Cycloidal speed reducer with self-adaptive pre-tightening mechanism

Abstract

The invention belongs to the technical field of cycloid speed reducers, and particularly relates to a cycloid speed reducer with a self-adaptive pre-tightening mechanism, which comprises a base and a motor arranged on the outer side of the base, and further comprises a speed reducer main body arranged on the base, a lubricating mechanism mounted above the speed reducer main body and a collecting mechanism arranged outside the speed reducer main body, according to the speed reducer, the speed reducer body is arranged, the motor drives the eccentric shaft to drive the pre-tightening assembly to rotate, the pre-tightening assembly is made to do planetary motion under the constraint of the pin gear assembly, first-stage speed reduction is achieved, the pre-tightening assembly pushes the pin through a hole in the pre-tightening assembly, swing is converted into low-speed rotation of the output disc, the pre-tightening assembly can conduct self-adaption, and the self-adaption speed reduction effect is achieved. The gap between the pre-tightening assembly and the needle tooth assembly is reduced, so that lasting high precision, high rigidity and high reliability are achieved, the lubricating effect is additionally added to the needle tooth assembly, the good lubricating effect can be formed between the pre-tightening assembly and the needle tooth assembly, abrasion is reduced, normal use is maintained, and the service life is prolonged.

Description

Technical Field

[0001] This invention belongs to the technical field of cycloidal reducers, specifically a cycloidal reducer with an adaptive preload mechanism. Background Technology

[0002] Industrial robots provide joint motion to joint structures with multiple degrees of freedom through drive motors, servo motors, etc. In order to obtain high output torque from servo motors, robot joints usually install reducers at the output end of servo motors. Among them, cycloidal reducers are widely used in various industrial fields. During the operation of the cycloidal reducer, as the external teeth of the cycloidal wheel mesh with the pin teeth of the output shaft, the rotational force of the input shaft is reduced, realizing a large reduction ratio differential gear transmission, thereby enabling the transmission of large torque.

[0003] When a cycloidal reducer operates under overload for a long period of time, the gap between the cycloidal wheel and the pin tooth will increase. When the direction of force on the cycloidal wheel changes, it must pass through this gap before it can push the pin tooth, resulting in output lag and reduced transmission accuracy. Therefore, a preload mechanism is needed to eliminate the gap between the cycloidal wheel and the pin tooth. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical solution adopted by this invention is: a cycloidal reducer with an adaptive preload mechanism, comprising a base, a motor disposed outside the base, and further comprising:

[0005] The reducer body is mounted on the base, the lubrication mechanism is mounted above the reducer body, and the collection mechanism is located outside the reducer body; The collection mechanism includes: The reducer body has a flow guide shell on the outside, a heating ring installed inside the flow guide shell, and a first cleaning ring sleeved on the outside of the reducer body. A collection groove is provided below the flow guide shell.

[0006] Furthermore, the collection mechanism also includes: A telescopic column is installed inside the flow guide shell, and the other end of the telescopic column is connected to the first cleaning ring; The second cleaning ring is sleeved on the outside of the reducer body. The second cleaning ring is positioned opposite to the first cleaning ring. The cross-section of the first and second cleaning rings is a triangle with opposite apexes. The inner circular surface fits against the outside of the reducer body. The telescopic column drives the tip of the first cleaning ring to approach and overlap with the tip of the second cleaning ring, so that the lubricating oil adhering to the reducer body is scraped off and cleaned to the position where the first and second cleaning rings overlap. This isolates the heat generated by the heating ring from the reducer body and makes it easier for the lubricating oil to flow along its concave position. An oil storage tank is installed below the flow guide shell.

[0007] Furthermore, the reducer body includes: A needle-tooth housing, which is mounted on the outside of the base; The outer casing is connected to the needle-tooth shell; An eccentric shaft is installed inside the needle tooth housing and is connected to a motor. A pin, which is connected to an eccentric shaft.

[0008] Furthermore, the reducer body also includes: A preload assembly, wherein the preload assembly is installed inside the pin housing, and the pin is inserted inside the preload assembly; A needle tooth assembly, wherein the needle tooth assembly is installed inside the needle tooth housing and is disposed outside the pre-tightening assembly.

[0009] Furthermore, the lubrication mechanism includes: A connecting tube, which is installed on the outside of the needle tooth shell; An oil tank is mounted on top of a base, and the other end of the connecting pipe is connected to the top of the oil tank. A pressurization assembly, which is installed inside the oil tank.

[0010] Furthermore, the pretensioning component includes: A cycloidal wheel is inserted into an eccentric shaft, and an elastic pad is provided on the edge of the cycloidal wheel; A movable sleeve, which covers the outside of the elastic pad; An elastic sleeve is installed in the inner hole of the cycloidal wheel and is sleeved on the outside of the pin. The elastic sleeve allows the pin to have a small radial elastic displacement within the hole of the cycloidal wheel. This displacement directly corresponds to the radial position change of the cycloidal wheel teeth relative to the pin teeth, thereby perfectly compensating for the meshing clearance.

[0011] Furthermore, the needle assembly includes: The needle teeth are located inside the needle tooth housing. An oil inlet groove is provided inside the needle teeth, and an oil outlet hole is provided near the inner side of the needle tooth housing. The fixed needle teeth force the cycloidal wheel to rotate slightly when it swings. A needle tooth sleeve, which is fitted over the outside of the needle teeth.

[0012] Furthermore, the needle assembly also includes: An oil reservoir is located inside the needle tooth housing. The inside of the oil reservoir is connected to one end of the needle tooth. The top of the oil reservoir is connected to a connecting pipe. The oil reservoir and the needle tooth housing form a sealed space for storing lubricating oil.

[0013] Furthermore, the pressurization assembly includes: A hydraulic column, which is installed inside an oil tank; A stopper plate is installed above the hydraulic column, and the periphery of the stopper plate is slidably connected to the inside of the oil tank. A groove is provided on the top of the stopper plate. A rotating rod, which is rotatably connected to the concave side of the stopper plate; An elastic plate is mounted above the stopper plate, and one end of the rotating rod contacts the lower part of the elastic plate.

[0014] The beneficial effects of this invention are as follows: 1. This invention, by setting up a reducer body, uses a motor-driven eccentric shaft to rotate a preload assembly, causing the preload assembly to perform planetary motion under the constraint of the pin tooth assembly, thus achieving the first stage of deceleration. The preload assembly pushes a pin through a hole, converting the oscillation into a low-speed rotation of the output disc. The preload assembly can self-adapt, reducing the gap between itself and the pin tooth assembly, thereby achieving long-lasting high precision, high rigidity, and high reliability. The additional lubrication effect of the pin tooth assembly enables a better lubrication effect between the preload assembly and the pin tooth assembly, reducing wear, maintaining normal use, and extending service life.

[0015] 2. This invention, by setting a pre-tightening component, forms a "flexible filler" between the pin 206 and the hole of the cycloidal wheel 2041 using an elastic sleeve 2044. Through an interference fit or preload design, the elastic sleeve 2044 undergoes radial compression deformation during installation, thereby applying a continuous clamping force to the pin 206. This pre-tightening effect is achieved by filling the gap between the inner hole of the cycloidal wheel 2041 and the pin 206. The movable sleeve 2043 and the elastic pad 2042 are installed on the edge of the cycloidal wheel 2041. The elastic pad 2042 is elastic, and the movable sleeve 2043... 043 is a rigid sleeve that fits into the elastic pad 2042. It maintains contact with the cycloidal wheel 2041 outside the elastic sleeve 2044. Its purpose is to cover or push the needle tooth 2052 through an elastically deformable intermediate structure, optimize the meshing state between the needle tooth 2052 and the cycloidal wheel 2041, and achieve a pre-tightening effect during use. In addition, the rigid moving sleeve 2043 is more wear-resistant and has a lower coefficient of friction than the elastic pad 2042, reducing the sliding friction generated between the needle tooth 2052 and the cycloidal wheel 2041 during operation and maintaining stable operation.

[0016] 3. By setting up a needle tooth assembly, the oil inlet groove inside the needle tooth allows lubricating oil to be filled from the oil reservoir into the needle tooth under the action of the pressurizing component, and then squeezed out from the oil outlet hole. It forms a static oil supply channel through the internal oil passage, providing lubrication for the dynamically rotating needle tooth sleeve. The lubrication effect does not depend on splashing, but is directly delivered to the friction surface through the "pipeline", ensuring the establishment of an oil film, and thus lubricating the contact surface between the needle tooth and the cycloidal wheel.

[0017] 4. This invention, by setting up a pressurizing component, uses a hydraulic column to move a stopper plate upwards, injecting lubricating oil into the oil reservoir. Subsequently, a rotating rod drives an elastic plate to bulge upwards intermittently, causing the stopper plate to quickly carry lubricating oil into the oil reservoir and keeping it full and sealed. After the lubricating oil above the stopper plate is squeezed into the oil inlet groove of the needle teeth, the rotating rod performs intermittent pressurizing action, which allows the lubricating oil to be subjected to a small amount of pressure again, enabling a small amount of lubricating oil to be squeezed out through the oil outlet. This achieves the purpose of continuously replenishing the lubricating oil around the needle teeth, reducing the pressure of the lubricating oil, reducing the load on the equipment, maintaining the rolling friction between the needle teeth and the cycloidal wheel, and reducing the wear of the needle teeth. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a rear view of the present invention; Figure 3 This is a schematic diagram of the main body of the reducer of the present invention; Figure 4 This is a cross-sectional view of the main body of the reducer of the present invention; Figure 5 This is a cross-sectional view of the lubrication mechanism of the present invention; Figure 6 This is a cross-sectional view of the collecting mechanism of the present invention; Figure 7 This is a schematic diagram of the pre-tightening component of the present invention; Figure 8 This is a schematic diagram of the needle tooth assembly of the present invention; Figure 9 This is a cross-sectional view of the pressurization component of the present invention.

[0019] In the diagram: 1. Base; 2. Reducer body; 201. Needle tooth housing; 202. Outer shell; 203. Eccentric shaft; 204. Preload assembly; 2041. Cycloidal wheel; 2042. Elastic pad; 2043. Moving sleeve; 2044. Elastic sleeve; 205. Needle tooth assembly; 2051. Oil reservoir; 2052. Needle tooth; 2053. Oil outlet; 2054. Needle tooth sleeve; 2055. Oil inlet groove; 206. Pin; 3. Collection mechanism; 301. Guide shell; 302. Oil storage shell; 303. Collection tank; 304. Heating ring; 305. Telescopic column; 306. First cleaning ring; 307. Second cleaning ring; 4. Lubrication mechanism; 401. Connecting pipe; 402. Oil tank; 403. Pressurization assembly; 4031. Hydraulic column; 4032. Plug plate; 4033. Groove; 4034. Rotating rod; 4035. Elastic sheet; 5. Motor. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0021] Example 1, please refer to Figures 1-5 The present invention provides a technical solution: a cycloidal reducer with an adaptive preload mechanism, which is described below.

[0022] Including a base 1, and a motor 5 disposed on the outside of the base 1, and also including: The reducer body 2 is mounted on the base 1, the lubrication mechanism 4 is mounted on the top of the reducer body 2, and the collection mechanism 3 is mounted on the outside of the reducer body 2; When in use, the motor 5 drives the reducer body 2 to start running, the collection mechanism 3 collects and cleans the lubricating oil that seeps out of the reducer body 2, and the lubrication mechanism 4 injects lubricating oil into the reducer body 2.

[0023] Collection agency 3 includes: The reducer body 2 has a flow guide shell 301 on the outside, a heating ring 304 installed inside the flow guide shell 301, and a first cleaning ring 306 sleeved on the outside of the reducer body 2. A collection groove 303 is provided below the flow guide shell 301.

[0024] Collection agency 3 also includes: Telescopic column 305 is installed inside the flow guide shell 301, and the other end of the telescopic column 305 is connected to the first cleaning ring 306. The second cleaning ring 307 is sleeved on the outside of the reducer body 2. The second cleaning ring 307 is arranged opposite to the first cleaning ring 306. The cross-section of the first cleaning ring 306 and the second cleaning ring 307 is a triangle with opposite apex angles. The inner circular surface fits against the outside of the reducer body 2. The telescopic column 305 drives the tip of the first cleaning ring 306 to approach and overlap with the tip of the second cleaning ring 307, so that the lubricating oil attached to the reducer body 2 is scraped off and cleaned to the position where the first cleaning ring 306 and the second cleaning ring 307 overlap. This isolates the heat generated by the heating ring 304 from the reducer body 2 and makes it easier for the lubricating oil to flow along its concave position. Oil reservoir 302 is installed below flow guide shell 301.

[0025] When the hydraulic pressure inside the reducer body 2 is high, lubricating oil easily seeps out from the gaps. The guide shell 301 is installed at the gaps of the reducer body 2. After the lubricating oil seeps out of the reducer body 2, it usually has poor fluidity due to its low content and will adhere to the surface of the reducer body 2. At this time, the heating ring 304 is heated by an external power supply. The heat generated raises the temperature inside the guide shell 301, thereby increasing the fluidity of the lubricating oil. At this time, the telescopic column 305 drives the first cleaning ring 306 and the second cleaning ring 307 to move closer to each other, cleaning the lubricating oil from the surface of the reducer body 2 to between the first cleaning ring 306 and the second cleaning ring 307. Then, by continuing to heat, the lubricating oil flows along the groove 4033 formed by the first cleaning ring 306 and the second cleaning ring 307 into the oil storage shell 302, completing the collection of the leaked lubricating oil and preventing the lubricating oil from contacting the outside world, which would cause the lubricating oil to oxidize and adhere to dust, which would then adhere to the reducer body 2 and be difficult to clean.

[0026] The reducer body 2 includes: Needle tooth housing 201 is installed on the outside of base 1; The outer casing 202 is connected to the needle-tooth casing 201; Eccentric shaft 203 is installed inside needle tooth housing 201 and is connected to motor 5; Pin 206 is connected to eccentric shaft 203.

[0027] The reducer body 2 also includes: Pre-tightening assembly 204 is installed inside the pin housing 201, and pin 206 is inserted inside the pre-tightening assembly 204; The needle tooth assembly 205 is installed inside the needle tooth housing 201 and is located outside the preload assembly 204.

[0028] Motor 5 drives eccentric shaft 203 to rotate preload assembly 204, causing preload assembly 204 to perform planetary motion under the constraint of pin tooth assembly 205, achieving the first stage of deceleration. Preload assembly 204 pushes pin 206 through its hole, converting the oscillation into low-speed rotation of output disc. Preload assembly 204 can self-adapt, reducing the gap between it and pin tooth assembly 205, thereby achieving long-lasting high precision, high rigidity and high reliability. The additional lubrication effect of pin tooth assembly 205 can form a better lubrication effect between preload assembly 204 and pin tooth assembly 205, reducing wear, maintaining normal use and extending service life.

[0029] Lubrication mechanism 4 includes: Connecting tube 401 is installed on the outside of needle tooth housing 201; Fuel tank 402 is installed above base 1, and the other end of connecting pipe 401 is connected to the top of fuel tank 402. The pressurization assembly 403 is installed inside the oil tank 402.

[0030] When the reducer body 2 is working normally, the pressurizing component 403 in the oil tank 402 injects lubricating oil into the reducer body 2 through the connecting pipe 401, and the lubricating oil is injected into the needle tooth housing 201 through the needle tooth assembly 205, so as to achieve the purpose of lubrication between the needle tooth assembly 205 and the preload assembly 204 and reduce wear.

[0031] Example 2, please refer to Figures 1-9 The present invention provides a technical solution: based on embodiment 1, the pre-tightening component 204 includes: Cycloidal wheel 2041 is inserted into eccentric shaft 203, and elastic pad 2042 is provided on the edge of cycloidal wheel 2041. Movable sleeve 2043 covers the outside of elastic pad 2042; The elastic sleeve 2044 is installed in the inner hole of the cycloidal wheel 2041 and is sleeved on the outside of the pin 206. The elastic sleeve 2044 allows the pin 206 to have a small radial elastic displacement in the hole of the cycloidal wheel 2041. This displacement directly corresponds to the radial position change of the teeth of the cycloidal wheel 2041 relative to the needle teeth 2052, thereby perfectly compensating for the meshing clearance.

[0032] In operation, the eccentric shaft 203 drives the cycloidal wheel 2041 to rotate, causing the outer side of the cycloidal wheel 2041 to mesh with the pin tooth 2052, and the inner hole of the cycloidal wheel 2041 to collide with the pin 206. Through the moving sleeve 2043 and the elastic pad 2042, the edge of the cycloidal wheel 2041 makes closer contact with the pin tooth 2052. The elastic connection ensures that the cycloidal wheel 2041 and the pin tooth 2052 remain in contact and generate rolling friction, thus guaranteeing the deceleration effect. The elastic sleeve 2044 enables automatic wear compensation between the cycloidal wheel 2041 and the pin 206, reducing unnecessary friction, thereby lowering temperature rise and improving efficiency. The elastic sleeve 2044 forms a "flexible filler" between the pin 206 and the hole of the cycloidal wheel 2041. By designing an interference fit or preload, the elastic sleeve 2044 generates radial compression deformation during installation, thereby applying a continuous clamping force to the pin 206. The preload effect is achieved by filling the gap between the inner hole of the cycloidal wheel 2041 and the pin 206. The movable sleeve 2043 and the elastic pad 2042 are installed on the edge of the cycloidal wheel 2041. The elastic pad 2042 is elastic, and the movable sleeve 2043 is a rigid sleeve that fits the elastic pad 2042. It maintains contact with the cycloidal wheel 2041 outside the elastic sleeve 2044. Its purpose is to cover or push the needle tooth 2052 through an elastically deformable intermediate structure, optimize the meshing state between the needle tooth 2052 and the cycloidal wheel 2041, and achieve a pre-tightening effect during use. Moreover, the rigid movable sleeve 2043 is more wear-resistant and has a smaller coefficient of friction than the elastic pad 2042, reducing the sliding friction generated between the needle tooth 2052 and the cycloidal wheel 2041 during operation and maintaining stable operation.

[0033] The needle assembly 205 includes: Needle 2052 is located inside needle housing 201. An oil inlet groove 2055 is provided inside needle 2052. An oil outlet hole 2053 is provided near the inner side of needle housing 201. The fixed needle 2052 forces the cycloidal wheel 2041 to rotate slightly when swinging. The needle tooth sleeve 2054 is fitted over the outside of the needle tooth 2052, and the needle tooth sleeve 2054 wraps around the outside of the needle tooth 2052 so that it contacts the cycloidal wheel 2041.

[0034] The needle assembly 205 also includes: Oil reservoir 2051 is located inside needle tooth housing 201. The inside of oil reservoir 2051 is connected to one end of needle tooth 2052. The top of oil reservoir 2051 is connected to connecting pipe 401. Oil reservoir 2051 and needle tooth housing 201 form a closed space for storing lubricating oil.

[0035] During normal use, the needle tooth 2052 is fixed inside the needle tooth housing 201. Driven by the eccentric shaft 203, the cycloidal wheel 2041 rotates inside the needle tooth housing 201 and contacts the needle tooth 2052. The oil inlet groove opened inside the needle tooth allows lubricating oil to be filled from the oil reservoir into the needle tooth under the action of the pressurizing component. Then, it is squeezed out from the oil outlet hole and forms a static oil supply channel through its internal oil passage, providing lubrication for the dynamically rotating needle tooth sleeve. This ensures that the lubrication effect does not depend on splashing, but is directly delivered to the friction surface through the "pipeline", ensuring the establishment of an oil film, and thus lubricating the contact surface between the needle tooth and the cycloidal wheel.

[0036] The pressurization assembly 403 includes: Hydraulic column 4031 is installed inside oil tank 402; A stopper plate 4032 is installed above the hydraulic column 4031. The periphery of the stopper plate 4032 is slidably connected to the inside of the oil tank 402. A groove 4033 is provided on the top of the stopper plate 4032. Rotating rod 4034 is rotatably connected to the concave side of plug plate 4032; Elastic sheet 4035 is installed above the stopper plate 4032, and one end of the rotating rod 4034 is in contact with the lower part of the elastic sheet 4035.

[0037] The hydraulic column 4031 drives the plug plate 4032 to move upward, injecting lubricating oil into the oil reservoir 2051. Then, the rotating rod 4034 drives the elastic plate 4035 to bulge upward intermittently. The plug plate 4032 drives the lubricating oil to quickly enter the oil reservoir 2051 and keeps the oil reservoir 2051 full of lubricating oil and sealed. After the lubricating oil above the plug plate 4032 is squeezed into the oil inlet groove 2055 of the needle tooth 2052, the rotating rod 4034 performs intermittent pressurization action, which can make the lubricating oil subject to a small amount of pressure again, so that the lubricating oil can be squeezed out in small amounts through the oil outlet hole 2053. This achieves the purpose of continuously replenishing the lubricating oil around the needle tooth 2052, reducing the pressure of the lubricating oil, reducing the load on the equipment, maintaining the rolling friction between the needle tooth 2052 and the cycloidal wheel 2041, and reducing the wear of the needle tooth 2052.

[0038] The specific workflow is as follows: Motor 5 drives eccentric shaft 203 to rotate cycloidal wheel 2041. Needle tooth 2052 is fixed inside needle tooth housing 201. Under the drive of eccentric shaft 203, cycloidal wheel 2041 rotates inside needle tooth housing 201 and contacts needle tooth 2052, so that cycloidal wheel 2041 performs planetary motion under the constraint of needle tooth 2052, realizing the first stage of deceleration. The inner hole of cycloidal wheel 2041 collides with pin 206. Under the action of elastic sleeve 2044, the wear of cycloidal wheel 2041 and pin 206 is automatically compensated, and the oscillation is converted into low-speed rotation of output disk. When the hydraulic pressure inside the reducer body 2 is high, lubricating oil is prone to seeping out from the gaps. The guide shell 301 is installed at the gaps of the reducer body 2. After the lubricating oil seeps out of the reducer body 2, it usually has poor fluidity due to its low content and will adhere to the surface of the reducer body 2. At this time, the heating ring 304 is heated by an external power supply. The heat generated raises the temperature inside the guide shell 301, thereby increasing the fluidity of the lubricating oil. At this time, the telescopic column 305 drives the first cleaning ring 306 and the second cleaning ring 307 to move closer to each other, cleaning the lubricating oil from the surface of the reducer body 2 to between the first cleaning ring 306 and the second cleaning ring 307. Then, by continuing to heat, the lubricating oil flows along the groove 4033 formed by the first cleaning ring 306 and the second cleaning ring 307 into the oil storage shell 302, completing the collection of the leaked lubricating oil and preventing the lubricating oil from contacting the outside. When the reducer body 2 is working normally, the hydraulic column 4031 drives the plug plate 4032 to move upward, injecting lubricating oil into the oil reservoir 2051. Then, the rotating rod 4034 drives the elastic plate 4035 to bulge upward intermittently. The plug plate 4032 drives the lubricating oil to quickly enter the oil reservoir 2051 and keeps the oil reservoir 2051 full of lubricating oil and sealed. After the lubricating oil above the plug plate 4032 is squeezed into the oil inlet groove 2055 of the needle tooth 2052, the rotating rod 4034 performs intermittent pressurization action, which can make the lubricating oil be subjected to a small amount of pressure again, so that the lubricating oil can be squeezed out in small amounts through the oil outlet hole 2053, thereby achieving the purpose of continuously replenishing the lubricating oil around the needle tooth 2052.

[0039] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A cycloid speed reducer with self-adapting pre-tightening mechanism, comprising a base (1) and a motor (5) arranged outside the base (1), characterized in that, Also include: The reducer body (2) is arranged on the base (1), the lubricating mechanism (4) is installed above the reducer body (2), and the collecting mechanism (3) is arranged outside the reducer body (2); The collecting mechanism (3) comprises: The flow guide shell (301) is arranged outside the reducer body (2), the heating ring (304) is installed inside the flow guide shell (301), and the first cleaning ring (306) is sleeved outside the reducer body (2), and the lower portion of the flow guide shell (301) is provided with a collecting groove (303).

2. The cycloidal speed reducer with self-adapting pre-tightening mechanism according to claim 1, characterized in that: The collecting mechanism (3) further comprises: The telescopic column (305) is installed inside the flow guide shell (301), and the other end of the telescopic column (305) is connected with the first cleaning ring (306); The second cleaning ring (307) is sleeved outside the reducer body (2), and the second cleaning ring (307) is arranged opposite to the first cleaning ring (306); The oil storage shell (302) is installed below the flow guide shell (301).

3. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 1, characterized in that: The reducer body (2) comprises: The pin tooth shell (201) is installed outside the base (1); The shell (202) is connected with the pin tooth shell (201); The eccentric shaft (203) is installed inside the pin tooth shell (201), and the eccentric shaft (203) is connected with the motor (5); The plunger pin (206) is connected with the eccentric shaft (203).

4. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 3, characterized in that: The reducer body (2) further comprises: The pre-tightening assembly (204) is installed inside the pin tooth shell (201), and the plunger pin (206) is inserted into the pre-tightening assembly (204); The pin tooth assembly (205) is installed inside the pin tooth shell (201), and the pin tooth assembly (205) is arranged outside the pre-tightening assembly (204).

5. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 3, characterized in that: The lubricating mechanism (4) comprises: The connecting pipe (401) is installed outside the pin tooth shell (201); The oil tank (402) is installed above the base (1), and the other end of the connecting pipe (401) is connected with the upper portion of the oil tank (402); The pressurizing assembly (403) is installed inside the oil tank (402).

6. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 4, characterized in that: The pre-tightening assembly (204) comprises: The cycloid wheel (2041) is inserted on the eccentric shaft (203), and the edge of the cycloid wheel (2041) is provided with an elastic pad (2042); The moving sleeve (2043) is covered outside the elastic pad (2042); The elastic sleeve (2044) is installed in the inner hole of the cycloid wheel (2041), and the elastic sleeve (2044) is sleeved outside the plunger pin (206).

7. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 4, characterized in that: The pin tooth assembly (205) comprises: A needle tooth (2052) is arranged inside the needle tooth shell (201), an oil inlet groove (2055) is arranged inside the needle tooth (2052), and an oil outlet hole (2053) is arranged on the inner side of the needle tooth (2052) close to the needle tooth shell (201); A needle tooth sleeve (2054) is arranged outside the needle tooth (2052).

8. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 7, characterized in that: The needle tooth assembly (205) further comprises: An oil storage groove (2051) is arranged inside the needle tooth shell (201), one end of the oil storage groove (2051) is sleeved with the needle tooth (2052), the upper part of the oil storage groove (2051) is connected with the connecting pipe (401), and the oil storage groove (2051) and the needle tooth shell (201) form a closed space for storing lubricating oil.

9. The cycloidal reducer with self-adapting pre-tightening mechanism according to claim 5, characterized in that: The pressurizing assembly (403) comprises: A hydraulic column (4031) is installed inside the oil tank (402); A plug plate (4032) is installed above the hydraulic column (4031), the periphery of the plug plate (4032) is slidably connected with the inside of the oil tank (402), and a groove (4033) is arranged above the plug plate (4032); A rotating rod (4034) is rotatably connected to the inner concave side of the plug plate (4032); An elastic sheet (4035) is installed above the plug plate (4032), and one end of the rotating rod (4034) is in contact with the lower part of the elastic sheet (4035).

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