusions. The six input protrusions are installed and connected with the six radial sliding grooves of the upper planetary gear. The two medium protrusions and two long protrusions extend axially to the middle planetary gear and are installed and connected with the four radial sliding grooves of the middle planetary gear. The two long protrusions extend axially to the lower planetary gear and are installed and connected with the two radial sliding grooves of the lower planetary gear.

[0062] The protrusions at both ends of the three-stage transmission slider at the output end slide radially in the radial grooves of the output flange seat and the upper, middle and lower planetary gears, respectively. The radial sliding distance is equal to the eccentric distance of the upper, middle and lower eccentric sections of the input shaft.

[0063] The principle and operation process of this embodiment are as follows:

[0064] The output shaft of the motor is connected to the input end of the input shaft through the motor coupling 7, driving the input shaft (three eccentric shaft) to rotate. The input shaft drives the planetary gear set (upper planetary gear + middle planetary gear + lower planetary gear) to perform planetary rotation around the internal gear 1. For each revolution of the input shaft, the external planetary gear set rotates N teeth in the opposite direction (N equals the number of teeth of the internal gear 1 minus the number of teeth of a single planetary gear in the external planetary gear set). The planetary rotation of the external planetary gear set is converted into the rotation of the output flange seat 14 through the cross slider.

[0065] Because the planetary external gear set is driven by the input shaft to revolve around the center line of the input shaft while also rotating around its own center line, it can achieve the purpose of speed reduction and transmission.

[0066] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A modified single-slider double planetary reducer with few tooth differences, comprising a housing, wherein internal teeth are provided on the inner peripheral surface of the housing as internal gears; characterized in that: The machine body is provided with a motor coupling, a backlash-free transmission module and an output flange seat arranged in sequence along the axial direction; the input end of the backlash-free transmission module is connected to the motor through the motor coupling, and its output end is connected to the actuator through the output flange seat, so as to complete the torque transmission between the prime mover and the actuator. The backlash-free transmission module is an eccentric planetary gear cooperative transmission; The backlash-free transmission module includes an input shaft, an upper planetary gear, a lower planetary gear, and an integrated deformable output end cross slider; the input shaft is a double eccentric shaft, with non-eccentric shaft sections at both ends, and the middle is divided into an upper eccentric section and a lower eccentric section along the axial direction, with the central axes of the upper and lower eccentric sections symmetrical about the central axis of the non-eccentric shaft section of the input shaft; The upper planetary gear and the lower planetary gear are coaxially mounted on the upper and lower eccentric sections of the input shaft via bearings, and both mesh with the internal gear. The input shaft is driven to rotate by a motor, which in turn causes the upper and lower planetary gears to revolve around the central axis of the input shaft. At the same time, through meshing with the internal gear, the upper and lower planetary gears rotate around their own central axis. One end of the integrated deformable output end cross slider is connected to the upper planetary gear and the lower planetary gear, and the other end is connected to the output flange seat, so as to realize the coordinated transmission of the upper planetary gear and the lower planetary gear. The integrated deformable output end cross slider body is a ring structure. Two output protrusions are symmetrically arranged on one end of the ring surface, which are connected to the two radial grooves on the output flange seat. Four input protrusions are arranged on the other end of the ring surface, namely two long protrusions and two short protrusions. The four input protrusions are connected to the four radial grooves of the upper planetary gear, respectively. Among them, the two long protrusions extend axially to the lower planetary gear and are connected to the two radial grooves of the lower planetary gear. The protrusions at both ends of the integrated deformable output end cross slider slide radially in the radial grooves of the output flange seat and the upper and lower planetary gears, respectively. The radial sliding distance is equal to the eccentric distance of the upper and lower eccentric sections of the input shaft.

2. The modified single-slider double planetary reducer with low tooth difference according to claim 1, characterized in that: The two output bumps of the integrated deformable output end cross slider are symmetrically arranged at 180°; the four input bumps are evenly distributed circumferentially, the two short bumps are symmetrically arranged and located in the opposite extension direction of the two output bumps, and the two long bumps are symmetrically arranged.

3. The modified single-slider double planetary reducer with low tooth difference according to claim 2, characterized in that: The eccentric distance between the upper and lower eccentric sections of the input shaft is 0.54 mm; non-eccentric shaft sections are provided at both ends of the upper and lower eccentric sections, and the axial length of the non-eccentric shaft sections is 40 mm, with the input center and output center coaxial.

4. The modified single-slider double planetary reducer with low tooth difference according to claim 3, characterized in that: The internal gear has a tip circle diameter of Φ61.85mm and 89 teeth.

5. The modified single-slider double planetary reducer with low tooth difference according to claim 4, characterized in that: The upper planetary gear is an involute cylindrical spur gear with a tooth tip circle diameter of Φ64.47mm and 88 teeth; the center of the cross groove of the upper planetary gear coincides with the center line of the tooth tip.

6. The modified single-slider double planetary reducer with low tooth difference according to claim 5, characterized in that: The lower planetary gear is an involute cylindrical spur gear with a tooth tip circle diameter of Φ64.47mm and 88 teeth; the center of the cross groove of the lower planetary gear coincides with the center line of the tooth groove.

7. A modified single-slider double planetary reducer with low tooth difference according to any one of claims 1-6, characterized in that: A motor mount is fixedly installed at one end of the machine body, and the motor is mounted on the motor mount via a motor flange seat; an output positioning seat is fixedly installed at the other end of the machine body. The input end of the input shaft is rotatably connected to the motor base via an input shaft bearing spacer and a deep groove ball bearing, and the output end is rotatably connected to the output flange seat via a deep groove ball bearing. The output flange seat is rotatably connected to the machine body via a crossed roller bearing.

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