Integrated composite roller guide rail based on cycloid curve

Abstract

The invention discloses an integrated composite roller guide rail based on a cycloid curve, and belongs to the technical field of cam cycloid roller guide rails, the integrated composite roller guide rail mainly comprises a base plate, a motor, a gear ring assembly, a roller assembly and a supporting assembly, and the gear ring assembly comprises any one of a first outer gear ring, a second outer gear ring, a third outer gear ring or an inner gear ring; the base plate, the motor, the gear ring assembly, the roller assemblies and the supporting assemblies are integrally designed to replace a crossed roller bearing, the number of parts is reduced, the structure is compact, assembling is easy and convenient, automatic center correction and constant pre-pressing are achieved, a balance structure is formed by the multiple roller assemblies and the supporting assemblies, center deviation and back clearance are effectively eliminated, and the service life is prolonged. V / inverted V-shaped rollers are used for double-sided support, so that uniform stress, low-vibration operation, no lubrication and high environment resistance are ensured, and the roller bearing is suitable for dust, humidity and oil-free environments, high in repeated precision and long-term stability, constant in rolling contact, extremely low in abrasion and long in maintenance period.

Description

Technical Field

[0001] This application relates to the field of cam cycloidal roller guide technology, specifically an integrated composite roller guide based on a cycloidal curve. Background Technology

[0002] Traditional precision rotary systems typically employ a combination structure of "cycloidal gear ring + crossed roller bearing". The cycloidal gear ring is responsible for torque transmission, while the crossed roller bearing bears the radial and axial loads and maintains the center position.

[0003] However, this split structure has the following significant drawbacks: the gear ring and the crossed roller bearing are independent parts, and the superposition of manufacturing and assembly tolerances can easily lead to eccentricity and tilting, resulting in uneven distribution of cycloidal meshing points, decreased repeatability, and increased vibration. The rollers inside the bearing experience wear and changes in lubricating oil viscosity over time, leading to an imbalance in load distribution and uneven pressure on the tooth surface, thereby increasing frictional resistance and backlash. Multiple high-precision parts need to be machined and positioned separately, which requires a high level of experience from the assembly personnel. Even a slight increase in assembly tolerance can affect the overall rotational accuracy. The crossed roller bearing needs to be embedded below the gear ring, increasing the overall height of the system and hindering the thinning of the equipment. The crossed roller bearing requires regular lubrication and maintenance, and is easily contaminated and damaged in dusty or humid environments, leading to noise, heat generation, and deterioration in accuracy.

[0004] Therefore, it is necessary to provide an integrated composite roller guide based on cycloidal curves to solve the above problems.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0006] Based on the aforementioned problems in the existing technology, the problem to be solved by this application is to provide an integrated composite roller guide rail based on a cycloidal curve. This guide rail, through a base plate, motor, gear ring assembly, roller assembly, and support assembly, replaces crossed roller bearings with an integrated design, reducing the number of parts, resulting in a compact structure, easy assembly, automatic center correction and constant preload. Multiple roller assemblies and support assemblies form a balanced structure, effectively eliminating center deviation and backlash. The V / ∧-shaped rollers provide double-sided support, ensuring uniform force distribution and low vibration operation. It requires no lubrication and has high environmental resistance, making it suitable for dusty, humid, and oil-free environments. It also offers high repeatability and long-term stability, constant rolling contact, extremely low wear, and long maintenance cycles.

[0007] The technical solution adopted by this application to solve its technical problem is: an integrated composite roller guide rail based on a cycloidal curve, including a base plate, a motor, a gear ring assembly, a roller assembly, and a support assembly. The gear ring assembly includes any one of a first external gear ring, a second external gear ring, a third external gear ring, or an internal gear ring. The gear ring assembly is installed in the middle of the base plate and is connected to a drive roller. The support assembly includes any one of a first support pad, a second support pad, or a third support pad. The support assembly is equidistantly distributed between the gear ring assembly and the base plate along the circumferential direction. The outer circumferential surface, inner circumferential surface, or corresponding position of the gear ring assembly is provided with a first V-shaped guide groove or a ∧-shaped guide ring. The support assembly is provided with a roller assembly that slides in cooperation with the first V-shaped guide groove or the ∧-shaped guide ring. The roller assembly includes any one of a first roller block or a second roller block.

[0008] Furthermore, a drive roller is fixed to the output end of the motor, a fixing plate is provided between the drive roller and the motor, a pin mounting cavity is opened in the middle of the drive roller, a plurality of pins are evenly distributed in the circumferential direction in the pin mounting cavity, and a pin shaft is rotatably connected to both ends of the pins.

[0009] Furthermore, a clamping hole is provided at the connection between the pin and the drive roller. The pin is fixedly connected to the drive roller through the clamping hole. The output shaft of the motor is connected through the middle of the fixed plate. The fixed plate is fixed to the base plate by bolts. The motor is fixed to the fixed plate by bolts. The pin is rotatably connected to the pin mounting cavity in the middle of the drive roller through the pin. Each pin can rotate independently.

[0010] Furthermore, when the toothed ring assembly is a first external toothed ring, the support assembly is a first support pad, and the roller assembly is a first roller block. The first support pad is equidistantly distributed along the circumferential direction of the first external toothed ring towards one end of the base plate. A first V-shaped guide groove is provided in the middle of both the inner and outer circumferential surfaces of the first external toothed ring. Two first roller blocks are symmetrically distributed on the first support pad. The two first roller blocks are slidably connected to the first V-shaped guide grooves provided in the inner and outer circumferential surfaces of the first V-shaped guide grooves, respectively. The first roller blocks and the first support pad are rotatably connected through a bearing provided in the middle of the first roller block.

[0011] Furthermore, when the toothed ring assembly is a second external toothed ring, the support assembly is a second support pad, the roller assembly is a first roller block, the second support pad is equidistantly distributed along the circumferential direction of the second external toothed ring towards one end of the base plate, and a second V-shaped guide groove is formed in the middle of the outer circumferential surface of the second external toothed ring towards one end of the base plate. The first roller block is rotatably connected to the second support pad, and the first roller block is slidably connected to the second V-shaped guide groove.

[0012] Furthermore, when the gear ring assembly is a third external gear ring, the support assembly is a third support pad, the roller assembly is a second roller block, the third support pad is equidistantly distributed along the circumferential direction of the third external gear ring toward one end of the base plate, a ∧-shaped guide ring is fixed in the middle of the inner circumferential surface of the third external gear ring, the second roller block is rotatably connected to one end of the third support pad, the second roller block is slidably connected to the ∧-shaped guide ring, and a positioning bearing for supporting the third external gear ring is rotatably connected in the middle of one end of the third support pad.

[0013] Furthermore, any one of the first, second, or third support pads of the support assembly can be fixed to the base plate by bolts. A limiting ring is fixedly connected to the top of the first, second, third, and inner toothed rings. A positioning hole is provided in the middle of the top of the base plate. An eccentric oblique hole is provided at the connection position between the support assembly and the bolt. The distance the roller assembly moves radially can be adjusted by tightening the bolts, thereby adjusting the gap between the toothed ring assembly and the roller assembly and forming a uniform preload.

[0014] The beneficial effects of this application are: the integrated design replaces the crossed roller bearing, reducing the number of parts, resulting in a compact structure, easy assembly, automatic center correction and constant preload, multiple roller assemblies and support assemblies forming a balanced structure, effectively eliminating center deviation and backlash, V / ∧-shaped rollers with double-sided support, ensuring uniform force distribution and low vibration operation, lubrication-free operation and high environmental resistance, suitable for dusty, humid and oil-free environments, high repeatability and long-term stability, constant rolling contact, extremely low wear, and long maintenance cycle.

[0015] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the first structural form;

[0018] Figure 2 This is a schematic cross-sectional view of the first structural form.

[0019] Figure 3 for Figure 2 Enlarged structural diagram of section A in the middle;

[0020] Figure 4This is a schematic diagram of the overall three-dimensional structure of the second structural form;

[0021] Figure 5 This is a schematic cross-sectional view of the second structural form.

[0022] Figure 6 for Figure 5 Enlarged structural diagram of section B in the middle;

[0023] Figure 7 A schematic diagram of the overall three-dimensional structure of the third structural form;

[0024] Figure 8 This is a schematic cross-sectional view of the third structural form.

[0025] Figure 9 for Figure 8 Enlarged structural diagram of section C;

[0026] Figure 10 This is a schematic diagram of the overall three-dimensional structure of the fourth structural form.

[0027] Figure 11 This is a schematic cross-sectional view of the fourth structural form.

[0028] Figure 12 for Figure 11 Enlarged structural diagram of section D in the middle;

[0029] Figure 13 This is a three-dimensional structural diagram illustrating the disassembly of the pin and the shaft.

[0030] Figure 14 This is a three-dimensional structural diagram showing the disassembly of the third support plate and bolts;

[0031] Figure 15 This is a partial cross-sectional view of the three-dimensional connection between the base plate and the third support plate.

[0032] Figure 16 for Figure 15 Enlarged structural diagram of section E in the middle.

[0033] The following are the labeling elements in the figure:

[0034] 1. Base plate; 2. Fixing plate; 4. Motor; 5. Drive roller; 6. Pin; 7. Pin shaft; 8. Positioning hole; 9. First external gear ring; 10. First support pad; 11. First roller block; 12. First V-shaped guide groove; 13. Second external gear ring; 14. Second support pad; 15. Second V-shaped guide groove; 16. Third external gear ring; 17. Limiting ring; 18. ∧-shaped guide rail ring; 19. Third support pad; 20. Second roller block; 21. Positioning bearing; 22. Internal gear ring. Detailed Implementation

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0037] like Figure 1-16 As shown, this application provides a multi-structure lubrication-free integrated cam cycloidal roller guide. The core lies in the modular design of the base plate 1, drive component, replaceable gear ring component, replaceable roller component and replaceable support component, forming four transmission structures to adapt to different scenarios. All structures achieve high-precision guidance through guide structure and roller sliding cooperation, and achieve oil-free operation through material optimization.

[0038] The general components include: a base plate 1 as an integral support structure, with a positioning hole 8 in the center of the top of the base plate 1; a drive assembly including a motor 4, a drive roller 5, a pin 6, a pin shaft 7, and a fixing plate 2; and replaceable toothed ring assemblies and replaceable roller assemblies made of aluminum alloy steel with a surface hard anodized finish, a surface hardness of not less than HRC52, and a friction coefficient ≤0.08. All support assemblies can be fixed to the base plate 1 by bolts. An eccentric oblique hole is opened at the connection position between the support assembly and the bolt. The distance the roller assembly moves along the diameter can be adjusted by tightening the bolts, thereby adjusting the gap between the toothed ring assembly and the roller assembly and forming a uniform preload.

[0039] First structural form

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 13As shown, the system includes a base plate 1. A first external toothed ring 9 is located at the center of the top of the base plate 1. Six first support pads 10, fixed to the base plate 1 by bolts, are equidistantly distributed along the circumference of the end of the first external toothed ring 9 facing the base plate 1. There are multiple first support pads 10. Two first roller blocks 11 are symmetrically distributed on the top of each first support pad 10. A first V-shaped guide groove 12 is formed at the center of the bottom of both the inner and outer circumferential surfaces of the first external toothed ring 9. The first roller blocks 11 are slidably connected to the first V-shaped guide grooves 12. The first roller blocks 11 are rotatably connected to the first support pads 10 via a shaft located in the center. A motor 4 is mounted on the center of one end of the base plate 1 via a fixing plate 2. A drive roller 5 is fixedly connected to the output end of the motor 4. The drive roller 5 is located at one end of the outer circumferential surface of the first external toothed ring 9. In the middle of the drive roller 5, a pin mounting cavity is provided. Multiple pins 6 are evenly distributed in the circumferential direction in the pin mounting cavity. Each pin 6 is rotatably connected to a pin shaft 7 at both ends. Multiple pins 6 and corresponding pin shafts 7 are combined to form pin teeth. The pin teeth are meshed with the first external toothed ring 9. A clamping hole is provided at the connection between the pin shaft 7 and the drive roller 5. The pin shaft 7 is fixed with the clamping hole by interference fit. There are six first support pads 10 and six sets of first roller blocks 11. Each set has two first roller blocks 11. The six circumferentially arranged first support pads 10 have three reference blocks on the right and three adjustable blocks on the left. Two first roller blocks 11 are rotatably connected to each reference block and each adjustable block. A ∧-shaped block that matches the first V-shaped guide groove 12 is fixed in the middle of the first roller block 11.

[0041] In this embodiment, the drive roller 5, fixed at its output end, is driven by the motor 4 to rotate. The rotating drive roller 5 drives the pin teeth, composed of multiple pin shafts and pin needles, to rotate synchronously. The rotating pin teeth drive the meshing first external toothed ring 9 to rotate under the constraint of a first V-shaped guide groove 12 opened on both its inner and outer circumferential surfaces. Multiple sets of first roller blocks 11, evenly distributed along the circumferential direction, rotate. When the first external toothed ring 9 rotates, its bottom is located in the gap between a set of first roller blocks 11 symmetrically distributed on the first support plate 10. To prevent the first external gear ring 9 from deviating from its trajectory during rotation, the contact surface between the first V-shaped guide groove 12 and the first roller block 11 will push the first roller block 11 to rotate under the constraint of the central shaft during the rotation of the first external gear ring 9, thereby reducing the frictional force generated when the first V-shaped guide groove 12 contacts the first roller block 11. At the same time, the pin will rotate under the push of the frictional force generated by the contact surface during the rotation of the first external gear ring 9, thereby reducing the frictional force generated when the pin 6 contacts the first external gear ring 9.

[0042] The second structural form

[0043] like Figure 4 , Figure 5 , Figure 6 and Figure 13 As shown, the system includes a base plate 1. A second external toothed ring 13 is provided at the center of the top of the base plate 1. Six second support pads 14 are evenly distributed along the circumferential direction at one end of the second external toothed ring 13 facing the base plate 1 and are fixedly connected to the base plate 1 by bolts. A first roller block 11 is rotatably connected to the top of the second support pad 14 via a shaft. A second V-shaped guide groove 15 is provided at the center of the bottom end of the outer circumferential surface of the second external toothed ring 13. The first roller block 11 is slidably connected to the second V-shaped guide groove 15. A motor 4 is installed at the center of one end of the base plate 1 via a fixing plate 2. A drive roller 5 is fixedly connected to the output end of the motor 4. The drive roller 5 is located at the center of one end of the outer circumferential surface of the second external toothed ring 13. The drive roller 5 has a pin mounting cavity in the middle. Multiple pins 6 are evenly distributed in the circumferential direction in the pin mounting cavity. Each pin 6 is rotatably connected to a pin shaft 7 at both ends. Multiple pins 6 and corresponding pin shafts 7 are combined to form pin teeth. The pin teeth are meshed with the second outer toothed ring 13. A clamping hole is provided at the connection between the pin shaft 7 and the drive roller 5. The pin shaft 7 is fixed with the clamping hole by interference fit. There are 6 second support pads 14 arranged circumferentially. There are 3 reference blocks on the right and 3 adjustable blocks on the left. A first roller block 11 is rotatably connected to each reference block and each adjustable block. A ∧-shaped block that matches the first V-shaped guide groove 12 is fixed in the middle of the first roller block 11.

[0044] In this embodiment, the motor 4 drives the drive roller 5, which is fixed at the output end, to rotate. The rotating drive roller 5 drives the pin teeth, which are composed of multiple pin shafts and multiple pin needles, to rotate synchronously. The rotating pin teeth drive the meshing second external gear ring 13 to rotate. When the second external gear ring 13 rotates, the second V-shaped guide groove 15 opened at the bottom of its outer circumference rotates along the multiple first roller blocks 11 distributed in the bottom circumferential direction of the second external gear ring 13. At the same time, the first roller blocks 11 pass through the second V-shaped guide groove 15 to rotate the second external gear ring 13. Positioning is performed on the second outer gear ring 13 to prevent it from shaking or deviating from its trajectory during rotation. When the second outer gear ring 13 rotates, the friction generated at the contact position between the second V-shaped guide groove 15 and the first roller block 11 will push the first roller block 11 to rotate under the restriction of the central shaft, thereby reducing the friction generated when the first roller block 11 contacts the second V-shaped guide groove 15. At the same time, the pin will rotate under the push of the friction generated on the contact surface during the process of pushing the second outer gear ring 13 to rotate, thereby reducing the friction generated when the pin 6 contacts the second outer gear ring 13.

[0045] The third structural form

[0046] like Figure 7 , Figure 8 , Figure 9 , Figure 13, Figure 14 , Figure 15 and Figure 16 As shown, the system includes a base plate 1. A third external gear ring 16 is located at the center of the top of the base plate 1. Six third support pads 19, bolted to the base plate 1, are equidistantly distributed along the circumference of the end of the third external gear ring 16 facing the base plate 1. A second roller block 20 is rotatably connected to the center of the top of each third support pad 19. A ∧-shaped guide ring 18 is fixed to the center of the inner circumference of the third external gear ring 16. The second roller block 20 is slidably connected to the ∧-shaped guide ring 18. A positioning bearing 21 is rotatably connected to the center of one end of each third support pad 19, located at the bottom of the third external gear ring 16. A limit ring 17 is fixed to the center of the top of the third external gear ring 16. A motor 4 is mounted on the center of one end of the base plate 1 via a fixing plate 2. The output end of the motor 4 is fixedly connected to... A drive roller 5 is connected to the middle of one end of the outer circumference of the third outer toothed ring 16. A pin mounting cavity is opened in the middle of the drive roller 5. Multiple pins 6 are evenly distributed in the circumferential direction in the pin mounting cavity. A pin shaft 7 is rotatably connected to both ends of each pin 6. Multiple pins 6 and corresponding pin shafts 7 are combined to form pin teeth. The pin teeth are meshed with the third outer toothed ring 16. A clamping hole is opened at the connection between the pin shaft 7 and the drive roller 5. The pin shaft 7 is fixed with the clamping hole by interference fit. Six third support pads 19 are arranged circumferentially. There are three reference blocks on the right and three adjustable blocks on the left. A second roller block 20 is rotatably connected to each reference block and each adjustable block. A V-shaped groove matching the ∧-shaped guide rail ring 18 is fixed in the middle of the second roller block 20.

[0047] In this embodiment, the motor 4 drives the drive roller 5, which is fixed at the output end, to rotate. The rotating drive roller 5 drives the pin teeth, which are composed of multiple pin shafts and pin needles, to rotate synchronously. The rotating pin teeth drive the meshing third external toothed ring 16 to rotate under the support of the positioning bearing 21. When the third external toothed ring 16 rotates, the ∧-shaped guide ring 18, which is fixed in the middle of its inner circumference, slides along the multiple second roller blocks 20 distributed in the circumferential direction. When the third external toothed ring 16 rotates, the ∧-shaped guide ring... The friction generated when the ∧-shaped guide ring 18 contacts the second roller block 20 will drive the second roller block 20 to rotate under the restriction of the middle shaft. The friction generated when the bottom of the third external gear ring 16 contacts the positioning bearing 21 will drive the positioning bearing 21 to rotate under the restriction of the middle shaft. This reduces the friction generated when the ∧-shaped guide ring 18 contacts the second roller block 20 and the friction generated when the third external gear ring 16 contacts the positioning bearing 21, so that the load of the third external gear ring 16 can be evenly distributed.

[0048] The fourth structural form

[0049] like Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 , Figure 15 and Figure 16 As shown, the system includes a base plate 1. An internal gear ring 22 is located at the center of the top of the base plate 1. A ∧-shaped guide rail ring 18 is fixedly connected to the center of the outer circumference of the internal gear ring 22. A limit ring 17 is fixed at the center of the top of the internal gear ring 22. Six third support pads 19 are equidistantly distributed along the circumferential direction at one end of the internal gear ring 22 facing the base plate 1. A second roller block 20 is rotatably connected to the center of the top of each third support pad 19. A positioning bearing 21 is rotatably connected to the center of one end of each third support pad 19, located at the bottom of the internal gear ring 22. A positioning hole 8 is opened at the center of the top of the base plate 1. A motor 4 is mounted at the center of one end of the positioning hole 8 via a fixing plate 2. A drive roller 5 is fixedly connected to the output end of the motor 4. Located at the middle of one end of the inner circumferential surface of the inner toothed ring 22, the drive roller 5 has a pin mounting cavity in the middle. Multiple pins 6 are evenly distributed in the circumferential direction in the pin mounting cavity. Each pin 6 is rotatably connected to a pin shaft 7 at both ends. Multiple pins 6 and corresponding pin shafts 7 are combined to form pin teeth. The pin teeth are meshed with the inner toothed ring 22. A clamping hole is provided at the connection between the pin shaft 7 and the drive roller 5. The pin shaft 7 is fixed with the clamping hole by interference fit. Six third support pads 19 are arranged circumferentially. There are three reference blocks on the right and three adjustable blocks on the left. A second roller block 20 is rotatably connected to each reference block and each adjustable block. A V-shaped groove matching the ∧-shaped guide rail ring 18 is fixed in the middle of the second roller block 20.

[0050] In this embodiment, the motor 4 drives the drive roller 5 to rotate. The rotating drive roller 5 drives the pin teeth, which are composed of multiple pins 6 and multiple pin shafts 7, to rotate. The rotating pin teeth drive the meshing internal gear ring 22 to rotate. During the rotation of the internal gear ring 22, the ∧-shaped guide ring 18 fixed in the middle of its outer circumference rotates along the multiple second roller blocks 20 equidistantly distributed in the circumferential direction of the internal gear ring 22. During the rotation of the internal gear ring 22, the multiple positioning bearings 21 equidistantly distributed in the circumferential direction at the bottom of the internal gear ring 22 support and position the internal gear ring 22. The friction generated when the fixed ∧-shaped guide ring 18 contacts the outer circumferential surface of the second roller block 20 will push the second roller block 20 to rotate, thereby reducing the friction generated when the two are in contact. During the rotation of the internal gear ring 22, the friction generated between its bottom and the contact surface of the positioning bearing 21 will transmit the rotational power generated by the internal gear ring 22 to the positioning bearing 21, pushing the positioning bearing 21 to rotate, thereby reducing the friction generated when the positioning bearing 21 contacts the bottom of the internal gear ring 22. At the same time, the pin 6 will rotate under the friction generated by the contact surface of the rotating internal gear ring 22, thereby reducing the friction generated between the pin and the contact surface of the internal gear ring 22.

[0051] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An integrated composite roller guide rail based on a cycloidal curve, comprising a base plate (1), a motor (4), a gear ring assembly, a roller assembly, and a support assembly, characterized in that: The toothed ring assembly includes any one of a first external toothed ring (9), a second external toothed ring (13), a third external toothed ring (16), or an internal toothed ring (22). The toothed ring assembly is installed in the middle of the base plate (1). The toothed ring assembly is connected to the drive roller (5) for transmission. The support assembly includes any one of a first support pad (10), a second support pad (14), or a third support pad (19). The support assembly is equidistantly distributed between the toothed ring assembly and the base plate (1) along the circumferential direction. The outer circumferential surface, inner circumferential surface, or corresponding position of the toothed ring assembly is provided with a first V-shaped guide groove (12) or a ∧-shaped guide rail ring (18). The support assembly is provided with a roller assembly that slides with the first V-shaped guide groove (12) or the ∧-shaped guide rail ring (18). The roller assembly includes any one of a first roller block (11) or a second roller block (20).

2. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: The output end of the motor (4) is fixed with a drive roller (5). A fixing plate (2) is provided between the drive roller (5) and the motor (4). A pin mounting cavity is provided in the middle of the drive roller (5). Multiple pins (6) are distributed equidistantly along the circumferential direction in the pin mounting cavity. Both ends of the pins (6) are rotatably connected to a pin shaft (7).

3. The integrated composite roller guide rail based on a cycloidal curve according to claim 2, characterized in that: A clamping hole is provided at the connection between the pin (7) and the drive roller (5). The pin (7) is fixedly connected to the drive roller (5) through the clamping hole. The output shaft of the motor (4) is connected through the middle of the fixing plate (2). The fixing plate (2) is fixed to the base plate (1) by bolts. The motor (4) is fixed to the fixing plate (2) by bolts. The pin (6) is rotatably connected to the pin mounting cavity in the middle of the drive roller (5) through the pin (7), and each pin can rotate independently.

4. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: When the gear ring assembly is the first external gear ring (9), the support assembly is the first support pad (10), and the roller assembly is the first roller block (11). The first support pad (10) is equidistantly distributed along the circumferential direction of the first external gear ring (9) toward the base plate (1). A first V-shaped guide groove (12) is provided in the middle of the inner and outer circumferential surfaces of the first external gear ring (9). Two first roller blocks (11) are symmetrically distributed on the first support pad (10). The two first roller blocks (11) are slidably connected to the first V-shaped guide groove (12) provided in the inner and outer circumferential surfaces of the first V-shaped guide groove (12), respectively. The first roller block (11) and the first support pad (10) are rotatably connected through the bearing provided in the middle of the first roller block (11).

5. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: When the toothed ring assembly is the second outer toothed ring (13), the support assembly is the second support pad (14), the roller assembly is the first roller block (11), the second support pad (14) is equidistantly distributed along the circumferential direction of the second outer toothed ring (13) towards the end of the base plate (1), the outer circumferential surface of the second outer toothed ring (13) is provided with a second V-shaped guide groove (15) at the middle of the end of the base plate (1), the first roller block (11) is rotatably connected to the second support pad (14), and the first roller block (11) is slidably connected to the second V-shaped guide groove (15).

6. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: When the gear ring assembly is the third external gear ring (16), the support assembly is the third support pad (19), the roller assembly is the second roller block (20), the third support pad (19) is equidistantly distributed along the circumferential direction of the third external gear ring (16) toward one end of the base plate (1), a ∧-shaped guide ring (18) is fixed in the middle of the inner circumferential surface of the third external gear ring (16), the second roller block (20) is rotatably connected to one end of the third support pad (19), the second roller block (20) is slidably connected to the ∧-shaped guide ring (18), and a positioning bearing (21) for supporting the third external gear ring (16) is rotatably connected in the middle of one end of the third support pad (19).

7. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: When the gear ring assembly is an internal gear ring (22), the support assembly is a third support pad (19), the roller assembly is a second roller block (20), the third support pad (19) is equidistantly distributed along the circumferential direction of the internal gear ring (22), a ∧-shaped guide rail ring (18) is fixed in the middle of the outer circumferential surface of the internal gear ring (22), the second roller block (20) is rotatably connected to one end of the third support pad (19), the second roller block (20) is slidably connected to the ∧-shaped guide rail ring (18) fixed in the middle of the outer circumferential surface of the internal gear ring (22), and a positioning bearing (21) for supporting the internal gear ring (22) is rotatably connected in the middle of one end of the third support pad (19).

8. The integrated composite roller guide rail based on a cycloidal curve according to claim 1, characterized in that: Any one of the first support pad (10), the second support pad (14), or the third support pad (19) of the support assembly can be fixed to the base plate (1) by bolts. The top of the first external toothed ring (9), the second external toothed ring (13), the third external toothed ring (16), and the internal toothed ring (22) are all fixedly connected with a limiting ring (17). A positioning hole (8) is opened in the middle of the top of the base plate (1). An eccentric inclined hole is opened at the connection position of the support assembly and the bolt. The distance of the roller assembly moving along the diameter can be adjusted by tightening the bolt, thereby adjusting the gap between the toothed ring assembly and the roller assembly and forming a uniform preload.

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