A movable tooth speed reducer with torsion spring elastic gap elimination structure

Abstract

This utility model discloses a reciprocating gear reducer with a torsion spring elastic backlash elimination structure, including an eccentric shaft assembly, a reciprocating gear frame assembly, an internal gear ring assembly, a reciprocating gear assembly, and a main bearing assembly. The eccentric shaft assembly includes an eccentric shaft body, a shock wave generator, a shock wave generator outer ring, a torsion preload spring, a spring preload adjustment block, a shock wave generator tangential clearance adjustment pad, an eccentric shaft retaining ring, an eccentric shaft washer, a needle roller bearing, and an eccentric shaft bearing. Two rows of shock waves are connected by the torsion preload spring, and the preload force of the torsion preload spring is adjusted by the spring preload adjustment block. This invention relates to the field of reciprocating gear reducer technology. By cooperating with the torsion preload spring and the adjustment block, backlash elimination is achieved at 10%-20% of the rated torque, resulting in low torque density loss. The reciprocating gear assembly features a pure rolling friction design, resulting in low wear and high efficiency. The modular structure is compact and lightweight, suitable for high-precision scenarios, with flexible clearance adjustment, optimized process, and improved assembly accuracy and service life.

Description

Technical Field

[0001] This utility model relates to the field of live gear reducers, specifically a live gear reducer employing a torsion spring elastic backlash elimination structure. Background Technology

[0002] Currently, there are various design schemes for quasi-direct drive CNC rotary table reducers. Commonly used reducers typically include planetary reducers, harmonic reducers, and RV reducers. Planetary reducers have a small first-stage reduction ratio, a double involute tooth structure, large transmission backlash, and low transmission rigidity. Therefore, they generally require elastic backlash elimination devices to reduce the backlash and improve transmission accuracy. The most typical planetary reducer used for manufacturing precision CNC rotary tables is the German PSC planetary reducer. This reducer uses a tapered tooth axial backlash elimination scheme, achieving a low backlash of approximately 6″. However, the reduction ratio of the last two planetary stages in this reducer can only reach 9-20, and its structure is relatively complex. In particular, many planetary gear teeth and their mating teeth require axial tapering, resulting in high technical difficulty and manufacturing costs. RV reducers... The RV reducer and harmonic reducer suffer from sliding tooth slippage, high precision control, and high manufacturing precision requirements, and also have significant backlash, making it difficult to meet the precision and reliability requirements of high-performance five-axis machine tools. Harmonic reducers have low transmission efficiency and are prone to overheating. Although the initial backlash is small, the low stiffness makes it difficult to improve the actual working precision. Double-layer roller tooth reducers and triple-layer roller tooth reducers have effectively solved the problems of sliding friction and wear, and low precision retention of RV reducers and harmonic reducers. In particular, the weakly elastic multi-layer roller structure can effectively reduce the machining precision requirements of key parts of the reducer and achieve load sharing. However, the multiple bearings of this type of reducer have a certain clearance, so the reducer still has a certain backlash of 6-10″. How to eliminate the backlash of rolling tooth reducers is an important technical problem that high-precision rotary tables need to solve.

[0003] This invention proposes an eccentric shaft torsion spring backlash elimination structure that consumes only about 10% of the rated torque and a live gear reducer using this structure. When there is no external torque, the two rows of internal gears interact with each other with a torque of about 1 / 10 of the rated torque to eliminate backlash. This ensures that the reducer output shaft can have corresponding output when the motor rotates without any positional uncertainty. When there is a large external torque, both rows of internal gears can output torque simultaneously to ensure that the torque density of the reducer does not decrease significantly due to backlash elimination. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a live gear reducer with a torsion spring elastic backlash elimination structure. By cooperating with the torsion preload spring and the adjusting block, backlash elimination is achieved at 10%-20% of the rated torque, resulting in low torque density loss. The live gear assembly features a pure rolling friction design, leading to low wear and high efficiency. The modular structure is compact and lightweight, making it suitable for high-precision scenarios. The backlash adjustment is flexible, and the optimized process improves assembly accuracy and service life.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: a live gear reducer with a torsion spring elastic backlash elimination structure, comprising an eccentric shaft assembly, a live gear frame assembly, an internal gear ring assembly, a live gear assembly, and a main bearing assembly;

[0008] The eccentric shaft assembly includes an eccentric shaft body, a shock generator, a shock generator outer ring, a torsion preload spring, a spring preload adjustment block, a shock generator tangential clearance adjustment pad, an eccentric shaft retaining ring, an eccentric shaft washer, a needle roller bearing, and an eccentric shaft bearing. Two rows of shock generators are connected by the torsion preload spring. The preload force of the torsion preload spring is adjusted by the spring preload adjustment block. The shock generator tangential clearance adjustment pad is disposed between the shock generator and the eccentric shaft body. The tangential relative movement clearance between the two rows of shock generators is adjusted by grinding the thickness of the shock generator tangential clearance adjustment pad. The eccentric shaft retaining ring and the eccentric shaft washer are used to fix the needle roller bearing and the eccentric shaft bearing.

[0009] The movable gear assembly includes a left movable gear, a middle movable gear, a right movable gear, a movable gear pin, a movable gear locking screw, a shock wave baffle, and a shock wave assembly spring retainer. The movable gear assembly is disposed between the left, middle, and right movable gears and is fixed by the movable gear pin and the movable gear locking screw. The shock wave assembly is limited by the shock wave baffle and the shock wave assembly spring retainer.

[0010] The internal gear ring assembly includes a left internal gear ring, a right internal gear ring, an internal gear ring connecting pin, an internal gear ring connecting screw, an internal gear ring seal, and an internal gear ring spacer. The left internal gear ring and the right internal gear ring are fixedly connected by the internal gear ring connecting pin and the internal gear ring connecting screw. The internal gear ring seal and the internal gear ring spacer are used for sealing and positioning, respectively.

[0011] Preferably, the main bearing assembly includes a radial bearing, an end face bearing, and a bearing isolating ring. The radial bearing and the end face bearing are used to support the eccentric shaft assembly and the gear carrier assembly, and the bearing isolating ring is used to separate the radial bearing and the end face bearing.

[0012] Preferably, the eccentric shaft assembly further includes a shock bearing, which is disposed between the shock and the outer ring of the shock to support the rotation of the outer ring of the shock.

[0013] Preferably, the movable tooth assembly includes a movable tooth collar, an upper mandrel, a lower mandrel, and a K-type assembly. The upper mandrel and the lower mandrel are connected by the K-type assembly. The movable tooth collar is sleeved on the outside of the upper mandrel and the lower mandrel. The K-type assembly has a hinged structure, so that the movable tooth collar and the tooth surface of the inner tooth ring assembly form pure rolling contact.

[0014] Preferably, the preload of the torsion preload spring is 10%-20% of the rated torque. When the load is less than the rated torque, the two shock waves eliminate tooth backlash through the preload of the torsion preload spring. When the load is greater than the preload torque, the two shock waves can bear the load simultaneously.

[0015] Preferably, the left, middle, and right movable gear frames of the movable gear frame assembly are all manufactured using a tooth-pulling process.

[0016] (III) Beneficial Effects

[0017] This utility model provides a live gear reducer employing a torsion spring elastic backlash elimination structure. It has the following beneficial effects:

[0018] (1) This type of live gear reducer with a torsion spring elastic backlash elimination structure has controllable backlash elimination torque and small torque density loss. Through the cooperation of the torsion preload spring and the spring preload adjustment block, the backlash elimination torque can be controlled at about 10% of the rated torque. If the preload coefficient W is 0.1 to 0.2, compared with the traditional scheme which consumes 50% of the rated torque for backlash elimination, this structure only requires a very small torque, about 1 / 10 of the rated torque, to eliminate the backlash when there is no external load. When the load increases, the two shock generators can output torque at the same time to ensure that the effective torque density of the reducer is kept above 80%, that is, 0.8T1×transmission ratio, and avoids a significant performance drop due to backlash elimination.

[0019] (2) This type of live gear reducer with a torsion spring elastic backlash elimination structure has a pure rolling friction design, low wear and long service life. The live gear assembly uses a K-type assembly to connect the upper spindle and the lower spindle, and forms rolling contact with the inner tooth surface of the inner gear ring assembly through the live gear sleeve, replacing the conical tooth sliding friction of the traditional planetary reducer or the needle tooth sliding link of the RV reducer. This design can eliminate tooth surface sliding wear, avoid the generation of wear iron powder, improve the transmission accuracy retention and reduce the service life of the reducer, and at the same time reduce heat generation and improve transmission efficiency.

[0020] (3) This type of live gear reducer with a torsion spring elastic backlash elimination structure is compact and lightweight, suitable for high-precision scenarios. Through the modular design of the split internal gear ring assembly, left internal gear ring, right internal gear ring and three-layer live gear frame assembly, left live gear frame, middle live gear frame and right live gear frame, the material consumption is reduced while ensuring strength. The main bearing assembly adopts a radial bearing and end face bearing separation structure, and the space layout is optimized with bearing isolation rings, making the overall volume of the reducer compact, meeting the requirements of lightweight and high torque density of the five-axis machine tool double swing head, avoiding interference with the workpiece, and reducing the difficulty and cost of machine tool manufacturing.

[0021] (4) This type of live gear reducer with a torsion spring elastic backlash elimination structure has flexible gap adjustment and optimized processing technology. The eccentric shaft assembly precisely controls the tangential relative motion gap of the two shock generators through the grinding thickness of the shock generator tangential gap adjustment pad. There is no need for complex axial modification or conical tooth processing. At the same time, the end face key plus torsion spring structure adopts a special process. During the eccentric shaft processing, the gap is reserved by the interference fit adjustment block. After grinding, the thickness of the adjustment block is reduced to obtain the required backlash elimination gap. Moreover, the installation positions of the two end face key pad blocks are opposite, ensuring that the single torsion spring can achieve backlash elimination in the transition area, simplifying the manufacturing process and improving the assembly accuracy. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view of the reducer of this utility model;

[0023] Figure 2 This is a cross-sectional view of the reducer shaft of this utility model;

[0024] Figure 3 This is a cross-sectional view of the eccentric shaft assembly of this utility model;

[0025] Figure 4 This is a cross-sectional view of the spring structure of this utility model;

[0026] Figure 5 This is an external view of the eccentric shaft assembly of this utility model.

[0027] In the diagram: 1. Eccentric shaft assembly; 101. Eccentric shaft retaining ring; 102. Eccentric shaft washer; 103. Needle roller bearing; 104. Eccentric shaft body; 105. Eccentric shaft bearing; 106. Shock generator; 107. Shock generator outer ring; 108. Shock generator bearing; 109. Torsional preload spring; 110. Spring preload adjusting block; 111. Shock generator tangential clearance adjusting shim; 2. Hinged gear assembly; 201. Hinged gear pin; 202. Hinged gear lock 1. Tightening screw; 203. Shock assembly spring retainer; 204. Right movable gear frame; 205. Middle movable gear frame; 206. Left movable gear frame; 207. Shock baffle; 3. Internal gear ring assembly; 301. Internal gear ring seal; 302. Left internal gear ring; 303. Internal gear ring connecting pin; 304. Internal gear ring connecting screw; 305. Internal gear ring spacer; 306. Right internal gear ring; 4. Movable gear assembly; 401. Movable gear sleeve; 402. Upper mandrel; 403. K-type assembly; 404. Lower mandrel; 5. Main bearing assembly; 501. Radial bearing; 502. Bearing isolator ring; 503. End face bearing. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-5 The present invention provides a technical solution: a live gear reducer with a torsion spring elastic backlash elimination structure, comprising an eccentric shaft assembly 1, a live gear frame assembly 2, an internal gear ring assembly 3, a live gear assembly 4, and a main bearing assembly 5;

[0030] The eccentric shaft assembly 1 includes an eccentric shaft body 104, a shock generator 106, a shock generator outer ring 107, a torsion preload spring 109, a spring preload adjustment block 110, a shock generator tangential clearance adjustment pad 111, an eccentric shaft retaining ring 101, an eccentric shaft washer 102, a needle roller bearing 103, and an eccentric shaft bearing 105. Two rows of shock generators 106 are connected by the torsion preload spring 109. The preload force of the torsion preload spring 109 is adjusted by the spring preload adjustment block 110. The spring preload adjustment block 110 can control the backlash elimination torque to approximately 10% of the rated torque. The preload coefficient W is 0.1-0.2, and only 1 / 10 of the rated torque is required under no load. This eliminates backlash. When the load increases, the two shockwave units 106 output torque synchronously, ensuring an effective torque density ≥80%. The shockwave unit tangential clearance adjustment pad 111 is located between the shockwave unit 106 and the eccentric shaft body 104. The tangential relative movement clearance between the two shockwave units 106 is adjusted by grinding the thickness of the shockwave unit tangential clearance adjustment pad 111, precisely controlling the tangential clearance. When there is no load, the torsion spring preload causes the two shockwave units 106 to slightly contact each other to eliminate backlash. When there is a load, the two shockwave units 106 synchronously share the torque to avoid single-row overload. The eccentric shaft retaining ring 101 and the eccentric shaft washer 102 are used to fix the needle roller bearing 103 and the eccentric shaft bearing 105.

[0031] The movable gear frame assembly 2 includes a left movable gear frame 206, a middle movable gear frame 204, a right movable gear frame 205, a right movable gear frame, a movable gear frame pin 201, a movable gear frame locking screw 202, a shock wave baffle 207, and a shock wave assembly spring retainer 203. The movable gear assembly 4 is disposed between the left movable gear frame 206, the middle movable gear frame 204, the right movable gear frame 205, and the right movable gear frame, and is fixed by the movable gear frame pin 201 and the movable gear frame locking screw 202. The three-layer movable gear frame modular design and the tooth-pulling process improve strength while reducing material consumption, achieving lightweighting.

[0032] The internal gear ring assembly 3 includes a left internal gear ring 302, a right internal gear ring 306, an internal gear ring connecting pin 303, an internal gear ring connecting screw 304, an internal gear ring seal 301, and an internal gear ring spacer 305. The left internal gear ring 302 and the right internal gear ring 306 are fixedly connected by the internal gear ring connecting pin 303 and the internal gear ring connecting screw 304, fixing the internal gear ring as the basis for transmission reaction force. The internal gear ring seal 301 and the internal gear ring spacer 305 are used for sealing and positioning, respectively. The split internal gear ring structure facilitates assembly and debugging and improves manufacturing efficiency.

[0033] The movable gear assembly 4 includes a movable gear ring 401, an upper spindle 402, a lower spindle 404, and a K-type assembly 403. The upper spindle 402 and the lower spindle 404 are connected by the K-type assembly 403. The movable gear ring 401 is sleeved on the outside of the upper spindle 402 and the lower spindle 404. The hinge structure of the K-type assembly allows the movable gear ring 401 to form a pure rolling contact with the inner gear ring, replacing the traditional sliding friction, eliminating wear iron powder, improving transmission efficiency, and reducing heat generation. When the shock wave outer ring 107 pushes the movable gear ring 401 to move radially, the inner tooth curved surface restricts its radial displacement, decomposing it into tangential motion to drive the movable gear frame to rotate.

[0034] The main bearing assembly 5 includes a radial bearing 501, an end face bearing 503, and a bearing isolation ring 502. The radial bearing 501 and the end face bearing 503 are used to support the eccentric shaft assembly 1 and the movable gear carrier assembly 2. The bearing isolation ring 502 is used to separate the radial bearing 501 and the end face bearing 503. The split bearing structure optimizes the spatial layout, making the reducer compact and meeting the requirements of high torque density and anti-interference of the five-axis machine tool double swing head. The radial bearing 501 bears the radial force, and the end face bearing 503 bears the axial force, ensuring the rigidity of the transmission chain.

[0035] The eccentric shaft assembly 1 also includes a shock wave tangential clearance adjustment pad 111, which is disposed between the shock wave 106 and the eccentric shaft body 104. The tangential relative movement clearance between the two rows of shock waves 106 is adjusted by grinding the thickness of the shock wave tangential clearance adjustment pad 111. No complex axial shaping is required; the clearance can be precisely controlled by grinding the thickness of the adjustment pad, simplifying the processing technology. The eccentric shaft assembly 1 also includes a shock wave bearing 108, which is disposed between the shock wave 106 and the shock wave outer ring 107 to support the rotation of the shock wave outer ring 107. The rolling bearing reduces the friction between the shock wave 106 and the outer ring, improving transmission efficiency.

[0036] The live gear assembly 4 also includes a K-type assembly 403, through which the upper spindle 402 and the lower spindle 404 are connected. The live gear collar 401 is sleeved on the outside of the upper spindle 402 and the lower spindle 404. The pure rolling friction design extends the service life and reduces wear.

[0037] The internal gear ring assembly 3 also includes an internal gear ring connecting pin 303 and an internal gear ring connecting screw 304. The left internal gear ring 302 and the right internal gear ring 306 are fixedly connected by the internal gear ring connecting pin 303 and the internal gear ring connecting screw 304. The modular design facilitates disassembly and maintenance.

[0038] The movable gear assembly 2 is fixed by the movable gear pin 201 and the movable gear locking screw 202. The shock generator 106 assembly is limited by the shock generator baffle 207 and the shock generator assembly spring retainer 203. The rigid connection ensures the stability of the output torque of the movable gear and the limiting structure prevents the shock generator 106 from moving axially.

[0039] Working principle: The radial movement of the live gear assembly 4 is driven by the eccentric shaft assembly 1, and the tangential transmission is achieved by the internal gear ring. Combined with the torsion spring backlash elimination structure, a high-precision and low-wear deceleration process is ensured.

[0040] The power input is driven by the shock 106. The eccentric shaft assembly 1 serves as the power input end and is driven to rotate at high speed by an external motor. The two rows of shock 106 on the eccentric shaft body 104 are elastically connected by a torsion preload spring 109. The preload force is adjusted by the spring preload adjustment block 110 to ensure that the two shock 106 fit together with a very small torque, about 1 / 10 of the rated torque, when there is no load, thus eliminating tangential gap. A shock outer ring 107 is sleeved on the outside of the shock 106. The two are rolled support by the shock bearing 108 to reduce friction.

[0041] When the outer ring 107 of the shock generator rotates with the eccentric shaft, it pushes the movable tooth assembly 4 to reciprocate radially. The movable tooth assembly 4 is composed of a movable tooth collar 401, an upper spindle 402, a lower spindle 404, and a K-type assembly 403. The upper and lower spindles 404 are hinged through the K-type assembly 403, so that the movable tooth collar 401 can flexibly fit the inner tooth curved surface of the inner tooth ring assembly 3. When the outer ring 107 of the shock generator squeezes the movable tooth collar 401, the movable tooth assembly 4 moves radially outward and contacts the inner tooth surface of the inner tooth ring.

[0042] The tangential motion conversion and deceleration output are achieved by fixing the internal gear ring assembly 3. Its left internal gear ring 302 and right internal gear ring 306 are combined into an integral internal gear structure by connecting pins and screws. The live gear ring 401 is restricted by the internal gear curved surface during radial motion, and its radial displacement is decomposed into tangential motion, which drives the live gear frame assembly 2 to rotate at low speed. The live gear frame assembly 2 is fixed by three layers of live gear frames (left, middle and right) by pins and screws to form the output end.

[0043] The reduction ratio is achieved by using a gear carrier with a theoretical number of teeth of Z2. In practice, Z2 / 2 teeth are retained through a tooth-removal process to improve strength. For every 1 revolution of the eccentric shaft, the gear carrier rotates 1 / Z2 revolutions, thus achieving a large reduction ratio transmission. For example, when Z2=100, the reduction ratio is 100:1.

[0044] Bearing support and clearance control: The main bearing assembly 5 supports the eccentric shaft assembly 1 and the live gear assembly 2 respectively through the radial bearing 501 and the end face bearing 503. The bearing isolation ring 502 ensures that the two types of bearings are accurately positioned and avoids axial movement. In the eccentric shaft assembly 1, the shock tangential clearance adjustment shim 111 precisely controls the tangential relative clearance of the two shocks 106 by grinding the thickness. With the help of the torsion spring to eliminate the clearance, it ensures that there is no backlash in the transmission chain when there is no load. When there is a load, the two shocks 106 output torque synchronously, each bearing about 50% of the rated load, avoiding torque density loss.

[0045] The backlash elimination and load transfer mechanism works as follows: When there is no external load, the preload force of the torsion preload spring 109 causes the two shock generators 106 to slightly come into contact, eliminating tangential backlash and ensuring that the live gear carrier responds instantly without positional lag when the motor rotates slightly. When there is an external load, if the load exceeds the preload force, the two shock generators 106 overcome the spring force and slightly separate to both sides. Each shock generator pushes the live gear assembly 4 through the outer ring 107 of the shock generator to achieve double-row load sharing transmission. At this time, each shock generator 106 bears about 50% of the input torque. For example, when the rated load is T1, the output of a single shock generator 106 is 0.5T1, and the total effective output torque is T1 × transmission ratio, ensuring high torque density.

[0046] In summary, pure rolling friction is achieved through rolling contact between the live gear ring 401 and the internal gear ring, and between the shock wave generator outer ring 107 and the live gear assembly 4. This avoids the sliding wear of traditional reducers, improving lifespan and efficiency. Elastic backlash elimination is achieved by the torsion spring consuming only 10% of the rated torque to preload and eliminate backlash. When the load increases, it automatically switches to double-row load sharing to balance backlash elimination and torque output. The modular design, with its combination of a split internal gear ring, a three-layer live gear frame, and bearing assemblies, simplifies the manufacturing process, facilitates assembly and debugging, and is suitable for lightweight, high-precision five-axis machine tool rotary tables.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0048] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure, characterized in that: It includes an eccentric shaft assembly (1), a live gear frame assembly (2), an internal gear ring assembly (3), a live gear assembly (4), and a main bearing assembly (5). The eccentric shaft assembly (1) includes an eccentric shaft body (104), a shock generator (106), a shock generator outer ring (107), a torsion preload spring (109), a spring preload adjustment block (110), a shock generator tangential clearance adjustment pad (111), an eccentric shaft retaining ring (101), an eccentric shaft washer (102), a needle roller bearing (103), and an eccentric shaft bearing (105). The two rows of shock generators (106) are connected by the torsion preload spring (109). The preload of the shock wave (106) is adjusted by the spring preload adjustment block (110). The shock wave tangential clearance adjustment pad (111) is set between the shock wave (106) and the eccentric shaft body (104). The tangential relative movement clearance of the two shock waves (106) is adjusted by grinding the thickness of the shock wave tangential clearance adjustment pad (111). The eccentric shaft retaining ring (101) and the eccentric shaft washer (102) are used to fix the needle roller bearing (103) and the eccentric shaft bearing (105). The movable gear assembly (2) includes a left movable gear (206), a middle movable gear (205), a right movable gear (204), a movable gear pin (201), a movable gear locking screw (202), a shock baffle (207), and a shock assembly spring retainer (203). The movable gear assembly (4) is disposed between the left movable gear (206), the middle movable gear (205), and the right movable gear (204) and is fixed by the movable gear pin (201) and the movable gear locking screw (202). The shock (106) assembly is limited by the shock baffle (207) and the shock assembly spring retainer (203). The internal gear ring assembly (3) includes a left internal gear ring (302), a right internal gear ring (306), an internal gear ring connecting pin (303), an internal gear ring connecting screw (304), an internal gear ring seal (301), and an internal gear ring spacer (305). The left internal gear ring (302) and the right internal gear ring (306) are fixedly connected by the internal gear ring connecting pin (303) and the internal gear ring connecting screw (304). The internal gear ring seal (301) and the internal gear ring spacer (305) are used for sealing and positioning, respectively.

2. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure according to claim 1, characterized in that: The main bearing assembly (5) includes a radial bearing (501), an end face bearing (503), and a bearing isolation ring (502). The radial bearing (501) and the end face bearing (503) are used to support the eccentric shaft assembly (1) and the movable gear assembly (2). The bearing isolation ring (502) is used to separate the radial bearing (501) and the end face bearing (503).

3. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure according to claim 1, characterized in that: The eccentric shaft assembly (1) also includes a shock bearing (108), which is disposed between the shock (106) and the outer ring (107) of the shock, and is used to support the rotation of the outer ring (107) of the shock.

4. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure according to claim 1, characterized in that: The movable tooth assembly (4) includes a movable tooth collar (401), an upper mandrel (402), a lower mandrel (404), and a K-type assembly (403). The upper mandrel (402) and the lower mandrel (404) are connected by the K-type assembly (403). The movable tooth collar (401) is sleeved on the outside of the upper mandrel (402) and the lower mandrel (404). The K-type assembly (403) is a hinged structure, so that the movable tooth collar (401) and the tooth surface of the internal tooth ring assembly (3) form pure rolling contact.

5. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure according to claim 1, characterized in that: The preload of the torsion preload spring (109) is 10%-20% of the rated torque. When the load is less than the rated torque, the two shocks (106) eliminate the tooth backlash through the preload of the torsion preload spring (109). When the load is greater than the preload torque, the two shocks (106) can bear the load simultaneously.

6. A reciprocating gear reducer employing a torsion spring elastic backlash elimination structure according to claim 1, characterized in that: The left movable gear frame (206), middle movable gear frame (205) and right movable gear frame (204) of the movable gear frame assembly (2) are all processed by the tooth extraction process.

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