A two-stage closed-type inner tooth ring plate driving planetary reducer

Abstract

The application discloses a two-stage closed inner tooth ring plate driving type planetary reducer which is composed of an outer driving eccentric disc, an inner tooth ring plate, an external gear, a crank shaft, a cycloid wheel, a needle tooth, a pin shaft and a pin shaft sleeve, a fixed machine base, an output disc and a planet carrier, etc. The outer circle of the outer driving eccentric disc is concentric with the fixed machine base, and the outer driving eccentric disc drives the inner tooth ring plate to move in a plane under the constraint of the pin shaft when the outer driving eccentric disc rotates around the fixed shaft. The inner tooth ring plate drives the external gear to rotate while moving, and transmits the load to the crank shaft. The crank shaft drives the cycloid wheel to move in a plane, the cycloid wheel outputs the self-rotating movement through the pin shaft type W mechanism, and feeds back the movement to the inner tooth ring plate through the pin shaft to form a closed movement. The output disc and the planet carrier are connected through bolts and are axially positioned through angular contact ball bearings. The reducer has the advantages of large speed ratio, high load bearing and high rigidity, and can meet the current demand for high-performance reducers.

Description

Technical Field

[0001] This invention relates to the field of planetary gear transmission, and more particularly to a two-stage enclosed internal gear ring plate driven planetary reducer. Background Technology

[0002] In the 1980s, Teijin Corporation of Japan proposed a two-stage closed planetary gear reducer (RV reducer) consisting of involute and cycloidal gears. The first stage of the RV reducer uses an involute differential gear train, transmitting power to a set of crankshafts in the second stage via planetary gears. The second stage uses cycloidal pin gear transmission, driving the cycloidal wheel to perform planar motion and outputting its rotational motion via a set of crankshafts. Simultaneously, the output motion is transmitted back to the first-stage involute gear train via the crankshafts, achieving closed-loop motion. The RV reducer has advantages such as high speed ratio, small size, and high load capacity. Furthermore, during transmission, the two stages of the RV reducer share crankshafts, forming a closed-loop motion. The planetary carriers on both sides and the crankshafts form a truss structure to improve overall rigidity, making it widely used in the field of robotics.

[0003] However, because the RV reducer shares a crankshaft for both stages of transmission, the crankshaft, while rotating at high speed, also bears a tremendous load as the main force transmission component, making it the most vulnerable part of the transmission system. Furthermore, the crankshaft's complex structure and difficult manufacturing process pose a significant obstacle to breakthroughs in 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] To solve the above-mentioned technical problems, the present invention proposes a two-stage enclosed internal gear ring plate driven planetary reducer, including a crankshaft, a fixed base, a first-stage planetary gear transmission mechanism, and a second-stage cycloidal pin gear transmission mechanism.

[0006] The two ends of the crankshaft are coaxial and coaxial with the fixed base;

[0007] The first-stage planetary gear transmission mechanism includes an input disk, a planet carrier, an external gear, and two internal gear ring plates that are eccentrically arranged, identical in structure, and 180° out of phase. The input disk is an externally driven eccentric disk mounted on the crankshaft. The planet carrier is mounted in the fixed base via angular contact ball bearings. A first set of needle rollers is provided between the planet carrier and the externally driven eccentric disk. The inner side of the externally driven eccentric disk has a circular cavity eccentric to the outer rotating surface, which is coaxial with the fixed base. The two internal gear ring plates are axially arranged side by side in the circular cavity. A second set of needle rollers is provided between the outer rotating surfaces of the two internal gear ring plates and the inner rotating surface of the circular cavity, respectively. The external gear is connected to the crankshaft via a flat key.

[0008] The second-stage cycloidal pin gear transmission mechanism includes two cycloidal wheels that are relatively eccentrically arranged, have the same structure, and are 180° out of phase. An output disk is mounted on the crankshaft and fixed to the planetary carrier. The two cycloidal wheels are axially parallel on the crankshaft. A third set of needle rollers is provided between each of the two cycloidal wheels and the crankshaft. A common set of needle teeth is provided between the two cycloidal wheels and the fixed base. The output disk is mounted within the fixed base via an angular contact ball bearing. The second-stage cycloidal pin gear transmission mechanism uses a pin-type W-mechanism for output.

[0009] Two internal gear ring plates, a planetary carrier, two cycloidal wheels, and an output disc are axially connected by multiple sets of shared pins through pin holes; pin sleeves are provided between the two internal gear ring plates and the pins, and between the two cycloidal wheels and the pins.

[0010] Furthermore, in the reducer described in this invention:

[0011] Two internal gear ring plates are arranged symmetrically in the radial direction. The eccentricity between the two internal gear ring plates and the rotation axis of the external gear is the same. During the operation of the reducer, the two internal gear ring plates move in a planar manner, jointly driving the external gear to rotate and transmitting power to the crankshaft.

[0012] Two cycloidal wheels are arranged symmetrically in the radial direction. The two cycloidal wheels have the same eccentricity to the rotation axis of the crankshaft and are coaxial with their respective eccentric shaft segments. During the movement of the reducer, the two cycloidal wheels alternately perform planar motion, jointly driving the output disk to achieve a defined output motion.

[0013] Deep groove ball bearings are respectively provided between the external drive eccentric disk and one end of the crankshaft, and between the output disk and the other end of the crankshaft.

[0014] The planetary carrier and the output disk are axially positioned by the angular contact ball bearings; the external gear is axially positioned by a sleeve.

[0015] The output disc and the pin are in an interference fit; the planetary carrier and the pin are in a transition fit; the pin sleeve and the pin are in a clearance fit; the inner rotating surface of the pin hole of the internal gear ring plate and the outer rotating surface of the pin sleeve are in high-pair contact; the inner rotating surface of the pin hole of the cycloidal wheel and the outer rotating surface of the pin sleeve are in high-pair contact; during transmission, the pin sleeve, through the high-pair contact with the pin hole of the internal gear ring plate, constrains the motion posture of the internal gear ring plate and feeds back the output motion of the output disc to the internal gear ring plate of the first-stage planetary gear transmission mechanism, causing the internal gear ring plate to rotate around its own geometric center.

[0016] The input disk and the output disk are respectively connected to the driving component and the driven component via threaded connections; the transmission route from the input disk to the output disk is as follows: the driving component drives the external eccentric disk to transmit power sequentially to the two internal gear ring plates, the external gear, the crankshaft, and the two cycloidal wheels, and finally drives the driven component via the output disk connected to the pin shaft.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] (1) The high-speed stage of the two-stage enclosed internal gear ring plate driven planetary reducer of the present invention adopts an external shock wave input method. The internal gear ring plate is driven by an external drive eccentric disk to transmit the load to the external gear. The internal gear ring plate performs planar motion under the drive of the external drive eccentric disk and the constraint of the pin shaft. The transmission form between the internal gear ring plate and the external gear is an internal meshing planetary transmission with small tooth difference, which can realize a large speed ratio transmission.

[0019] (2) The low-speed stage of the reducer of the present invention adopts cycloidal pin gear transmission. The cycloidal wheel performs planar motion under the drive of the crankshaft and outputs torque through the pin shaft. The pin shaft is in contact with the internal gear ring plate of the high-speed stage and the cycloidal wheel of the low-speed stage at the same time. The pin shaft outputs motion outward and feeds back the output motion forward to the high-speed stage as the input motion of the internal gear ring plate, forming a two-stage closed motion.

[0020] (3) The reducer of the present invention adopts a two-stage transmission method with a shared pin shaft, and the pin shaft, planetary carrier, and output disk form a truss structure, which has higher rigidity compared with the traditional cycloidal pin gear reducer with cantilever pin shaft W mechanism.

[0021] (4) In the RV reducer, the crankshaft not only rotates at high speed, but also bears a large 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 bearing a large load at the same time, as well as the complex processing and manufacturing. At the same time, the relative speed between the pin sleeve and the pin hole is significantly reduced compared with the crankshaft speed, and the component life is superior to that of ordinary RV reducers. Attached Figure Description

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

[0023] Figure 2 yes Figure 1 A schematic diagram of the axial direction of the input end of the reducer is shown.

[0024] Figure 3 yes Figure 1 A schematic diagram of the axial direction of the reducer output end is shown.

[0025] Figure 4 yes Figure 1 A cross-sectional view showing the AA section position;

[0026] Figure 5 yes Figure 1 A profile view of a pair of relatively eccentrically arranged internal toothed ring plates at the section position A'-A' shown in the figure;

[0027] Figure 6 yes Figure 1 A cross-sectional view showing the sectioning position of BB;

[0028] Figure 7 yes Figure 1 Outline view of the first and second cycloidal wheels at the B'-B' section position shown;

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

[0030] In the picture:

[0031] 1- Angular contact ball bearing; 2- Planetary carrier; 3- First needle roller assembly; 4- External drive eccentric disk.

[0032] 5-Elastic retaining ring for shaft; 6-Pin; 7-1-First internal gear ring plate; 7-2-Second internal gear ring plate

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

[0034] 12-Sleeve; 13-Pin sleeve; 14-Second needle roller assembly; 15-Deep groove ball bearing

[0035] 16-Third needle roller group; 17-Output disc; 18-1-First cycloidal wheel; 18-2-Second cycloidal wheel

[0036] 19-Fixed base 20-Needle teeth Detailed Implementation

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

[0038] The two ends of the crankshaft 9 are coaxial and coaxial with the fixed base 19, such as Figure 1 As shown.

[0039] The first-stage planetary gear transmission mechanism includes an input disk, a planet carrier 2, an external gear 11, and two eccentrically arranged, identical internal gear ring plates with a phase difference of 180°, referred to as the first internal gear ring plate 7-1 and the second internal gear ring plate 7-2, respectively. The input disk is connected to the driving component via a threaded connection. The input disk is an external drive eccentric disk 4 mounted on the crankshaft 9. A deep groove ball bearing 10 is provided between the external drive eccentric disk 4 and one end of the crankshaft 9. The planet carrier 2 is mounted in the fixed base 19 via an angular contact ball bearing 1. A first needle roller assembly 3 is provided between the planet carrier 2 and the external drive eccentric disk 4. The inner side of the eccentric disk 4 is provided with a circular inner cavity eccentric to the outer rotating surface, and the outer rotating surface is coaxial with the fixed base 19; two internal gear ring plates are arranged axially side by side in the circular inner cavity, and a second needle roller group 14 is respectively provided between the outer rotating surface of the two internal gear ring plates and the inner rotating surface of the circular inner cavity; the external gear 11 is connected to the crankshaft 9 by a flat key 8; the two internal gear ring plates are arranged symmetrically in the radial direction, and the eccentricity between the two internal gear ring plates and the rotation axis of the external gear 11 is the same. During the movement of the reducer, the two internal gear ring plates alternately perform planar motion, jointly driving the external gear 11 to rotate and transmitting power to the crankshaft 9, such as Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 8 As shown.

[0040] The second-stage cycloidal pin gear transmission mechanism includes two cycloidal wheels arranged eccentrically, identical in structure, and 180° out of phase, denoted as the first cycloidal wheel 18-1 and the second cycloidal wheel 18-2. It also includes an output disk 17 mounted on the crankshaft 9 and fixed to the planetary carrier 2. A deep groove ball bearing 15 is provided between the output disk 17 and the other end of the crankshaft 9. The output disk 17 is connected to the driven component via a threaded connection. Figure 1 and Figure 3As shown. Two cycloidal wheels are axially arranged side by side on the crankshaft 9. A third needle roller group 16 is provided between each of the two cycloidal wheels and the crankshaft 9. A common needle tooth 20 is provided between the two cycloidal wheels and the fixed base 19. The output disk 17 is mounted within the fixed base 19 via an angular contact ball bearing 1. The second-stage cycloidal needle tooth transmission mechanism uses a pin-type W-mechanism for output. The two cycloidal wheels are arranged symmetrically in the radial direction. The eccentricity between the two cycloidal wheels and the rotation axis of the crankshaft 9 is the same, and they are coaxial with their respective eccentric shaft segments. During the reducer's movement, the two cycloidal wheels alternately perform planar motion, jointly driving the output disk 17 to achieve a defined output motion, such as... Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown.

[0041] In the reducer of this invention, two internal gear ring plates, a planetary carrier 2, two cycloidal wheels, and an output disc 17 are axially connected by pin holes through multiple sets of shared pin shafts 6, such as... Figure 1 , Figure 3 , Figure 4 , Figure 6 and Figure 8 As shown, the external gear 11 is axially positioned using a sleeve, and the planetary carrier 2 and the output disk 17 are axially positioned respectively through the angular contact ball bearing 1. Since the internal gear ring plate itself is not subjected to much axial force, the axial positioning of the two internal gear ring plates 7-1 and 7-2 can be achieved by setting a retaining ring with holes next to the second needle roller assembly 14. The output disk 17 and the pin 6 are interference-fitted; the planetary carrier 2 and the pin 6 are transition-fitted; pin sleeves 13 are respectively provided between the two internal gear ring plates 7-1 and 7-2 and the pin 6, and between the two cycloidal wheels 18-1 and 18-2 and the pin 6. The pin sleeves 13 and the pin 6 are clearance-fitted. The inner diameter of the pin holes for the pin 6 to pass through on the internal gear ring plates and cycloidal wheels is larger than the outer diameter of the pin sleeves 13. The inner rotating surface of the pin hole of the internal gear ring plate and the outer rotating surface of the pin sleeve 13 are in high-pair contact, and the inner rotating surface of the pin hole of the cycloidal wheel and the outer rotating surface of the pin sleeve 13 are in high-pair contact. The aforementioned high-pair contact refers to the high-pair contact between two arcuate surfaces, such as... Figure 1 , Figure 5 and Figure 7 As shown.

[0042] During the operation of the reducer of the present invention, the transmission path from the input disc to the output disc is as follows: Figure 1 and Figure 8As shown, the driving component drives the external eccentric disk 4 to sequentially transmit power to the two internal gear ring plates, the external gear 11, the crankshaft 9, and the two cycloidal wheels, ultimately driving the driven component via the output disk 17 connected to the pin shaft 6. During the transmission process, the pin sleeve 13, through high-pair contact with the pin hole of the internal gear ring plate, constrains the motion posture of the internal gear ring plate and feeds back the output motion of the output disk 17 to the internal gear ring plate of the first-stage planetary gear transmission mechanism, causing the internal gear ring plate to rotate around 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.

[0044] like Figure 1 and Figure 8 As shown, the present invention proposes a two-stage enclosed internal gear ring plate driven planetary reducer, which consists of an outer drive eccentric disc 4, two internal gear ring plates 7-1 and 7-2, an external gear 11, a crankshaft 9, two cycloidal wheels 18-1 and 18-2, three sets of needle rollers (including a first needle roller set 3, a second needle roller set 14, and a third needle roller set 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 planetary carrier 2, the outer rotating surface of the outer drive eccentric disk 4, and the crankshaft 9 are all coaxial with the fixed base 19. The inner side of the outer drive eccentric disk 4 has a circular inner cavity eccentric to the outer rotating surface, and the inner cavity is coaxial with the outer circle of the internal gear ring plate. The second needle roller assembly 14 is disposed between the two. There is an eccentricity between the inner hole and the outer circle of the outer drive eccentric disk 4. The outer drive eccentric disk 4 is connected to the driving component via a threaded connection. Figure 2 As shown.

[0046] Two internal gear ring plates 7-1 and 7-2 are arranged symmetrically in the radial direction, and their eccentricities about the rotation axis of the external gear 11 are the same. The pin sleeve 13 contacts the pin hole on the internal gear ring plate. The planet carrier 2 is fixed to the output disk 17 by bolts. The external gear 11 is connected to the crankshaft 9 by a flat key 8. During the movement, when the external drive eccentric disk 4 rotates on its fixed axis, it drives the two internal gear ring plates 7-1 and 7-2 to perform planar motion in an alternating manner, which together drive the external gear 11 to rotate and transmit power to the crankshaft 9. The second-stage cycloidal pin gear transmission adopts a pin-type W mechanism for output. Simultaneously, the motion is fed back to the first-stage planetary gear transmission via the pin 6, forming a closed motion. The output disk 17 is coaxial with the fixed base 19. The pin 6 and the output disk 17 are connected by an interference fit. The inner side of the pin sleeve 13 is clearance-fitted with the pin 6. The outer circle of the pin sleeve 13 contacts the inner surface of the pin holes on the two cycloidal wheels 18-1 and 18-2. The output disk 17 is connected to the driven component by a threaded connection. The output disk 17 and the planetary carrier 2 are fixed together by bolts. Axial positioning is achieved by a pair of angular contact ball bearings 1, which also improve the overall rigidity. Figures 1 to 5 As shown.

[0047] The needle teeth 20 are mounted on the fixed base 19. Two cycloidal wheels 18-1 and 18-2 are symmetrically arranged radially, coaxial with the eccentric section of the crankshaft 9. The third needle roller assembly 16 is positioned between them. The pin sleeve 13 contacts the pin holes on the cycloidal wheels. During movement, the two cycloidal wheels 18-1 and 18-2 alternately perform planar motion, jointly driving the output disk 17 to achieve a defined output motion, such as... Figure 6 and Figure 7 As shown. The pin 6 extends forward through the planetary carrier 2 to the first-stage planetary gear transmission, and contacts the pin holes on the two internal gear ring plates 7-1 and 7-2 through the pin sleeve 13. During transmission, it constrains the movement of the internal gear ring plates and feeds back the output movement of the output disk 17 to the first-stage planetary gear transmission, as shown. Figure 1 As shown.

[0048] In this invention, the inner ring of the pair of angular contact ball bearings 1 contacts the planetary carrier 2 and the output disk 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 disk 4; the inner ring of the deep groove ball bearing 15 contacts the crankshaft 9, and the outer ring contacts the output disk 17, as shown below. Figure 1 As shown,

[0049] In this invention, the outer side of the first needle roller assembly 3 contacts the planetary carrier 2, and the inner side contacts the outer drive eccentric disk 4; the outer side of the second needle roller assembly 14 contacts the outer drive eccentric disk 4, and the inner side contacts the internal gear ring plate; the outer side of the third needle roller assembly 16 contacts the cycloidal wheel, and the inner side contacts the crankshaft 9.

[0050] The two-stage closed-loop internal gear ring plate driven planetary reducer of the present invention drives the internal gear ring plates 7-1 and 7-2 to perform planar motion through the external drive eccentric disk 4, which transmits the load to the external gear 11. The external gear 11 and the crankshaft 9 together drive the cycloidal wheels 18-1 and 18-2 to perform planar motion. The output disk 17 is connected to the pin 6 to output torque, and the output motion of the output disk 17 is transmitted back to the first-stage planetary gear transmission through the pin 6, forming a closed motion.

[0051] The high-speed stage of the two-stage enclosed internal gear ring plate driven planetary reducer of the present invention adopts an external shock wave input method. The internal gear ring plate is driven by an external eccentric disk 4, transmitting the load to the external gear 11. The internal gear ring plate performs planar motion under the drive of the external eccentric disk 4 and the constraint of the pin 6. The transmission form between the internal gear ring plate and the external gear 11 is an internal meshing planetary transmission with a small tooth difference, which can achieve a large speed ratio transmission.

[0052] The low-speed stage of the reducer of this invention adopts cycloidal pin gear transmission. The cycloidal wheel performs planar motion under the drive of the crankshaft 9 and outputs torque through the pin 6. The pin 6 is in contact with both the internal gear ring plate of the high-speed stage and the cycloidal wheel of the low-speed stage. The pin 6 outputs motion outward and feeds back the output motion forward to the high-speed stage as the input motion of the internal gear ring plate, forming a two-stage closed motion.

[0053] The reducer of the present invention adopts a two-stage transmission method with a shared pin shaft, and the pin shaft 6, planetary carrier 2, and output disk 17 form a truss structure, which has higher rigidity compared with the traditional cycloidal pin gear reducer using a cantilever pin shaft type W mechanism.

[0054] 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 large loads at the same time, as well as the complex processing and manufacturing. At the same time, the relative speed between the pin sleeve 13 and the pin hole is significantly reduced compared with the crankshaft speed, and the component life is superior compared with ordinary RV reducers.

[0055] Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many improvements and changes under the guidance of the present invention without departing from the spirit of the present invention, and these improvements and changes are all within the protection scope of the present invention.

Claims

1. A two-stage enclosed internal gear ring plate driven planetary reducer, characterized in that, Includes crankshaft (9), fixed base (19), first-stage planetary gear transmission mechanism and second-stage cycloidal pin gear transmission mechanism; The two ends of the crankshaft (9) are coaxial and coaxial with the fixed base (19); The first-stage planetary gear transmission mechanism includes an input disk, a planet carrier (2), an external gear (11), and two internal gear ring plates that are eccentrically arranged, have the same structure, and are 180° out of phase. The input disk is an external drive eccentric disk (4) mounted on the crankshaft (9). The planet carrier (2) is mounted in the fixed base (19) via an angular contact ball bearing (1). A first needle roller assembly (3) is provided between the planet carrier (2) and the external drive eccentric disk (4). The inner side of the external drive eccentric disk (4) is provided with a circular inner cavity that is eccentric to the outer rotating surface. The outer rotating surface is coaxial with the fixed base (19). The two internal gear ring plates are arranged axially side by side in the circular inner cavity. A second needle roller assembly (14) is provided between the outer rotating surface of the two internal gear ring plates and the inner rotating surface of the circular inner cavity. The external gear (11) is connected to the crankshaft (9) via a flat key (8). The second-stage cycloidal pin gear transmission mechanism includes two cycloidal wheels that are relatively eccentrically arranged, have the same structure, and are 180° out of phase. An output disk (17) is set on the crankshaft (9) and fixed to the planetary carrier (2). The two cycloidal wheels are arranged axially side by side on the crankshaft (9). A third needle roller group (16) is provided between each of the two cycloidal wheels and the crankshaft (9). A common needle tooth (20) is provided between the two cycloidal wheels and the fixed base (19). The output disk (17) is set in the fixed base (19) through an angular contact ball bearing (1). The second-stage cycloidal pin gear transmission mechanism adopts a pin-type W mechanism for output. Two internal gear ring plates, planetary carrier (2), two cycloidal wheels and output disk (17) pass through multiple sets of common pins (6) in the axial direction through pin holes; pin sleeves (13) are respectively provided between the two internal gear ring plates and the pins (6) and between the two cycloidal wheels and the pins (6).

2. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that, Two internal gear ring plates are arranged symmetrically in the radial direction. The eccentricity between the two internal gear ring plates and the rotation axis of the external gear (11) is the same. During the movement of the reducer, the two internal gear ring plates move in a planar manner, jointly driving the external gear (11) to rotate and transmitting power to the crankshaft (9).

3. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that, Two cycloidal wheels are arranged symmetrically in the radial direction. The two cycloidal wheels have the same eccentricity to the rotation axis of the crankshaft (9) and are coaxial with the eccentric shaft segment in which they are located. During the movement of the reducer, the two cycloidal wheels move in a plane and drive the output disk (17) to achieve a defined 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 provided between the external drive eccentric disk (4) and one end of the crankshaft (9), and between the output disk (17) and the other end of the crankshaft (9).

5. The two-stage enclosed internal gear ring plate driven planetary reducer according to claim 1, characterized in that, The planetary carrier (2) and the output disk (17) are axially positioned by the angular contact ball bearing (1); 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 disk (17) and the pin (6) are interference fit; the planetary carrier (2) and the pin (6) are transition fit; the pin sleeve (13) and the pin (6) are clearance fit; the inner rotating surface of the pin hole of the internal gear ring plate and the outer rotating surface of the pin sleeve (13) are in high pair contact; the inner rotating surface of the pin hole of the cycloidal wheel and the outer rotating surface of the pin sleeve (13) are in high pair contact. During the transmission process, the pin sleeve (13) constrains the motion posture of the internal gear ring plate through the high pair contact with the pin hole of the internal gear ring plate, and feeds back the output motion of the output disk (17) to the internal gear ring plate of the first stage planetary gear transmission mechanism, so that the internal 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 disk and the output disk (17) are respectively connected to the driving component and the driven component by threaded connection; the transmission route from the input disk to the output disk is: the driving component drives the external drive eccentric disk (4) to transmit power to the two internal gear ring plates, the external gear (11), the crankshaft (9), and the two cycloidal wheels in sequence, and finally drives the driven component through the output disk (17) connected to the pin shaft (6).

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