Gearbox with double-cycloid output structure

Abstract

The utility model relates to a double cycloid output structure gearbox, which comprises an eccentric shaft, a fixed seat, a cycloid gear and an output shaft, the fixed seat is provided with a first inner hole, and the hole wall of the first inner hole is provided with a plurality of first transmission teeth along the circumferential direction; the cycloidal gear is provided with a plurality of first cycloidal teeth in the circumferential direction, and the cycloidal gear is meshed with the first transmission teeth of the fixing base through the first cycloidal teeth. The eccentric shaft is driven to drive the cycloidal gear to rotate; the output shaft is rotatably arranged on the fixed seat, and a plurality of second transmission teeth are arranged on the output shaft in the circumferential direction; the cycloidal gear is further provided with a plurality of second cycloidal teeth in the circumferential direction, and the cycloidal gear is meshed with the second transmission teeth of the output shaft through the second cycloidal teeth so that the output shaft can be driven to rotate when the cycloidal gear rotates. According to the technical scheme, the structural strength of the cycloidal gear can be improved, the friction force is reduced, the output power is stable, the rotating speed and the torque are uniform, the middle hole can be made into a larger size, the installation is convenient, the noise is low, the autorotation direction of the output shaft is changed, and the working quality can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, in particular to a gear box with a double cycloid output structure. Background Art

[0002] There are generally two types of output structures of traditional double-cycloid output structure gearboxes in the prior art, namely, pin-type output and cross-slider type output. The double-cycloid output structure gearbox has an eccentric shaft, a cycloid wheel and an output shaft. The eccentric shaft is used to drive the cycloid wheel to rotate. The cycloid wheel is provided with a mounting hole for installing a pin or a cross-slider. The cycloid wheel drives the output shaft to rotate through the pin or the cross-slider. Among them, since the mounting hole needs to be opened on the cycloid wheel, the structural strength of the cycloid wheel is reduced and it is easy to be damaged. In addition, the double-cycloid output structure gearbox of this structure also has technical defects such as low efficiency, complex structure, difficult installation, limited center hole size, and opposite to the direction of rotation of the motor. Utility Model Content

[0003] In view of this, the utility model provides a double cycloid output structure gearbox, which mainly solves the technical problem in the prior art that the cycloid wheel of the double cycloid output structure gearbox needs to be provided with mounting holes for installing column pins or cross sliders, resulting in reduced structural strength.

[0004] In order to achieve the above purpose, the utility model mainly provides the following technical solutions:

[0005] The embodiment of the utility model provides a double cycloid output structure gearbox, which comprises: an eccentric shaft, a fixed seat, a cycloid wheel and an output shaft, wherein the fixed seat has a first inner hole, and a hole wall of the first inner hole is provided with a plurality of first transmission teeth along the circumferential direction; the cycloid wheel is provided with a plurality of first cycloid teeth along the circumferential direction, and the cycloid wheel is meshed with the first transmission teeth of the fixed seat through the first cycloid teeth; the eccentric shaft is rotatably arranged on the fixed seat, and the eccentric shaft is used to be driven to drive the cycloid wheel to rotate;

[0006] Among them, the output shaft is rotatably arranged on the fixed seat, and the output shaft is provided with a plurality of second transmission teeth along the circumferential direction; the cycloid wheel is also provided with a plurality of second cycloid teeth along the circumferential direction, and the cycloid wheel is meshed with the second transmission teeth of the output shaft through the second cycloid teeth, so that the output shaft can be driven to rotate when the cycloid wheel rotates.

[0007] In some embodiments, each of the first cycloid teeth is disposed on an outer wall of the cycloid wheel;

[0008] Wherein, the cycloid wheel has a second inner hole, and each of the second cycloid teeth is arranged on the hole wall of the second inner hole.

[0009] In some embodiments, each of the second transmission teeth is disposed on an outer wall of the output shaft.

[0010] In some embodiments, the double cycloid output structure gearbox further comprises an output end cover, and the output end cover is relatively fixed to the fixing seat;

[0011] The output end cover has a first sleeve section extending along the axial direction of the eccentric shaft, and the first sleeve section is located radially outside the eccentric shaft;

[0012] The output shaft has a second sleeve section, and the output shaft is sleeved between the eccentric shaft and the first sleeve section through the second sleeve section;

[0013] Among them, a first bearing is sleeved between the eccentric shaft and the second sleeve section, and the eccentric shaft provides support for the inner side of the second sleeve section through the first bearing; a second bearing is sleeved between the first sleeve section and the second sleeve section, and the first sleeve section provides support for the outer side of the second sleeve section through the second bearing.

[0014] In some embodiments, a single eccentric portion is provided in the middle of the eccentric shaft, and the eccentric shaft drives the cycloid wheel to rotate through the single eccentric portion.

[0015] In some embodiments, when the cycloid wheel has a second inner hole, the second inner hole has a third sleeve segment in the axial direction, and the cycloid wheel is sleeved on the eccentric part through the third sleeve segment, so that the eccentric shaft can drive the third sleeve segment to rotate through the eccentric part, and the third sleeve segment drives the cycloid wheel to rotate.

[0016] In some embodiments, a third bearing is provided between the eccentric portion and the third sleeve segment, and the eccentric portion drives the third sleeve segment to rotate via the third bearing.

[0017] In some embodiments, the double cycloid output structure gearbox further includes a stator and a rotor, wherein the stator is used to drive the rotor to rotate, so that the rotor drives the eccentric shaft to rotate.

[0018] In some embodiments, the stator is sleeved on the outside of the fixing seat, and the rotor is sleeved on the outside of the stator; the rotor is connected to the eccentric shaft through a connecting member, so as to drive the eccentric shaft to rotate through the connecting member.

[0019] In some embodiments, the double cycloid output structure gearbox further has a wiring hole passing through both ends of the axial direction, and the wiring hole passes through the eccentric shaft and the output shaft.

[0020] By means of the above technical solution, the double cycloid output structure gearbox of the utility model has at least the following beneficial effects:

[0021] 1. Compared with the prior art method of opening a mounting hole on the cycloid wheel and driving the output shaft to rotate by cooperating with the mounting hole and a pin or a cross slider, the technical solution of the utility model changes the transmission structure between the cycloid wheel and the output shaft. The cycloid wheel drives the output shaft to rotate by setting cycloid teeth, so there is no need to open a mounting hole for a pin or a cross slider on the cycloid wheel, thereby improving the structural strength of the cycloid wheel.

[0022] 2. The cycloid wheel is meshed with a fixed seat such as a needle roller fixed seat through the first cycloid teeth, and is meshed with the output shaft through the second cycloid teeth, thereby forming a double cycloid output structure, which has high efficiency and low noise, can easily achieve the continuity, stability and efficiency of power output, and improve the durability of the entire double cycloid output structure gearbox. It can also improve the energy conversion efficiency, thereby extending the endurance and service life.

[0023] 3. Since there is no need to open a hole on the cycloid wheel, the inner hole of the cycloid wheel can be made larger, so that the outer diameter of the eccentric shaft can also be made larger, and then the inner diameter of the wiring hole on the eccentric shaft can also be made larger, which is beneficial to wiring. Among them, by increasing the inner diameter of the wiring hole on the eccentric shaft, space can be effectively utilized and power density can be improved.

[0024] 4. Compared with the prior art method of using two upper and lower cycloid wheels to stabilize the vibration and balance of the gearbox, the utility model only uses a single cycloid wheel to stabilize the vibration and balance of the gearbox, thereby reducing the use of one cycloid wheel, which can reduce the axial space of the double cycloid output structure gearbox of the utility model.

[0025] 5. The double cycloid output structure gearbox of the utility model can be applied to robot joints, industrial production lines, automation equipment, machinery manufacturing and other fields. The double cycloid output structure gearbox of the utility model compresses the weight of the gearbox, reduces the axial space, and improves the power density, making it more convenient and light, and achieving high efficiency results. In addition, the double cycloid output transmission of the motor is added to reduce friction, stabilize the output power, and make the speed and torque uniform. The middle hole (i.e., the aforementioned wiring hole) can be made larger in size, which is convenient for installation, low noise, and changes the direction of rotation of the output shaft, which can improve the work quality.

[0026] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 It is a structural schematic diagram of a double cycloid output structure gearbox provided by an embodiment of the utility model;

[0029] Figure 2 It is a cross-sectional view of a double cycloid output structure gearbox provided by one embodiment of the utility model;

[0030] Figure 3 is a schematic diagram reflecting the meshing of the cycloid wheel with the first transmission tooth on the fixed seat and the second transmission tooth on the output shaft;

[0031] Figure 4 It is a schematic diagram of the structure of the cycloid wheel;

[0032] Figure 5 It is a schematic diagram of the structure of the output shaft.

[0033] Figure numerals: 1, output shaft; 2, output end cover; 3, rotor; 4, stator; 5, connecting piece; 6, eccentric shaft; 7, fixed seat; 8, cycloid wheel; 9, first bearing; 10, second bearing; 11, second transmission tooth; 12, second sleeve section; 13, third bearing; 21, first sleeve section; 51, outer cylinder; 52, inner cylinder; 61, eccentric part; 71, first transmission tooth; 81, first cycloid tooth; 82, second cycloid tooth; 101, wiring hole; 801, third sleeve section. DETAILED DESCRIPTION

[0034] 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.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0037] like Figures 1 to 5 As shown, an embodiment of the utility model provides a double cycloid output structure gearbox, which includes an eccentric shaft 6, a fixed seat 7, a cycloid wheel 8 and an output shaft 1. The fixed seat 7 has a first inner hole, and the hole wall of the first inner hole is provided with a plurality of first transmission teeth 71 along the circumferential direction. Among them, each of the first transmission teeth 71 can be formed by a needle roller installed on the hole wall of the first inner hole.

[0038] The aforementioned cycloid wheel 8 is provided with a plurality of first cycloid teeth 81 along the circumferential direction, and the cycloid wheel 8 is meshed with the first transmission teeth 71 of the fixed seat through the first cycloid teeth 81. The eccentric shaft 6 is rotatably arranged on the fixed seat 7, and the eccentric shaft 6 is used to be driven to drive the cycloid wheel 8 to rotate.

[0039] The output shaft 1 is rotatably arranged on the fixed seat 7, and the output shaft 1 is provided with a plurality of second transmission teeth 11 along the circumferential direction. The cycloid wheel 8 is also provided with a plurality of second cycloid teeth 82 along the circumferential direction, and the cycloid wheel 8 is meshed with the second transmission teeth 11 of the output shaft through the second cycloid teeth 82, so that the output shaft 1 can be driven to rotate when the cycloid wheel 8 rotates.

[0040] It should be noted that the rotation of the eccentric shaft 6 refers to the self-rotation of the eccentric shaft 6. The rotation of the output shaft 1 refers to the self-rotation of the output shaft 1.

[0041] In the above example, when the eccentric shaft 6 is driven to rotate, it drives the cycloid wheel 8 to rotate, and when the cycloid wheel 8 rotates, it drives the output shaft 1 to rotate by itself through the second cycloid teeth 82. Compared with the prior art method of opening a mounting hole on the cycloid wheel 8, and driving the output shaft 1 to rotate through the mounting hole and the pin or the cross slider, the technical solution of the utility model changes the transmission structure between the cycloid wheel 8 and the output shaft 1. The cycloid wheel 8 drives the output shaft 1 to rotate by setting the cycloid teeth, so there is no need to open the mounting hole of the pin or the cross slider on the cycloid wheel 8, and the structural strength of the cycloid wheel 8 can be improved.

[0042] The cycloid wheel 8 is meshed with the fixing seat 7 such as the needle roller fixing seat through the first cycloid tooth 81, and is meshed with the output shaft 1 through the second cycloid tooth 82, so as to form a double cycloid output structure, which has high efficiency and low noise, can easily achieve the continuity, stability and efficiency of power output, and improve the durability of the entire double cycloid output structure gearbox. It can also improve the energy conversion efficiency, thereby extending the endurance and service life.

[0043] In some embodiments, Figure 1 and Figure 2 As shown, the aforementioned double cycloid output structure gearbox also has a wiring hole 101 that passes through both ends of the axial direction, and the wiring hole 101 passes through the aforementioned eccentric shaft 6 and the output shaft 1. The motor wire can pass through the output shaft 1 through the wiring hole 101, so as to facilitate external power supply.

[0044] In the above example, since there is no need to open a hole on the cycloid wheel 8, the inner hole of the cycloid wheel 8 can be made larger, so that the outer diameter of the eccentric shaft 6 can also be made larger, and then the inner diameter of the wiring hole 101 on the eccentric shaft 6 can also be made larger, which is beneficial to wiring. Among them, by increasing the inner diameter of the wiring hole 101 on the eccentric shaft 6, the space can be effectively utilized and the power density can be improved.

[0045] In some embodiments, Figure 3 and Figure 4 As shown, the aforementioned first cycloid teeth 81 can be arranged on the outer wall of the cycloid wheel 8. Wherein, the cycloid wheel 8 has a second inner hole, and the aforementioned second cycloid teeth 82 can be arranged on the hole wall of the second inner hole.

[0046] In the above example, by respectively arranging the first cycloidal teeth 81 and the second cycloidal teeth 82 on the inner and outer sides of the cycloidal wheel 8, it is beneficial to the processing of the cycloidal wheel 8, and can also make the forces on the inner and outer sides of the cycloidal wheel 8 more balanced, thereby reducing the wear of the cycloidal wheel 8.

[0047] In some embodiments, Figure 5 As shown, the aforementioned second transmission teeth 11 can be arranged on the outer wall of the output shaft 1 to facilitate the meshing between the output shaft 1 and the cycloid wheel 8 .

[0048] In some embodiments, Figure 2 As shown, the aforementioned double cycloid output structure gearbox may further include an output end cover 2, and the output end cover 2 and the fixing seat 7 are relatively fixed, for example, the output end cover 2 and the fixing seat 7 may be fixed by screws.

[0049] like Figure 2 and Figure 5As shown, the aforementioned output end cover 2 has a first sleeve section 21 extending along the axial direction of the eccentric shaft 6, and the first sleeve section 21 can be integrally formed on the output end cover 2. The first sleeve section 21 is located radially outside the eccentric shaft 6. The aforementioned output shaft 1 has a second sleeve section 12, and the second sleeve section 12 can be integrally formed on the output shaft 1. The output shaft 1 is sleeved between the eccentric shaft 6 and the first sleeve section 21 through the second sleeve section 12.

[0050] A first bearing 9 is sleeved between the aforementioned eccentric shaft 6 and the second sleeve section 12, and the eccentric shaft 6 provides support to the inner side of the second sleeve section 12 through the first bearing 9. A second bearing 10 is sleeved between the first sleeve section 21 and the second sleeve section 12, and the first sleeve section 21 provides support to the outer side of the second sleeve section 12 through the second bearing 10.

[0051] In the above example, by providing bearings on both the inner and outer sides of the second sleeve section 12 of the output shaft 1 for support, the installation stability of the output shaft 1 can be improved, so that the output shaft 1 can rotate stably.

[0052] In some embodiments, Figure 2 As shown, a single eccentric portion 61 may be provided in the middle of the eccentric shaft 6 , and the eccentric shaft 6 drives the cycloid wheel 8 to rotate through the single eccentric portion 61 .

[0053] Compared with the prior art method of using two upper and lower cycloid wheels to stabilize the vibration and balance of the gearbox, the utility model only uses a single cycloid wheel 8 to stabilize the vibration and balance of the gearbox, thereby reducing the use of one cycloid wheel 8, which can reduce the axial space of the double cycloid output structure gearbox of the utility model.

[0054] In some embodiments, Figure 4 As shown, when the aforementioned cycloid wheel 8 has a second inner hole, the second inner hole has a third sleeve segment 801 along the axial direction, and the third sleeve segment 801 can be integrally formed on the cycloid wheel 8. The cycloid wheel 8 is sleeved on the eccentric portion 61 through the third sleeve segment 801, so that the eccentric shaft 6 can drive the third sleeve segment 801 to rotate through the eccentric portion 61, and the third sleeve segment 801 drives the cycloid wheel 8 to rotate.

[0055] In the above example, if Figure 2 and Figure 4 As shown, the second inner hole also has a tooth segment along the axial direction, and the aforementioned second cycloid teeth 82 are located on the tooth segment. The tooth segment and the third sleeve segment 801 are located at different positions in the axial direction of the second inner hole to facilitate the cycloid wheel 8 to be connected to the output shaft 1 and the eccentric shaft 6 at the same time.

[0056] In some embodiments, Figure 2As shown, a third bearing 13 may be provided between the aforementioned eccentric portion 61 and the third sleeve segment 801 , and the eccentric portion 61 drives the third sleeve segment 801 to rotate via the third bearing 13 to reduce wear.

[0057] In some embodiments, Figure 2 As shown, the aforementioned double cycloid output structure gearbox may further include a stator 4 and a rotor 3, wherein the stator 4 is used to drive the rotor 3 to rotate, so that the rotor 3 drives the eccentric shaft 6 to rotate.

[0058] In the above example, the stator 4 can be relatively fixed to the fixing seat 7. The stator 4 cooperates with the rotor 3 to provide power for the eccentric shaft 6 to rotate.

[0059] In some embodiments, Figure 2 As shown, the aforementioned stator 4 can be sleeved on the outer side of the fixing seat 7, and the stator 4 can be interference fit with the fixing seat 7 to keep relatively fixed with the fixing seat 7. The aforementioned rotor 3 is sleeved on the outer side of the stator 4. The rotor 3 is connected to the eccentric shaft 6 through the connecting member 5, so as to drive the eccentric shaft 6 to rotate through the connecting member 5.

[0060] The connecting member 5 has an outer cylinder 51 and an inner cylinder 52 which are fixedly connected. The connecting member 5 is fixedly connected to the rotor 3 through the outer cylinder 51, and is sleeved on the outer wall of the eccentric shaft 6 through the inner cylinder 52. The inner cylinder 52 and the eccentric shaft 6 can be interference fit so that the inner cylinder 52 and the eccentric shaft 6 can be relatively fixed.

[0061] In the above example, the rotor 3 drives the eccentric shaft 6 to rotate, the eccentric shaft 6 drives the cycloid wheel 8 to revolve around the stator 4, and the cycloid wheel 8 drives the output shaft 1 to rotate in the opposite direction, so that the rotation direction of the output shaft 1 is consistent with the rotation direction of the rotor 3.

[0062] Among them, by setting the motor components and cycloid wheel structure inside the double cycloid output structure gearbox, the transmission efficiency and service life of the double cycloid output structure gearbox are effectively improved, and the noise can also be reduced. The rotor 3 is interference fit with the eccentric shaft 6 through the connecting piece 5, and the cycloid wheel 8 is meshed with the output shaft 1, driving the entire double cycloid output structure gearbox to rotate, thereby achieving the design purpose, being able to improve the transmission efficiency, reduce noise and vibration, and improve the durability of the entire double cycloid output structure gearbox. In addition, the output effect of the motor can be amplified, and the size of the wiring hole 101 inside the eccentric shaft 6 can be increased, which is more convenient for installation and wiring.

[0063] The double cycloid output structure gearbox of the utility model can be applied to robot joints, industrial production lines, automation equipment, machinery manufacturing and other fields. The double cycloid output structure gearbox of the utility model compresses the weight of the gearbox, reduces the axial space, and improves the power density, making it more convenient and light, and achieving high efficiency results. In addition, the double cycloid output transmission of the motor is added to reduce friction, stabilize the output power, and make the speed and torque uniform. The middle hole (i.e., the aforementioned wiring hole 101) can be made larger in size, which is convenient for installation, low noise, and changes the rotation direction of the output shaft 1, which can improve the work quality.

[0064] The double-cycloid output structure gearbox of the utility model can meet the needs of specific application scenarios and has broad application prospects.

[0065] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A double cycloid output structure gearbox, characterized in that: include: An eccentric shaft (6), a fixed seat (7), a cycloidal wheel (8) and an output shaft (1), wherein the fixed seat (7) has a first inner hole, and a hole wall of the first inner hole is provided with a plurality of first transmission teeth (71) along the circumferential direction; the cycloidal wheel (8) is provided with a plurality of first cycloidal teeth (81) along the circumferential direction, and the cycloidal wheel (8) is meshed with the first transmission teeth (71) of the fixed seat through the first cycloidal teeth (81); the eccentric shaft (6) is rotatably arranged on the fixed seat (7), and the eccentric shaft (6) is used to be driven to drive the cycloidal wheel (8) to rotate; The output shaft (1) is rotatably arranged on the fixed seat (7), and the output shaft (1) is provided with a plurality of second transmission teeth (11) along the circumferential direction; the cycloid wheel (8) is also provided with a plurality of second cycloid teeth (82) along the circumferential direction, and the cycloid wheel (8) is meshed with the second transmission teeth (11) of the output shaft through the second cycloid teeth (82), so that the cycloid wheel (8) can drive the output shaft (1) to rotate when it rotates.

2. The double cycloid output structure gearbox according to claim 1, characterized in that: Each of the first cycloid teeth (81) is arranged on the outer wall of the cycloid wheel (8); The cycloid wheel (8) has a second inner hole, and each of the second cycloid teeth (82) is arranged on the hole wall of the second inner hole.

3. The double cycloid output structure gearbox according to claim 2, characterized in that: Each of the second transmission teeth (11) is arranged on the outer wall of the output shaft (1).

4. The double cycloid output structure gearbox according to any one of claims 1 to 3, characterized in that: It also includes an output end cover (2), wherein the output end cover (2) and the fixing seat (7) are relatively fixed; The output end cover (2) has a first sleeve section (21) extending along the axial direction of the eccentric shaft (6), and the first sleeve section (21) is located radially outside the eccentric shaft (6); The output shaft (1) has a second sleeve section (12), and the output shaft (1) is sleeved between the eccentric shaft (6) and the first sleeve section (21) through the second sleeve section (12); A first bearing (9) is sleeved between the eccentric shaft (6) and the second sleeve section (12), and the eccentric shaft (6) provides support for the inner side of the second sleeve section (12) through the first bearing (9); a second bearing (10) is sleeved between the first sleeve section (21) and the second sleeve section (12), and the first sleeve section (21) provides support for the outer side of the second sleeve section (12) through the second bearing (10).

5. The double cycloid output structure gearbox according to any one of claims 1 to 3, characterized in that: A single eccentric portion (61) is provided in the middle of the eccentric shaft (6), and the eccentric shaft (6) drives the cycloid wheel (8) to rotate via the single eccentric portion (61).

6. The double cycloid output structure gearbox according to claim 5, characterized in that: When the cycloid wheel (8) has a second inner hole, the second inner hole has a third sleeve section (801) along the axial direction, and the cycloid wheel (8) is sleeved on the eccentric portion (61) through the third sleeve section (801), so that the eccentric shaft (6) can drive the third sleeve section (801) to rotate through the eccentric portion (61), and the third sleeve section (801) drives the cycloid wheel (8) to rotate.

7. The double cycloid output structure gearbox according to claim 6, characterized in that: A third bearing (13) is provided between the eccentric portion (61) and the third sleeve segment (801), and the eccentric portion (61) drives the third sleeve segment (801) to rotate via the third bearing (13).

8. The double cycloid output structure gearbox according to any one of claims 1 to 3, 6 and 7, characterized in that: It also comprises a stator (4) and a rotor (3), wherein the stator (4) is used to drive the rotor (3) to rotate, so that the rotor (3) drives the eccentric shaft (6) to rotate.

9. The double cycloid output structure gearbox according to claim 8, characterized in that: The stator (4) is sleeved on the outside of the fixing seat (7), and the rotor (3) is sleeved on the outside of the stator (4); the rotor (3) is connected to the eccentric shaft (6) via a connecting member (5), so as to drive the eccentric shaft (6) to rotate via the connecting member (5).

10. The double cycloid output structure gearbox according to any one of claims 1 to 3, 6 and 7, characterized in that: The double cycloid output structure gearbox also has a wiring hole (101) that passes through both ends of the axial direction, and the wiring hole (101) passes through the eccentric shaft (6) and the output shaft (1).

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