Coaxial dual-output speed reducer based on cycloid planetary transmission

Abstract

The coaxial dual-output speed reducer comprises a cycloidal-pin wheel speed reducer, and the cycloidal-pin wheel speed reducer comprises a rotating shell capable of being driven to rotate and a cycloidal-pin wheel speed reduction assembly arranged on the rotating shell and used for transmitting power to the rotating shell in a speed reduction mode; the planetary gear assembly is arranged on the rotating shell, a planetary gear train with the rotating shell as a power input end is formed by the planetary gear assembly and the rotating shell, a first output end is arranged at the end of the rotating shell, and the planetary gear train is provided with a second output end coaxial with the first output end; according to the coaxial dual-output speed reducer based on cycloid planetary transmission, input power can be output through the rotating shell and the planetary gear assembly after being decelerated through the cycloid pin wheel speed reducer, so that dual-power output is achieved, the overall structure is more compact compared with the prior art, and the coaxial dual-output speed reducer has better bearing capacity.

Description

Technical Field

[0001] The invention relates to the field of reduction gears for mechanical equipment, and in particular to a coaxial double-output reduction gear based on cycloid planetary transmission. Background Art

[0002] In some use cases where coaxial dual-output reduction is required, such as helicopter double-layer rotor reducers, co-propeller transmissions of diving equipment, etc., in order to complete such power reduction transmission tasks, a complex gear train mechanism reduction transmission form consisting of multiple sets of gears is often used. In the prior art, for example, the Chinese utility model patent with publication number CN203698660U discloses a spiral bevel gear planetary gear train for a helicopter main reducer, the main transmission reduction structure of which is a double sun gear meshing rotation transmission with three bevel gear planetary gears around the rotor shaft axis and a spiral bevel gear planetary gear meshing transmission with the main reducer housing fixed gear ring; that is, it is generally a reduction mechanism form with multiple sets of gear train transmission as the main component, but multiple sets of gear trains will make its mechanism system more complex, and the multi-stage transmission form will also lead to more power loss, and the maintenance cost corresponding to its bulky structure system is also high.

[0003] Therefore, it is necessary to improve the coaxial reduction device in the prior art so that it can have a smaller volume when used in applications where coaxial dual-output reduction transmission is required. The overall structure is simpler than the multiple gear train structure in the prior art, and there is no need to adopt a multi-stage transmission form, which reduces power loss. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a coaxial dual-output reduction device based on cycloid planetary transmission. Compared with the prior art, when used in applications where coaxial dual-output reduction transmission is required, it can have a smaller volume and lower power loss, and at the same time has better load-bearing capacity.

[0005] The coaxial dual-output reduction device based on cycloid planetary transmission of the present invention comprises:

[0006] A cycloid pinwheel reducer comprises a rotating housing that can be driven to rotate and a cycloid pinwheel reduction assembly disposed on the rotating housing for reducing power and transmitting it to the rotating housing;

[0007] The planetary gear assembly is arranged on the rotating housing and forms a planetary gear train with the rotating housing as the power input end. The end of the rotating housing is provided with a first output end, and the planetary gear train is provided with a second output end coaxially arranged with the first output end.

[0008] Further, the cycloid pinwheel reduction assembly comprises:

[0009] External terminal fixing plate;

[0010] A pin fixing plate, fixedly connected to the external end fixing plate;

[0011] A needle gear assembly is arranged on the inner wall of the rotating shell and forms a needle gear with the rotating shell;

[0012] An input shaft is rotatably disposed on the external end fixing plate and the pin fixing plate;

[0013] A first cycloid wheel is arranged on the input shaft and meshes with the pin gear, and a first eccentric part is arranged on the input shaft for driving the first cycloid wheel to eccentrically swing;

[0014] The pin is fixedly arranged on the pin fixing plate and / or the external end fixing plate to limit the eccentric swing of the first cycloid wheel, so that the power is transmitted to the rotating shell when the first cycloid wheel makes eccentric swing.

[0015] Furthermore, the planetary gear assembly includes a planetary shaft, two groups of planetary bevel gears on which the planetary shafts are set, fixed gears respectively meshed with the two groups of planetary bevel gears, and output gears respectively meshed with the two groups of planetary bevel gears; the planetary shaft is relatively fixed to the rotating housing, and the axis of the planetary shaft is perpendicular to the axis of the rotating housing; the fixed gear is fixedly connected to the pin fixing plate; an output flange is fixedly set at the end of the rotating housing, and the output gear is rotatably set on the output flange, the output shaft of the output gear is the second output end, and the output flange is the first output end.

[0016] Furthermore, it also includes a second cycloidal wheel arranged on the input shaft, the second cycloidal wheel is meshed with the pin gear, and the input shaft is provided with a second eccentric part for driving the second cycloidal wheel to eccentrically swing;

[0017] The first eccentric portion and the second eccentric portion are arranged with an offset in the circumferential direction of the input shaft.

[0018] Furthermore, two ends of the pin are fixedly connected to the external end fixing plate and the pin fixing plate respectively.

[0019] Furthermore, the pins are evenly distributed in a plurality along the circumferential direction of the external end fixing disk, and a pin sleeve is provided on the movable outer sleeve of each pin.

[0020] Furthermore, a support bearing I is provided between the rotating shell and the external end fixing plate, and a support bearing II is provided between the rotating shell and the pin fixing plate.

[0021] Furthermore, the rotating shell is provided with two output holes, and the fixing members pass through the two output holes and are connected to the two ends of the planetary shaft to fix the planetary shaft and the rotating shell;

[0022] It also includes two sets of limiting components, which are respectively arranged at one end of the two sets of planetary bevel gears close to the rotating shell, and are used to limit the axial displacement of the two sets of planetary bevel gears.

[0023] Furthermore, the first cycloidal wheel and the second cycloidal wheel are respectively provided with a plurality of output holes matched with the column pins, and the column pins pass through the output holes and are fixedly connected to the column pin fixing plate and the external end fixing plate;

[0024] It also includes a stepped shaft section, which is arranged between the first eccentric portion and the second eccentric portion.

[0025] Furthermore, it also includes a power output control mechanism, which includes a first output shaft that can be operated to be connected to or disconnected from the first output end, and a second output shaft that can be operated to be connected to or disconnected from the second output end, and the first output shaft and the second output shaft are arranged coaxially.

[0026] Beneficial effects of the present invention: The coaxial dual-output reduction device based on cycloid planetary transmission of the present invention, by setting a cycloid pinwheel reduction assembly and a planetary gear assembly, can output the power input by the external power output mechanism through the rotating housing and the planetary gear assembly after being reduced by the cycloid pinwheel reduction assembly, so that coaxial dual power output can be achieved, thereby meeting the needs of use. At the same time, the overall structure is simpler and smaller in size than the prior art, and has a higher power-to-weight ratio and load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0028] Figure 1 It is a structural schematic diagram of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the cycloid pinwheel reduction assembly and the planetary gear assembly;

[0030] Figure 3 This is the exploded view of the cycloid pinwheel reducer;

[0031] Figure 4 is a cross-sectional view of a portion of a planetary gear assembly;

[0032] The above drawings contain the following reference numerals:

[0033] 1. Power output control mechanism; 2. First output end; 3. Second output end; 4. Output flange; 5. Planetary bevel gear; 6. Rotating housing; 601. Circular arc groove; 7. Pin sleeve; 8. External end fixing plate; 9. Pin; 10. First cycloid wheel; 11. Second cycloid wheel; 12. Fixed gear; 13. Output gear; 14. Input shaft; 1401. Second eccentric part; 1402. Step shaft section; 1403. First eccentric part; 15. Planetary shaft; 16. Positioning sealing ring; 17. Needle gear assembly; 18. Nut; 19. Spacer; 20. Fixing piece; 21. Thrust bearing; 22. Support bearing I; 23. Support bearing II; 24. Positioning ring; 25. Cylindrical roller bearing of swing arm; 26. Sealing ring; 27. Pin fixing plate. DETAILED DESCRIPTION

[0034] Figure 1 It is a structural schematic diagram of the present invention, Figure 2 This is a schematic diagram of the structure of the cycloid pinwheel reduction assembly and the planetary gear assembly. Figure 3 This is the exploded view of the cycloid pinwheel reducer. Figure 4 is a cross-sectional view of a portion of a planetary gear assembly, such as Figure 1-4 As shown in the figure: a coaxial dual-output reduction device based on cycloid planetary transmission of this embodiment includes:

[0035] The cycloid pinwheel reducer comprises a rotating housing 6 which can be driven to rotate and a cycloid pinwheel reduction assembly arranged on the rotating housing 6 for reducing power and transmitting it to the rotating housing 6; in this structure, the rotating housing 6 is rotatably supported by an external housing, which can be a housing of an external power output mechanism, and the external power output mechanism transmits power to the cycloid pinwheel reduction assembly, which transmits power to the rotating housing 6 after reducing power;

[0036] The planetary gear assembly is arranged in the rotating housing 6 and forms a planetary gear train with the rotating housing 6 as the power input end. The end of the rotating housing 6 is provided with a first output end 2, and the planetary gear train is provided with a second output end 3 coaxially arranged with the first output end 2; the planetary gear assembly is arranged in the rotating housing 6 and the rotating housing 6 is used as the power input end, so that the overall structure is compact, and the second output end 3 of the entire reduction device is provided at the same time, and the first output end 2 is provided at the end of the rotating housing 6, and the first output end 2 and the second output end 3 are coaxial, so as to realize coaxial dual output. Compared with the reduction mechanism form with multiple sets of gear train transmission as the main component in the prior art, the overall structure is simple, the volume is small, and the power loss can be reduced, and it has better carrying capacity.

[0037] In the prior art, a spiral bevel gear planetary gear train for a helicopter main reducer is disclosed, wherein the main transmission reduction structure part is a double sun gear meshing and rotating transmission with three bevel gear planetary gears surrounding the rotor shaft axis and a spiral bevel gear planetary gear meshing and transmission with a fixed gear ring of the main reducer housing; that is, it is generally a reduction mechanism form mainly composed of multiple sets of gear train transmissions, but multiple sets of gear trains will make its mechanism system more complex, and the multi-stage transmission form will also cause more power loss, and the maintenance cost corresponding to its bulky structure system is also high; the coaxial dual-output reduction device based on cycloid planetary transmission of the present invention, by setting a cycloid pinwheel reduction assembly and a planetary gear assembly, can directly output the power input by the external power output mechanism through the rotating housing 6 and the planetary gear assembly after being reduced by the cycloid pinwheel reduction assembly, so that a coaxial dual power output form can be realized, thereby meeting the use needs, and at the same time, the overall structure is simpler and smaller in size than the prior art, and has a higher power specific gravity and carrying capacity.

[0038] In this embodiment, the cycloid pinwheel reduction assembly includes:

[0039] The external terminal fixing plate 8 is used to be fixedly connected to an external device, the external device may be a housing of an external power output mechanism, and the external terminal fixing plate 8 may be a flange;

[0040] The pin fixing plate 27 is fixedly connected to the external end fixing plate 8;

[0041] The needle gear assembly 17 is arranged on the inner wall of the rotating shell 6 and forms a needle gear with the rotating shell 6; the needle gear assembly 17 includes a plurality of needle teeth and a plurality of needle gear sleeves, the needle gear sleeves are sleeved on the outside of the needle teeth, and a needle gear sleeve is arranged on the outside of the needle teeth, so as to reduce friction, and a circular arc groove 601 for installing the needle gear sleeve is arranged on the shell, and the needle teeth are distributed along the circumferential direction of the inside of the shell, so as to form a needle gear with the rotating shell 6, which is the same as the structure of the cycloidal pinwheel reducer in the prior art, and will not be repeated here. The needle gear is used to mesh with the first cycloidal wheel 10. Of course, the needle gear structure can also be directly formed on the inner surface of the rotating shell 6. In this case, there is no need to set the needle gear assembly 17;

[0042] The input shaft 14 is rotatably disposed on the external end fixing plate 8 and the pin fixing plate 27; the input shaft 14 is rotatably disposed on the external end fixing plate 8 and the pin fixing plate 27 through a bearing;

[0043] The first cycloid wheel 10 is arranged on the input shaft 14 and meshes with the pin gear, and the input shaft 14 is provided with a first eccentric portion 1403 for driving the first cycloid wheel 10 to eccentrically swing; the first cycloid wheel 10 is an annular structure, and the outer circumference of the first cycloid wheel 10 is formed with a structure meshing with the pin gear, as in the prior art, so that power can be transmitted to the pin gear, and the first eccentric portion 1403 and the input shaft 14 are an integrally formed structure, which simplifies the input shaft 14 compared to the prior art by configuring an eccentric sleeve and other structures on the input shaft 14. The structure of the input shaft 14 is convenient for assembly and installation. The input shaft 14 can be a hollow shaft or a keyway can be provided on the input shaft 14, which can realize connection with the output shaft of the external power output mechanism. The first cycloid wheel 10 is installed on the first eccentric part 1403 through the swing arm cylindrical roller bearing 25. The first cycloid wheel 10 is meshed with the pin gear, so that the input shaft 14 transmits power to the first cycloid wheel 10, and the first cycloid wheel 10 transmits power to the pin gear, thereby driving the rotating housing 6 to rotate. The structure of the first cycloid wheel 10 is an application of the prior art.

[0044] The pin 9 is fixedly arranged on the pin fixing plate 27 and / or the external end fixing plate 8, and is used to limit the eccentric swing of the first cycloidal wheel 10, so that the first cycloidal wheel 10 transmits power to the rotating shell 6 when it swings eccentrically; the pin 9 can be fixedly arranged on the pin fixing plate 27 and / or the external end fixing plate 8, so that the pin 9 can limit the first cycloidal wheel 10 when the first cycloidal wheel 10 moves, and a hole for the pin 9 to pass through is provided on the first cycloidal wheel 10. The assembly structure of the first cycloidal wheel 10 and the pin 9 is an application of the prior art. This will not be repeated here. The first cycloidal wheel 10 swings around the pin 9, so that power can be transmitted to the rotating shell 6. Compared with the prior art, the pin 9 is used as the power output end of the cycloidal pinwheel reducer. In this structure, the pin 9 is fixed and the rotating shell 6 is used as the power output end accordingly, so that the overall structure is more compact. Since the number of teeth of the needle gear is greater than the number of teeth of the first cycloidal wheel 10, when the input shaft 14 rotates one circle, the needle gear advances one needle gear sleeve, so that the rotating shell 6 rotates at a reduced rate relative to the input shaft 14.

[0045] In this embodiment, the planetary gear assembly includes a planetary shaft 15, two sets of planetary bevel gears 5 provided with the planetary shaft 15, a fixed gear 12 respectively meshed with the two sets of planetary bevel gears 5, and an output gear 13 respectively meshed with the two sets of planetary bevel gears 5; the planetary shaft 15 is relatively fixed to the rotating housing 6, and the axis of the planetary shaft 15 is perpendicular to the axis of the rotating housing 6; the fixed gear 12 is fixedly connected to the pin fixing plate 27; an output flange 4 is fixedly provided at the end of the rotating housing 6, and the output gear 13 is rotatably provided on the output flange 4, the output shaft of the output gear 13 is the second output end 3, and the output flange 4 is the first output end 2; the output gear 13 is rotatably provided on the output flange 4 through a bearing, and the planetary gear assembly is a bevel gear planetary assembly, so that The whole system has good stability, load-bearing capacity and durability. The fixed gear 12 is fixedly connected to the pin fixing plate 27 by bolts, which can support and improve the stress of the planetary gear system. The planetary carrier is fixedly connected to the rotating shell 6, so that during the rotation of the rotating shell 6, the planetary bevel gear 5 will revolve around the rotation axis of the rotating shell 6, and at the same time, under the reaction force applied by the fixed gear 12, the planetary bevel gear 5 will rotate around its own axis, thereby transmitting power to the output gear 13, and outputting power through the output gear 13 as the second output end 3. A through hole for the output gear 13 to pass through is provided on the output flange 4; the output flange 4 is a flange structure, and by fixing the output flange 4 to the rotating shell 6, the output flange 4 can be used as the first output end 2 and be coaxial with the second output end 3.

[0046] In this embodiment, it also includes a second cycloidal wheel 11 arranged on the input shaft 14, the second cycloidal wheel 11 is meshed with the pin gear, and the input shaft 14 is provided with a second eccentric portion 1401 for driving the second cycloidal wheel 11 to eccentrically swing; the second cycloidal wheel 11 has a similar structure to the first cycloidal wheel 10, and the second cycloidal wheel 11 is also provided with an output hole for the pin 9 to pass through, the second cycloidal wheel 11 is installed on the second eccentric portion 1401 through a swing arm cylindrical roller bearing 25, the first eccentric portion 1403 and the second eccentric portion 1401 are an integrated structure with the input shaft 14, and the second cycloidal wheel 11 has a similar movement mode to the first cycloidal wheel 10;

[0047] The first eccentric portion 1403 and the second eccentric portion 1401 are staggered in the circumferential direction of the input shaft 14; the first eccentric portion 1403 and the second eccentric portion 1401 are staggered, generally staggered by 180°, and the arrangement is the same as the cycloid pinwheel reduction structure in the prior art, which will not be described in detail here;

[0048] In this embodiment, the two ends of the pin 9 are respectively fixedly connected to the external end fixing plate 8 and the pin fixing plate 27; threaded blind holes are provided at both ends of the pin 9, and connecting holes are provided on the external end fixing plate 8 and the pin fixing plate 27, and the two ends of the pin 9 are respectively inserted into the connecting holes and fixedly connected to the external end fixing plate 8 and the pin fixing plate 27 by bolts, thereby making the structure more compact compared to other arrangements.

[0049] In this embodiment, the pins 9 are evenly distributed in a plurality along the circumference of the external end fixing disk 8, and a pin sleeve 7 is provided on the movable outer sleeve of each pin 9; the first cycloidal wheel 10 and the second cycloidal wheel 11 are respectively provided with a plurality of output holes for the pins 9 to pass through, and at the same time, a pin sleeve 7 is provided on the outer sleeve of the pin 9, which can reduce friction and make the device run more smoothly.

[0050] In this embodiment, a support bearing I 22 is provided between the rotating shell 6 and the external end fixing plate 8, and a support bearing II 23 is provided between the rotating shell 6 and the pin fixing plate 27; by providing the support bearing I 22 and the support bearing II 23, the rotating shell 6 can be supported in rotation, so that the device runs smoothly;

[0051] It also includes a positioning seal assembly, including a positioning seal ring 16, a seal ring 26 and two positioning rings 24, the two positioning rings 24 are sleeved on the input shaft 14 and are respectively located on the right side of the first cycloid wheel 10 and the left side of the second cycloid wheel 11, and are used to limit the two swing arm cylindrical roller bearings 25, the right side is the side close to the external power output mechanism, and the left side is the side close to the first output end 2;

[0052] The external end fixing disk 8 is an annular structure, the positioning sealing ring 16 is arranged at the outer edge of the annular structure and is located between the external end fixing disk 8 and the rotating shell 6, the inner edge of the annular structure is provided with a sealing groove for installing the sealing ring 26, and the sealing ring 26 is installed in the sealing groove; by setting the sealing structure, the overall structure can be effectively sealed.

[0053] In this embodiment, the rotating housing 6 is provided with two output holes, and the fixing members 20 pass through the two output holes and are connected to the two ends of the planetary shaft 15 to fix the planetary shaft 15 with the rotating housing 6; the fixing member 20 may be a screw, and the planetary shaft 15 is fixedly connected with the rotating housing 6 by the screw;

[0054] It also includes a limiting assembly, which is composed of two groups, respectively arranged at one end of the two groups of planetary bevel gears 5 close to the rotating housing 6, for limiting the axial displacement of the two groups of planetary bevel gears 5; the limiting assembly includes a gasket 19, a nut 18 and a thrust bearing 21 arranged on the planetary carrier, the thrust bearing 21 is arranged on the outside of the planetary gear, the nut 18 is arranged on the outside of the thrust bearing 21, and the gasket 19 is arranged on the outside of the thrust bearing 21. Of course, the other ends of the two planetary bevel gears 5 are also correspondingly provided with bearings. By setting the limiting assembly, the planetary bevel gears 5 can be axially limited.

[0055] In this embodiment, the first cycloidal wheel 10 and the second cycloidal wheel 11 are respectively provided with a plurality of output holes cooperating with the pin 9, and the pin 9 passes through the output holes and is fixedly connected to the pin fixing plate 27 and the external end fixing plate 8; by providing output holes for the pin 9 to pass through on the first cycloidal wheel 10 and the second cycloidal wheel 11, the overall structure is made compact.

[0056] It also includes a stepped shaft section 1402, which is arranged between the first eccentric portion 1403 and the second eccentric portion 1401; the stepped shaft section 1402 is formed integrally with the input shaft 14, and the stepped shaft section 1402 is arranged, and the diameter at the stepped shaft section 1402 is larger than the diameter at the first eccentric portion 1403 and the second eccentric portion 1401, thereby playing a role in limiting the swing arm cylindrical roller bearing 25.

[0057] In the present embodiment, a power output control mechanism 1 is also included, and the power output control mechanism 1 includes a first output shaft that can be operated to be connected or disconnected with the first output end 2, and a second output shaft that can be operated to be connected or disconnected with the second output end 3, and the first output shaft and the second output shaft are arranged coaxially; the first output shaft is a hollow shaft, and the assembly method of the second output shaft and the first output shaft is an application of the prior art, which will not be repeated here. The power output control mechanism 1 can be of various types, such as a clutch structure or a synchronizer device, etc. By setting the power output control mechanism 1, three power output modes can be achieved, namely, output through the first output shaft, or output through the second output shaft, or output from the first output shaft and the second output shaft at the same time. At the same time, by setting a bevel gear assembly at the power output control mechanism 1, a coaxial reverse dual output output form can be achieved.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A coaxial dual-output reduction device based on cycloid planetary transmission, characterized in that: include: A cycloid pinwheel reducer comprises a rotating housing that can be driven to rotate and a cycloid pinwheel reduction assembly disposed on the rotating housing for reducing power and transmitting it to the rotating housing; The planetary gear assembly is arranged on the rotating housing and forms a planetary gear train with the rotating housing as the power input end. The end of the rotating housing is provided with a first output end, and the planetary gear train is provided with a second output end coaxially arranged with the first output end.

2. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 1 is characterized in that: The cycloid pinwheel reduction assembly comprises: External terminal fixing plate; A pin fixing plate, fixedly connected to the external end fixing plate; A needle gear assembly is arranged on the inner wall of the rotating shell and forms a needle gear with the rotating shell; An input shaft is rotatably disposed on the external end fixing plate and the pin fixing plate; A first cycloid wheel is arranged on the input shaft and meshes with the pin gear, and a first eccentric part is arranged on the input shaft for driving the first cycloid wheel to eccentrically swing; The pin is fixedly arranged on the pin fixing plate and / or the external end fixing plate to limit the eccentric swing of the first cycloid wheel, so that the power is transmitted to the rotating shell when the first cycloid wheel makes eccentric swing.

3. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 2 is characterized in that: The planetary gear assembly includes a planetary shaft, two groups of planetary bevel gears on which the planetary shafts are arranged, a fixed gear respectively meshed with the two groups of planetary bevel gears, and an output gear respectively meshed with the two groups of planetary bevel gears; the planetary shaft is relatively fixed to the rotating housing, and the axis of the planetary shaft is perpendicular to the axis of the rotating housing; the fixed gear is fixedly connected to the pin fixing plate; an output flange is fixedly arranged at the end of the rotating housing, and the output gear is rotatably arranged on the output flange, the output shaft of the output gear is the second output end, and the output flange is the first output end.

4. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 2 or 3, characterized in that: It also includes a second cycloidal wheel arranged on the input shaft, the second cycloidal wheel is meshed with the pin gear, and the input shaft is provided with a second eccentric part for driving the second cycloidal wheel to eccentrically swing; The first eccentric portion and the second eccentric portion are arranged with an offset in the circumferential direction of the input shaft.

5. The coaxial dual-output reduction device based on cycloid planetary transmission according to any one of claims 2 to 4, characterized in that: The two ends of the pin are fixedly connected to the external end fixing plate and the pin fixing plate respectively and correspondingly.

6. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 5 is characterized in that: The pins are evenly distributed in a plurality along the circumferential direction of the external end fixing disk, and a pin sleeve is arranged on the movable outer sleeve of each pin.

7. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 3 is characterized in that: A support bearing I is arranged between the rotating shell and the external end fixing plate, and a support bearing II is arranged between the rotating shell and the pin fixing plate.

8. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 3 is characterized in that: The rotating shell is provided with two output holes, and the fixing parts respectively pass through the two output holes and are connected to the two ends of the planetary shaft to fix the planetary shaft and the rotating shell; It also includes two sets of limiting components, which are respectively arranged at one end of the two sets of planetary bevel gears close to the rotating shell, and are used to limit the axial displacement of the two sets of planetary bevel gears.

9. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 4 is characterized in that: The first cycloid wheel and the second cycloid wheel are respectively provided with a plurality of output holes matched with the column pins, and the column pins pass through the output holes and are fixedly connected to the column pin fixing plate and the external end fixing plate; It also includes a stepped shaft section, which is arranged between the first eccentric portion and the second eccentric portion.

10. The coaxial dual-output reduction device based on cycloid planetary transmission according to claim 1, characterized in that: It also includes a power output control mechanism, which includes a first output shaft that can be operated to be connected to or disconnected from the first output end, and a second output shaft that can be operated to be connected to or disconnected from the second output end, and the first output shaft and the second output shaft are coaxially arranged.

Images