A swingback roller oscillating tooth speed reducer

Abstract

The present application relates to a kind of swing compound roller oscillating tooth reducer, including center wheel, shock wave input shaft, holeless oscillating tooth frame, end cover and compound roller oscillating tooth;Compound roller oscillating tooth meshing shock wave input shaft is constituted compound roller oscillating tooth meshing pair in the center wheel;Tooth slot is arranged in the contact position of the lower end surface of compound roller oscillating tooth with holeless oscillating tooth frame inner end, small circular segment is arranged in the left side of tooth slot, and trapezoidal boss is arranged on the outer circumference of tooth slot and is connected with small circular segment, large circular groove segment is arranged in the right side of tooth slot, and large circular segment extends to the outer circumferential edge of holeless oscillating tooth frame, compound roller oscillating tooth swings in the limiting space formed by center wheel tooth disc, shock wave input shaft tooth disc and holeless oscillating tooth frame support structure, end cover first inner end face, and will not be out of meshing area.For the problem that roller oscillating tooth structure wears greatly, swing oscillating tooth structure is low in strength, the carrying capacity of swing compound roller oscillating tooth structure is higher, while structural strength is improved, wear is reduced, and transmission performance is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and in particular to a rotary roller gear reducer. Background Technology

[0002] The two-tooth difference pendulum drive system is a typical form of planetary transmission with few tooth differences. The shock generator and the central wheel have the advantages of compact structure and central symmetry, which makes this type of transmission system have high transmission efficiency, is not easily deformed, and has low impact vibration. However, in the pendulum drive mechanism, the machining of the pin hole on the pendulum frame is difficult, and the increase in the kinematic chain increases the transmission error. During the transmission process, wear will occur at the pendulum, resulting in increased lateral clearance and transmission noise, which affects the transmission performance.

[0003] In the prior art, the structure of the rocker arm reciprocating gear reducer has been studied. For example, invention patent application number CN201310365690.6 discloses a cosine shock wave oscillating reciprocating gear transmission device, characterized by a reciprocating gear pin installed on the output shaft frame, with the oscillating reciprocating gear fitted on the reciprocating gear pin and simultaneously contacting the profile of the shock wave generator on the input shaft and the profile of the central internal gear. This rocker arm reciprocating gear design achieves speed reduction transmission through the oscillation of rollers around the pin, but pin wear can significantly affect transmission accuracy. For example, invention patent application number CN201910097452.9 discloses a rocker arm movable gear transmission device with an eccentric gear shock wave mechanism. Its characteristic is that multiple rocker arms are evenly hinged to the movable gear frame via multiple pins. Each rocker arm has two semi-enclosed grooves facing outwards. Two sliders are respectively spring-guided and pressed against the two semi-enclosed grooves. Each slider has a pinion that rotatably engages with the eccentric gear shock wave generator gear, and a bearing that fits against the inner tooth profile of the central gear. This rocker arm movable gear design relies on the meshing between the shock wave generator gear and the pinion in the eccentric gear structure to transmit motion and power, thus avoiding slippage. However, its structure is prone to wear and requires very high machining precision. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a pendulum compound roller gear reducer. Addressing the difficulties in manufacturing the pins in pendulum gear reducers, and the ease with which the pendulum pins wear during operation, thus affecting transmission accuracy and leading to a decrease in gear transmission performance, the present invention provides a double shock wave oscillating compound gear reducer without a pendulum structure.

[0005] The technical solution adopted in this invention is as follows:

[0006] The present invention proposes a compound roller gear reducer, comprising a non-perforated gear carrier, a central wheel, an end cap, a shock wave input shaft, and compound roller gears; the non-perforated gear carrier is coaxially connected to the shock wave input shaft; the central wheel is correspondingly coaxially disposed on the outer circumference of the non-perforated gear carrier; the end cap is correspondingly coaxially disposed on the outer circumference of the shock wave input shaft; the end cap is coaxially fixedly connected to the central wheel.

[0007] The composite roller teeth are axially arranged on the outer circumference of the inner end face of the non-perforated roller tooth frame, with the circumference evenly distributed around the circumference.

[0008] An elliptical shock input shaft toothed disc is provided on the outer circumference of the part of the shock input shaft that corresponds radially to the composite roller tooth. The outer end of the shock input shaft is a shaft section that extends out of the end cover.

[0009] The interior of the central wheel is connected to the shock wave input shaft gear disk via a composite roller live tooth meshing pair.

[0010] The inner end face of the non-perforated movable gear carrier, where it contacts the composite roller movable tooth, is provided with circumferentially distributed tooth grooves, each tooth groove being composed of circumferentially distributed axial pins. The left and right end faces of the tooth grooves are respectively provided with small arc segments and large circular groove segments. The radii of the small arc segments and large circular groove segments are set according to the swing radius, used to mesh with the composite roller movable tooth. The centers of the small arc segments and large circular groove segments coincide. Furthermore, a trapezoidal boss is provided at the junction of the small arc segment and the outer circumference of the inner end of the non-perforated movable gear carrier, causing the tooth groove to extend radially to the outer circumferential edge of the inner end face of the non-perforated movable gear carrier. The radial thickness of the tooth groove is less than the diameter of the composite roller movable tooth.

[0011] Furthermore, the centers of the small arc segment and the large circular groove segment are the theoretical swing center of the composite roller tooth; the left side of the tooth groove is a small arc segment close to the theoretical swing center, and the radius of the small arc segment is smaller than the radius of the composite roller tooth; the right side of the tooth groove is a large circular groove segment away from the theoretical swing center, the large circular groove segment extends radially to the outer circumferential edge of the inner end of the holeless tooth holder, and the radius of the large circular groove segment is larger than the radius of the composite roller tooth; the area below the tooth groove is the support structure of the composite roller tooth; the height of the upper end face of the pin is greater than the height of the upper end face of the composite roller tooth; the radial thickness of the pin is less than the diameter of the composite roller tooth; the radial thickness of the pin is the same as the radial thickness of the composite roller tooth support structure.

[0012] Furthermore, the central wheel is an integrated structure, consisting of an outer housing and a geared disc; the geared disc is coaxially fixed to the inner circumference of the outer housing; the end cap has a first inner end face and a second inner end face; wherein, a certain gap is left between the first inner end face and the upper end face of the pin to limit the axial position of the composite roller teeth, and a certain gap is left between the second inner end face and the upper end face of the shock input shaft gear to ensure the normal operation of the shock input shaft.

[0013] Furthermore, the side surface of the composite roller tooth simultaneously meshes with the tooth profile surface of the central gear disk and the tooth profile surface of the shock wave input shaft disk; the composite roller tooth support structure contacts the lower end face of the composite roller tooth, and the first inner end face of the end cap is slightly higher than the upper end face of the composite roller tooth; the composite roller tooth swings up and down with the tooth profile within the constrained space formed by the tooth profile surface of the central gear disk, the tooth profile surface of the shock wave input shaft disk, the first inner end face of the end cap, and the composite roller tooth support structure, without disengaging from the meshing area.

[0014] Furthermore, the outer end of the non-perforated movable gear frame is a stepped shaft, and two bearings are respectively installed between the stepped shaft and the central wheel to ensure the coaxiality of the central wheel and the non-perforated movable gear frame.

[0015] Furthermore, two bearings placed side by side are installed between the shock input shaft and the holeless toothed frame to ensure the coaxiality of the shock input shaft and the holeless toothed frame.

[0016] Furthermore, all of the bearings are deep groove ball bearings.

[0017] Furthermore, a left-end bearing cover is provided between the stepped shaft of the non-perforated movable gear and the outer end of the central wheel; a right-end bearing cover is provided between the shock wave input shaft and the outer end of the end cover.

[0018] Furthermore, lip seals are provided between the left bearing cover and the stepped shaft of the non-perforated movable gear frame, and between the right bearing cover and the shock input shaft; O-rings are provided between the left bearing cover and the center wheel, between the center wheel and the end cover, and between the right bearing cover and the end cover.

[0019] Furthermore, the outer end of the shock wave input shaft is a stepped shaft, and a bearing is installed between the stepped shaft and the end cover to compensate for the influence of manufacturing and installation errors of the rotary roller gear reducer on coaxiality.

[0020] Furthermore, the bearing is a self-aligning ball bearing.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] In this invention, the non-perforated movable gear carrier and the central wheel adopt an integrated configuration, which not only improves rigidity but also simplifies the processing flow. During the movement of the composite roller movable gear, it oscillates within the tooth groove, fully combining the advantages of low wear of the oscillating movable gear and high load-bearing capacity of the roller movable gear. In the meshing area, the meshing surface of the shock wave input shaft tooth profile, the meshing surface of the central wheel tooth profile, the inner end face of the end cover, and the end face of the non-perforated movable gear carrier support structure together form a limiting space, ensuring that the composite roller movable gear can oscillate up and down with the tooth profile during rotation and will not disengage from the meshing area. Attached Figure Description

[0023] Figure 1 This is a cross-sectional schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram showing the spatial position of the composite roller teeth of the present invention;

[0025] Figure 3 This is a forward axonometric schematic diagram of the meshing of the composite roller tooth and the tooth carrier of the present invention.

[0026] Figure 4 This is a schematic diagram of the reverse pair of the composite roller tooth meshing with the tooth carrier of the present invention.

[0027] Figure 5 This is a schematic diagram of the non-perforated movable gear frame of the present invention;

[0028] Figure 6 for Figure 5 Enlarged structural diagram at point B;

[0029] Figure 7 This is a schematic diagram of the cross-sectional shape of the tooth groove of the non-perforated movable tooth frame of the present invention;

[0030] Figure 8 This is a schematic diagram of the shock wave input shaft of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of the central wheel of the present invention;

[0032] Figure 10 This is a schematic diagram of the end cap structure of the present invention.

[0033] In the attached drawings, the reference numerals are as follows: 1-Non-perforated movable gear frame; 2-Fastening bolt I; 3-Lip seal I; 4-Left end bearing cap; 5-Bearing I; 6-Center wheel; 7-Bearing II; 8-End cap; 9-Bearing III; 10-Right end bearing cap; 11-Lip seal II; 12-Shock input shaft; 13-Fastening bolt II; 14-O-ring seal I; 15-Fastening bolt III; 16-O-ring seal II; 17-Bearing IV; 18-Bearing V; 19-O-ring... Seal ring III; 20 Composite roller tooth; 21 Upper end face of composite roller tooth; 22 Lower end face of composite roller tooth; 23 Tooth groove; 24 Composite roller tooth support structure; 25 Pin; 26 Large circular groove section; 27 Upper end face of pin; 28 Trapezoidal boss; 29 Small circular arc section; 30 Shocker input shaft gear disk; 31 Upper end face of shocker input shaft gear disk; 32 Outer housing of center wheel; 33 Center wheel gear disk; 34 First inner end face; 35 Second inner end face. Detailed Implementation

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] It should be noted that in the description of this invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not mean that the device or element must have a specific orientation, or be constructed and operated in a specific orientation.

[0036] See appendix Figure 1-4 This invention provides a specific structure of an embodiment of a compound roller gear reducer. The reducer includes a non-perforated gear frame 1, a central wheel 6, an end cap 8, a shock wave input shaft 12, and compound roller gears 20. The central wheel 6, the shock wave input shaft 12, the non-perforated gear frame 1, and the end cap 8 are coaxially mounted. The right end of the non-perforated gear frame 1 is coaxially connected to the left end of the shock wave input shaft 12. The central wheel 6 is coaxially mounted on the outer circumference of the non-perforated gear frame 1. The end cap 8 is coaxially mounted on the outer circumference of the shock wave input shaft 12. The end cap 8 and the circumferential edge of the central wheel 6 are coaxially fixed together by fastening bolts III15.

[0037] The composite roller teeth 20 are axially arranged evenly around the right end face of the non-perforated tooth holder 1 on the outer circumference; the composite roller teeth 20 are composed of an outer roller shell and an internal filling structure of the roller.

[0038] An elliptical shock input shaft gear disk 30 is provided on the outer circumference of the radially corresponding portion of the shock input shaft 12 and the composite roller tooth 20, such as... Figure 8 As shown; the right end of the shock wave input shaft 12 is the shaft segment extending from the end cover 8.

[0039] The central wheel 6 is connected to the shock wave input shaft gear disk 30 via the composite roller teeth 20, thus forming a composite roller teeth 20 meshing pair.

[0040] See appendix Figure 5-10 The right end face of the non-perforated movable gear 1 is provided with an integrally formed annular composite roller movable gear support structure 24 corresponding to the axial direction. The part of the composite roller movable gear support structure 24 that contacts the composite roller movable gear 20 is provided with circumferentially distributed tooth grooves 23. The tooth grooves 23 are composed of several circumferentially distributed pins 25 axially arranged on the right end face of the composite roller movable gear support structure 24. The left and right end faces of the tooth grooves 23 are respectively provided with small arc segments 29 and large circular groove segments 26. The radii of the small arc segment 29 and the large circular groove segment 26 are set according to the swing radius to mesh with the composite roller tooth 20; the centers of the small arc segment 29 and the large circular groove segment 26 coincide; and a trapezoidal boss 28 is provided at the junction of the small arc segment 29 and the outer circumference of the right end face of the composite roller tooth support structure 24, so that the tooth groove 23 extends radially to the outer circumference edge of the right end face of the composite roller tooth support structure 24; the radial thickness of the tooth groove 23 is less than the diameter of the composite roller tooth 20. The composite roller teeth 20 are respectively arranged axially within the tooth groove 23.

[0041] The centers of the small arc segment 29 and the large circular groove segment 26 are the theoretical swing center of the composite roller tooth 20; the left side of the tooth groove 23 is the small arc segment 29 close to the theoretical swing center, and the radius of the small arc segment 29 is smaller than the radius of the composite roller tooth 20, assisting the reciprocating swing of the composite roller tooth 20 around the theoretical swing center in the return segment; the right side of the tooth groove 23 is the large circular groove segment 26 away from the theoretical swing center, the large circular groove segment 26 extends radially to the outer circumferential edge of the inner end of the non-perforated tooth holder 1, and the radius of the large circular groove segment 26 is larger than the radius of the composite roller tooth 20, assisting... The composite roller tooth 20 in the lift section reciprocates around the theoretical oscillation center, and a trapezoidal boss 28 is provided at the junction of the small arc segment 29 and the outer circumference of the non-perforated tooth holder 1, so that the large circular groove segment 26 can extend radially to the edge of the outer circumference of the non-perforated tooth holder 1, restricting the position of the composite roller tooth 20 and ensuring synchronous rotation; the height of the upper end face 27 of the pin is greater than the height of the upper end face 21 of the composite roller tooth; the radial thickness of the pin 25 is less than the diameter of the composite roller tooth 20; the radial thickness of the pin 25 is the same as the radial thickness of the composite roller tooth support structure 24.

[0042] like Figure 9 As shown, the central wheel 6 is an integrated structure, consisting of a central wheel outer housing 32 and a central wheel gear disk 33; the central wheel gear disk 33 is coaxially embedded in the inner circumference of the right end of the central wheel outer housing 32; the end cover 8 is provided with a first inner end face 34 and a second inner end face 35 respectively; wherein, a certain gap is left between the first inner end face 34 and the upper end face 27 of the pin to limit the axial position of the composite roller live tooth 20, and a certain gap is left between the second inner end face 35 and the upper end face 31 of the shock input shaft gear disk to ensure the normal operation of the shock input shaft 12.

[0043] The cylindrical side of the composite roller tooth 20 simultaneously meshes with the tooth profile surface of the central gear disk 33 and the tooth profile surface of the shock input shaft disk 30; the composite roller tooth support structure 24 contacts the lower end face 22 of the composite roller tooth, and the first inner end face 34 of the end cover 8 is slightly higher than the upper end face 21 of the composite roller tooth; the composite roller tooth 20 swings up and down with the tooth profile within the constraint space formed between the tooth profile surface of the central gear disk 33, the tooth profile surface of the shock input shaft disk 30, the first inner end face 34 of the end cover 8, and the composite roller tooth support structure 24, without disengaging from the meshing area.

[0044] In this embodiment, the left end of the non-perforated movable gear 1 has a stepped shaft extending coaxially, and two deep groove ball bearings, namely bearing I5 and bearing II7, are coaxially installed between the extended shaft section and the central wheel 6, respectively, to install the non-perforated movable gear 1 inside the central wheel 6, ensuring the coaxiality of the central wheel 6 and the non-perforated movable gear 1. The left end bearing cover 4 axially fixes the outer ring of bearing I5, and the inner end face of the central wheel 6 axially fixes the outer ring of bearing II7. Two deep groove ball bearings, namely bearing IV17 and bearing V18, are coaxially installed at the connection between the shock input shaft 12 and the non-perforated movable gear 1. The outer rings of bearings IV17 and V18 are installed in the inner hole at the right end of the non-perforated gear carrier 1, and the outer ring of bearing V18 is axially fixed by the shaft shoulder. The use of two bearings installed side by side can improve the coaxiality between the non-perforated gear carrier 1 and the shock input shaft 12. The right side of the shock input shaft 12 is a stepped shaft, and a self-aligning ball bearing, namely bearing III9, is installed between the stepped shaft and the end cover 8. It is used to compensate for the influence of the manufacturing and installation error of the pendulum roller gear reducer on the coaxiality. The inner ring of bearing III9 is ​​axially fixed by the shaft shoulder of the shock input shaft 12, and the outer ring of bearing III9 is ​​axially fixed by the right end bearing cover 10.

[0045] A left-end bearing cover 4 is installed between the left end of the center wheel 6 and the area corresponding to the stepped shaft of the non-perforated gear frame 1. The left-end bearing cover 4 is fixed to the center wheel 6 by a fastening bolt I2. A right-end bearing cover 10 is installed between the area corresponding to the right end of the shock input shaft 12 and the end cover 8. The right-end bearing cover 10 is tightly attached to the right end face of the end cover 8 and fixed by a fastening bolt II13. A lip seal I3 is provided between the left-end bearing cover 4 and the stepped shaft of the non-perforated gear frame 1 for sealing and oil protection. A lip seal II11 is provided between the right-end bearing cover 10 and the shock input shaft 12 for sealing and oil protection. An O-ring III19 is provided between the left-end bearing cover 4 and the center wheel 6. An O-ring II16 is provided between the center wheel 6 and the end cover 8. An O-ring I14 is provided between the right-end bearing cover 10 and the end cover 8.

[0046] The working principle of this invention is as follows: When the driving force is input, the shock input shaft 12 rotates clockwise at a constant angular velocity. The lift section profile of the shock input shaft gear disk 30 and the composite roller tooth 20 form a high pair, pushing the composite roller tooth 20 to swing along the large circular groove section 26. This causes the composite roller tooth 20 to mesh with the lift section tooth profile of the central gear disk 33. Under the joint meshing action of the shock input shaft gear disk 30 and the central gear disk 33, the large circular groove section 26 pushes the non-perforated tooth frame 1 to rotate clockwise, completing the speed change motion from the shock input shaft 12 to the output shaft of the non-perforated tooth frame 1. The composite roller tooth 20, which is in contact with the return section tooth profile of the central gear disk 33, returns to the working starting position sequentially along the axial pin surface under the reverse thrust of the central gear disk 33. The oscillating motion is achieved by the axial pins 25 evenly distributed around the circumference of the non-perforated movable gear frame 1 to assist the composite roller movable gear 20. Combining the advantages of high rigidity of roller movable gear transmission and low wear of oscillating movable gear transmission, the accuracy and stability are improved, and the service life of the device is extended.

[0047] All matters not covered in this invention are common knowledge.

[0048] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A reciprocating roller gear reducer, characterized in that: The reducer includes a non-perforated gear frame, a center wheel, an end cap, a shock wave input shaft, and a composite roller gear; the non-perforated gear frame is coaxially connected to the shock wave input shaft; the center wheel is coaxially disposed on the outer circumference of the non-perforated gear frame; the end cap is coaxially disposed on the outer circumference of the shock wave input shaft; the end cap is coaxially fixedly connected to the center wheel. The composite roller teeth are axially arranged on the outer circumference of the inner end face of the non-perforated roller tooth frame, with the circumference evenly distributed around the circumference. An elliptical shock input shaft toothed disc is provided on the outer circumference of the part of the shock input shaft that corresponds radially to the composite roller tooth. The outer end of the shock input shaft is a shaft section that extends out of the end cover. The interior of the central wheel is connected to the shock wave input shaft gear disk via a composite roller live tooth meshing pair. The inner end face of the non-perforated movable gear carrier, where it contacts the composite roller movable tooth, is provided with circumferentially distributed tooth grooves, each tooth groove being composed of circumferentially distributed axial pins. The left and right end faces of the tooth grooves are respectively provided with small arc segments and large circular groove segments. The radii of the small arc segments and large circular groove segments are set according to the swing radius, used to mesh with the composite roller movable tooth. The centers of the small arc segments and large circular groove segments coincide. Furthermore, a trapezoidal boss is provided at the junction of the small arc segment and the outer circumference of the inner end of the non-perforated movable gear carrier, causing the tooth groove to extend radially to the outer circumferential edge of the inner end face of the non-perforated movable gear carrier. The radial thickness of the tooth groove is less than the diameter of the composite roller movable tooth.

2. The reciprocating roller gear reducer according to claim 1, characterized in that: The center of the small arc segment and the large circular groove segment is the theoretical swing center of the composite roller tooth; the left side of the tooth groove is a small arc segment close to the theoretical swing center, and the radius of the small arc segment is smaller than the radius of the composite roller tooth; the right side of the tooth groove is a large circular groove segment away from the theoretical swing center, the large circular groove segment extends radially to the outer circumference edge of the inner end of the non-perforated tooth holder, and the radius of the large circular groove segment is larger than the radius of the composite roller tooth; the lower part of the tooth groove is the support structure of the composite roller tooth; the height of the upper end face of the pin is greater than the height of the upper end face of the composite roller tooth; the radial thickness of the pin is less than the diameter of the composite roller tooth; the radial thickness of the pin is the same as the radial thickness of the support structure of the composite roller tooth.

3. The pendulum roller reducer according to claim 1, characterized in that: The central wheel is an integrated structure, consisting of an outer housing and a geared disc. The geared disc is coaxially fixed to the inner circumference of the outer housing. The end cap has a first inner end face and a second inner end face. A certain gap is left between the first inner end face and the upper end face of the pin to limit the axial position of the composite roller teeth. A certain gap is left between the second inner end face and the upper end face of the shock input shaft gear to ensure the normal operation of the shock input shaft.

4. The reciprocating roller gear reducer according to claim 3, characterized in that: The side of the composite roller tooth meshes simultaneously with the tooth profile surface of the central gear disk and the tooth profile surface of the shock input shaft disk; the composite roller tooth support structure contacts the lower end face of the composite roller tooth, and the first inner end face of the end cap is slightly higher than the upper end face of the composite roller tooth; the composite roller tooth swings up and down with the tooth profile within the constrained space formed by the tooth profile surface of the central gear disk, the tooth profile surface of the shock input shaft disk, the first inner end face of the end cap, and the composite roller tooth support structure, without disengaging from the meshing area.

5. The pendulum roller reducer according to claim 1, characterized in that: The outer end of the non-perforated movable gear frame is a coaxial stepped shaft, and two bearings are installed between the stepped shaft and the central wheel to ensure the coaxiality of the central wheel and the non-perforated movable gear frame; two bearings are installed side by side between the shock input shaft and the non-perforated movable gear frame to ensure the coaxiality of the shock input shaft and the non-perforated movable gear frame.

6. The pendulum roller reducer according to claim 5, characterized in that: All bearings are deep groove ball bearings.

7. The pendulum roller reducer according to claim 5, characterized in that: A left-end bearing cover is provided between the stepped shaft of the non-perforated movable gear and the outer end of the central wheel; a right-end bearing cover is provided between the shock input shaft and the outer end of the end cover.

8. The pendulum roller reducer according to claim 7, characterized in that: A lip seal is provided between the left bearing cover and the stepped shaft of the non-perforated movable gear frame, and between the right bearing cover and the shock input shaft; an O-ring is provided between the left bearing cover and the center wheel, between the center wheel and the end cover, and between the right bearing cover and the end cover.

9. The pendulum roller reducer according to claim 1, characterized in that: The outer end of the shock input shaft is a stepped shaft, and a bearing is installed between the stepped shaft and the end cover to compensate for the influence of manufacturing and installation errors of the rotary roller reducer on coaxiality.

10. A reciprocating roller gear reducer according to claim 9, characterized in that: The bearing is a self-aligning ball bearing.

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