Two-stage closed inner gear ring plate driving type planetary reducer

Abstract

The invention discloses a two-stage closed inner gear ring plate driving type planetary reducer which is composed of an external drive eccentric disc, an inner gear ring plate, an external gear, a crankshaft, a cycloidal gear, pin teeth, a pin shaft, a pin shaft sleeve, a fixed machine base, an output disc, a planet carrier and the like. The outer circle of the external drive eccentric disc is concentric with the fixed machine base, and the external drive eccentric disc drives the inner gear ring plate to do planar motion under the constraint of the pin shaft when rotating in a fixed shaft mode. The inner gear ring plate drives the outer gear to rotate while moving, and loads are transmitted to the crankshaft. The crank shaft drives the cycloidal gear to do planar motion, the cycloidal gear outputs self-rotation motion through the pin shaft type W mechanism, and the motion is fed back to the inner gear ring plate through the pin shaft to form closed motion; the output disc and the planet carrier are connected through a bolt, and axial positioning is achieved through an angular contact ball bearing. The speed reducer has the advantages of being large in speed ratio, high in bearing capacity, high in rigidity and the like, and the current requirement for a high-performance speed reducer can be met.

Description

Technical Field

[0001] The present invention relates to the field of planetary gear transmission, and in particular to a two-stage closed internal gear ring plate driven planetary reducer. Background Art

[0002] In the 1980s, Teijin Co., Ltd. of Japan proposed a two-stage closed planetary gear reducer (RV reducer for short) consisting of involute and cycloid gears. The first stage of the RV reducer uses a set of involute differential gear trains, which transmit power to a set of crankshafts in the second stage through the planetary gears; the second stage uses cycloid pinion transmission, which drives the cycloid gears to perform planar motion and output the cycloid gears' rotational motion through a set of crankshafts. At the same time, the output motion is transmitted back to the first-stage involute gear train through the crankshaft to achieve closed motion. The RV reducer has the advantages of large speed ratio, small size, and high load capacity. During the transmission process, the two-stage transmission mechanism of the RV reducer shares the crankshaft to form a closed motion. At the same time, the planetary carriers and crankshafts on both sides form a truss structure to improve the overall rigidity. It is widely used in the field of robotics.

[0003] However, because the RV reducer's two-stage transmission shares a common crankshaft, it rotates at high speeds while also bearing immense loads as the primary force-transmitting component, making it the most vulnerable component in the transmission system. Furthermore, the crankshaft's complex structure and manufacturing difficulties have become key obstacles to achieving high-precision robot joint reducers. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present invention provides a high-rigidity, high-load-bearing, two-stage enclosed internal gear ring plate driven planetary reducer.

[0005] In order to solve the above technical problems, the present invention proposes a two-stage closed internal gear ring plate driven planetary reducer, comprising a crankshaft, a fixed base, a first-stage planetary gear transmission mechanism and a second-stage cycloid pinion gear transmission mechanism;

[0006] The two shaft heads of the crank shaft are coaxial and coaxial with the fixed base;

[0007] The first stage planetary gear mechanism comprises an input disc, a planet carrier, an external gear and two internally toothed ring plates arranged in opposite eccentric positions and having the same structure and a phase difference of 180°; the input disc is an external driving eccentric disc provided on the crankshaft, the planet carrier is provided in the fixed machine base through an angular contact ball bearing, a first needle roller set is arranged between the planet carrier and the external driving eccentric disc, the inside of the external driving eccentric disc is provided with a circular inner cavity eccentric to an external rotary surface, the external rotary surface is coaxial with the fixed machine base, the two internally toothed ring plates are arranged in the circular inner cavity in an axial parallel manner, a second needle roller set is arranged between the external rotary surface of each internally toothed ring plate and the inner rotary surface of the circular inner cavity, and the external gear is connected with the crankshaft through a flat key.

[0008] The second stage cycloidal pin gear mechanism comprises two cycloidal gears arranged in opposite eccentric positions and having the same structure and a phase difference of 180°, an output disc provided on the crankshaft and fixed with the planet carrier, the two cycloidal gears are arranged on the crankshaft in an axial parallel manner, a third needle roller set is arranged between each cycloidal gear and the crankshaft, common pin gears are arranged between the two cycloidal gears and the fixed machine base, the output disc is arranged in the fixed machine base through an angular contact ball bearing, and the second stage cycloidal pin gear mechanism adopts a pin shaft type W mechanism output.

[0009] The two internally toothed ring plates, the planet carrier, the two cycloidal gears and the output disc are penetrated by a plurality of groups of common pin shafts through pin holes in the axial direction, and a pin shaft sleeve is arranged between each of the two internally toothed ring plates and the pin shaft, and between each of the two cycloidal gears and the pin shaft.

[0010] Further, the reducer of the application, wherein:

[0011] The two internally toothed ring plates are arranged in a radial symmetry, the eccentricity of the two internally toothed ring plates to the rotation axis of the external gear is the same, during the movement of the reducer, the two internally toothed ring plates stagger to make plane motion, and drive the external gear to rotate and transmit power to the crankshaft.

[0012] The two cycloidal gears are arranged in a radial symmetry, the eccentricity of the two cycloidal gears to the rotation axis of the crankshaft is the same, and each cycloidal gear is coaxial with the eccentric shaft segment, during the movement of the reducer, the two cycloidal gears stagger to make plane motion, and drive the output disc to realize a determined output motion.

[0013] A deep groove ball bearing is arranged between the external driving eccentric disc and one shaft head of the crankshaft, and between the output disc and the other shaft head of the crankshaft.

[0014] The planet carrier and the output disc are axially positioned through the angular contact ball bearings respectively, and the external gear is axially positioned through a sleeve.

[0015] There is an interference fit between the output disc and the pin shaft; there is a transition fit between the planetary carrier and the pin shaft; there is a clearance fit between the pin shaft sleeve and the pin shaft; there is a high-pair contact between the inner rotating surface of the pin hole of the inner gear ring plate and the outer rotating surface of the pin shaft sleeve, and there is a high-pair contact between the inner rotating surface of the pin hole of the cycloid wheel and the outer rotating surface of the pin shaft sleeve; during the transmission process, the pin shaft sleeve constrains the movement posture of the inner gear ring plate through the high-pair contact between the pin hole of the inner gear ring plate, and feeds back the output motion of the output disc to the inner gear ring plate of the first-stage planetary gear transmission mechanism, so that the inner gear ring plate rotates around its own geometric center.

[0016] The input disc and output disc are connected to the driving member and the driven member respectively through threaded connections; the transmission route from the input disc to the output disc is: the driving member drives the external drive eccentric disc to transmit power in sequence to two internal gear ring plates, external gears, crankshafts, two cycloid wheels, and finally drives the driven member through the output disc connected to the pin shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The high-speed stage of the two-stage enclosed internal gear ring plate driven planetary reducer of the present invention uses an external shock wave input method to drive the internal gear ring plate to move through the external drive eccentric disk, transferring the load to the external gear. The internal gear ring plate moves in a plane under the drive of the external drive eccentric disk and the constraint of the pin. The transmission between the internal gear ring plate and the external gear is an internal meshing small tooth difference planetary transmission, which can achieve a high speed ratio transmission.

[0019] (2) The low-speed stage of the reducer of the present invention adopts a cycloid pin-tooth transmission. The cycloid wheel moves in a plane under the drive of the crankshaft and outputs torque through a pin. The pin is in contact with both the internal gear ring plate of the high-speed stage and the cycloid wheel of the low-speed stage. The pin not only outputs motion outward but also feeds the output motion forward to the high-speed stage as input motion to the internal gear ring plate, forming a two-stage closed motion.

[0020] (3) The reducer of the present invention adopts a two-stage transmission with a common pin shaft, and the pin shaft, planetary carrier, and output disc form a truss structure. Compared with the traditional cycloid pin gear reducer adopting a cantilever pin shaft type W mechanism, it has higher rigidity.

[0021] (4) The crankshaft in the RV reducer not only rotates at high speed, but also bears a huge load as the main force transmission component. Its eccentric structure makes it subject to a large torque load. The reducer of the present invention uses a pin-type W mechanism as the output mechanism, which avoids the complex working conditions of the crankshaft rotating at high speed and being subjected to a large load, as well as complex processing and manufacturing. At the same time, the relative speed between the pin sleeve and the pin hole is greatly reduced compared to the crankshaft speed, and the component life is superior to that of the ordinary RV reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a full cross-sectional view of the reducer of the present invention;

[0023] Figure 2 yes Figure 1 The axial schematic diagram of the reducer input end is shown;

[0024] Figure 3 yes Figure 1 The axial schematic diagram of the output end of the reducer is shown;

[0025] Figure 4 yes Figure 1 A cross-sectional view of the AA section position shown in FIG;

[0026] Figure 5 yes Figure 1 An outline view of a pair of relatively eccentrically arranged inner gear ring plates at the A'-A' section position shown in FIG;

[0027] Figure 6 yes Figure 1 A cross-sectional view of the BB cutaway position shown in FIG;

[0028] Figure 7 yes Figure 1 The outline of the first and second cycloid wheels at the B'-B' section shown in FIG;

[0029] Figure 8 yes Figure 1 An exploded view of the reducer shown;

[0030] In the picture:

[0031] 1- Angular contact ball bearing 2- Planet carrier 3- First needle roller set 4- External drive eccentric disc

[0032] 5-shaft elastic ring 6-pin 7-1-first inner gear ring plate 7-2-second inner gear ring plate

[0033] 8-Flat key 9-Crankshaft 10-Deep groove ball bearing 11-External gear

[0034] 12-sleeve 13-pin sleeve 14-second needle roller set 15-deep groove ball bearing

[0035] 16- third needle roller group 17- output disk 18-1- first cycloid wheel 18-2- second cycloid wheel

[0036] 19-Fixed machine base 20-Needle teeth DETAILED DESCRIPTION

[0037] like Figures 1-8As shown, the present invention proposes a two-stage closed internal gear ring plate driven planetary reducer, which includes a crankshaft 9, a fixed base 19, a first-stage planetary gear transmission mechanism and a second-stage cycloid pinion gear transmission mechanism.

[0038] The two shaft heads of the crankshaft 9 are coaxial and coaxial with the fixed base 19. Figure 1 shown.

[0039] The first-stage planetary gear transmission mechanism includes an input disc, a planet carrier 2, an external gear 11 and two relatively eccentrically arranged, identically structured, and 180° out of phase with each other, respectively referred to as a first internal gear ring plate 7-1 and a second internal gear ring plate 7-2; the input disc is connected to the driving member via a threaded connection, the input disc is an externally driven eccentric disc 4 arranged on the crankshaft 9, a deep groove ball bearing 10 is provided between the externally driven eccentric disc 4 and a shaft head of the crankshaft 9, the planet carrier 2 is arranged in the fixed base 19 via an angular contact ball bearing 1, a first needle roller group 3 is provided between the planet carrier 2 and the externally driven eccentric disc 4, the external The inner side of the eccentric drive disc 4 is provided with a circular inner cavity eccentric to the outer rotating surface, and the outer rotating surface is coaxial with the fixed machine base 19; two inner gear ring plates are axially arranged in parallel in the circular inner cavity, and a second needle roller set 14 is provided between the outer rotating surfaces of the two inner gear ring plates and the inner rotating surfaces of the circular inner cavity; the outer gear 11 and the crankshaft 9 are connected by a flat key 8; the two inner gear ring plates are arranged symmetrically in the radial direction, and the eccentricity of the two inner gear ring plates and the rotation axis of the outer gear 11 is the same. During the movement of the reducer, the two inner gear ring plates alternately perform planar motion, jointly drive the outer gear 11 to rotate and transmit power to the crankshaft 9, as shown in FIG. Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 8 shown.

[0040] The second-stage cycloid pin-tooth transmission mechanism includes two cycloid wheels that are relatively eccentrically arranged, have the same structure, and are 180° out of phase with each other, which are denoted as the first cycloid wheel 18-1 and the second cycloid wheel 18-2. It also includes an output disc 17 that is arranged on the crankshaft 9 and fixed to the planetary carrier 2. A deep groove ball bearing 15 is provided between the output disc 17 and the other shaft head of the crankshaft 9. The output disc 17 is connected to the driven member by a threaded connection, such as Figure 1 and Figure 3As shown. Two cycloid wheels are axially arranged in parallel on the crankshaft 9, and a third needle roller set 16 is provided between the two cycloid wheels and the crankshaft 9 respectively. A common needle tooth 20 is provided between the two cycloid wheels and the fixed machine base 19. The output disc 17 is arranged in the fixed machine base 19 through an angular contact ball bearing 1; the second-stage cycloid needle tooth transmission mechanism adopts a pin-type W mechanism output; the two cycloid wheels are arranged symmetrically in the radial direction, and the eccentricity of the two cycloid wheels and the rotation axis of the crankshaft 9 is the same, and they are respectively coaxial with the eccentric shaft segment where they are located. During the movement of the reducer, the two cycloid wheels perform interlaced planar motion and jointly drive the output disc 17 to achieve a certain output motion, as shown Figure 1 、 Figure 6 、 Figure 7 and Figure 8 shown.

[0041] In the reducer of the present invention, two inner gear ring plates, planet carrier 2, two cycloid wheels and output disc 17 are axially penetrated by multiple sets of common pin shafts 6 through pin holes, such as Figure 1 、 Figure 3 、 Figure 4 、 Figure 6 and Figure 8 As shown, the outer gear 11 is axially positioned by a sleeve, and the planetary carrier 2 and the output disc 17 are axially positioned respectively by the angular contact ball bearing 1; since the inner gear ring plate itself is not subjected to much axial force, the axial positioning of the two inner gear ring plates 7-1 and 7-2 can be achieved by setting a hole retaining ring next to the second needle roller group 14. There is an interference fit between the output disk 17 and the pin 6; there is a transition fit between the planet carrier 2 and the pin 6; there is a pin sleeve 13 between the two inner gear ring plates 7-1 and 7-2 and the pin 6, and between the two cycloid wheels 18-1 and 18-2 and the pin 6, respectively. There is a clearance fit between the pin sleeve 13 and the pin 6. The inner diameter of the pin hole for the pin 6 to pass through provided on the inner gear ring plate and the cycloid wheel is larger than the outer diameter of the pin sleeve 13. There is a high-pair contact between the inner rotating surface of the pin hole of the inner gear ring plate and the outer rotating surface of the pin sleeve 13, and there is a high-pair contact between the inner rotating surface of the pin hole of the cycloid wheel and the outer rotating surface of the pin sleeve 13. The above-mentioned high-pair contact refers to the high-pair contact of two circular arc surfaces, such as Figure 1 、 Figure 5 and Figure 7 shown.

[0042] During the operation of the reducer of the present invention, the transmission route from the input disc to the output disc is as follows: Figure 1 and Figure 8As shown, the driver drives the external eccentric disc 4, sequentially transmitting power to the two inner ring plates, the external gear 11, the crankshaft 9, and the two cycloid wheels, ultimately driving the driven member via the output disc 17 connected to the pin 6. During the transmission process, the pin sleeve 13, through high-pair contact with the pin holes of the inner ring plate, constrains the movement of the inner ring plate. The output motion of the output disc 17 is then fed back to the inner ring plate of the first-stage planetary gear transmission mechanism, causing the inner ring plate to rotate about its own geometric center.

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the following embodiments are by no means intended to limit the present invention in any way.

[0044] like Figure 1 and Figure 8 As shown, the present invention proposes a two-stage closed internal gear ring plate driven planetary reducer, which consists of an external drive eccentric disc 4, two internal gear ring plates 7-1 and 7-2, an external gear 11, a crankshaft 9, two cycloid wheels 18-1 and 18-2, three sets of needle roller groups (including a first needle roller group 3, a second needle roller group 14 and a third needle roller group 16), several pin shaft assemblies (including a pin shaft 6 and a pin shaft sleeve 13), needle teeth 20, an output disc 17, a planetary carrier 2, a fixed base 19 and other components.

[0045] The planet carrier 2, the outer rotating surface of the external drive eccentric disc 4, and the crank shaft 9 are all coaxial with the fixed base 19. The inner side of the external drive eccentric disc 4 is provided with a circular inner cavity eccentric to the outer rotating surface. The inner cavity is coaxial with the outer circle of the inner gear ring plate, and the second needle roller group 14 is arranged between the two. There is an eccentricity between the inner hole of the external drive eccentric disc 4 and its outer circle. The external drive eccentric disc 4 is connected to the driving member by a threaded connection, such as Figure 2 shown.

[0046] The two inner gear ring plates 7-1 and 7-2 are arranged symmetrically in the radial direction, and the eccentricity of the two with respect to the rotation axis of the outer gear 11 is the same. The pin sleeve 13 contacts the pin hole on the inner gear ring plate; the planet carrier 2 is fixedly connected to the output disc 17 by bolts, and the outer gear 11 is connected to the crankshaft 9 by a flat key 8. During the movement, the outer drive eccentric disc 4 rotates on a fixed axis and drives the two inner gear ring plates 7-1 and 7-2 to perform staggered planar motion, thereby jointly driving the outer gear 11 to rotate and transmit power to the crankshaft 9; the second-stage cycloid pin gear transmission adopts a pin-type W mechanism output, and at the output At the same time, the motion is fed back to the first-stage planetary gear transmission through the pin 6 to form a closed motion; the output disc 17 is coaxial with the fixed base 19, the pin 6 and the output disc 17 are connected by an interference fit, the inner side of the pin sleeve 13 and the pin 6 are clearance fit, the outer circle of the pin sleeve 13 is in contact with the inner surface of the pin holes on the two cycloid wheels 18-1 and 18-2, the output disc 17 is connected to the driven part by a threaded connection, the output disc 17 and the planetary carrier 2 are fixedly connected as a whole by bolts, and axial positioning is achieved through a pair of angular contact ball bearings 1, and the overall rigidity is improved. Figures 1 to 5 shown.

[0047] The needle gear 20 is assembled on the fixed machine base 19, and the two cycloid wheels 18-1 and 18-2 are arranged symmetrically in the radial direction. The two cycloid wheels 18-1 and 18-2 are coaxial with the eccentric shaft section of the crankshaft 9, and the third needle roller group 16 is arranged between the two. The pin sleeve 13 contacts the pin hole on the cycloid wheel. During the movement, the two cycloid wheels 18-1 and 18-2 alternately perform planar motion and jointly drive the output disk 17 to achieve a certain output motion, such as Figure 6 and Figure 7 The pin shaft 6 extends forward through the planet carrier 2 to the first stage planetary gear transmission, and contacts the pin holes on the two inner gear ring plates 7-1 and 7-2 through the pin shaft sleeve 13, constraining the movement of the inner gear ring plates during the transmission process and feeding back the output movement of the output disc 17 to the first stage planetary gear transmission, as shown. Figure 1 shown.

[0048] In the present invention, the inner ring of the pair of angular contact ball bearings 1 contacts the planet carrier 2 and the output disc 17, and the outer ring contacts the fixed base 19; the inner ring of the deep groove ball bearing 10 contacts the crankshaft 9, and the outer ring contacts the external drive eccentric disc 4; the inner ring of the deep groove ball bearing 15 contacts the crankshaft 9, and the outer ring contacts the output disc 17, as shown in FIG. Figure 1 As shown,

[0049] In the application, the first needle group 3 is in contact with the planet carrier 2 on the outside and with the outer eccentric disc 4 on the inside; the second needle group 14 is in contact with the outer eccentric disc 4 on the outside and with the inner tooth ring plate on the inside; the third needle group 16 is in contact with the cycloid on the outside and with the crank shaft 9 on the inside.

[0050] The two-stage closed inner tooth ring plate driven planetary reducer of the application drives the inner tooth ring plates 7-1 and 7-2 to do planar motion through the outer eccentric disc 4, transmits load to the external gear 11, drives the cycloids 18-1 and 18-2 to do planar motion as a combined part through the crank shaft 9 and the external gear 11, outputs torque through the pin shaft 6 and the output disc 17, and transmits the output motion of the output disc 17 back to the first-stage planetary gear drive through the pin shaft 6, forming closed motion.

[0051] The high-speed stage of the two-stage closed inner tooth ring plate driven planetary reducer of the application adopts an outer shock wave mode, drives the inner tooth ring plate to move through the outer eccentric disc 4, transmits load to the external gear 11, and makes the inner tooth ring plate do planar motion under the drive of the outer eccentric disc 4 and the constraint of the pin shaft 6. The transmission form between the inner tooth ring plate and the external gear 11 is internal meshing few-tooth-difference planetary transmission, which can realize large speed ratio transmission.

[0052] The low-speed stage of the reducer of the application adopts cycloid pin gear transmission, and the cycloid does planar motion under the drive of the crank shaft 9 and outputs torque through the pin shaft 6. The pin shaft 6 is in contact with the inner tooth ring plate of the high-speed stage and the cycloid of the low-speed stage at the same time, outputs motion to the outside and feeds back the output motion to the high-speed stage as the input motion of the inner tooth ring plate, forming two-stage closed motion.

[0053] The reducer of the application adopts the transmission mode of two-stage transmission sharing the pin shaft, and the pin shaft 6 and the planet carrier 2 and the output disc 17 form a truss structure, which has higher rigidity compared with the traditional cycloid pin gear reducer adopting cantilever pin shaft type W mechanism.

[0054] The reducer of the application uses the pin shaft type W mechanism as the output mechanism, avoids the complex working conditions that the crank shaft rotates at high speed and is subjected to large load at the same time, and avoids complex processing and manufacturing. Meanwhile, the relative speed between the pin shaft sleeve 13 and the pin hole is greatly reduced compared with the crank shaft speed, and the component life is more superior compared with the ordinary RV reducer.

[0055] Although the application is described above in combination with the drawings, the application is not limited to the specific embodiments described above, which are only illustrative but not restrictive. Those skilled in the art can make many improvements and changes under the inspiration of the application without departing from the purpose of the application, and these all belong to the protection of the application.

Claims

1. A two-stage enclosed internal gear ring plate driven planetary reducer, characterized in that: It comprises a crankshaft (9), a fixed base (19), a first-stage planetary gear transmission mechanism and a second-stage cycloid pinion gear transmission mechanism; The two shaft heads of the crankshaft (9) are coaxial and coaxial with the fixed machine base (19); The first-stage planetary gear transmission mechanism comprises an input disc, a planet carrier (2), an external gear (11) and two internal gear ring plates which are arranged eccentrically relative to each other, have the same structure and a phase difference of 180 degrees; the input disc is an external eccentric disc (4) arranged on the crankshaft (9), the planet carrier (2) is arranged in the fixed machine base (19) through an angular contact ball bearing (1), a first needle roller group (3) is provided between the planet carrier (2) and the external eccentric disc (4), the inner side of the external eccentric disc (4) is provided with a circular inner cavity eccentric to the outer rotating surface, and the outer rotating surface is coaxial with the fixed machine base (19); two internal gear ring plates are axially arranged in parallel in the circular inner cavity, and a second needle roller group (14) is provided between the outer rotating surfaces of the two internal gear ring plates and the inner rotating surface of the circular inner cavity; the external gear (11) and the crankshaft (9) are connected by a flat key (8); The second-stage cycloid pin-tooth transmission mechanism comprises two cycloid wheels that are relatively eccentrically arranged, have the same structure, and have a phase difference of 180 degrees, and an output disc (17) that is arranged on the crankshaft (9) and fixed to the planetary carrier (2); the two cycloid wheels are axially arranged in parallel on the crankshaft (9), a third needle roller group (16) is respectively provided between the two cycloid wheels and the crankshaft (9), a common needle tooth (20) is provided between the two cycloid wheels and the fixed machine base (19), and the output disc (17) is arranged in the fixed machine base (19) through an angular contact ball bearing (1); the second-stage cycloid pin-tooth transmission mechanism adopts a pin-type W mechanism output; Two inner gear ring plates, planet carriers (2), two cycloid wheels and an output disc (17) are axially penetrated by multiple groups of common pin shafts (6) through pin holes; pin shaft sleeves (13) are respectively provided between the two inner gear ring plates and the pin shafts (6), and between the two cycloid wheels and the pin shafts (6).

2. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: The two inner gear ring plates are symmetrically arranged in the radial direction, and the eccentricity between the two inner gear ring plates and the rotation axis of the outer gear (11) is the same. During the movement of the reducer, the two inner gear ring plates alternately perform planar motion, jointly driving the outer gear (11) to rotate and transmit power to the crankshaft (9).

3. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: The two cycloid wheels are symmetrically arranged in the radial direction, and the eccentricity of the two cycloid wheels and the rotation axis of the crankshaft (9) is the same, and they are respectively coaxial with the eccentric shaft segments where they are located. During the movement of the reducer, the two cycloid wheels perform interlaced planar motion and jointly drive the output disc (17) to achieve a certain output motion.

4. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: Deep groove ball bearings are respectively provided between the external drive eccentric disc (4) and one shaft head of the crankshaft (9), and between the output disc (17) and the other shaft head of the crankshaft (9).

5. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: The planet carrier (2) and the output disc (17) are axially positioned by the angular contact ball bearing (1), respectively; the external gear (11) is axially positioned by a sleeve.

6. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: The output disc (17) and the pin shaft (6) are in interference fit; the planet carrier (2) and the pin shaft (6) are in transition fit; the pin shaft sleeve (13) and the pin shaft (6) are in clearance fit; the inner rotating surface of the pin hole of the inner gear ring plate and the outer rotating surface of the pin shaft sleeve (13) are in high-pair contact, and the inner rotating surface of the pin hole of the cycloid wheel and the outer rotating surface of the pin shaft sleeve (13) are in high-pair contact; During the transmission process, the pin sleeve (13) constrains the movement posture of the inner gear ring plate through high-pair contact with the pin hole of the inner gear ring plate, and feeds back the output movement of the output disc (17) to the inner gear ring plate of the first-stage planetary gear transmission mechanism, so that the inner gear ring plate rotates around its own geometric center.

7. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that: The input disc and the output disc (17) are connected to the driving member and the driven member respectively through threaded connections; the transmission route from the input disc to the output disc is: the driving member drives the external drive eccentric disc (4) to sequentially transmit power to two inner gear ring plates, the outer gear (11), the crankshaft (9), and the two cycloid wheels, and finally drives the driven member through the output disc (17) connected to the pin shaft (6).

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