High-stability speed reducer

Abstract

The utility model provides a speed reducer with high stability, which relates to the technical field of speed reducers and comprises a pin wheel housing, a cycloidal gear, an output shaft, an output end cover and an input shaft which are coaxially arranged, and further comprises a plurality of planet gears and eccentric shafts, the eccentric shafts are arranged around the circumference of the input shaft in an array mode, and the eccentric shafts comprise planet eccentric shafts and cycloidal eccentric shafts which are the same in number. The planetary eccentric shafts and the cycloid eccentric shafts are circumferentially arranged at intervals, the number of the planetary eccentric shafts and the cycloid eccentric shafts is 2N or 3N, and N is larger than or equal to 1 and is an integer; the planet wheel is installed at the end of the planet eccentric shaft and meshed with the input shaft. According to the second-stage cycloidal-pin wheel speed reduction structure, gear meshing and eccentric shaft supporting stability can be maintained when individual parts of the second-stage cycloidal-pin wheel speed reduction structure fail, high torque is obtained through enhancement of torque transmission parts, and the second-stage cycloidal-pin wheel speed reduction structure has the advantages of being high in stability, low in vibration, high in torque, long in service life and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of speed reducers, in particular to a high-stability speed reducer. Background Art

[0002] RV reducer is a new type of reducer developed on the basis of cycloid pinwheel transmission. It includes a first-stage planetary reduction structure and a second-stage cycloid pinwheel reduction structure. It has the advantages of high rigidity, high precision, large torque, high transmission efficiency, etc. It has a smaller volume and greater overload capacity than a simple cycloid pinwheel planetary transmission.

[0003] Traditional RV reducers mainly include pinion gear housing, eccentric shaft, planetary gear, input shaft, angular contact ball bearing, cycloid wheel, tapered roller bearing, needle roller and cage bearing, needle roller, output shaft, output end cover, skeleton seal, screw, taper pin, etc. Among them, the planetary gear is installed at the end of the eccentric shaft and meshes with the input shaft. The eccentric shaft is installed on the cycloid wheel to drive the cycloid wheel to swing eccentrically. The planetary gear and the input shaft constitute the first-stage planetary reduction structure, and the pinion gear housing, cycloid wheel and needle roller constitute the second-stage cycloid pinwheel reduction structure. The eccentric shaft organically connects the two-stage reduction structure to effectively transfer the load.

[0004] The eccentric shafts in the traditional RV reducer are generally provided with two or three. The needle roller and cage bearings are installed between the corresponding bearing holes on the cam and the cycloid wheel of the eccentric shaft, and the tapered roller bearings are installed between the true circles at both ends of the eccentric shaft and the corresponding bearing holes on the output shaft and the output end cover. In actual use, when one of the eccentric shafts or the corresponding needle roller and cage bearings / tapered roller bearings begin to fail, it will directly lead to instability between the several eccentric shafts of the reducer, and increase the contact stress between the eccentric shaft and the needle roller and the cage bearings and tapered roller bearings, reducing the life. The above problems are particularly prominent when the traditional RV reducer is installed on an industrial robot, so it is urgent to design an RV reducer that can improve stability and life. Utility Model Content

[0005] The purpose of the utility model is to provide a high-stability reduction device, which can maintain the gear meshing and eccentric shaft support stability when individual components fail in the second-stage cycloidal pinwheel reduction structure, and obtain high torque by enhancing the torque transmission part, and has the characteristics of high stability, low vibration, high torque, long life, etc.

[0006] The above technical objectives of the utility model are achieved through the following technical solutions:

[0007] A high-stability reduction gear comprises a coaxially arranged pinion housing, a cycloid wheel, an output shaft, an output end cover and an input shaft, and also comprises planetary wheels and eccentric shafts. A plurality of eccentric shafts are arranged in a circular array around the input shaft. The eccentric shafts comprise the same number of planetary eccentric shafts and cycloid eccentric shafts. The planetary eccentric shafts and the cycloid eccentric shafts are arranged at circumferential intervals. The number of the planetary eccentric shafts and the cycloid eccentric shafts are both 2N or 3N, where N≥1 and N is an integer. The planetary wheels are mounted at the ends of the planetary eccentric shafts and mesh with the input shaft.

[0008] By adopting the above technical scheme, the basic structure of the reduction device of the utility model is the same as that in the prior art, the planetary gear and the input shaft constitute the first-stage planetary reduction structure, and the pinion housing and the cycloid wheel constitute the second-stage cycloid pinwheel reduction structure. The difference is that in the utility model, by adding the same number of cycloid eccentric shafts as the planetary eccentric shafts, the planetary eccentric shafts and the cycloid eccentric shafts are arranged in a circular array and at intervals, the planetary gears are installed on the planetary eccentric shafts, and the planetary eccentric shafts are equivalent to the eccentric shafts in the prior art. The corresponding planetary eccentric shafts are driven to rotate through the meshing of the input shaft and the planetary gear, the planetary eccentric shafts drive the cycloid wheel to rotate, and the cycloid eccentric shafts passively rotate accordingly. The planetary eccentric shafts transmit the torque between the two-stage reduction structures, and the cycloid eccentric shafts transmit the torque of the cycloid pinwheel reduction mechanism.

[0009] In the utility model, the overall number of eccentric shafts increases exponentially. When an individual eccentric shaft has defects and lacks load-bearing capacity, the remaining cycloid eccentric shafts and the planetary eccentric shafts jointly support and transfer the load. The greater the overall number of eccentric shafts, the smaller the impact of the reduction in load-bearing capacity and stability caused by the defects of individual eccentric shafts. In particular, when there are only two or three eccentric shafts in the prior art, when one of the eccentric shafts fails, the other one or two eccentric shafts cannot maintain support in a relatively symmetrical manner, and the stability is greatly reduced. However, with the reduction gear device of the utility model, two or three planetary eccentric shafts and two or three cycloid eccentric shafts, a total of four or six eccentric shafts, when individual failures occur, the gear meshing and the stability of the eccentric shaft support can be better maintained, and the overall vibration of the reduction gear device is low.

[0010] In addition, the eccentric shaft has enhanced torque transmission capacity and can obtain high power density. Under the same torque requirements, compared with the reducers in the prior art, the reducer size and weight can be reduced. When used under the rated torque conditions of the traditional reducer, the service life of the reducer can be greatly extended.

[0011] Further, when the number of the planetary eccentric shafts is 2N, the planetary gears are provided with two; when the number of the planetary eccentric shafts is 3N, the planetary gears are provided with three; when the number of the planetary eccentric shafts satisfies both 2N and 3N, the planetary gears are provided with three; and a plurality of the planetary gears are arranged in a circular array around the input shaft.

[0012] By adopting the above technical solution, the number of planetary gears is maintained at two or three and is arranged in a circular array around the input shaft. The upper limit of the speed ratio decreases as the number of planetary gears increases. Two or three planetary gears have little effect on the speed ratio range and can maintain the upper limit of the speed ratio to a greater extent, thereby avoiding the number of planetary gears always being the same as the number of planetary eccentric shafts, affecting the scope of use, and avoiding the input shaft from meshing with more planetary gears, resulting in an increase in motor power.

[0013] Furthermore, a mounting spline is provided at the end of the planetary eccentric shaft, and a growth spline is provided on the planetary wheel. The planetary eccentric shaft and the planetary wheel are installed and connected via the mounting spline and the growth spline.

[0014] By adopting the above technical solution, the installation of the planetary gear is achieved by installing splines and increasing splines between the planetary eccentric shaft and the planetary gear. Since the number of planetary gears is always maintained at two or three, the spline connection contact surface between the planetary gear and the planetary eccentric shaft is increased by increasing the spline, thereby improving the impact resistance of the inner teeth of the planetary gear and greatly improving the smoothness of the operation of the planetary gear.

[0015] Furthermore, the end of the cycloid eccentric shaft close to the planetary gear has no spline, and when the planetary gear is mounted on the end of the planetary eccentric shaft, the planetary gear is located outside the end of the cycloid eccentric shaft close to it.

[0016] By adopting the above technical solution, there is no spline at the end of the cycloid eccentric shaft, which not only makes it easy to distinguish the cycloid eccentric shaft and the planetary eccentric shaft during installation, but also the planetary gear is located on the outside of the end of the cycloid eccentric shaft after installation. This avoids the cycloid eccentric shaft from interfering with the planetary gear when the distance between the cycloid eccentric shaft and the planetary eccentric shaft is small and the planetary gear is large, thereby ensuring the normal installation and meshing operation of two or three planetary gears.

[0017] Furthermore, the cycloid wheel is provided with a plurality of cycloid bearing holes corresponding to the planetary eccentric shaft and the cycloid eccentric shaft one by one in the circumferential array, and needle rollers and retainer bearings are installed between the outer walls of the cams on the planetary eccentric shaft and the cycloid eccentric shaft and the inner walls of the corresponding cycloid bearing holes.

[0018] By adopting the above technical solution, the planetary eccentric shaft, the cycloid eccentric shaft and the cycloid wheel are installed through needle rollers and cage bearings, which can reduce the weight of the cycloid wheel while ensuring the overall strength of the cycloid wheel.

[0019] Furthermore, the output shaft and the output end cover are provided with a plurality of mounting bearing holes in a circumferential array corresponding to the planetary eccentric shaft and the cycloid eccentric shaft, and tapered roller bearings are installed between the true circular outer walls at both ends of the planetary eccentric shaft and the cycloid eccentric shaft and the corresponding inner walls of the mounting bearing holes.

[0020] By adopting the above technical solution, the planetary eccentric shaft and the cycloid eccentric shaft are installed with the output shaft and the output end cover through tapered roller bearings, thereby ensuring the working stability of the eccentric shaft and reducing the weight of the output shaft and the output end cover.

[0021] Furthermore, the output shaft is provided with mounting columns located between adjacent mounting bearing holes, a plurality of the mounting columns are arranged in a circular array around the input shaft, the output end cover is provided with mounting holes corresponding one to one with the mounting columns, and the mounting columns are provided with threaded holes and pin holes.

[0022] By adopting the above technical solution, the output shaft and the output end cover are limitedly installed through the mounting column and the mounting hole, and screws and taper pins are installed through the threaded holes and pin holes to achieve a fixed connection between the output shaft and the output end cover to form an output disc frame. Among them, the mounting column and the mounting bearing hole are arranged at intervals and the mounting column is arranged in a circular array, which can ensure the stability of the connection between the output shaft and the output end cover.

[0023] Furthermore, a plurality of meshing needle rollers are provided between the inner teeth of the pin gear housing and the outer teeth of the cycloid wheel, and the meshing torque transmission capacity thereof matches the torque transmission capacity of the eccentric shaft, and the number of teeth of the inner teeth of the pin gear housing and the outer teeth of the cycloid wheel differ by one.

[0024] By adopting the above technical solution, the number of internal teeth of the pinion housing, external teeth of the cycloid wheel and needle rollers is increased compared to the existing reducer of the same level, ensuring that the meshing transmission torque capacity of the secondary cycloid pinwheel reduction mechanism matches the torque transmission capacity of the eccentric shaft, thereby ensuring an increase in the overall torque capacity.

[0025] In summary, the utility model has the following beneficial effects:

[0026] 1. In the utility model, by arranging the same number of planetary eccentric shafts and cycloid eccentric shafts arranged at intervals in a circumferential array, when individual failures occur in the planetary eccentric shafts, needle roller and cage bearings, tapered roller bearings, cycloid wheel outer teeth, pin gear housing inner teeth, needle rollers, etc., the stability of gear meshing and eccentric shaft support can be maintained, and the vibration of the reducer can be reduced;

[0027] 2. The utility model increases the number of eccentric shafts exponentially, and the torque transmission capacity is enhanced, so as to obtain a reducer with high power density. Under the same torque requirement, compared with the reducer of the prior art, the reducer size and weight can be reduced, and when the traditional reducer is used under the rated torque condition, the service life of the reducer can be greatly extended;

[0028] 3. In the utility model, the number of planetary gears is always two or three, which can maintain the upper limit of the speed ratio to a greater extent, avoid the number of planetary gears always being the same as the number of planetary eccentric shafts affecting the scope of use, and avoid the input shaft engaging with more planetary gears to increase the motor power; the planetary gear is installed and connected to the planetary eccentric shaft by increasing the spline, and the spline connection contact surface between the planetary gear and the planetary eccentric shaft is increased by increasing the spline, thereby improving the impact resistance of the inner teeth of the planetary gear and greatly improving the smoothness of the operation of the planetary gear. The cycloid eccentric shaft has no splines to avoid interference with the planetary gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of a high-stability reduction device;

[0030] Figure 2 It is a schematic diagram of the structure in which the planetary eccentric shaft of a high-stability reduction device is provided with two cycloid wheels;

[0031] Figure 3 It is a structural schematic diagram of a high-stability reduction device in which a planetary eccentric shaft is provided with three cycloid wheels;

[0032] Figure 4 It is a schematic diagram of the structure of a high-stability reduction gear when two planetary eccentric shafts are provided with output shafts;

[0033] Figure 5 It is a schematic diagram of the structure of the output shaft when three planetary eccentric shafts are provided in a high stability reduction device;

[0034] Figure 6 It is a schematic diagram of the distribution of planetary gears when two eccentric planetary shafts are provided in a high-stability reduction device;

[0035] Figure 7 This is a schematic diagram of the distribution of planetary gears when there are three planetary eccentric shafts in a high-stability reduction device;

[0036] Figure 8 It is a structural schematic diagram of a planetary eccentric shaft in a high-stability reduction gear;

[0037] Fig. 9 It is a schematic diagram of the structure of a planetary gear in a high-stability reduction gear;

[0038] Fig.10 The schematic diagram is a structural diagram of a cycloid eccentric shaft in a high-stability reduction device.

[0039] In the figure, 1, pin gear housing; 11, needle roller; 2, cycloid wheel; 21, cycloid bearing hole; 22, cycloid spoke hole; 3, output shaft; 31, mounting bearing hole; 32, mounting column; 33, threaded hole; 34, pin hole; 4, output end cover; 5, input shaft; 6, planetary gear; 61, growth spline; 7, planetary eccentric shaft; 71, mounting spline; 8, cycloid eccentric shaft; 9, needle roller and cage bearing; 10, tapered roller bearing. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] A high stability deceleration device, such as Figure 1 As shown, it includes a coaxially arranged pin-tooth housing 1, two cycloid wheels 2, an output shaft 3, an output end cover 4 and an input shaft 5. A plurality of meshing needle rollers 11 are arranged between the inner teeth of the pin-tooth housing 1 and the outer teeth of the cycloid wheel 2, and the number of teeth of the inner teeth of the pin-tooth housing 1 and the outer teeth of the cycloid wheel 2 differ by one. It also includes planetary wheels 6 and eccentric shafts. A plurality of eccentric shafts are arranged in a circular array around the input shaft 5. The eccentric shafts include the same number of planetary eccentric shafts 7 and cycloid eccentric shafts 8. The planetary eccentric shafts 7 and the cycloid eccentric shafts 8 are arranged at intervals in the circumference. The planetary wheels 6 are mounted at the ends of the planetary eccentric shafts 7 and meshed with the input shaft 5. Among them, the number of the planetary eccentric shafts 7 and the cycloid eccentric shafts 8 are both 2N or 3N, N≥1 and N is an integer, such as the number of the planetary eccentric shafts 7 and the cycloid eccentric shafts 8 are both two, three, four or six, etc. Preferably, the number of the planetary eccentric shafts 7 and the cycloid eccentric shafts 8 are both two or three, that is, the total number of the eccentric shafts is four or six. Figure 1 That is, it is a cross-sectional view when there are three planetary eccentric shafts 7 and three cycloid eccentric shafts 8 in the reduction gear of the utility model.

[0042] like Figure 1 As shown, the basic structure and working principle of the reduction device in the utility model are the same as those in the prior art. The difference is that in the utility model, the input shaft 5 is meshed with the planetary gear 6, and the planetary eccentric shaft 7 is driven to rotate through the planetary gear 6. The planetary eccentric shaft 7 transmits the torque of the first-stage planetary reduction mechanism to the secondary cycloid pinwheel reduction structure, driving the cycloid wheel 2 to rotate. The cycloid wheel 2 is meshed with the pin gear housing 1 through the needle roller 11 for transmission. During the rotation of the cycloid wheel 2, the cycloid eccentric shaft 8 is driven to rotate to transmit the torque of the secondary cycloid pinwheel reduction mechanism.

[0043] In the utility model, the overall number of eccentric shafts increases exponentially. When an individual planetary eccentric shaft 7 has defects and lacks load-bearing capacity, the remaining cycloid eccentric shafts 8 and the planetary eccentric shaft 7 jointly support and transfer the load. The greater the overall number of eccentric shafts, the smaller the impact of the reduction in load-bearing capacity and stability caused by the defects of individual planetary eccentric shafts 7. In particular, when there are only two or three eccentric shafts in the prior art, when one of the eccentric shafts fails, the other or two eccentric shafts cannot maintain support in a relatively symmetrical manner, and the stability is greatly reduced. However, with the reduction gear device of the utility model, two or three planetary eccentric shafts 7 and two or three cycloid eccentric shafts 8, a total of four or six eccentric shafts, when individual failures occur, the gear meshing and the stability of the eccentric shaft support can be better maintained, and the overall vibration of the reduction gear device is low.

[0044] In addition, the eccentric shaft has enhanced torque transmission capacity and can obtain high power density. Under the same torque requirements, compared with the reducers in the prior art, the reducer size and weight can be reduced. When used under the rated torque conditions of the traditional reducer, the service life of the reducer can be greatly extended.

[0045] In order to facilitate the installation and connection of the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 with the cycloid wheel 2 and ensure the stability of the rotation process, as Figure 1 and Figure 2 As shown, a plurality of cycloid bearing holes 21 corresponding to the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 are arranged in a circumferential array on the cycloid wheel 2, and needle roller and cage bearings 9 are installed between the outer wall of the cam on the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 and the inner wall of the corresponding cycloid bearing hole 21. Figure 2 This is a schematic diagram of the cycloid bearing hole 21 on the cycloid wheel 2 when both the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 are two. Figure 3 It is a schematic diagram of the cycloid bearing hole 21 on the cycloid wheel 2 when there are three planetary eccentric shafts 7 and three cycloid eccentric shafts 8.

[0046] In order to facilitate the installation and connection of the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 with the output shaft 3 and the output end cover 4 and ensure the stability of their rotation process, as Figure 1 and Figure 4 As shown, a plurality of mounting bearing holes 31 corresponding to the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 are arranged in a circumferential array on the output shaft 3 and the output end cover 4, and tapered roller bearings 10 are installed between the true circular outer walls at both ends of the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 and the corresponding inner walls of the mounting bearing holes 31. Figure 4 Schematic diagram of the mounting bearing hole 31 on the output shaft 3 when there are two planetary eccentric shafts 7 and two cycloid eccentric shafts 8. Figure 5 It is a schematic diagram of the mounting bearing hole 31 on the output shaft 3 when there are three planetary eccentric shafts 7 and three cycloid eccentric shafts 8.

[0047] In addition, in order to realize the fixed connection between the output shaft 3 and the output end cover 4, as shown in FIG. Figure 4 or Figure 5 As shown, the output shaft 3 is provided with mounting columns 32 located between adjacent mounting bearing holes 31, and a plurality of mounting columns 32 are arranged in an array around the circumference of the input shaft 5. The output end cover 4 is provided with mounting holes corresponding to the mounting columns 32, and the mounting columns 32 are provided with threaded holes 33 and pin holes 34. The mounting columns 32 are inserted into the corresponding mounting holes, and the mounting connection is achieved by screws and taper pins that cooperate with the threaded holes 33 and the pin holes 34. Figure 2 or Figure 3 As shown, the cycloid wheel 2 is provided with cycloid spoke holes 22 corresponding to the mounting posts 32 .

[0048] In this embodiment, compared with the same reducer in the prior art, the number of internal teeth of the pinion housing 1 and the number of external teeth of the cycloid wheel 2 are increased by less than one time, ensuring that the meshing torque transmission capacity of the pinion housing 1, the needle roller 11 and the cycloid wheel 2 matches the torque transmission capacity of the planetary eccentric shaft 7 and the cycloid eccentric shaft 8, thereby ensuring that the overall torque capacity is increased compared with the existing reducer.

[0049] To ensure the speed ratio, Figure 6 and Figure 7 As shown, in the present invention, the number of planetary gears 6 is two or three and they are arranged in an array around the circumference of the input shaft 5. Specifically, when the number of planetary eccentric shafts 7 is 2N, there are two planetary gears 6, when the number of planetary eccentric shafts 7 is 3N, there are three planetary gears 6, and when the number of planetary eccentric shafts 7 satisfies both 2N and 3N, there are three planetary gears 6, and the planetary gears 6 are arranged in an array around the circumference of the input shaft 5. Figure 6 As shown, when there are two planetary eccentric shafts 7, two planetary gears 6 are provided. Figure 7 As shown, when the number of planetary eccentric shafts 7 is three, three planetary wheels 6 are provided. In other embodiments, when the number of planetary eccentric shafts 7 is four, two planetary wheels 6 are provided, and when the number of planetary eccentric shafts 7 is six, three planetary wheels 6 are provided. The upper limit of the speed ratio decreases as the number of planetary wheels 6 increases. In the utility model, two or three planetary wheels 6 have little effect on the speed ratio range, and can maintain the upper limit of the speed ratio to a greater extent, avoiding the number of planetary wheels 6 always being the same as the number of planetary eccentric shafts 7, which affects the use range, and avoiding the input shaft 5 from meshing with more planetary wheels 6, resulting in an increase in motor power.

[0050] To realize the installation of the planetary gear 6, as Figure 8 As shown, the end of the planetary eccentric shaft 7 is provided with a mounting spline 71, as shown in FIG. Fig. 9 As shown, the planetary gear 6 is provided with a growth spline 61, such as Figure 1As shown, the planetary eccentric shaft 7 and the planetary wheel 6 are connected by installing the spline 71 and increasing the spline 61. The planetary wheel 6 is installed by installing the spline 71 and increasing the spline 61 between the planetary eccentric shaft 7 and the planetary wheel 6. Since the number of the planetary wheels 6 is always kept at two or three, the spline connection contact surface between the planetary wheel 6 and the planetary eccentric shaft 7 is increased by increasing the spline 61, thereby improving the impact resistance of the inner teeth of the planetary wheel 6 and greatly improving the smoothness of the operation of the planetary wheel 6.

[0051] In order to avoid the planetary eccentric shaft 7 and the cycloid eccentric shaft 8 being too large in number, resulting in the cycloid eccentric shaft 8 and the planetary eccentric shaft 7 being too close to each other and affecting the planetary gear 6, as shown in FIG. Figure 1 and Fig.10 As shown, the end of the cycloid eccentric shaft 8 close to the planetary gear 6 has no spline. When the planetary gear 6 is installed at the end of the planetary eccentric shaft 7, the planetary gear 6 is located on the outer side of the end of the cycloid eccentric shaft 8 close to it. This not only makes it easy to distinguish the cycloid eccentric shaft 8 and the planetary eccentric shaft 7 during installation, but also the end of the cycloid eccentric shaft 8 and the end wall of the planetary gear 6 are not in the same plane, thereby avoiding the cycloid eccentric shaft 8 limiting the size of the planetary gear 6 or interfering with the operation of the planetary gear 6.

[0052] Working principle and usage of the utility model:

[0053] The input shaft 5 is meshed with the planetary gear 6, and the planetary gear 6 drives the planetary eccentric shaft 7 to rotate. The planetary eccentric shaft 7 transmits the torque of the first-stage planetary reduction mechanism to the secondary cycloid pinwheel reduction structure, drives the cycloid wheel 2 to rotate, and the cycloid wheel 2 is meshed with the pin gear housing 1 through the needle roller 11. During the rotation of the cycloid wheel 2, the cycloid eccentric shaft 8 is driven to rotate and transmit the torque of the secondary cycloid pinwheel reduction mechanism. When individual failures occur in the planetary eccentric shaft 7, the needle roller and cage bearing 9, the tapered roller bearing 10, the outer teeth of the cycloid wheel 2, the inner teeth of the pin gear housing 1, the needle roller 11, etc., the remaining planetary eccentric shafts 7 and the cycloid eccentric shaft 8 work together to maintain the stability of the gear meshing and the eccentric shaft support, and reduce the vibration of the reducer. In the utility model, the overall number of eccentric shafts is increased, and the torque transmission capacity is enhanced. Under the same torque requirement, compared with the reducer of the prior art, the reducer size and weight can be reduced. When used under the rated torque condition of the traditional reducer, the service life of the reducer can be greatly extended.

[0054] The above description shows and describes the preferred embodiments of the utility model. As mentioned above, it should be understood that the utility model is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the utility model concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, and should be within the scope of protection of the claims attached to the utility model.

Claims

1. A high-stability reduction gear, comprising a coaxially arranged pin gear housing (1), a cycloidal wheel (2), an output shaft (3), an output end cover (4) and an input shaft (5), characterized in that: It also includes planetary wheels (6) and eccentric shafts, wherein a plurality of eccentric shafts are arranged in a circular array around the input shaft (5), wherein the eccentric shafts include planetary eccentric shafts (7) and cycloid eccentric shafts (8) of the same number, wherein the planetary eccentric shafts (7) and the cycloid eccentric shafts (8) are arranged at a circumferential interval, and the number of the planetary eccentric shafts (7) and the cycloid eccentric shafts (8) are both 2N or 3N, where N≥1 and N is an integer; and the planetary wheels (6) are mounted at the ends of the planetary eccentric shafts (7) and mesh with the input shaft (5).

2. A high stability deceleration device according to claim 1, characterized in that: When the number of the planetary eccentric shafts (7) is 2N, the planetary gears (6) are provided with two; when the number of the planetary eccentric shafts (7) is 3N, the planetary gears (6) are provided with three; when the number of the planetary eccentric shafts (7) satisfies both 2N and 3N, the planetary gears (6) are provided with three; and a plurality of the planetary gears (6) are arranged in a circular array around the input shaft (5).

3. A high stability deceleration device according to claim 2, characterized in that: The end of the planetary eccentric shaft (7) is provided with a mounting spline (71), and the planetary wheel (6) is provided with a growth spline (61). The planetary eccentric shaft (7) and the planetary wheel (6) are mounted and connected via the mounting spline (71) and the growth spline (61).

4. A high stability deceleration device according to claim 3, characterized in that: The end of the cycloid eccentric shaft (8) close to the planetary gear (6) has no splines, and when the planetary gear (6) is mounted on the end of the planetary eccentric shaft (7), the planetary gear (6) is located outside the end of the cycloid eccentric shaft (8) close to it.

5. A high stability deceleration device according to claim 1, characterized in that: The cycloid wheel (2) is provided with a plurality of cycloid bearing holes (21) corresponding one to one with the planetary eccentric shaft (7) and the cycloid eccentric shaft (8) in a circumferential array, and needle roller and cage bearings (9) are installed between the outer wall of the cam on the planetary eccentric shaft (7) and the cycloid eccentric shaft (8) and the inner wall of the corresponding cycloid bearing hole (21).

6. A high stability deceleration device according to claim 1 or 5, characterized in that: The output shaft (3) and the output end cover (4) are both provided with a plurality of mounting bearing holes (31) in a circumferential array corresponding to the planetary eccentric shaft (7) and the cycloid eccentric shaft (8), and tapered roller bearings (10) are installed between the true circular outer walls at both ends of the planetary eccentric shaft (7) and the cycloid eccentric shaft (8) and the inner walls of the corresponding mounting bearing holes (31).

7. A high stability deceleration device according to claim 6, characterized in that: The output shaft (3) is provided with a mounting column (32) located between adjacent mounting bearing holes (31), and a plurality of the mounting columns (32) are arranged in a circular array around the input shaft (5). The output end cover (4) is provided with mounting holes corresponding to the mounting columns (32) one by one, and the mounting columns (32) are provided with threaded holes (33) and pin holes (34).

8. A high stability deceleration device according to claim 1, characterized in that: A plurality of meshing needle rollers (11) are provided between the inner teeth of the pin gear housing (1) and the outer teeth of the cycloidal wheel (2), and the meshing transmission torque capacity thereof matches the transmission torque capacity of the eccentric shaft, and the number of teeth of the inner teeth of the pin gear housing (1) and the outer teeth of the cycloidal wheel (2) differ by one.

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