Integrated bearing and RV speed reducer applying same

Abstract

The utility model provides an integrated bearing and an RV speed reducer using the same, the integrated bearing comprises an integrated bearing a, and a plurality of groups of integrated bearings b and integrated bearings c which are uniformly distributed along the circumferential direction of the integrated bearing a; the integrated bearing a comprises a pin wheel housing, an output side flange, an input side flange, a bearing inner ring, a rolling body and a retainer; the integrated bearing b comprises an eccentric high-speed shaft, an output side flange, a rolling body and a retainer; the integrated bearing c comprises an eccentric high-speed shaft, an input side flange, a rolling body and a retainer; the pair of bearing raceways is arranged on the pin wheel housing and the eccentric high-speed shaft, and the pair of bearing raceways is machined by adopting one-time clamping, so that the pair of bearing raceways have high coaxiality when being synchronously supported and rotated, and the stability of the bearing in the rotating process is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of RV reducers, and in particular to an integrated bearing and an RV reducer using the bearing. Background Art

[0002] The RV reducer has a large transmission ratio, high transmission efficiency, high motion accuracy, small backlash, low vibration, high rigidity and high reliability. It is the exclusive reducer for industrial robots. The performance of the RV reducer determines the level of industrial robots and is the bottleneck component of my country's robotics industry. The main function of the RV reducer is to improve the operating accuracy of the machine, extend its service life and ensure stability and reliability during operation. It has very high requirements for processing manufacturers, such as the precision of material processing equipment, assembly technology and high precision.

[0003] Chinese patent CN202311393326.0 discloses an RV reducer with an output locking function, including an RV reducer body, an output locking disk, an input shaft limit screw, a motor connecting shaft, and an elastic component; the output locking disk is coaxially fixed to the outer side of the output disk of the RV reducer body; the input shaft of the RV reducer body is installed in the reducer body in an axially displaceable manner; a mounting hole is provided at the power input end of the input shaft, and an external spline is provided at the other end; the input shaft limit screw is connected to the self-locking threaded hole on the output locking disk, and the elastic component is arranged in the mounting hole; the output shaft limit screw and the elastic component cooperate to realize the axial positioning of the input shaft; the inner end of the motor connecting shaft is drivingly connected to the power input end; when the RV reducer is in the running state, the external spline of the input shaft is in a disengaged state from the spline hole section of the output locking disk; when in the locked state, the external spline of the input shaft is in a matching state with the spline hole section of the output locking disk. The utility model realizes the self-locking of the reducer. .

[0004] However, in this technical solution, the reducer body and the eccentric shaft are connected by independent bearings. Due to the different processing accuracy and installation accuracy of different bearings, after a pair of bearings are installed, the rotational coaxiality of the reducer body and the rotational coaxiality of the eccentric shaft cannot be guaranteed, resulting in the inability of the reducer body to transmit stably, affecting the transmission accuracy and transmission efficiency. Utility Model Content

[0005] The purpose of the utility model is to provide an integrated bearing in view of the deficiencies in the prior art. A pair of bearing raceways are arranged on a pinion housing and an eccentric high-speed shaft, and the pair of bearing raceways are processed by clamping once, so that the pair of bearing raceways have high coaxiality when they are synchronously supported and rotated, thereby ensuring the stability of the bearing rotation process.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An integrated bearing, characterized in that it is composed of an integrated bearing a and a plurality of sets of integrated bearings b and integrated bearings c uniformly arranged in the circumferential direction of the integrated bearing a;

[0008] The integrated bearing a comprises a pinion housing, an output side flange, an input side flange, a bearing inner ring, rolling elements and a retaining frame;

[0009] The integrated bearing b comprises an eccentric high-speed shaft, an output side flange, rolling elements and a retaining frame;

[0010] The integrated bearing c comprises an eccentric high-speed shaft, an input side flange, rolling elements and a retaining frame.

[0011] As an improvement, a pair of first bearing raceways are provided on the pin gear housing, the bearing inner ring is provided on the outer diameter surface of the output side flange and the outer diameter surface of the input side flange, and the rolling body and the retaining frame are provided between the bearing inner ring and the corresponding first bearing raceway.

[0012] As an improvement, the eccentric high-speed shaft is provided with second bearing raceways on both sides of the eccentric protrusion;

[0013] A third bearing raceway is provided on the output side flange;

[0014] A fourth bearing raceway is provided on the input side flange;

[0015] Rolling bodies and retaining frames are provided between the third bearing raceway and the corresponding second bearing raceway, and between the fourth bearing raceway and the corresponding second bearing raceway.

[0016] As an improvement, the first bearing raceway is a spherical raceway matched with deep groove ball rollers.

[0017] As an improvement, the two raceways of the first bearing are processed by clamping once.

[0018] As an improvement, the second bearing raceway is processed by clamping both raceways at one time.

[0019] As an improvement, the integrated bearings b and the integrated bearings c are provided in three groups.

[0020] As an improvement, the outer diameter surfaces of the output side flange and the input side flange are both provided with positioning rings for positioning the inner ring of the bearing; the outer diameter surfaces of the output side flange and the input side flange are also provided with seals for sealing the integrated bearing a.

[0021] Another object of the utility model is to address the deficiencies in the prior art and to provide an RV reducer, which integrates the raceways of the bearings into the pinion housing and the eccentric high-speed shaft, and completes the processing of a pair of raceways through one clamping during the processing, thereby ensuring the concentricity of a pair of bearing raceways of the same pinion housing or the eccentric high-speed shaft, and ensuring the coaxiality of the rotation of the pinion housing after assembly, thereby solving the technical problem in the prior art of using independent bearings, which affects the transmission accuracy of the RV reducer due to the different processing accuracy of different bearings.

[0022] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0023] An RV reducer, characterized in that it includes the above-mentioned integrated bearing, a plurality of first needle tooth grooves are provided in the needle tooth housing, needle rollers are correspondingly provided in the first needle tooth grooves, and a pair of first bearing raceways are provided on both sides of the first needle tooth grooves; three circular through holes a are evenly distributed on the circumference of the output side flange, and the third bearing raceway is located on the side opposite to the circular through hole a; three circular through holes b are evenly distributed on the circumference of the input side flange, and the fourth bearing raceway is located on the side opposite to the circular through hole b; three eccentric high-speed shafts are provided, and the eccentric high-speed shaft is provided with a plurality of groups of eccentric protrusions with equal phase differences; and further comprising:

[0024] Planetary gears, three of which are arranged on one side of the output side flange and connected to the eccentric high-speed shaft;

[0025] A cycloidal pin wheel, wherein the number of the eccentric protrusions is set correspondingly, and the outer diameter surface of the cycloidal pin wheel is provided with second needle tooth grooves, and the number of the second needle tooth grooves is the same as that of the first needle tooth grooves; and

[0026] The input shaft passes through the output side flange and the input side flange, and one end of the input shaft is meshed with the three planetary gears at the same time.

[0027] As an improvement, the cycloidal pin wheel is provided with three circular through holes c and three trapezoidal through holes alternately arranged with the circular through holes c; the eccentric high-speed shaft is provided with two groups of eccentric protrusions, the phase difference between the two groups of eccentric protrusions is 180°, and two cycloidal pin wheels are provided, and the circular through holes c of the two cycloidal pin wheels are respectively arranged on the corresponding eccentric protrusions.

[0028] As an improvement, the cycloid pin wheel is formed by precision die-casting.

[0029] As an improvement, the cycloid pin wheel is made of polymer material.

[0030] As an improvement, the cycloid pin wheel is made of nylon.

[0031] The beneficial effects of the utility model are:

[0032] (1) The utility model provides a pair of first bearing raceways on the pinion housing, and completes the pair of first bearing raceways by one-time clamping during processing, so that the integrated bearing a supports the pinion housing for rotation, thereby ensuring the coaxiality of the pinion housing during rotation, improving the stability and reliability of the RV reducer during operation, and avoiding the different processing precisions of different bearings, which affects the coaxiality of the pinion housing rotation and thus affects the transmission precision of the RV reducer.

[0033] (2) The utility model opens a pair of second bearing raceways on the eccentric high-speed shaft and completes the pair of second bearing raceways by one-time clamping when processing the second bearing raceways, so that when the integrated bearing b and the integrated bearing c support the rotation of the eccentric high-speed shaft, the coaxiality of the eccentric high-speed shaft is ensured, the stability and reliability of the operation of the RV reducer are improved, and the different processing precisions of different bearings are avoided, which affects the coaxiality of the rotation of the eccentric high-speed shaft, thereby affecting the transmission precision of the RV reducer.

[0034] (3) The cycloid pinwheel of the utility model is formed by precision die-casting to achieve simple mass production and reduce costs. The polymer material is used to reduce the weight of the cycloid pinwheel, thereby realizing a lightweight design of the RV reducer and achieving an efficient transmission effect.

[0035] (4) The utility model connects the output side flange and the input side flange as a whole by means of the trapezoidal protrusion on the output side flange cooperating with the trapezoidal groove on the input side flange and the connection of the fasteners, thereby achieving efficient transmission. At the same time, by means of the setting of the stabilizing pin, high-precision transmission is achieved and the clearance of the fastener connection is reduced.

[0036] In summary, the utility model has the advantages of high transmission accuracy, stability, lightness, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of an integrated bearing of the utility model;

[0038] Figure 2 A schematic diagram of the overall structure of an RV reducer of the utility model;

[0039] Figure 3 This is a front view schematic diagram of the overall structure of an RV reducer of the utility model;

[0040] Figure 4 For this utility model Figure 3 Middle AA section view;

[0041] Figure 5 For this utility model Figure 4 The local enlarged schematic diagram of point I in the middle;

[0042] Figure 6For this utility model Figure 4 A partial enlarged schematic diagram of point II in the middle;

[0043] Figure 7 It is a partial enlarged schematic diagram of the cross-section of the needle tooth housing of the utility model;

[0044] Figure 8 This is a schematic diagram of the output side flange shaft side of the utility model;

[0045] Fig. 9 This is a schematic cross-sectional view of the output side flange of the utility model;

[0046] Fig.10 This is a schematic diagram of the input side flange shaft side of the utility model;

[0047] Fig.11 This is a schematic cross-sectional view of the input side flange of the utility model;

[0048] Fig.12 This is a schematic diagram of the eccentric high-speed shaft of the utility model;

[0049] Fig.13 It is a schematic diagram of the cycloid pinwheel of the utility model. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0051] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] Embodiment 1

[0053] like Figure 1 As shown, this embodiment provides an integrated bearing, which is composed of an integrated bearing a100 and a plurality of sets of integrated bearings b200 and integrated bearings c300 uniformly arranged along the circumference of the integrated bearing a100;

[0054] The integrated bearing a100 comprises a pinion housing 1, an output side flange 2, an input side flange 3, a bearing inner ring 14, rolling elements and a retaining frame;

[0055] The integrated bearing b200 includes an eccentric high-speed shaft 4, an output side flange 2, rolling elements and a retaining frame;

[0056] The integrated bearing c300 includes an eccentric high-speed shaft 4, an input side flange 3, rolling elements and a retaining frame.

[0057] As an improvement, a pair of first bearing raceways 13 are provided on the needle gear housing 1, the bearing inner ring 14 is arranged on the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3, and the rolling body and the retaining frame are arranged between the bearing inner ring 14 and the corresponding first bearing raceway 13.

[0058] As an improvement, the eccentric high-speed shaft 4 is provided with second bearing raceways 42 on both sides of the eccentric protrusion 41;

[0059] The output side flange 2 is provided with a third bearing raceway 22;

[0060] The input side flange 3 is provided with a fourth bearing raceway 32;

[0061] Rolling bodies and retaining frames are provided between the third bearing raceway 22 and the corresponding second bearing raceway 42 , and between the fourth bearing raceway 32 and the corresponding second bearing raceway 42 .

[0062] As an improvement, the first bearing raceway 13 is a spherical raceway with deep groove ball rollers.

[0063] As an improvement, the first bearing raceway 13 is processed by clamping both raceways at once.

[0064] As an improvement, the second bearing raceway 42 is processed by clamping both raceways at once.

[0065] As an improvement, the integrated bearings b200 and the integrated bearings c300 are provided in three groups.

[0066] As an improvement, the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3 are both provided with a positioning ring 15 for positioning the bearing inner ring 14; the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3 are also provided with a seal for sealing the integrated bearing a100.

[0067] Embodiment 2

[0068] like Figure 2-13 As shown, this embodiment provides an integrated bearing integrated RV reducer, including:

[0069] A needle gear housing 1, wherein a plurality of first needle gear grooves 11 are evenly distributed along the circumference of the needle gear housing 1, and roller needles 12 are correspondingly arranged in the first needle gear grooves 11;

[0070] An output side flange 2, wherein three circular through holes a21 are evenly distributed on the circumference of the output side flange 2;

[0071] An input side flange 3, wherein three circular through holes b31 are evenly distributed on the circumference of the input side flange 3;

[0072] An eccentric high-speed shaft 4, wherein three eccentric high-speed shafts 4 are provided, and a plurality of groups of eccentric protrusions 41 with equal phase differences are provided on the eccentric high-speed shaft 4;

[0073] Planetary gears 5, three of which are arranged on one side of the output side flange 2 and meshedly connected with the eccentric high-speed shaft 4;

[0074] The cycloid pin wheel 6, the number of the eccentric protrusions 41 is set correspondingly, the outer diameter surface of the cycloid pin wheel 6 is provided with second needle tooth grooves 61, and the number of the second needle tooth grooves 61 is the same as the number of the first needle tooth grooves 11; and

[0075] An input shaft 7, which is a gear shaft, passes through the output side flange 2 and the input side flange 3, and one end of which is provided with a gear and is meshed with the three planetary gears 5 at the same time;

[0076] like Figure 5 , 7 As shown, the first bearing raceways 13 are respectively provided on both sides of the first needle tooth groove 11 on the needle gear housing 1, the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3 are both connected to the bearing inner ring 14, and rolling bodies and retaining frames are provided between the bearing inner ring 14 and the corresponding first bearing raceway 13, forming an integrated bearing a100 for supporting the rotation of the needle gear housing 1.

[0077] As an improvement, Figure 6 As shown, the eccentric high-speed shaft 4 is provided with second bearing raceways 42 on both sides of the eccentric protrusion 41;

[0078] like Fig. 9 As shown, a third bearing raceway 22 is provided on the output side flange 2 at a side opposite to the circular through hole a21;

[0079] like Fig.11 As shown, a fourth bearing raceway 32 is provided on the input side flange 3 at a side opposite to the circular through hole b31;

[0080] like Figure 6 As shown, rolling elements and retaining frames are provided between the third bearing raceway 22 and the corresponding second bearing raceway 42, and between the fourth bearing raceway 32 and the corresponding second bearing raceway 42, so that an integrated bearing b200 is formed between the eccentric high-speed shaft 4 and the output side flange 2, and an integrated bearing c300 is formed between the eccentric high-speed shaft 4 and the input side flange 3.

[0081] It should be noted that the integrated bearing b200 and the integrated bearing c300 are used to support the high-speed rotation of the eccentric high-speed shaft 4, thereby improving the rotation accuracy of the eccentric high-speed shaft 4 and solving the technical problem of poor rotation coaxiality accuracy of the eccentric shaft due to the different concentricity of the two sets of bearings in the traditional arrangement of two sets of bearings on both sides.

[0082] As an improvement, the first bearing raceway 13 is a spherical raceway matched with a deep groove ball roller; that is, the bearing inner ring 14 and the rolling element of the integrated bearing a100 are both selected to match the deep groove ball bearing.

[0083] Of course, the first bearing raceway 13 of the present application may also select other bearing structures, such as an angular contact bearing raceway, a tapered roller bearing raceway, etc., and the corresponding rolling elements and the bearing inner ring 14 can be adapted.

[0084] Preferably, the first bearing raceway 13 is processed by clamping both raceways at once; the processing includes but is not limited to turning, grinding, superfinishing and other processes.

[0085] Preferably, the second bearing raceway 42 is machined by clamping both raceways at once; the machining process includes but is not limited to turning, grinding, superfinishing and other processes.

[0086] It should be noted that by adopting one-time clamping to complete the processing of the two raceways, the concentricity of the two raceways is improved, the stability of the integrated bearing a100 or the integrated bearing b200 during the synchronous rotation process is improved, high-precision transmission is achieved, and the technical problem of poor transmission accuracy caused by poor coaxiality when the eccentric high-speed shaft rotates due to different concentricity of the two sets of bearings set separately is solved.

[0087] As a preference, Fig.13As shown, the cycloid pin wheel 6 is provided with three circular through holes c62 and three trapezoidal through holes 63 alternately arranged with the circular through holes c62; the eccentric high-speed shaft 4 is provided with two groups of eccentric protrusions 41, and the phase difference between the two groups of eccentric protrusions 41 is 180°. Two cycloid pin wheels 6 are provided, and the circular through holes c62 of the two cycloid pin wheels 6 are respectively arranged on the corresponding eccentric protrusions 41.

[0088] Of course, the present application can also set three groups of cycloid pinwheels 6. At the same time, the number of eccentric protrusions 41 is also set to three groups, so as to realize the RV reducer with cycloid pinwheel transmission with a phase difference of 120°, thereby improving the transmission accuracy of the RV reducer.

[0089] As an improvement, Figure 5 As shown, the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3 are both provided with a positioning ring 15 for positioning the bearing inner ring 14; the positioning ring 15 is preferably an elastic retaining ring.

[0090] Preferably, Figure 5 As shown, the outer diameter surface of the output side flange 2 and the outer diameter surface of the input side flange 3 are also provided with a seal 8 for sealing the integrated bearing a100; the seal 8 is preferably a lip seal or an inner skeleton type seal ring.

[0091] Further, such as Figure 4 As shown, both ends of the integrated bearing b200 and the integrated bearing c300 are also provided with sealing members 8 for sealing, and the sealing members 8 are preferably lip seals or inner skeleton-type sealing rings.

[0092] Furthermore, the planetary gear 5 is transmission-connected to the end of the eccentric high-speed shaft 4 via a spline, thereby improving the transmission accuracy and stability of the planetary gear 5 .

[0093] Embodiment 3

[0094] like Fig.13 As shown, the components identical or corresponding to those in the second embodiment are marked with the corresponding reference numerals in the second embodiment. For the sake of simplicity, only the differences from the second embodiment are described below. The difference between the third embodiment and the first embodiment is that:

[0095] In this embodiment, the cycloid pin wheel 6 is formed by precision die-casting.

[0096] Preferably, the cycloid pin wheel 6 is made of polymer material.

[0097] Furthermore, the cycloid pin wheel 6 is made of nylon.

[0098] It should be noted that through precision die-casting, simple mass production can be achieved to reduce costs. At the same time, high-strength nylon is used as the material of the cycloid pinwheel to achieve a lightweight design of the RV reducer.

[0099] Of course, the present application is not limited to the above nylon material, and any material that can realize the normal operation of the cycloid pin wheel can satisfy the present application, such as polyurethane.

[0100] Embodiment 4

[0101] like Figure 2-13 As shown, the components identical or corresponding to those in the second embodiment are marked with the corresponding reference numerals in the second embodiment. For the sake of simplicity, only the differences from the second embodiment are described below. The fourth embodiment differs from the second embodiment in that:

[0102] In this embodiment, Figure 8 , 9 As shown, the output side flange 2 is provided with three trapezoidal protrusions 23 which are alternately arranged with three circular through holes a21.

[0103] Further, such as Fig.10 , 11 As shown, the input side flange 3 is provided with three trapezoidal grooves 33 alternately arranged with the three circular through holes b31 ; the trapezoidal protrusion 23 is arranged to match the size of the trapezoidal groove 33 , so that the trapezoidal protrusion 23 is inserted into the trapezoidal groove 33 .

[0104] As an improvement, Figure 2 As shown, the output side flange 2 is connected to the input side flange 3 via a fastener 9 .

[0105] Further, such as Figure 4 As shown, a stabilizing pin 10 is further provided between the output side flange 2 and the input side flange 3 .

[0106] It should be noted that the trapezoidal protrusion cooperates with the trapezoidal groove, and the output side flange 2 and the input side flange 3 are connected into an integral structure by fasteners. At the same time, a stabilizing pin is used to improve the stability of the overall structure of the output side flange 2 and the input side flange 3 during the rotation process after they are connected as one.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An integrated bearing, characterized in that: It is composed of an integrated bearing a and a plurality of sets of integrated bearings b and integrated bearings c evenly distributed along the circumference of the integrated bearing a; The integrated bearing a comprises a pinion housing, an output side flange, an input side flange, a bearing inner ring, rolling elements and a retaining frame; The integrated bearing b comprises an eccentric high-speed shaft, an output side flange, rolling elements and a retaining frame; The integrated bearing c comprises an eccentric high-speed shaft, an input side flange, rolling elements and a retaining frame.

2. An integrated bearing according to claim 1, characterized in that: A pair of first bearing raceways are provided on the pin gear housing, the bearing inner ring is provided on the outer diameter surface of the output side flange and the outer diameter surface of the input side flange, and the rolling element and the retaining frame are provided between the bearing inner ring and the corresponding first bearing raceways.

3. The integrated bearing according to claim 1, characterized in that: A pair of second bearing raceways are provided on the eccentric high-speed shaft; A third bearing raceway is provided on the output side flange; A fourth bearing raceway is provided on the input side flange; Rolling bodies and retaining frames are provided between the third bearing raceway and the corresponding second bearing raceway, and between the fourth bearing raceway and the corresponding second bearing raceway.

4. The integrated bearing according to claim 2, characterized in that: The first bearing raceway is a spherical raceway matched with deep groove ball rollers.

5. The integrated bearing according to claim 2, characterized in that: The first bearing raceway is processed by clamping both raceways at once.

6. The integrated bearing according to claim 3, characterized in that: The second bearing raceway is processed by clamping both raceways at one time.

7. The integrated bearing according to claim 1, characterized in that: The integrated bearings b and integrated bearings c are divided into three groups.

8. An integrated bearing according to any one of claims 1 to 7, characterized in that: The outer diameter surfaces of the output side flange and the input side flange are both provided with positioning rings for positioning the inner ring of the bearing; the outer diameter surfaces of the output side flange and the input side flange are also provided with sealing members for sealing the integrated bearing a.

9. An RV reducer, characterized in that: Including an integrated bearing as claimed in claim 8, a plurality of first needle tooth grooves are arranged in the needle tooth housing, needle rollers are arranged in the first needle tooth grooves, and a pair of first bearing raceways are arranged on both sides of the first needle tooth grooves; three circular through holes a are evenly distributed on the circumference of the output side flange, and the third bearing raceway is located on the side opposite to the circular through hole a; three circular through holes b are evenly distributed on the circumference of the input side flange, and the fourth bearing raceway is located on the side opposite to the circular through hole b; three eccentric high-speed shafts are provided, and the eccentric high-speed shaft is provided with a plurality of groups of eccentric protrusions with equal phase differences, Also includes: Planetary gears, three of which are arranged on one side of the output side flange and connected to the eccentric high-speed shaft; A cycloidal pin wheel, wherein the number of the eccentric protrusions is set correspondingly, and the outer diameter surface of the cycloidal pin wheel is provided with second needle tooth grooves, and the number of the second needle tooth grooves is the same as that of the first needle tooth grooves; and The input shaft passes through the output side flange and the input side flange, and one end of the input shaft is meshed with the three planetary gears at the same time.

10. The RV reducer according to claim 9, characterized in that: The cycloid pin wheel is provided with three circular through holes c and three trapezoidal through holes alternately arranged with the circular through holes c; the eccentric high-speed shaft is provided with two groups of eccentric protrusions, the phase difference between the two groups of eccentric protrusions is 180°, two cycloid pin wheels are provided, and the circular through holes c of the two cycloid pin wheels are respectively arranged on the corresponding eccentric protrusions.

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