Oscillating reducer and method of assembling the same

Abstract

The application discloses a cycloid speed reducer, which comprises an input shaft, a cycloid gear plate, a roller wheel set, a plurality of connecting shafts, a first output disc and a second output disc. The cycloid gear plate comprises a middle shaft hole and a shaft hole. The middle shaft hole penetrates the cycloid gear plate in the axial direction and is provided with the input shaft. The roller wheel set is sleeved on the cycloid gear plate. The plurality of connecting shafts penetrate the cycloid gear plate through the shaft hole, are parallel to the axial direction and are selected from a combination of long straight shafts and short straight shafts. The first output disc and the second output disc are arranged on two opposite sides of the cycloid gear plate respectively. The plurality of connecting shafts are fixed to the first output disc, the short straight shafts are connected to the second output disc, the long straight shafts are engaged with the second output disc, so that the first output disc and the second output disc are coaxial. When the input shaft drives the cycloid gear plate and the roller wheel set to mesh, the connecting shafts drive the first output disc and the second output disc to rotate.

Description

Technical Field

[0001] This application relates to a speed reducer structure, and more particularly to a cycloidal speed reducer and its assembly method, wherein the front and rear output discs are assembled by a long straight shaft and a short straight shaft to optimize processing, improve assembly accuracy, and reduce costs. Background Technology

[0002] Currently, the speed reducers commonly used in robotic arms can be broadly classified into two structural types: "cycloidal speed reducers" and "harmonic speed reducers." Both types of speed reducers are designed to be lightweight, compact, and offer high-speed performance.

[0003] Harmonic reducers mainly consist of a wave generator, flexible gears, and rigid gears. The harmonic drive of a harmonic reducer utilizes the elastic micro-deformation of the flexible gears to perform a pushing operation, thereby transmitting motion and power. Because harmonic reducers use flexible gear transmission, their rigidity is relatively poor. Therefore, harmonic reducers are not impact-resistant and suffer from gear tooth friction issues, resulting in a shorter service life.

[0004] A cycloidal reducer consists of an eccentric shaft and two cycloidal discs, each with at least one tooth and linked to the input and output shafts, respectively. Its operating principle is that the input shaft drives one cycloidal disc to rotate via the eccentric shaft, which in turn drives the output shaft to rotate via the other cycloidal disc. The rotation of the two cycloidal discs is achieved using corresponding tooth structures. While traditional cycloidal reducers offer advantages such as a large transmission ratio, compact structure, and high transmission efficiency, they are larger in size compared to harmonic reducers, making miniaturization difficult.

[0005] In view of this, it is necessary to provide a cycloidal reducer and its assembly method, in which the front and rear output discs are assembled by a long straight shaft and a short straight shaft, so as to optimize the processing, improve the assembly accuracy, reduce the cost, and solve the lack of known technologies. Summary of the Invention

[0006] The purpose of this application is to provide a cycloidal reducer and its assembly method, wherein the front and rear output discs are assembled by a long straight shaft and a short straight shaft to optimize processing, improve assembly accuracy, and reduce costs.

[0007] Another objective of this application is to provide a thin and lightweight cycloidal reducer that, compared to traditional cycloidal reducers, offers advantages such as smaller size and lighter weight while maintaining the same specifications. It can also maintain the same thickness when used with harmonic reducers, thus replacing existing harmonic reducers and achieving better rigidity. Multiple connecting shafts between the front and rear output discs can replace the traditional cylindrical or eccentric shaft geometry of the output discs with long and short straight shafts. Since long and short straight shafts have lower machining costs and better control precision, they help reduce the manufacturing cost of the cycloidal reducer, thereby providing a high-torque, high-rigidity, low-cost, and highly replaceable product. The connecting shafts and output discs are detachably connected, optimizing overall machining and reducing the need to remove excessive material from the output discs, thus simplifying the machining process. The combination of the short straight shaft and the output disc allows for more precise control of the axial distance of the short straight shaft protruding from the output disc, improving assembly accuracy. Compared to the known integrated structure of the geometric protrusion and output disc, the combined structure of the short straight shaft and output disc in this application reduces material usage while maintaining the original geometric requirements. Furthermore, this reduces processing difficulty, thereby lowering manufacturing costs. In other words, the combined structure of the short straight shaft and output disc not only retains the functionality of the integrated structure of the known geometric protrusion and output disc, but also effectively improves production efficiency and reduces costs. Additionally, the long straight shaft design running through the front and rear output discs ensures coaxiality and guides assembly. Multiple long straight shafts can effectively guide the front and rear output discs to remain coaxial during assembly, allowing internal parts and double-row ball bearings to be accurately installed in the correct positions, improving assembly precision. On the other hand, since the locking end of the short straight shaft is only secured to the output disc with screws, its torque resistance is relatively weak. The engaging end of the long straight shaft, however, is designed with an inner hole into which an interference fixing insert can be pressed, causing the outer diameter of the engaging end to expand. After expansion, the engaging end of the long straight shaft and the fixing hole of the output disc achieve an interference effect, thereby improving overall rigidity and torsional strength. Since the manufacturing cost of the integrated output disc structure and eccentric shaft structure of traditional cycloidal reducers is relatively high, this application replaces the connection mechanism between the front and rear output discs with a combination of long and short straight shafts. The long and short straight shafts have lower processing costs and better control of precision, which can greatly reduce the manufacturing cost of the cycloidal reducer, thereby providing a product with high torque, high rigidity, low cost and high substitutability.

[0008] To achieve the aforementioned objectives, this application provides a cycloidal reducer comprising an input shaft, a cycloidal gear disk, a roller wheel assembly, multiple connecting shafts, a first output disk, and a second output disk. The input shaft is axially arranged. The cycloidal gear disk includes a central shaft hole, external teeth, and multiple shaft holes. The central shaft hole extends axially through the cycloidal gear disk and is configured to allow the input shaft to pass through. The external teeth are disposed on the outer annular surface of the cycloidal gear disk. The multiple shaft holes are equidistantly arranged around the central shaft hole and the external teeth. The roller wheel assembly is sleeved on the cycloidal gear disk and includes multiple rollers spatially relative to the external teeth of the cycloidal gear disk. The multiple connecting shafts pass through the cycloidal gear disk via multiple shaft holes and are parallel to the axial direction. The multiple connecting shafts are selected from a combination of long straight shafts and short straight shafts. The first output disk and the second output disk are respectively disposed on opposite sides of the cycloidal gear disk and connected to the cycloidal gear disk through multiple connecting shafts. Each of the multiple connecting shafts is fixed to the first output disk. Each short straight shaft forms a locking end and each long straight shaft forms a engaging end. The locking end is connected to the second output disk, and the engaging end passes through the second output disk and engages with the second output disk, so that the first output disk and the second output disk remain coaxial. When the input shaft drives the outer teeth of the cycloidal gear disk to mesh with the multiple rollers of the roller wheel assembly, the cycloidal gear disk rotates with the multiple connecting shafts, causing the multiple connecting shafts to drive the first output disk and the second output disk to rotate.

[0009] In one embodiment, a plurality of connecting shafts pass through and are fixed to the first output disk from the outside to the inside, and extend from the inside of the first output disk to the second output disk to form a locking end or a snap-fit ​​end.

[0010] In one embodiment, the locking end abuts against the inner side of the second output disk.

[0011] In one embodiment, the locking end includes a threaded hole and a screw, and the second output disk includes a threaded through hole spatially opposite the threaded hole and the screw, and parallel to the axial direction, wherein the screw is locked to the threaded hole through the threaded through hole, so that the locking end abuts against the inner side of the second output disk and is fixed to each other.

[0012] In one embodiment, the engaging end passes through the inside of the second output disk.

[0013] In one embodiment, the engaging end further includes an inner hole and a fixing plug, wherein the second output disk includes a fixing hole that is spatially opposite to the inner hole and the fixing plug and is parallel to the axial direction, wherein the engaging end passes through the fixing hole of the second output disk, and the fixing plug is inserted into the inner hole in a direction parallel to the axial direction, so that the engaging end interferes with the fixing hole and is fixed.

[0014] In one embodiment, after the fixing plug is inserted into the inner hole of the engaging end, the outer diameter of the engaging end expands and interferes with and fixes against the second output disk.

[0015] In one embodiment, the central shaft hole of the cycloidal gear disk is fitted onto an eccentric portion of the input shaft via a needle roller bearing.

[0016] In one embodiment, the cycloidal reducer further includes a spacer ring disposed between the eccentric portion of the input shaft and the deep groove bearing.

[0017] To achieve the aforementioned objectives, this application further provides an assembly method for a cycloidal reducer, comprising the steps of: (a) providing a first output disc and a plurality of connecting shafts, wherein the plurality of connecting shafts are fixed to the first output disc and parallel to the axial direction, wherein the plurality of connecting shafts are selected from a combination of long straight shafts and short straight shafts, each short straight shaft forming a locking end and each long straight shaft forming a engaging end; (b) providing an input shaft and a cycloidal gear disk, wherein the input shaft is axially disposed on the first output disc, the cycloidal gear disk includes a central shaft hole, an external tooth portion, and a plurality of shaft holes, wherein the central shaft hole axially penetrates the cycloidal gear disk and allows the input shaft to pass through, the external tooth portion is disposed on the outer ring surface of the cycloidal gear disk, and the plurality of shaft holes, etc. (c) A roller assembly is provided, sleeved on the cycloidal gear disk, and includes multiple rollers spatially relative to the outer teeth of the cycloidal gear disk; (d) A second output disk is provided, disposed on the other side of the cycloidal gear disk away from the first output disk, and connected to the first output disk via multiple connecting shafts, wherein the locking end is connected to the second output disk, and the engaging end passes through the second output disk; (e) The locking end is fixed to the second output disk by screws; and (f) The engaging end is fixed by inserting a fixing plug into the inner hole of the engaging end to create a tight fit interference with the second output disk.

[0018] In one embodiment, in step (a), a plurality of connecting shafts pass through and are fixed to the first output disk from the outside to the inside, and extend from the inside of the first output disk to the second output disk to form a locking end or a snap-fit ​​end.

[0019] In one embodiment, the locking end includes a threaded hole and a screw, and the second output disk includes a threaded through hole spatially opposite the threaded hole and the screw, and parallel to the axial direction, wherein in step (e), the screw is locked to the threaded hole through the threaded through hole, so that the locking end abuts against the inner side of the second output disk and is fixed to each other.

[0020] In one embodiment, the second output disk includes a fixing hole spatially opposite to the inner hole and a fixing plug, and parallel to the axial direction. In step (f), the engaging end passes through the fixing hole of the second output disk, and the fixing plug is inserted into the inner hole in a direction parallel to the axial direction, so that the engaging end interferes with the fixing hole and is fixed.

[0021] In one embodiment, the multiple shaft holes of the cycloidal gear disk are respectively fitted onto the corresponding short or long straight shafts of the multiple connecting shafts through bushings. Attached Figure Description

[0022] Figure 1 This is a perspective view showing the structure of the cycloidal reducer according to the first embodiment of this application.

[0023] Figure 2 This is a cross-sectional structural diagram showing the cycloidal reducer according to the first embodiment of this application.

[0024] Figure 3 for Figure 2 Front view.

[0025] Figure 4 This is a flowchart illustrating the assembly method of the cycloidal reducer according to the first embodiment of this application.

[0026] Figures 5A to 5E The assembly process of the cycloidal reducer according to the first embodiment of this application is shown.

[0027] Figure 6 The following are examples of combinations of multiple connecting shafts that connect to the first output disc in the cycloidal reducer of the second embodiment of this application.

[0028] Figure 7 The following are examples of combinations of multiple connecting shafts that connect to the first output disc in the cycloidal reducer of the third embodiment of this application.

[0029] Figure 8 The following are examples of combinations of multiple connecting shafts that connect to the first output disc in the cycloidal reducer of the fourth embodiment of this application.

[0030] Explanation of reference numerals in the attached figures

[0031] 1: Cycloidal reducer

[0032] 10: Input axis

[0033] 11: Eccentric part,

[0034] 20: Cycloidal gear disc,

[0035] 21: Central shaft hole

[0036] 22: External teeth,

[0037] 23: Shaft hole

[0038] 30: Roller wheel set,

[0039] 31: Rollers,

[0040] 40: Short straight axis

[0041] 41: Fixed end

[0042] 42: Locking end

[0043] 43: Threaded hole

[0044] 44: Screws

[0045] 50: Long straight axis

[0046] 51: Fixed end

[0047] 52: Card-connecting end,

[0048] 53: Inner hole,

[0049] 54: Fixed plugin

[0050] 60: First output disk

[0051] 61, 62: Fixing holes

[0052] 70: Second output disk

[0053] 71: Threaded perforation

[0054] 72: Fixing hole

[0055] 80, 81: Deep groove bearings

[0056] 82: Bushing

[0057] 83: Needle roller bearings

[0058] 84, 85: Ball bearings

[0059] 90: Spacer ring,

[0060] C: Axial direction. Detailed Implementation

[0061] Some typical embodiments embodying the features and advantages of this application will be described in detail in the following description. It should be understood that this application can have various variations in different ways, all of which do not depart from the scope of this application, and the descriptions and drawings herein are for illustrative purposes only and not for limiting this application. For example, if the following description of this application stating that a first feature is disposed on or above a second feature indicates that it includes embodiments where the first and second features are in direct contact, and also includes embodiments where additional features can be disposed between the first and second features, so that the first and second features may not be in direct contact. Furthermore, different embodiments in this application may use repeated reference numerals and / or markings. These repetitions are for simplification and clarity and are not intended to limit the relationships between the various embodiments and / or the described appearance structures. Moreover, to facilitate the description of the relationship between one component or feature in the drawings and another component(s) or feature(s), spatially related terms such as "front," "rear," "inner," "outer," and similar terms may be used. In addition to the orientations illustrated in the accompanying drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be otherwise positioned (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially related terms used will be interpreted accordingly. Furthermore, when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of this application are approximate, the values ​​are stated as precisely as possible in specific examples. Additionally, it is understood that while terms such as "first," "second," etc., may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are indicated by different component reference numerals. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component without departing from the scope of the embodiments. The term "and / or" as thus used includes any or all combinations of one or more of the related listed items.

[0062] Figure 1 This is a perspective view showing the structure of the cycloidal reducer according to the first embodiment of this application. Figure 2 This is a cross-sectional structural diagram showing the cycloidal reducer according to the first embodiment of this application. Figure 3 for Figure 2 Front view. Reference Figures 1 to 3This application provides a thin and lightweight cycloidal reducer 1, employing a front and rear output design. In this embodiment, the cycloidal reducer 1 includes an input shaft 10, a cycloidal gear disk 20, a roller wheel assembly 30, multiple connecting shafts, a first output disk 60, and a second output disk 70. The input shaft 10 is arranged along the axial direction C. The cycloidal gear disk 20 includes a central shaft hole 21, external teeth 22, and multiple shaft holes 23. In this embodiment, the central shaft hole 21 extends through the cycloidal gear disk 20 along the axial direction C and is configured to allow the input shaft 10 to pass through. The external teeth 22 are disposed on the outer annular surface of the cycloidal gear disk 20, and the multiple shaft holes 23 are, for example, equidistantly arranged around the central shaft hole 21 and the external teeth 22. The roller wheel assembly 30 is sleeved on the cycloidal gear disk 20 and includes multiple rollers 31 spatially relative to the external teeth 22 of the cycloidal gear disk 20. It should be noted that the multiple connecting shafts are selected from a combination of a long straight shaft 50 and a short straight shaft 40. In this embodiment, the cycloidal gear disk 20 includes eight shaft holes 23 equidistantly arranged around the central shaft hole 21 and the outer tooth portion 22. Multiple connecting shafts are composed of four short straight shafts 40 and four long straight shafts 50, corresponding to the eight shaft holes 23. The short straight shafts 40 and long straight shafts 50 of the multiple connecting shafts are arranged alternately, passing through the multiple shaft holes 23 and parallel to the axial direction C. In this embodiment, the first output disk 60 and the second output disk 70 are respectively disposed on opposite sides of the cycloidal gear disk 20, and connected to the cycloidal gear disk 20 via multiple connecting shafts, serving as the front output disk (first output disk 60) and the rear output disk (second output disk 70). In this embodiment, each of the multiple connecting shafts is fixed to the first output disk 60. Each short straight shaft 40, after being fixed to the first output disk 60 by a fixing end 41, has a locking end 42 formed by a protrusion parallel to the axial direction C on the inner side of the first output disk 60. In addition, after each long straight shaft 50 is fixed to the first output disk 60 by a fixed end 51, a locking end 52 is formed by a C-shaped protrusion on the inner side of the first output disk 60 parallel to the axis. In this embodiment, the locking end 42 is connected to the inner side of the second output disk 70, and the locking end 52 passes through the second output disk 70 and engages with it. The first output disk 60 and the second output disk 70 are connected by multiple connecting shafts composed of short straight shafts 40 and long straight shafts 50, which can keep the first output disk 60 and the second output disk 70 coaxial. In this embodiment, when the input shaft 10 drives the outer tooth 22 of the cycloidal gear disk 20 to mesh with the multiple rollers 31 of the roller wheel assembly 30, the cycloidal gear disk 20 rotates with the short straight shafts 40 and long straight shafts 50 of the multiple connecting shafts, so that the short straight shafts 40 and long straight shafts 50 of the multiple connecting shafts can drive the first output disk 60 and the second output disk 70 to rotate. Of course, the number and arrangement of the shaft hole 23, the short straight shaft 40 and the long straight shaft 50 can be adjusted according to the actual application requirements, and this application is not limited thereto.

[0063] In this embodiment, the short straight shafts 40 of the plurality of connecting shafts are fixed to the first output disk 60 by passing through the fixing holes 61 of the first output disk 60 from the outside to the inside via fixing ends 41, and extend from the inside of the first output disk 60 toward the second output disk 70 to form locking ends 42. Additionally, the long straight shafts 50 of the plurality of connecting shafts are fixed to the first output disk 60 by passing through the fixing holes 62 of the first output disk 60 from the outside to the inside via fixing ends 51, and extend from the inside of the first output disk 60 toward the second output disk 70 to form engaging ends 52. It should be noted that the method of fixing the short straight shafts 40 to the first output disk 60 to form locking ends 42 and the long straight shafts 50 to the first output disk 60 to form engaging ends 52 are not essential technologies limiting this application. However, compared to the known integrated structure of the geometric protrusion and output disk, the combined structure of the short straight shaft 40 and the first output disk 60 in this application reduces material usage while maintaining the original geometric requirements, and is easier to assemble and fix. In this embodiment, when the first output disk 60 and the second output disk 70 are connected by the short straight shaft 40 and the long straight shaft 50 of multiple connecting shafts, the locking end 42 of the short straight shaft 40 will abut against the inner side of the second output disk 70, and the engaging end 52 of the long straight shaft 50 will further penetrate through the second output disk 70 and engage with the second output disk 70.

[0064] In this embodiment, the locking end 42 of each short straight shaft 40 includes a threaded hole 43 and a screw 44, the threaded hole 43 and the second screw 44 being, for example, a screw hole and a bolt that mate with each other. Additionally, the second output disk 70 includes four threaded through holes 71. The threaded through holes 71 are spatially opposite the threaded holes 43 and the screws 44 and are parallel to the axial direction C. When the short straight shaft 40 is connected between the first output disk 60 and the second output disk 70, the screws 44 are locked to the threaded holes 43 through the threaded through holes 71, allowing the locking end 42 of the short straight shaft 40 to abut against the inner side of the second output disk 70 and be fixed together.

[0065] In this embodiment, the engaging end 52 of each long straight shaft 50 passes through the inner side of the second output disk 70. Each engaging end 52 of the long straight shaft 50 also includes an inner hole 53 and a fixing insert 54. Additionally, the second output disk 70 includes four fixing holes 72, the inner diameter of each fixing hole 72 being slightly larger than the outer diameter of each long straight shaft 50. The fixing holes 72 are spatially opposite the inner hole 53 and the fixing insert 54, and are parallel to the axial direction C. When the long straight shaft 50 is connected between the first output disk 60 and the second output disk 70, the engaging end 52 of the long straight shaft 50 will pass through the fixing holes 72 of the second output disk 70. At this time, the fixing insert 54, inserted into the inner hole 53 along the direction parallel to the axial direction C, creates an interference effect, causing the outer diameter of the engaging end 52 of the long straight shaft 50 to expand. After expansion, the engaging end 52 of the long straight shaft 50 and the fixing hole 72 of the second output disk 70 can achieve an interference effect, thereby improving the overall rigidity and torsional strength.

[0066] In this embodiment, the first output disc 60 is mounted on the input shaft 10 via a deep groove bearing 80, and the second output disc 70 is mounted on the input shaft 10 via a deep groove bearing 81. In this embodiment, the central shaft hole 21 of the cycloidal gear disc 20 is mounted on the eccentric portion 11 of the input shaft 10 via a needle roller bearing 83. In this embodiment, the cycloidal reducer 1 further includes a spacer ring 90, which is disposed between the eccentric portion 11 of the input shaft 10 and the deep groove bearings 80 and 81. Additionally, in this embodiment, the first output disc 60 is connected to the roller wheel assembly 30 via a ball bearing 84, and the second output disc 70 is connected to the roller wheel assembly 30 via a ball bearing 85. In this embodiment, the plurality of shaft holes 23 of the cycloidal gear disc 20 are respectively mounted on the corresponding short straight shaft 40 or long straight shaft 50 among the plurality of connecting shafts via bushings 82.

[0067] It is worth noting that, in this embodiment, the first output disc 60 and the second output disc 70 are located on opposite outer sides of the cycloidal gear disc 20 and the roller wheel assembly 30, respectively, so that both the first output disc 60 and the second output disc 70 can be used for power output. The connection between the two output discs is achieved by a combination of a long straight shaft 50 and a short straight shaft 40, replacing the traditional cylindrical structure or eccentric shaft geometry of the output disc. When corresponding to a traditional cycloidal reducer, this combination offers the advantages of smaller size and lighter weight while maintaining the same specifications. When corresponding to a harmonic reducer, the thickness can be the same, replacing the original harmonic reducer and achieving better rigidity. Since the short straight shaft 40 and the long straight shaft 50 have lower processing costs and better control precision, they help reduce the manufacturing cost of the cycloidal reducer 1, thereby providing a product with high torque, high rigidity, low cost, and high replaceability. The short straight shaft 40 and the long straight shaft 50 are detachably connected to the first output disc 60 and the second output disc 70, which optimizes the overall processing, eliminates the need to remove too much material, and simplifies the processing procedure.

[0068] In addition to the aforementioned cycloidal reducer 1, this application also proposes an assembly method for the cycloidal reducer. Figure 4 This is a flowchart illustrating the assembly method of the cycloidal reducer according to the first embodiment of this application.

[0069] Figures 5A to 5E This illustrates the assembly process of the cycloidal reducer according to the first embodiment of this application. (See reference...) Figures 1 to 5E First, in step S1, a first output disk 60 and a plurality of connecting shafts are provided. The plurality of connecting shafts are fixed to the first output disk 60 and parallel to the axial direction C. The plurality of connecting shafts are composed of four long straight shafts 50 and four short straight shafts 40. After each of the plurality of connecting shafts is fixed to the first output disk 60, as shown... Figure 5AAs shown, each short straight shaft 40 has a locking end 42 formed by a protrusion along the inner parallel axis C of the first output disk 60. Additionally, each long straight shaft 50 has an engaging end 52 formed by a protrusion along the inner parallel axis C of the first output disk 60. Of course, the splicing method of the short straight shafts 40 and long straight shafts 50 with the first output disk 60 can be adjusted according to actual application requirements, and this application is not limited thereto. Next, in step S2, an input shaft 10 and a cycloidal gear disk 20 are provided for assembly with the aforementioned structure. The input shaft 10 is disposed on the first output disk 60 along the axial direction C. The central shaft hole 21 of the cycloidal gear disk 20 passes through the cycloidal gear disk 20 along the axial direction C, and allows the input shaft 10 to pass through. An external tooth portion 22 is disposed on the outer annular surface of the cycloidal gear disk 20. Multiple shaft holes 23 are equidistantly arranged around the central shaft hole 21 and the external tooth portion 22, and allow multiple short straight shafts 40 and long straight shafts 50 to pass through correspondingly and parallel to the axial direction C. In step S3, a roller wheel assembly 30 is provided and fitted onto the outer periphery of the cycloidal gear disk 20, such that the plurality of rollers 31 of the roller wheel assembly 30 correspond to the outer tooth portion 22 of the cycloidal gear disk 20, resulting in the following structure: Figure 5B As shown. Subsequently, in step S4, a second output disk 70 is provided, disposed on the side of the cycloidal gear disk 20 and roller wheel assembly 30 away from the first output disk 60, and connected to the first output disk 60 via multiple connecting shafts, as shown. Figure 5C As shown. At this time, the locking end 42 of the short straight shaft 40 contacts the inner side of the second output disk 70, and the engaging end 52 of the long straight shaft 50 passes through the fixing hole 72 of the second output disk 70, while the second output disk 70 remains in a detachable state. In step S5, as... Figure 5D As shown, screws 44 are used to lock the second output disk 70 through the threaded through hole 71 and threaded hole 43, so that the locking end 42 of the short straight shaft 40 abuts against the inner side of the second output disk 70, and is fixed to each other by the locking action of screws 44 and the second output disk 70. Since the short straight shaft 40 and the first output disk 60 are pre-assembled, the axial distance of the short straight shaft 40 protruding from the first output disk 60 can be controlled more precisely, thereby improving the assembly accuracy with the second output disk 70. Compared with the known integrated structure of the geometric protrusion and the output disk, the combined structure of the short straight shaft 40 and the first output disk 60 of this application reduces the amount of material used while maintaining the original geometric requirements. In addition, it reduces the processing difficulty, thereby reducing manufacturing costs. In other words, the combined structure of the short straight shaft 40 and the first output disk 60 not only retains the functionality of the known integrated structure of the geometric protrusion and the output disk, but also effectively improves production efficiency and reduces costs. Additionally, it should be noted that the assembly structure completed in step S5 allows for specification verification to confirm whether the first output disk 60 and the second output disk 70 are coaxial. If the first output disk 60 and the second output disk 70 are not coaxial, adjustments to the parts are still allowed until the specification verification is passed. Finally, in step S6, if... Figure 5EAs shown, after the coaxiality of the first output disk 60 and the second output disk 70 is verified to the specifications, the fixing plug 54 is inserted into the inner hole 53 of the engaging end 52 of the long straight shaft 50 along the parallel axis C, causing the outer diameter of the engaging end 52 of the long straight shaft 50 to expand. After expansion, the engaging end 52 of the long straight shaft 50 and the fixing hole 72 of the second output disk 70 can achieve an interference effect and be fixed. Since the locking end 42 of the short straight shaft 40 is only locked to the second output disk 70 by the screw 44, its torque resistance is relatively weak. In contrast, the long straight shaft 50 that passes through the first output disk 60 and the second output disk 70 can also ensure the coaxiality of the front and rear output disks and guide the assembly. In other words, multiple long straight shafts 50 can effectively guide the first output disk 60 and the second output disk 70 to remain coaxial in the aforementioned assembly process, so that the cycloidal gear disk 20, the roller wheel set 30, and the double row ball bearings 84 and 85 can be accurately installed in the correct position, improving the assembly accuracy. On the other hand, the long straight shaft 50, through the design of the engaging end 52, uses the fixing plug 54 to press into the inner hole 53, so that the engaging end 52 interferes with the fixing hole 72 of the second output disk 70 and is fixed, which helps to improve the overall rigidity and torsional strength.

[0070] It is worth noting that, in this embodiment, the number, arrangement, and pre-assembly method of the short straight shaft 40 and the long straight shaft 50 with the first output disk 60 can be adjusted according to actual application requirements. Figure 5A In the illustrated embodiment, four short straight shafts 40 pass through a fixed end 41 (see...). Figure 3 The first output disk 60 is fixed to the first output disk 60 by passing through the fixing hole 61 from the outside of the first output disk 60 inward, and extends from the inside of the first output disk 60 toward the second output disk 70 to form a locking end 42. Additionally, four long straight shafts 50 pass through the fixing hole 62 of the first output disk 60 from the outside of the first output disk 60 through the fixing end 51 (see...). Figure 3 It is fixed to the first output disk 60 and extends from the inside of the first output disk 60 toward the second output disk 70 to form an engaging end 52. In other embodiments, the short straight shaft 40 and the long straight shaft 50 may be used alternately, and are not limited to the same number.

[0071] Figure 6 This illustrates the combination of multiple connecting shafts connecting the first output disc in the cycloidal reducer according to the second embodiment of this application. In this embodiment, the structure of the first output disc 60 and the connecting shafts is generally similar to... Figures 1 to 3 and Figure 5A The first output disk 60 and the connecting shaft shown are labeled with the same component numbers to represent the same components, structures, and functions, and will not be described again here. In this embodiment, Figure 5AThe four long straight shafts 50 are replaced, for example, by four long eccentric shafts 50a. The engaging end 52 of the long eccentric shafts 50a also includes an inner hole 53. When assembled with the second output disk 70, the insertion of the fixing insert 54 along the parallel axis C into the inner hole 53 creates an interference effect, causing the outer diameter of the engaging end 52 of the long eccentric shaft 50a to expand and interfere with the fixing hole 72 of the second output disk 70 for fixation, thereby improving overall rigidity and torsional strength. Of course, this application is not limited to this.

[0072] Figure 7 This illustrates the combination of multiple connecting shafts connecting the first output disc in the cycloidal reducer according to the third embodiment of this application. In this embodiment, the structure of the first output disc 60 and the connecting shafts is generally similar to... Figures 1 to 3 and Figure 5A The first output disk 60 and the connecting shaft shown are labeled with the same component numbers to represent the same components, structures, and functions, and will not be described again here. In this embodiment, Figure 5A The four long straight shafts 50 are replaced, for example, by four short straight shafts 40. When the eight short straight shafts 40 are combined with the first output disk 60, the axial distance of the short straight shafts 40 protruding from the first output disk 60 can be precisely controlled, improving the assembly accuracy with the second output disk 70. Furthermore, the locking end 42 of the short straight shaft 40 can be secured to the inner side of the second output disk 70 by means of screws 44, threaded through holes 71, and threaded holes 43. Compared to the known integrated structure of geometric protrusions and output disks, the combination of the short straight shafts 40 and the first output disk 60 in this application effectively improves production efficiency and reduces costs. Of course, this application is not limited to this.

[0073] Figure 8 This illustrates a combination of multiple connecting shafts connecting the first output disc in a cycloidal reducer according to the fourth embodiment of this application. In this embodiment, the structure of the first output disc 60 and the connecting shafts is substantially similar to... Figures 1 to 3 and Figure 5A The first output disk 60 and the connecting shaft shown are labeled with the same component numbers to represent the same components, structures, and functions, and will not be described again here. In this embodiment, Figure 5A The four short straight shafts 40 can be replaced, for example, by four long straight shafts 50. The eight long straight shafts 50 can effectively guide the first output disk 60 and the second output disk 70 to remain coaxial during the assembly process, allowing internal parts to be accurately installed in the correct positions and improving assembly accuracy. Furthermore, the long straight shafts 50 are pressed into the inner hole 53 by the fixing insert 54, causing the engaging end 52 to interfere with the fixing hole 72 of the second output disk 70 for fixation, which further helps to improve overall rigidity and torsional strength. Of course, this application is not limited to this.

[0074] As can be seen from the above, for the multiple connecting shafts between the first output disc 60 and the second output disc 70 in the cycloidal reducer 1, their combination can be selected from any combination of the short straight shaft 40, the long straight shaft 50, and the long eccentric shaft 50a. The number of individual connecting shafts, the overall number, and the arrangement can also be adjusted according to actual application requirements. The axial distance between the output discs is precisely controlled by the short straight shaft 40, and the coaxiality of the front and rear output discs is guided by the long straight shaft 50 and the long eccentric shaft 50a, while improving the overall rigidity and torsional strength, and preventing them from interfering with each other. Of course, the application of the connecting shaft combination output disc in this application is not limited to this, and will not be elaborated further.

[0075] In summary, this application provides a cycloidal reducer and its assembly method. The front and rear output discs are assembled using long and short straight shafts to optimize processing, improve assembly accuracy, and reduce costs. This thin and light cycloidal reducer offers the advantage of smaller size and lighter weight compared to traditional cycloidal reducers, while maintaining the same specifications. It can also be made with the same thickness when used with harmonic reducers, replacing traditional harmonic reducers to achieve better rigidity. Multiple connecting shafts between the front and rear output discs can replace the traditional cylindrical structure or eccentric shaft geometry of the output discs using long and short straight shafts. The lower processing cost and better precision control of long and short straight shafts help reduce the manufacturing cost of the cycloidal reducer, thus providing a high-torque, high-rigidity, low-cost, and highly replaceable product. The connecting shafts and output discs are detachably connected, optimizing overall processing and reducing the need to remove excessive material from the output discs, thus simplifying the processing procedure. The combination of the short straight shaft and the output disc allows for more precise control of the axial distance of the short straight shaft protruding from the output disc, improving assembly accuracy. Compared to the integrated structure of the known geometric protrusion and output disk, the combined structure of the short straight shaft and output disk in this application reduces material usage while maintaining the original geometric requirements. Furthermore, it reduces processing difficulty, thereby lowering manufacturing costs. In other words, the combined structure of the short straight shaft and output disk not only retains the functionality of the integrated structure of the known geometric protrusion and output disk, but also effectively improves production efficiency and reduces costs. In addition, the long straight shaft design running through the front and rear output disks ensures the coaxiality of the front and rear output disks and guides assembly. Multiple long straight shafts can effectively guide the front and rear output disks to remain coaxial during assembly, allowing internal parts and double-row ball bearings to be accurately installed in the correct positions, improving assembly accuracy. On the other hand, since the locking end of the short straight shaft is only locked to the output disk by screws, its torque resistance is relatively weak. However, the engaging end of the long straight shaft is designed with an inner hole into which an interference fixing plug can be pressed, causing the outer diameter of the engaging end to expand. After expansion, the engaging end of the long straight shaft and the fixing hole of the output disk can achieve an interference effect, thereby improving overall rigidity and torsional strength. Since the manufacturing cost of the integrated output disc structure and eccentric shaft structure of traditional cycloidal reducers is relatively high, this application replaces the connection mechanism between the front and rear output discs with a combination of long and short straight shafts. The long and short straight shafts have lower processing costs and better control of precision, which can greatly reduce the manufacturing cost of the cycloidal reducer, thereby providing a product with high torque, high rigidity, low cost and high substitutability.

[0076] This application may be modified in various ways by those skilled in the art, but none of them shall depart from the protection sought by the appended claims.

Claims

1. A cycloidal reducer, characterized in that, include: One input shaft, set along one axis; A cycloidal gear disk includes a central shaft hole, an external tooth portion, and a plurality of shaft holes, wherein the central shaft hole extends through the cycloidal gear disk along the axial direction and is configured to allow the input shaft to pass through, the external tooth portion is disposed on the outer annular surface of the cycloidal gear disk, and the plurality of shaft holes are equidistantly arranged around the central shaft hole and the external tooth portion. A roller assembly is fitted onto the cycloidal gear disk and includes a plurality of rollers spatially relative to the outer tooth portion of the cycloidal gear disk; Multiple connecting shafts, passing through multiple shaft holes in the cycloidal gear disk and parallel to the axial direction, wherein the multiple connecting shafts are selected from a combination of a long straight shaft and a short straight shaft; and A first output disk and a second output disk are respectively disposed on opposite sides of the cycloidal gear disk and connected to the cycloidal gear disk through a plurality of connecting shafts. Each of the plurality of connecting shafts is fixed to the first output disk. Each short straight shaft forms a locking end and each long straight shaft forms an engaging end. The locking end is connected to the second output disk, and the engaging end passes through the second output disk and engages with the second output disk, so that the first output disk and the second output disk remain coaxial. When the input shaft drives the outer tooth of the cycloidal gear disk to mesh with the plurality of rollers of the roller wheel assembly, the cycloidal gear disk rotates with the plurality of connecting shafts, causing the plurality of connecting shafts to drive the first output disk and the second output disk to rotate.

2. The cycloidal reducer according to claim 1, characterized in that, Multiple connecting shafts pass through and are fixed to the first output disk from the outside to the inside, and extend from the inside of the first output disk to the second output disk to form the engaging end or the locking end.

3. The cycloidal reducer according to claim 2, characterized in that, The locking end abuts against the inside of the second output disk.

4. The cycloidal reducer according to claim 3, characterized in that, The locking end includes a threaded hole and a screw. The second output disk includes a threaded through hole spatially opposite the threaded hole and the screw, and parallel to the axial direction. The screw is locked to the threaded hole through the threaded through hole, so that the locking end abuts against the inner side of the second output disk and is fixed to each other.

5. The cycloidal reducer according to claim 2, characterized in that, The engaging end passes through the inside of the second output disk.

6. The cycloidal reducer according to claim 5, characterized in that, The engaging end also includes an inner hole and a fixing plug, wherein the second output disk includes a fixing hole that is spatially opposite to the inner hole and the fixing plug and parallel to the axial direction, wherein the engaging end passes through the fixing hole of the second output disk, and the fixing plug is inserted into the inner hole in a direction parallel to the axial direction, so that the engaging end interferes with the fixing hole and is fixed.

7. The cycloidal reducer according to claim 6, characterized in that, After the fixing plug is inserted into the inner hole of the engaging end, the outer diameter of the engaging end expands and interferes with and fixes the second output disk.

8. The cycloidal reducer according to claim 1, characterized in that, The central shaft hole of the cycloidal gear is fitted onto an eccentric part of the input shaft via a needle roller bearing.

9. The cycloidal reducer according to claim 8, characterized in that, It also includes a spacer ring disposed between the eccentric portion of the input shaft and a deep groove bearing.

10. A method for assembling a cycloidal reducer, characterized in that, include: Step (a) provides a first output disk and a plurality of connecting shafts, the plurality of connecting shafts being fixed to the first output disk and parallel to an axial direction, wherein the plurality of connecting shafts are selected from a combination of a long straight shaft and a short straight shaft, each of the short straight shafts forming a locking end and each of the long straight shafts forming a locking end; Step (b) provides an input shaft and a cycloidal gear disk, wherein the input shaft is disposed on the first output disk along the axial direction, the cycloidal gear disk includes a central shaft hole, an external tooth portion and a plurality of shaft holes, wherein the central shaft hole extends through the cycloidal gear disk along the axial direction and is for the input shaft to pass through, the external tooth portion is disposed on the outer ring surface of the cycloidal gear disk, and the plurality of shaft holes are equidistantly disposed around the central shaft hole and the external tooth portion, and are for the plurality of connecting shafts to pass through and are parallel to the axial direction; Step (c) provides a roller assembly fitted onto the cycloidal gear disk and including a plurality of rollers spatially relative to the outer tooth portion of the cycloidal gear disk; Step (d) provides a second output disk, which is disposed on the other side of the cycloidal tooth disk away from the first output disk, and is connected to the first output disk through a plurality of the connecting shafts, wherein the locking end is connected to the second output disk and the engaging end passes through the second output disk; Step (e) secures the locking end to the second output disc by a screw; and Step (f) involves inserting the engaging end into an inner hole of the engaging end through a fixing plug to create a tight fit with the second output disk and fix it in place.

11. The assembly method of the cycloidal reducer according to claim 10, characterized in that, In step (a), a plurality of the connecting shafts pass through and are fixed to the first output disk from the outside to the inside, and extend from the inside of the first output disk to the second output disk to form the engaging end or the locking end.

12. The assembly method of the cycloidal reducer according to claim 10, characterized in that, The locking end includes a threaded hole and the screw, and the second output disk includes a threaded through hole spatially opposite the threaded hole and the screw, and parallel to the axial direction, wherein in step (d), the screw is locked to the threaded hole through the threaded through hole, so that the locking end abuts against the inner side of the second output disk and is fixed to each other.

13. The assembly method of the cycloidal reducer according to claim 10, characterized in that, The second output disk includes a fixing hole spatially opposite the inner hole and the fixing plug, and parallel to the axial direction. In step (f), the engaging end passes through the fixing hole of the second output disk, and the fixing plug is inserted into the inner hole in a direction parallel to the axial direction, so that the engaging end interferes with the fixing hole and is fixed.

14. The assembly method of the cycloidal reducer according to claim 10, characterized in that, The multiple shaft holes of the cycloidal gear disk are respectively fitted onto the corresponding short or long straight shafts of the multiple connecting shafts through a bushing.

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