A composite structure phase-fixed cycloidal oilless crossed roller guide rail

Abstract

This application discloses a composite structure phase-determining cycloidal oilless crossed roller guide, belonging to the technical field of crossed roller guides. It mainly includes a rotating ring, a sealing ring, a first positioning ring, and a second positioning ring. A V-shaped track groove is formed in the middle of the rotating ring facing the first and second positioning rings. A pin mounting cavity is formed on the rotating ring away from the V-shaped track groove, and pin teeth are distributed along the circumferential direction within the pin mounting cavity. This application achieves coaxial integration of drive and guide through the rotating ring, first positioning ring, second positioning ring, rotating ring, roller, pin mounting cavity, pin, pin shaft drive, and V-shaped track groove, eliminating assembly eccentricity and backlash. The phase-determining cycloidal structure achieves zero cumulative error and high repeatability accuracy. The combination of self-lubricating metal and engineering plastic enables completely oil-free operation and eliminates the need for lubrication maintenance. The composite pin tooth structure of the pin shaft and pin reduces friction, noise, and heat generation, improving durability.

Description

Technical Field

[0001] This application relates to the field of cross roller guide technology, specifically a composite structure phase-fixed cycloidal oilless cross roller guide. Background Technology

[0002] Crossed roller guides are widely used in high-precision applications such as semiconductor equipment, precision machine tools, robot joints, medical scanning systems, and optical inspection equipment. Their basic structure consists of multiple cylindrical rollers arranged in a cross pattern between an inner and outer ring. The rollers support the load and achieve precise motion guidance through rolling contact.

[0003] However, existing crossed roller guides are typically made of metal materials (such as bearing steel, carbon steel, tool steel, etc.). Under high loads or high speeds, significant friction and heat are generated between the metal contact surfaces. Therefore, lubricating oil or grease must be injected regularly to reduce wear. Insufficient lubrication or grease contamination can lead to increased friction coefficient, elevated temperature, unstable movement, and decreased accuracy. Furthermore, metal surfaces are susceptible to oxidation and corrosion, requiring cleaning and relubrication after prolonged use. These maintenance tasks not only cause equipment downtime but also significantly increase maintenance costs and labor expenses. In clean environments such as semiconductors and medical devices, the evaporation and splashing of lubricating oil can contaminate products, posing a serious safety hazard. Traditional crossed roller guides use a cross-row arrangement between the inner and outer rings... A series of rollers are used to support the load and guide precision motion, but the structure itself does not have a driving function. In practical applications, an internal gear ring (ring gear) and a pinion (gear shaft) are usually installed for transmission. Since the guide rail center shaft and the external drive shaft are difficult to be completely coaxial, slight eccentricity is inevitable during assembly. In addition, the mechanical backlash between the gear meshing will continue to accumulate during long-term repeated operation, resulting in an increase in rotational phase offset and repeatability error. At the same time, the traditional structure must rely on lubricating oil to reduce friction. The aging, evaporation and contamination of the lubricating oil will increase the friction coefficient of the guide rail surface, increase noise, and shorten its life. In addition, the assembly process of the ring gear and pinion is complicated and requires highly skilled workers, resulting in long assembly time and high labor costs.

[0004] Therefore, it is necessary to provide a composite structure phase-fixed cycloidal oilless crossed roller guide to solve the above problems.

[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore may include information that does not constitute prior art. Utility Model Content

[0006] Based on the aforementioned problems in the existing technology, the problem to be solved by this application is: to provide a composite structure phase-determining cycloidal oil-free crossed roller guide rail, which integrates drive and guidance coaxially through a rotating ring, a first positioning ring, a second positioning ring, a rotating ring, rollers, a pin mounting cavity, pins, a pin shaft drive, and a V-shaped track groove, eliminating assembly eccentricity and backlash. The phase-determining cycloidal structure achieves zero cumulative error and high repeatability accuracy, and ordinary motors can reach servo-level accuracy. The system is simplified and the cost is reduced. The combination of self-lubricating metal and engineering plastics enables completely oil-free operation, eliminating the need for lubrication maintenance. It is suitable for long-term use in clean rooms, significantly extending the maintenance cycle. The composite pin tooth structure of the pin shaft and pin reduces friction, noise, and heat generation, improving durability and providing excellent corrosion resistance. It is made of lightweight aluminum alloy, with a compact structure and significantly reduced weight. Assembly is simple, requiring no highly skilled workers, and manufacturing efficiency is high. It is suitable for semiconductor, medical, and precision automation equipment scenarios.

[0007] The technical solution adopted by this application to solve its technical problem is: a composite structure phase-fixed cycloidal oilless crossed roller guide rail, including a rotating ring, a sealing ring, a first positioning ring, and a second positioning ring. A V-shaped track groove is opened in the middle of the side of the rotating ring facing the first and second positioning rings. A pin mounting cavity is opened on the side of the rotating ring away from the V-shaped track groove. A pin tooth structure is distributed along the circumferential direction in the pin mounting cavity. The pin tooth structure includes a plurality of pins equidistantly distributed along the circumferential direction inside the pin mounting cavity. A pin shaft is rotatably connected to each end of the pin. The upper and lower ends of the pin mounting cavity are provided with clamping holes equal in number to the number of pins along the circumferential direction. The pin shaft is clamped and fixed to the rotating ring through the clamping holes. The pins make phase-fixed rolling contact with the pin mounting cavity through the pin shaft. Each pin can rotate independently. The composite structure of the plurality of pins and pin shafts combined with the pin mounting cavity forms a pin tooth.

[0008] Furthermore, a support positioning ring is fixed on the side of the first positioning ring and the second positioning ring facing the rotating ring. An annular rolling cavity is formed between the V-shaped track groove and a support positioning ring fixed on the first positioning ring and the second positioning ring respectively. The annular rolling cavity is provided with a cross-arranged roller structure. The groove wall of the V-shaped track groove is arc-shaped, and the surface of the support positioning ring is arc-shaped.

[0009] Furthermore, the cross-arranged roller structure includes multiple retainers equidistantly distributed along the circumference of the first positioning ring. Each retainer has a roller mounting cavity in its center, and two limiting clamps are symmetrically fixed in the center of each roller mounting cavity. Rollers are tumblingly connected within each of the roller mounting cavities in the center of the multiple retainers, and the multiple rollers are cross-arranged through the retainers.

[0010] Furthermore, the roller is made of PEEK or high-density engineering plastic, and multiple surfaces of the roller have an arc. The curvature of the outer arc of the roller is perfectly matched with the curvature of the groove wall of the V-shaped track groove and the curvature of the surface arc of the bracket positioning ring.

[0011] Furthermore, the first positioning ring and the second positioning ring are provided with a plurality of fixing holes at equal intervals along the circumferential direction, and the first positioning ring and the second positioning ring are fixed together by fixing bolts through the fixing holes.

[0012] Furthermore, a sealing ring clamping groove is provided at both the upper and lower ends of the V-shaped track groove. The sealing ring clamping grooves on both sides are symmetrically opened on the rotating ring. A sealing ring is provided at the connection position between the rotating ring and the first positioning ring and at the connection position between the rotating ring and the second positioning ring. The sealing ring is clamped and connected to the sealing ring clamping groove. The sealing ring is made of wool and rubber composite material.

[0013] Furthermore, the rotating ring, the first positioning ring, and the second positioning ring are made of stainless steel 630 or 738, and a Cr2 oxide coating is formed on the surface of the rotating ring, the first positioning ring, and the second positioning ring, which has good self-lubricating properties.

[0014] Furthermore, the curvature of the pin mounting cavity matches the radius of the pin tooth distribution trajectory, and the rotating ring is rotatably connected to the first positioning ring and the second positioning ring through a plurality of cross-arranged rollers.

[0015] The beneficial effects of this application are:

[0016] The rotating ring, first positioning ring, second positioning ring, rollers, pin mounting cavity, pin, pin shaft drive, and V-shaped track groove are designed for use. During operation, the composite structure of the pin and pin shaft, driven by a motor, rotates with the pin mounting cavity to form a pin tooth. This rotation drives the rotating ring to rotate relative to the first and second positioning rings. When the driving force contacts the pin, the pin rolls under the constraint of the pin shaft, reducing friction between the drive mechanism and the pin. This allows the drive structure to achieve high-precision, repeatable rotation at the pin contact position without lubrication. As the rotating ring rotates, the V-shaped track groove on its inner circumference rotates along multiple rollers arranged in a cross pattern within the annular rolling cavity. During rotation, the curvature of the rollers matches the curvature of the V-shaped track groove. As the rotating ring rotates, the rollers, upon contact with the pin... The rotating ring rolls under the thrust it receives, reducing the friction between the V-shaped groove in the center of the rotating ring and the roller. This allows the rotating ring to operate continuously without lubrication, achieving coaxial integration of drive and guidance, eliminating assembly eccentricity and backlash. The phased cycloidal structure achieves zero cumulative error and high repeatability accuracy, while ordinary motors can reach servo-level precision. The system is simplified and cost-effective. The combination of self-lubricating metal and engineering plastics enables completely oil-free operation, eliminating the need for lubrication maintenance. It is suitable for long-term use in cleanrooms, significantly extending maintenance cycles. The composite pin and pin tooth structure reduces friction, noise, and heat generation, improving durability and providing excellent corrosion resistance. Made of lightweight aluminum alloy, it has a compact structure, significantly reduced weight, simple assembly, requires no highly skilled workers, and has high manufacturing efficiency.

[0017] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 A schematic diagram of the overall three-dimensional structure of the outer ring integrated pin tooth composite cross roller guide;

[0020] Figure 2 A schematic diagram of the overall disassembly and three-dimensional structure of the outer ring integrated pin tooth composite cross roller guide;

[0021] Figure 3 A schematic diagram of the three-dimensional structure of the rotating ring of an outer ring integral pin tooth composite cross roller guide;

[0022] Figure 4A three-dimensional structural diagram showing the disassembly of the first and second positioning rings of the outer ring integrated pin tooth composite cross roller guide;

[0023] Figure 5 A schematic diagram of the cross-sectional structure of an outer ring integrated pin tooth composite cross roller guide;

[0024] Figure 6 for Figure 5 Enlarged structural diagram of section A in the middle;

[0025] Figure 7 A schematic diagram of the overall three-dimensional structure of the inner ring integrated pin tooth composite cross roller guide;

[0026] Figure 8 A schematic diagram of the overall disassembly and three-dimensional structure of the inner ring integrated pin tooth composite cross roller guide;

[0027] Figure 9 for Figure 8 Enlarged structural diagram of section B in the middle;

[0028] Figure 10 for Figure 8 Enlarged structural diagram of section C;

[0029] Figure 11 A schematic diagram of the overall three-dimensional cross-sectional structure of the inner ring integrated pin tooth composite cross roller guide;

[0030] Figure 12 for Figure 11 Enlarged structural diagram of section D in the middle;

[0031] Figure 13 A schematic diagram of the overall three-dimensional structure of the outer ring integrated cross roller guide;

[0032] Figure 14 A schematic diagram of the overall disassembly and three-dimensional structure of the integrated oil-free cross roller guide rail for the outer ring;

[0033] Figure 15 A cross-sectional three-dimensional structural diagram of an integrated oil-free crossed roller guide rail with an outer ring;

[0034] Figure 16 for Figure 15 Enlarged structural diagram of section E;

[0035] Figure 17 A three-dimensional schematic diagram of the connection structure between the pin and the shaft;

[0036] Figure 18 A three-dimensional structural diagram illustrating the connection between the cage and the rollers;

[0037] Figure 19 for Figure 18 Enlarged structural diagram of section F in the middle;

[0038] Figure 20 This is a schematic diagram of the three-dimensional structure of the roller.

[0039] The following are the labeling elements in the figure:

[0040] 1. Rotating ring; 2. Sealing ring; 3. First positioning ring; 4. Second positioning ring; 5. Pin mounting cavity; 6. Pin; 7. Pin shaft; 8. Clamp hole; 9. V-shaped track groove; 10. Cage; 11. Roller; 12. Support positioning ring; 13. Fixing hole; 14. Roller mounting cavity; 15. Limiting clamp block. Detailed Implementation

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0043] like Figure 1-20 As shown, this application provides a composite structure phase-fixed cycloidal oilless cross roller guide rail, the core of which is to achieve three different structural forms through the combination of rotating ring 1, first positioning ring 3, second positioning ring 4 and selectively set pin tooth structure.

[0044] Example 1

[0045] First structural form

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, a V-shaped track groove 9 is formed on the inner circumferential surface of the rotating ring 1, and a pin mounting cavity 5 is formed on the outer circumferential surface of the rotating ring 1. The first positioning ring 3 and the second positioning ring 4 are clamped on the inner circumferential surface of the rotating ring 1. The curvature diameter of the first positioning ring 3 and the second positioning ring 4 matches the curvature diameter of the inner circumferential surface of the rotating ring 1. A support positioning ring 12 is fixed at a position on the outer circumferential surface of the first positioning ring 3 and the second positioning ring 4 near the V-shaped track groove 9. An annular rolling cavity is formed between the V-shaped track groove 9 and the two support positioning rings 12. Multiple rollers 11 are arranged circumferentially in the annular rolling cavity. Each of the multiple rollers 11 is connected to a corresponding retainer 10. The inner circumferential surface of the rotating ring 1 is located on the V-shaped track groove 9. A sealing ring clamp groove is provided at the top and bottom of the groove 9, and a sealing ring 2 is clamped and fixed in the sealing ring clamp groove. A sealing ring 2 is provided above the first positioning ring 3 and below the second positioning ring 4 on the inner circumference of the rotating ring 1. The groove wall of the V-shaped track groove 9 is arc-shaped, the surface of the support positioning ring 12 is arc-shaped, and multiple surfaces of the roller 11 have an arc. The curvature of the outer arc of the roller 11 is completely matched with the curvature of the groove wall of the V-shaped track groove 9 and the curvature of the surface arc of the support positioning ring 12. Multiple fixing holes 13 are provided at equal intervals along the circumferential direction on the first positioning ring 3 and the second positioning ring 4. The first positioning ring 3 and the second positioning ring 4 are fixed together by fixing bolts through the fixing holes 13.

[0047] The pin mounting cavity 5 has a pin tooth structure distributed along the circumferential direction. The pin tooth structure includes multiple pins 6 equidistantly distributed along the circumferential direction inside the pin mounting cavity 5. Each pin 6 is rotatably connected to a pin shaft 7 at both ends. The upper and lower ends of the pin mounting cavity 5 are provided with clamping holes 8 at equal intervals along the circumferential direction, equal to the number of pins 6. The pin shaft 7 is clamped and fixed on the rotating ring 1 through the clamping holes 8. The pins 6 make fixed-phase rolling contact with the pin mounting cavity 5 through the pin shaft 7. Each pin 6 can rotate independently. The composite structure of multiple pins 6 and pin shaft 7 is combined with the pin mounting cavity 5 to form a pin tooth. The curvature of the pin mounting cavity 5 matches the radius of the pin tooth distribution trajectory.

[0048] Example 2

[0049] The second structural form

[0050] like Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, the inner circumferential surface of the rotating ring 1 has a pin mounting cavity 5, and the outer circumferential surface of the rotating ring 1 has a V-shaped track groove 9. The outer circumferential surface of the rotating ring 1 is rotatably connected to a first positioning ring 3 and a second positioning ring 4. The inner circumferential diameters of the first positioning ring 3 and the second positioning ring 4 match the outer circumferential diameter of the rotating ring 1. A sealing ring clamping groove is respectively opened above or below the V-shaped track groove 9 on the outer circumferential surface of the rotating ring 1. A sealing ring clamping groove is clamped above the first positioning ring 3 and below the second positioning ring 4. Ring 2, sealing ring 2 is fixedly connected to the corresponding sealing ring clamp groove. A pin tooth structure is distributed circumferentially inside the pin mounting cavity 5. The pin tooth structure includes multiple pins 6 equidistantly distributed circumferentially inside the pin mounting cavity 5. A pin shaft 7 is rotatably connected to each end of each pin 6. The upper and lower ends of the pin mounting cavity 5 are equidistantly provided with clamp holes 8, the number of which is equal to the number of pins 6. The pin shaft 7 is clamped and fixed to the rotating ring 1 through the clamp holes 8. The pins 6 are fixed to the pin mounting cavity 5 through the pin shaft 7. The pins 6 are in rolling contact and can rotate independently. The composite structure of multiple pins 6 and pin shafts 7, combined with the pin mounting cavity 5, forms pin teeth. A retainer positioning ring 12 is fixedly connected to the inner circumferential surface of the first positioning ring 3 and the second positioning ring 4 near the V-shaped track groove 9. An annular rolling cavity is formed between the V-shaped track groove 9 and the two retainer positioning rings 12. Multiple rollers 11 are arranged circumferentially in the annular rolling cavity. Each roller 11 is externally connected to a retainer 10. The groove wall of 9 is arc-shaped, the surface of the bracket positioning ring 12 is arc-shaped, and multiple surfaces of the roller 11 have an arc. The curvature of the outer arc of the roller 11 is perfectly matched with the curvature of the groove wall of the V-shaped track groove 9 and the curvature of the surface arc of the bracket positioning ring 12. The curvature of the pin mounting cavity 5 is matched with the radius of the pin tooth distribution trajectory. Multiple fixing holes 13 are equidistantly opened on the first positioning ring 3 and the second positioning ring 4 along the circumferential direction. The first positioning ring 3 and the second positioning ring 4 are fixed together by fixing bolts through the fixing holes 13.

[0051] Working principle: The motor, through a combination of gears and multiple meshing pins 6 and pin shafts 7, combined with the pin mounting cavity 5 to form pin teeth, drives the rotating ring 1 to rotate relative to the first positioning ring 3 and the second positioning ring 4. When the gear pushes and contacts the pins 6, the pins 6 will roll under the restriction of the pin shaft 7 when subjected to the thrust, thereby reducing the friction generated when the gear contacts the pins 6. This allows the contact position between the gear and the pins to achieve high-precision repeatable rotation without lubrication. When the rotating ring 1 rotates, the V-shaped track groove 9 on its inner circumference rotates along the multiple cross-arranged rollers 11 in the annular rolling cavity. During the rotation, the curvature of the rollers and the curvature of the V-shaped track groove 9 cooperate with each other. When the rotating ring 1 rotates, the rollers 11 will roll under the thrust they receive when in contact, thereby reducing the friction generated when the V-shaped track groove 9 in the middle of the rotating ring 1 contacts the rollers 11. This allows the rotating ring 1 to operate for a long time without the assistance of lubrication.

[0052] Example 3

[0053] The third structural form

[0054] like Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 , Figure 19 and Figure 20As shown, a V-shaped track groove 9 is formed in the middle of the outer circumference of the rotating ring 1. A sealing ring clamping groove is formed above and below the V-shaped track groove 9 on the outer circumference of the rotating ring 1. A first positioning ring 3 and a second positioning ring 4 are rotatably connected to the outer circumference of the rotating ring 1. A sealing ring is clamped above the first positioning ring 3 and below the second positioning ring 4. The sealing rings are fixedly connected to the sealing ring clamping grooves. A support positioning ring 12 is fixed on the inner circumference of the first positioning ring 3 and the second positioning ring 4 near the V-shaped track groove 9. An annular rolling cavity is provided between the V-shaped track groove 9 and the two support positioning rings 12. Multiple rollers 11 are equidistantly distributed along the circumferential direction in the annular rolling cavity. A retainer 10 is connected to the outside of the rollers 11. The retainer 10 is made of insulating plastic or synthetic resin. Made of grease, it is used to keep the rollers equidistantly arranged, prevent mutual interference and detachment, and ensure smooth movement and consistent precision. The center of the cage 10 has a roller mounting cavity 14. Two limiting clamps 15 are symmetrically fixed in the center of the roller mounting cavity 14. The roller 11 is installed in the roller mounting cavity 14, and its two ends are positioned by the limiting clamps 15. Multiple fixing holes 13 are equidistantly opened along the circumferential direction on the first positioning ring 3 and the second positioning ring 4. The first positioning ring 3 and the second positioning ring 4 are fixed together by fixing bolts through the fixing holes 13. The roller 11 is made of PEEK or high-density engineering plastic. Multiple surfaces of the roller 11 have an arc. The curvature of the outer arc of the roller 11 is perfectly matched with the curvature of the groove wall of the V-shaped track groove 9 and the curvature of the surface arc of the bracket positioning ring 12.

[0055] Working principle: When the rotating ring 1 rotates relative to the sealing ring 2 and the first positioning ring 3, the V-shaped track groove 9 on the rotating ring 1 will rotate along the multiple intersecting rollers 11. The friction generated when the V-shaped track groove 9 rotates along the multiple intersecting rollers 11 will push the multiple intersecting rollers 11 to roll under the restriction of the cage 10. During the rolling process, the curvature of the outer arc of the roller 11, the curvature of the groove wall of the V-shaped track groove 9 and the curvature of the surface arc of the bracket positioning ring 12 cooperate with each other to reduce the friction generated at the contact position between the roller 11 and the V-shaped track groove 9.

[0056] It should be noted that: the sealing ring 2 is made of a wool and rubber composite material. The wool fibers have a self-lubricating function and can form a micro-oil film to maintain smooth rolling. The rubber layer can absorb external vibration and dust, achieving dustproof, moisture-proof and noise reduction functions, ensuring the stability of the guide rail for long-term oil-free operation. The rotating ring 1, the first positioning ring 3 and the second positioning ring 4 are made of stainless steel 630 or 738. The surfaces of the rotating ring 1, the first positioning ring 3 and the second positioning ring 4 are formed with a Cr2 oxide coating, which has good self-lubricating properties. The roller 11 weighs only a fraction of that of a metal roller. It is about 1 / 7 the size of the rollers and has the characteristics of low friction, wear resistance, high temperature resistance and chemical corrosion resistance. It can operate for a long time without lubrication. There are three ways to install the rollers 11. The first is to install them in the V-shaped track groove 9 by arranging them crosswise along the circumferential direction through the cage 10. The second is to arrange them in parallel and crosswise along the circumferential direction in the V-shaped track groove 9. The third is to distribute them in parallel in one direction in the V-shaped track groove 9. The rotating ring 1, the first positioning ring 3 and the second positioning ring 4 are completely coaxial, with no reduction ratio and phase difference, thereby achieving high-precision repeatable rotation with zero cumulative error.

[0057] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A composite profiled cycloidal oil-free crossed roller guide comprising a rotating ring (1), a sealing ring (2), a first positioning ring (3) and a second positioning ring (4), characterized in that: A V-shaped track groove (9) is formed in the middle of the side of the rotating ring (1) facing the first positioning ring (3) and the second positioning ring (4). A pin mounting cavity (5) is formed on the side of the rotating ring (1) away from the V-shaped track groove (9). A pin tooth structure is distributed in the pin mounting cavity (5) along the circumferential direction. The pin tooth structure includes a plurality of pins (6) evenly distributed in the circumferential direction inside the pin mounting cavity (5). A pin shaft is rotatably connected to each end of the pin (6). (7) The upper and lower ends of the pin mounting cavity (5) are provided with clamping holes (8) at equal intervals along the circumferential direction, which are equal in number to the number of pins (6). The pin shaft (7) is clamped and fixed on the rotating ring (1) through the clamping holes (8). The pins (6) make fixed-phase rolling contact with the pin mounting cavity (5) through the pin shaft (7). Each pin (6) can rotate independently. The composite structure of multiple pins (6) and pin shaft (7) is combined with the pin mounting cavity (5) to form pin teeth.

2. A composite profile phasing cycloidal oil-free cross roller guide according to claim 1, characterized in that: The first positioning ring (3) and the second positioning ring (4) are fixed with a hoop positioning ring (12) on the side facing the rotating ring (1). The V-shaped track groove (9) and the hoop positioning ring (12) fixed on the first positioning ring (3) and the second positioning ring (4) respectively form an annular rolling cavity. The annular rolling cavity is provided with a cross-arranged roller structure. The groove wall of the V-shaped track groove (9) is arc-shaped, and the surface of the hoop positioning ring (12) is arc-shaped.

3. A composite profile phasing cycloidal oil-free crossed roller guide according to claim 2, characterized in that: The cross-arranged roller structure includes multiple retainers (10) equidistantly distributed along the circumference of the first positioning ring (3). A roller mounting cavity (14) is provided in the middle of each retainer (10). Two limiting clamps (15) are symmetrically fixed in the middle of each roller mounting cavity (14). Rollers (11) are tumbling connected in the roller mounting cavities (14) in the middle of each retainer (10). The multiple rollers (11) are cross-arranged through the retainers (10). The multiple retainers (10) are located between the rotating ring (1) and the first positioning ring (3) and the second positioning ring (4).

4. A composite profile phasing cycloidal oil-free crossed roller guide according to claim 3, characterized in that: The roller (11) is made of PEEK or high-density engineering plastic. Multiple surfaces of the roller (11) have an arc. The curvature of the outer arc of the roller (11) is perfectly matched with the curvature of the groove wall of the V-shaped track groove (9) and the curvature of the surface arc of the bracket positioning ring (12).

5. A compound construction phased cycloidal oil-free cross roller guide according to claim 1, characterized in that: The first positioning ring (3) and the second positioning ring (4) are provided with a plurality of fixing holes (13) at equal intervals along the circumferential direction. The first positioning ring (3) and the second positioning ring (4) are fixed together by fixing bolts through the fixing holes (13).

6. A compound construction phased cycloidal oil-free cross roller guide according to claim 1, characterized in that: The upper and lower ends of the V-shaped track groove (9) are provided with a sealing ring clamping groove. The sealing ring clamping grooves on both sides are symmetrically opened on the rotating ring (1). A sealing ring (2) is provided at the connection position between the rotating ring (1) and the first positioning ring (3) and at the connection position between the rotating ring (1) and the second positioning ring (4). The sealing ring (2) is clamped and connected to the sealing ring clamping groove. The sealing ring (2) is made of wool and rubber composite material.

7. A composite profile phasing cycloidal oil-free cross roller guide according to claim 1, characterized in that: The rotating ring (1), the first positioning ring (3), and the second positioning ring (4) are made of stainless steel 630 or 738. The rotating ring (1), the first positioning ring (3), and the second positioning ring (4) have a Cr2 oxide coating on their surfaces, which has good self-lubricating properties.

8. A compound construction phased cycloidal oil-free cross roller guide according to claim 1, characterized in that: The curvature of the pin mounting cavity (5) matches the radius of the pin tooth distribution trajectory, and the rotating ring (1) is rotatably connected to the first positioning ring (3) and the second positioning ring (4) by a plurality of cross-arranged rollers (11).

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