A roller needle built inside a cycloid speed reducer
By meshing the inner needle roller with the cycloidal wheel mechanism, a simply supported beam structure is formed, which solves the problems of instability and bending fatigue of the output shaft in the cycloidal pinwheel reducer, and realizes stable torque transmission and extends the life of the reducer.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN GUOSHENG POWER TECHNOLOGY CO LTD
- Filing Date
- 2025-10-24
- Publication Date
- 2026-07-21
AI Technical Summary
In the existing technology, the output shaft of the cycloidal pinwheel reducer forms a cantilever beam structure, which results in unstable torque and makes it prone to failure due to bending fatigue.
The scheme of using internal needle rollers to output torque forms a simply supported beam structure through the meshing of the internal needle rollers and the cycloidal wheel mechanism, avoiding direct contact between the internal needle rollers and the external structure of the reducer. The torque is stably transmitted to the inner housing by using the internal needle rollers and the bushing drive.
It improves the stability of output torque, reduces failure of internal needle rollers due to bending fatigue, and extends the service life of the reducer.
Smart Images
Figure CN224533365U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical transmission technology, and in particular to a cycloidal pinwheel reducer with built-in needle rollers. Background Technology
[0002] The cycloidal pinwheel reducer is a high-precision planetary transmission device that achieves speed reduction by driving a cycloidal wheel with a fixed pinwheel via an eccentric shaft. Its core component is a cycloidal wheel with short-amplitude epicycloidal teeth, which meshes simultaneously with the pinwheel, providing advantages such as a large reduction ratio, smooth transmission, low backlash, and high load-bearing capacity. The output mechanism converts the eccentric motion of the cycloidal wheel into fixed-axis rotation, transmitting high torque. This reducer features a compact structure, high rigidity, and long service life, and is widely used in precision transmission fields such as industrial robots, CNC machine tools, and automated equipment, making it a key component of modern intelligent manufacturing.
[0003] This section cites Chinese patent document CN118998268A, which discloses a structure in which the output rotating shaft passes sequentially from the second fixed disc through the cycloidal wheel mechanism and the first output roller. However, this structural design results in the output rotating shaft forming a cantilever beam-like structure, leading to insufficiently smooth torque output and susceptibility to failure due to bending fatigue.
[0004] It should be noted that the information in the background section above is only used to enhance the understanding of the background technology of this application, and therefore may include technical information that does not constitute technical information known or easily inferred by a person skilled in the art. Utility Model Content
[0005] In view of the above problems, this application is made in order to provide a cycloidal pinwheel reducer with built-in needle roller to overcome or at least partially solve the above problems.
[0006] This application provides a cycloidal pinwheel reducer with built-in needle roller, including: an input mechanism, an eccentric mechanism, a first bearing assembly, a cycloidal wheel mechanism, an output mechanism, and a frame; The eccentric mechanism is sleeved on the input mechanism, and the cycloidal wheel mechanism is sleeved on the eccentric mechanism through the first bearing assembly; The output mechanism includes a first inner housing and a second inner housing; the cycloidal wheel mechanism is disposed between the first inner housing and the second inner housing; the frame includes a plurality of spaced-apart outer needle rollers; the output mechanism includes a plurality of spaced-apart inner needle rollers; the outer edge tooth profile of the cycloidal wheel mechanism meshes with the outer needle rollers; the inner needle rollers are mounted between the first inner housing and the second inner housing and pass through the output hole of the cycloidal wheel mechanism accordingly; When the input mechanism rotates, it drives the cycloidal wheel mechanism to move through the eccentric mechanism, and the cycloidal wheel mechanism drives the output mechanism to rotate through the inner needle roller.
[0007] Furthermore, the first inner housing has a first limiting hole corresponding to the output hole, and the second inner housing has a second limiting hole corresponding to the output hole; One end of the inner needle roller is disposed in the first limiting hole, and the other end of the inner needle roller is disposed in the second limiting hole.
[0008] Furthermore, a first bushing is provided on the outer side of the inner needle roller, and the first bushing is disposed between the first inner housing and the second inner housing. The output hole of the cycloidal wheel mechanism is connected to the inner needle roller through the first bushing.
[0009] Furthermore, the second inner housing is disposed on the side of the first inner housing away from the input end of the input mechanism, and the second inner housing has an opening for outputting torque.
[0010] Furthermore, it also includes a second bearing assembly; the second bearing assembly includes: a first input bearing and a second input bearing; The first inner housing is sleeved on the input mechanism via the first input bearing; the second inner housing is sleeved on the input mechanism via the second input bearing.
[0011] Furthermore, it also includes: a third bearing assembly; the frame is fitted onto the first inner housing and the second inner housing via the third bearing assembly.
[0012] Furthermore, the third bearing assembly includes: a first output bearing and a second output bearing; the frame includes a first housing and a second housing; The first outer shell is fitted onto the first inner shell via the first output bearing; the second outer shell is fitted onto the second inner shell via the second output bearing.
[0013] Furthermore, the eccentric mechanism includes a first eccentric bushing and a second eccentric bushing; The first eccentric bushing is provided with a first eccentric wheel; the second eccentric bushing is provided with a second eccentric wheel; the first eccentric bushing and the second eccentric bushing abut against each other along the axial direction, and a third eccentric wheel is formed at the abutment portion; The cycloidal wheel mechanism is sleeved on the first eccentric wheel, the second eccentric wheel, and the third eccentric wheel via the first bearing assembly.
[0014] Furthermore, the first bearing assembly includes: a first eccentric bearing, a second eccentric bearing, and a third eccentric bearing; The first eccentric bearing is sleeved on the first eccentric wheel; the second eccentric bearing is sleeved on the second eccentric wheel; and the third eccentric bearing is sleeved on the third eccentric wheel.
[0015] Furthermore, the cycloidal wheel mechanism includes a first cycloidal wheel, a second cycloidal wheel, and a third cycloidal wheel; The first cycloidal wheel is sleeved on the first eccentric bearing; the second cycloidal wheel is sleeved on the second eccentric bearing; and the third cycloidal wheel is sleeved on the third eccentric bearing.
[0016] This application has the following advantages: In the embodiments of this application, addressing the problem that the torque output from the existing output rotating shaft is not stable enough and is prone to failure due to bending fatigue, this application provides a solution for outputting torque to the output mechanism via internal needle rollers. Specifically, it includes: an input mechanism, an eccentric mechanism, a first bearing assembly, a cycloidal wheel mechanism, an output mechanism, and a frame; the eccentric mechanism is sleeved on the input mechanism, and the cycloidal wheel mechanism is sleeved on the eccentric mechanism via the first bearing assembly; the output mechanism includes a first inner housing and a second inner housing; the cycloidal wheel mechanism is disposed between the first inner housing and the second inner housing; the frame includes a plurality of spaced-apart external needle rollers; the output mechanism includes a plurality of spaced-apart internal needle rollers; the outer edge tooth profile of the cycloidal wheel mechanism meshes with the external needle rollers; the internal needle rollers are mounted between the first inner housing and the second inner housing and correspondingly pass through the output hole of the cycloidal wheel mechanism; when the input mechanism rotates, the input mechanism drives the cycloidal wheel mechanism to move via the eccentric mechanism, and the cycloidal wheel mechanism drives the output mechanism to rotate via the internal needle rollers. Compared to the cantilever beam structure of the output rotation shaft in the prior art, the inner needle roller of this application is equivalent to a more stable simply supported beam structure, which smoothly transmits the output torque to the first inner shell and the second inner shell, reducing the failure of the inner needle roller due to bending fatigue. Attached Figure Description
[0017] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a cross-sectional view of a cycloidal pinwheel reducer provided in one embodiment of this application; Figure 2 This is a schematic diagram of the output side of a cycloidal pinwheel reducer according to an embodiment of this application; Figure 3yes Figure 2 Schematic diagram of the cross-sectional structure at section A in the middle; Figure 4 This is a schematic diagram of a high length-to-diameter ratio bushing bearing structure equivalent to a bushing needle roller structure. Figure 5 This is a schematic diagram of the first integral structure of a cycloidal pinwheel reducer provided in an embodiment of this application; Figure 6 This is a schematic diagram of the second integral structure of a cycloidal pinwheel reducer provided in one embodiment of this application; Figure 7 yes Figure 6 Schematic diagram of the cross-sectional structure at section B; Figure 8 This is a schematic diagram of the combined structure of the input mechanism, the first eccentric bushing, and the second eccentric bushing in one embodiment of this application; Figure 9 This is an exploded structural diagram of the input mechanism, the first eccentric bushing, and the second eccentric bushing in one embodiment of this application; Figure 10 This is a schematic diagram of the combined structure of the eccentric mechanism and the cycloidal wheel mechanism exploded along the axial direction in one embodiment of this application; Figure 11 yes Figure 10 Schematic diagram of the cross-sectional structure of section C.
[0019] The attached figures are labeled as follows: 1. Input mechanism; 2. Eccentric mechanism; 21. First eccentric bushing; 211. First eccentric wheel; 22. Second eccentric bushing; 221. Second eccentric wheel; 23. Third eccentric wheel; 3. First bearing assembly; 31. First eccentric bearing; 32. Second eccentric bearing; 33. Third eccentric bearing; 4. Cycloidal wheel mechanism; 41. First cycloidal wheel; 42. Second cycloidal wheel; 43. Third cycloidal wheel; 44. Output hole; 5. Output mechanism; 51. 511 Inner needle roller; 52 First bushing; 521 First inner housing; 53 Second inner housing; 531 Second limiting hole; 6 Frame; 61 Outer needle roller; 611 Second bushing; 62 First outer housing; 63 Second outer housing; 7 Second bearing assembly; 71 First input bearing; 72 Second input bearing; 8 Shim assembly; 9 Third bearing assembly; 91 First output bearing; 92 Second output bearing. Detailed Implementation
[0020] To make the objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0021] The inventors discovered through analysis of existing technology that the output rotating shaft of existing technology forms a structure similar to a cantilever beam. Under this design, the output rotating shaft has to bear the radial shear force of the cycloidal wheel and the radial shear force of the external structure outside the first output roller simultaneously. The output torque is not stable enough and is prone to failure due to bending fatigue.
[0022] Reference Figure 1-3 and Figure 5-11 This application illustrates an embodiment of a cycloidal pinwheel reducer with built-in needle rollers, comprising: an input mechanism 1, an eccentric mechanism 2, a first bearing assembly 3, a cycloidal wheel mechanism 4, an output mechanism 5, and a frame 6. The eccentric mechanism 2 is sleeved on the input mechanism 1, and the cycloidal wheel mechanism 4 is sleeved on the eccentric mechanism 2 through the first bearing assembly 3; The output mechanism 5 includes a first inner housing 52 and a second inner housing 53; the cycloidal wheel mechanism 4 is disposed between the first inner housing 52 and the second inner housing 53; the frame 6 includes a plurality of spaced-apart outer roller needles 61; the output mechanism 5 includes a plurality of spaced-apart inner roller needles 51; the outer edge tooth profile of the cycloidal wheel mechanism 4 meshes with the outer roller needles 61; the inner roller needles 51 are mounted between the first inner housing 52 and the second inner housing 53 and pass through the output hole 44 of the cycloidal wheel mechanism 4 accordingly; When the input mechanism 1 rotates, the input mechanism 1 drives the cycloidal wheel mechanism 4 to move through the eccentric mechanism 2, and the cycloidal wheel mechanism 4 drives the output mechanism 5 to rotate through the inner needle roller 51.
[0023] In the embodiments of this application, addressing the problem that the torque output from the existing output rotating shaft is not stable enough and is prone to failure due to bending fatigue, this application provides a solution for outputting torque to the output mechanism 5 via the inner needle roller 51. Specifically, it includes: an input mechanism 1, an eccentric mechanism 2, a first bearing assembly 3, a cycloidal wheel mechanism 4, an output mechanism 5, and a frame 6; the eccentric mechanism 2 is sleeved on the input mechanism 1, and the cycloidal wheel mechanism 4 is sleeved on the eccentric mechanism 2 via the first bearing assembly 3; the output mechanism 5 includes a first inner housing 52 and a second inner housing 53; the cycloidal wheel mechanism 4 is disposed on the first inner housing 52. Between the inner housing 52 and the second inner housing 53; the frame 6 includes a plurality of spaced-apart outer needle rollers 61; the output mechanism 5 includes a plurality of spaced-apart inner needle rollers 51; the outer edge tooth profile of the cycloidal wheel mechanism 4 meshes with the outer needle rollers 61; the inner needle rollers 51 are mounted between the first inner housing 52 and the second inner housing 53, and correspondingly pass through the output hole 44 of the cycloidal wheel mechanism 4; when the input mechanism 1 rotates, the input mechanism 1 drives the cycloidal wheel mechanism 4 to move through the eccentric mechanism 2, and the cycloidal wheel mechanism 4 drives the output mechanism 5 to rotate through the inner needle rollers 51. Compared with the cantilever beam structure of the output rotation shaft in the prior art, the inner needle rollers 51 of this application are equivalent to a more stable simply supported beam structure, which smoothly transmits the output torque to the first inner housing 52 and the second inner housing 53, reducing the failure of the inner needle rollers 51 due to bending fatigue.
[0024] The following will further describe a cycloidal pinwheel reducer built into a needle roller in this exemplary embodiment.
[0025] It should be noted that the outer needle rollers 61 are arranged in a circumferential array on the inner side of the frame 6; the inner needle rollers 51 are arranged in a circumferential array between the first inner housing 52 and the second inner housing 53, and pass through the output hole 44 of the cycloidal wheel mechanism 4.
[0026] When the input mechanism 1 rotates, the torque of the input mechanism 1 is transmitted to the eccentric mechanism 2 for axial rotation. The torque of the eccentric mechanism 2 is transmitted to the cycloidal wheel mechanism 4 for eccentric motion. The cycloidal wheel mechanism 4 squeezes the inner needle roller 51, thereby driving the output mechanism 5 to rotate. Finally, the torque transmission of the reducer's external structure is realized through the output mechanism 5. The above transmission method avoids direct contact between the inner needle roller 51 and the reducer's external structure, ensuring that the inner needle roller 51 stably transmits torque between the first inner housing 52 and the second inner housing 53, and improving the service life of the inner needle roller 51.
[0027] Reference Figure 1In one embodiment of this application, the first inner housing 52 is provided with a first limiting hole 521 corresponding to the output hole 44, and the second inner housing 53 is provided with a second limiting hole 531 corresponding to the output hole 44; One end of the inner needle roller 51 is disposed in the first limiting hole 521, and the other end of the inner needle roller 51 is disposed in the second limiting hole 531.
[0028] It should be noted that the above-mentioned limiting hole structure can limit the inner roller 51 in the axial direction, preventing the inner roller 51 from sliding in the axial direction during operation, thereby stably mounting it between the first inner housing 52 and the second inner housing 53.
[0029] Reference Figure 3 and 7 In one embodiment of this application, a first bushing 511 is provided on the outer side of the inner needle roller 51. The first bushing 511 is disposed between the first inner housing 52 and the second inner housing 53. The output hole 44 of the cycloidal wheel mechanism 4 is connected to the inner needle roller 51 through the first bushing 511.
[0030] It should be noted that the inner needle roller 51 and the first bushing 511 together constitute a structure similar to a bushing bearing, such as... Figure 4 As shown, the bushing drive of the inner needle roller 51 is equivalent to a bushing bearing with a large length-to-diameter ratio. The larger the diameter of the inner needle roller 51, the higher the equivalent bushing bearing wear. Therefore, bushing wear can be reduced by decreasing the diameter of the inner needle roller 51. When the cycloidal wheel mechanism 4 presses against the first bushing 511, the first bushing 511 can rotate along the outer circumference of the inner needle roller 51, transmitting the torque of the cycloidal wheel mechanism 4 to the inner needle roller 51 with a relatively uniform axial load distribution. This avoids direct contact between the cycloidal wheel mechanism 4 and the inner needle roller 51, slowing down contact fatigue failure of the inner needle roller 51 and thus improving its service life.
[0031] Small gaps may be provided between the first bushing 511 and the first inner housing 52 and the second inner housing 53 respectively, to prevent the end of the first bushing 511 from causing wear to the first inner housing 52 and the second inner housing 53 when the first bushing 511 rotates.
[0032] Reference Figure 3 In one embodiment of this application, the second inner housing 53 is disposed on the side of the first inner housing 52 away from the input end of the input mechanism 1, and the second inner housing 53 has an opening for outputting torque.
[0033] It should be noted that the second inner housing 53 has an opening for outputting torque, which allows the second inner housing 53 to output torque through the opening, avoiding direct contact between the inner needle roller 51 and the external structure of the reducer, and improving the service life of the inner needle roller 51.
[0034] Reference Figure 1 and 3 In one embodiment of this application, a second bearing assembly 7 is further included; the second bearing assembly 7 includes: a first input bearing 71 and a second input bearing 72; The first inner housing 52 is sleeved on the input mechanism 1 via the first input bearing 71; the second inner housing 53 is sleeved on the input mechanism 1 via the second input bearing 72.
[0035] It should be noted that the second bearing assembly 7 can be used to maintain the radial distance between the input mechanism 1 and the output mechanism 5.
[0036] In one specific embodiment of this application, one side of the first input bearing 71 abuts against the shoulder of the input mechanism 1 and the limiting structure inside the output mechanism 5, and the other side of the first input bearing 71 abuts against the gasket assembly 8 near the first eccentric bushing 21; one end of the input mechanism 1 is provided with an annular connecting member for axially limiting each component in the input shaft axis, one side of the second input bearing 72 abuts against the annular connecting member of the input mechanism 1, and the other side of the second input bearing 72 abuts against the gasket assembly 8 near the second eccentric bushing 22.
[0037] Reference Figure 1-3 In one embodiment of this application, it further includes: a third bearing assembly 9; the frame 6 is sleeved on the first inner housing 52 and the second inner housing 53 through the third bearing assembly 9.
[0038] It should be noted that the third bearing assembly 9 can be used to maintain the radial distance between the output mechanism 5 and the frame 6.
[0039] Reference Figure 1-3 In one embodiment of this application, the third bearing assembly 9 includes: a first output bearing 91 and a second output bearing 92; the frame 6 includes a first outer shell 62 and a second outer shell 63; The first outer shell 62 is sleeved on the first inner shell 52 via the first output bearing 91; the second outer shell 63 is sleeved on the second inner shell 53 via the second output bearing 92.
[0040] Reference Figure 1-3In a specific embodiment of this application (see 6-7), the frame 6 includes a first outer shell 62 and a second outer shell 63 adapted thereto, the second outer shell 63 being disposed on the side of the first outer shell 62 away from the input end of the input mechanism 1. The first outer shell 62 and the second outer shell 63 are connected by screws; the inner sides of the first outer shell 62 and the second outer shell 63 are respectively provided with openings for accommodating both ends of the outer roller needle 61; one end of the outer roller needle 61 is connected to the opening of the first outer shell 62 through a second bushing 611, and the other end of the outer roller needle 61 is connected to the opening of the second outer shell 63 through a second bushing 611. Each outer roller needle 61 corresponds to two second bushings 611, the second bushings 611 being respectively disposed in the openings of the first outer shell 62 and the second outer shell 63.
[0041] Reference Figure 8-11 In one embodiment of this application, the eccentric mechanism 2 includes a first eccentric bushing 21 and a second eccentric bushing 22; The first eccentric bushing 21 is provided with a first eccentric wheel 211; the second eccentric bushing 22 is provided with a second eccentric wheel 221; the first eccentric bushing 21 and the second eccentric bushing 22 abut against each other along the axial direction, and a third eccentric wheel 23 is formed at the abutment portion; The cycloidal wheel mechanism 4 is sleeved on the first eccentric wheel 211, the second eccentric wheel 221 and the third eccentric wheel 23 via the first bearing assembly 3.
[0042] It should be noted that the eccentric mechanism 2 consists of three corresponding eccentric wheels formed by two independent first eccentric bushings 21 and second eccentric bushings 22. To meet the dynamic balance requirements of the cycloidal wheels, the third eccentric wheel 23 must have a 180° phase angle (eccentricity) relative to the first eccentric wheel 211 and the second eccentric wheel 221. Since the third eccentric wheel 23 is formed by the contact part of the first eccentric bushing 21 and the second eccentric bushing 22, the third eccentric wheel 23 with a 180° phase angle (eccentricity) will not affect the assembly of the three cycloidal wheels.
[0043] Reference Figure 1 and 11 In one embodiment of this application, the first bearing assembly 3 includes: a first eccentric bearing 31, a second eccentric bearing 32, and a third eccentric bearing 33; The first eccentric bearing 31 is sleeved on the first eccentric wheel 211; the second eccentric bearing 32 is sleeved on the second eccentric wheel 221; and the third eccentric bearing 33 is sleeved on the third eccentric wheel 23.
[0044] It should be noted that the first eccentric bearing 31, the second eccentric bearing 32, and the third eccentric bearing 33 can all be standard thin-walled deep groove ball bearings. As a vulnerable component in a cycloidal pinwheel reducer, the eccentric bearing typically fails before the cycloidal wheel. Traditional custom-made eccentric bearings have rollers that directly contact the cycloidal wheel, easily leading to the contact surface failing before the cycloidal wheel tooth surface, thus preventing the reducer from undergoing life-extending maintenance. However, the eccentric bearing of this application uses a standard thin-walled deep groove ball bearing, with the outer ring of the eccentric bearing contacting the cycloidal wheel directly, rather than through rollers. Therefore, after the eccentric bearing fails, the standard bearing component can be directly replaced, extending the reducer's service life and saving costs.
[0045] Reference Figure 10-11 In one embodiment of this application, the cycloidal wheel mechanism 4 includes a first cycloidal wheel 41, a second cycloidal wheel 42, and a third cycloidal wheel 43; The first cycloidal wheel 41 is sleeved on the first eccentric bearing 31; the second cycloidal wheel 42 is sleeved on the second eccentric bearing 32; and the third cycloidal wheel 43 is sleeved on the third eccentric bearing 33.
[0046] It should be noted that the first cycloidal wheel 41 and the second cycloidal wheel 42 may have the same phase, and the third cycloidal wheel 43 may maintain a phase difference of 180° relative to the first cycloidal wheel 41 and the second cycloidal wheel 42. The first cycloidal wheel 41 and the second cycloidal wheel 42 are respectively disposed on both sides of the third cycloidal wheel 43.
[0047] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.
[0048] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.
[0049] The above provides a detailed description of a cycloidal pinwheel reducer with built-in needle rollers provided in this application. Specific examples have been used to illustrate the principle and implementation of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A cycloidal pinwheel reducer with a built-in needle roller, characterized in that, include: Input mechanism, eccentric mechanism, first bearing assembly, cycloidal wheel mechanism, output mechanism and frame; The eccentric mechanism is sleeved on the input mechanism, and the cycloidal wheel mechanism is sleeved on the eccentric mechanism through the first bearing assembly; The output mechanism includes a first inner housing and a second inner housing; the cycloidal wheel mechanism is disposed between the first inner housing and the second inner housing; the frame includes a plurality of spaced-apart outer needle rollers; the output mechanism includes a plurality of spaced-apart inner needle rollers; the outer edge tooth profile of the cycloidal wheel mechanism meshes with the outer needle rollers; the inner needle rollers are mounted between the first inner housing and the second inner housing and pass through the output hole of the cycloidal wheel mechanism accordingly; When the input mechanism rotates, it drives the cycloidal wheel mechanism to move through the eccentric mechanism, and the cycloidal wheel mechanism drives the output mechanism to rotate through the inner needle roller.
2. The reducer according to claim 1, characterized in that, The first inner housing has a first limiting hole corresponding to the output hole, and the second inner housing has a second limiting hole corresponding to the output hole; One end of the inner needle roller is disposed in the first limiting hole, and the other end of the inner needle roller is disposed in the second limiting hole.
3. The reducer according to claim 2, characterized in that, The inner needle roller is provided with a first bushing on its outer side. The first bushing is disposed between the first inner housing and the second inner housing. The output hole of the cycloidal wheel mechanism is connected to the inner needle roller through the first bushing.
4. The reducer according to claim 3, characterized in that, The second inner housing is disposed on the side of the first inner housing away from the input end of the input mechanism, and the second inner housing has an opening for outputting torque.
5. The reducer according to claim 1, characterized in that, It also includes a second bearing assembly; the second bearing assembly includes: a first input bearing and a second input bearing; The first inner housing is sleeved on the input mechanism via the first input bearing; the second inner housing is sleeved on the input mechanism via the second input bearing.
6. The reducer according to claim 1, characterized in that, Also includes: The third bearing assembly; the frame is fitted onto the first inner housing and the second inner housing via the third bearing assembly.
7. The reducer according to claim 6, characterized in that, The third bearing assembly includes: a first output bearing and a second output bearing; the frame includes a first housing and a second housing. The first outer shell is fitted onto the first inner shell via the first output bearing; the second outer shell is fitted onto the second inner shell via the second output bearing.
8. The reducer according to claim 1, characterized in that, The eccentric mechanism includes a first eccentric bushing and a second eccentric bushing; The first eccentric bushing is provided with a first eccentric wheel; the second eccentric bushing is provided with a second eccentric wheel; the first eccentric bushing and the second eccentric bushing abut against each other along the axial direction, and a third eccentric wheel is formed at the abutment portion; The cycloidal wheel mechanism is sleeved on the first eccentric wheel, the second eccentric wheel, and the third eccentric wheel via the first bearing assembly.
9. The reducer according to claim 8, characterized in that, The first bearing assembly includes: a first eccentric bearing, a second eccentric bearing, and a third eccentric bearing; The first eccentric bearing is sleeved on the first eccentric wheel; the second eccentric bearing is sleeved on the second eccentric wheel; and the third eccentric bearing is sleeved on the third eccentric wheel.
10. The reducer according to claim 9, characterized in that, The cycloidal wheel mechanism includes a first cycloidal wheel, a second cycloidal wheel, and a third cycloidal wheel; The first cycloidal wheel is sleeved on the first eccentric bearing; the second cycloidal wheel is sleeved on the second eccentric bearing; and the third cycloidal wheel is sleeved on the third eccentric bearing.