CN112228516A - Industrial robot precision reducer - Google Patents

Industrial robot precision reducer Download PDF

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Publication number
CN112228516A
CN112228516A CN202011198594.3A CN202011198594A CN112228516A CN 112228516 A CN112228516 A CN 112228516A CN 202011198594 A CN202011198594 A CN 202011198594A CN 112228516 A CN112228516 A CN 112228516A
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China
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crankshaft
hole
pin
gear
industrial robot
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CN202011198594.3A
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CN112228516B (en
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许立新
杨博
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Chongqing University
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Chongqing University
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/021Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/023Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H57/00General details of gearing
    • F16H57/02Gearboxes; Mounting gearing therein
    • F16H57/029Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a precision speed reducer of an industrial robot, which comprises a pressing disc, two cycloid wheels, an output disc, a pin gear shell, a plurality of crankshafts and an input gear shaft, wherein the pressing disc is arranged on the upper surface of the pressing disc; a plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group; the two cycloid gears are both internally meshed with the annular needle gear group; the input gear shaft penetrates through the center inside the pin gear shell; a plurality of planet gears are meshed outside the input gear shaft; the plurality of planet gears are all positioned between the two cycloid gears; a first eccentric section and a second eccentric section are arranged on the crank shaft at intervals; the crank shaft is provided with a central section, and the central section is positioned between the first eccentric section and the second eccentric section; the output disc is arranged in the needle gear shell, and a boss of the output disc penetrates through connecting holes of the two cycloid gears; the pressing disc is arranged in the needle gear shell and is connected with a boss of the output disc through a screw; the invention ensures the smoothness of the motion and power transmission of each component and obviously improves the bending rigidity and torsional rigidity performance of the speed reducer.

Description

Precision speed reducer for industrial robot
Technical Field
The invention belongs to the technical field of speed reducers, and particularly relates to a precision speed reducer of an industrial robot.
Background
The precision speed reducer is a core basic component for determining the service performance of the industrial robot. The cycloid transmission has become a key basic technology in the design and development of the precision speed reducer of the industrial robot due to the advantages of high transmission efficiency, large speed ratio, high rigidity and the like. At present, RV reducers taking cycloidal pin gear planetary transmission as a technical principle are widely applied to precision joint transmission of industrial robots.
The RV reducer is designed by adopting a two-stage transmission structure and comprises a first-stage gear transmission and a second-stage cycloid transmission. The input gear shaft penetrates through a central hole of the speed reducer and is in meshed transmission with a plurality of planetary gears hung on one side of the speed reducer, each planetary gear is connected with the crank shaft through a spline to ensure that the crank shaft and the planetary gears synchronously rotate, and the crank shaft simultaneously drives two cycloidal gears and the pinwheel to be in meshed transmission in the rotating process, so that the motion of the speed reducer and the rotating output of power are finally realized.
In the existing RV reducer transmission structure, the first-stage gear transmission is carried out on one side of the reducer and is influenced by elastic deformation of a component under the action of assembly errors and loads, the problem of uneven stress occurs to two cycloidal gears of the second stage and bearing bearings on two sides of a crankshaft, so that the transmission precision, the bearing capacity and the service life of the whole machine are influenced, and the circumferential space structure is not fully utilized. In addition, because the planet wheel hangs in reduction gear output dish one side, the effective part that the output dish is used for connecting the arm is less, leads to reduction gear output structure rigidity and bearing capacity not enough. Meanwhile, in the conventional RV reducer transmission structure, the limitation of the internal circumferential space is realized, the thickness size of the cycloid wheel is small, and the bearing capacity of cycloid transmission is reduced.
Accordingly, there is a need in the art for a retarder that overcomes the above-mentioned problems.
Disclosure of Invention
The technical scheme adopted for achieving the purpose of the invention is that the precision speed reducer of the industrial robot comprises a pressing disc, two cycloidal gears, an output disc, a pin gear shell, a plurality of crank shafts and an input gear shaft.
A plurality of needle teeth are uniformly embedded in the inner wall of the needle tooth shell to form an annular needle tooth group.
And the two cycloidal gears are internally meshed with the annular needle gear set, and the cycloidal gears and the annular needle gear set form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each cycloid wheel center all has the through-hole. Each cycloid wheel is provided with a plurality of bearing holes in the circumferential direction, and each bearing hole is provided with a needle bearing. And a connecting hole is arranged between every two adjacent bearing holes. The input gear shaft penetrates through the inner center of the pin gear shell. The input gear shaft is externally engaged with a plurality of planetary gears. The planetary gears are all located between the two cycloid gears.
The crank shaft is provided with a first eccentric section and a second eccentric section at intervals. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft is provided with a central section, and the central section is located between the first eccentric section and the second eccentric section.
A plurality of the crankshafts are all located in the pin gear shell. The central section of each crank shaft correspondingly penetrates into one planetary gear and is fixed, and the first eccentric section and the second eccentric section of each crank shaft correspondingly penetrate into the needle roller bearings of the two cycloidal gears respectively.
And a plurality of bosses which are matched with the connecting holes are arranged on the output disc. The output disc is circumferentially and uniformly distributed with a plurality of crankshaft accommodating holes I in the circumferential direction.
The output disc is installed in the needle gear shell, a boss of the output disc penetrates through connecting holes of the two cycloidal gears, and a gap is reserved between the boss and the connecting holes.
The center of the pressing disc is provided with a through hole for accommodating the input gear shaft. The pressing disc is circumferentially and uniformly distributed with a plurality of crank shaft accommodating holes II in the circumferential direction. The pressing disc is installed in the needle gear shell and connected with a boss of the output disc through a screw. One end of the crank shaft penetrates into a crank shaft accommodating hole II of the pressing disc, and the other end of the crank shaft penetrates into a crank shaft accommodating hole I of the output disc.
Further, the device also comprises two angular contact ball bearings.
The two angular contact ball bearings are respectively installed on two sides of the annular pin gear group to circumferentially position the annular pin gear group and the two cycloidal gears.
Furthermore, the output disc and the needle gear shell are sealed through an outer framework oil seal.
Further, an internal spline is arranged inside the planetary gear. And the central section of the crank shaft is provided with an external spline. The central section of the crankshaft is splined in the planetary gear.
Furthermore, the planetary gear is limited on the central section of the crank shaft through a circlip for the shaft.
Further, the connecting hole is a sector annular hole. The boss is a sector annular boss matched with the sector annular hole.
Further, a tapered roller bearing is arranged between the crank shaft and the crank shaft accommodating hole II. A tapered roller bearing is arranged between the crank shaft and the crank shaft accommodating hole I.
Furthermore, a hole elastic check ring for limiting the tapered roller bearing is arranged in the crankshaft accommodating hole II. And an annular step for limiting the tapered roller bearing is arranged in the crankshaft accommodating hole I.
The technical effect of the invention is undoubtedly that the structure adopted by the invention places the planetary gear of the first-stage transmission in the speed reducer and is positioned in the middle of the two cycloidal gears, so that the positions of the two cycloidal gears and the bearing at the two sides of the crankshaft are symmetrical relative to the position of the planetary gear, thereby not only balancing the load of the transmission parts in the speed reducer and obviously improving the working performance of the speed reducer, but also reducing the circumferential redundant space outside the speed reducer and increasing the effective part of the output disc for connecting the mechanical arm. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Drawings
FIG. 1 is an exploded view of a precision reducer of an industrial robot;
FIG. 2 is a longitudinal sectional configuration view of a precision reducer of an industrial robot;
FIG. 3 is a sectional view taken along the line A-A of FIG. 2;
FIG. 4 is a sectional view taken along the plane B-B of FIG. 2;
FIG. 5 is a front view of the output tray;
FIG. 6 is a front view of the hold-down disk;
FIG. 7 is a cross-sectional view of a cycloidal gear;
fig. 8 is a view of an assembly of the planetary gear and the crank shaft.
In the figure: the planetary gear set comprises a pressing disc 1, a crankshaft accommodating hole II101, a cycloidal gear 2, a bearing hole 201, a connecting hole 202, a planetary gear 3, a shaft elastic retainer ring 4, an output disc 5, a boss 501, a crankshaft accommodating hole I502, needle teeth 6, a needle tooth shell 7, an outer skeleton oil seal 8, a needle bearing 9, a crankshaft 10, a tapered roller bearing 11, an angular contact ball bearing 12, a hole elastic retainer ring 13 and an input gear shaft 14.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
the embodiment discloses a precision speed reducer of an industrial robot, and the precision speed reducer comprises a pressing disc 1, two cycloidal gears 2, an output disc 5, a pin gear shell 7, three crank shafts 10, two angular contact ball bearings 12 and an input gear shaft 14, and is shown in figures 1 and 2.
The inner wall of the needle tooth shell 7 is uniformly embedded with a plurality of needle teeth 6 to form an annular needle tooth group.
Referring to fig. 3, 4 and 7, the two cycloidal gears 2 are both meshed with the annular needle tooth group, and the cycloidal gears 2 and the annular needle tooth group form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each of the cycloid gears 2 has a through hole at the center. Three bearing holes 201 are uniformly distributed on the periphery of each cycloid wheel 2 in the circumferential direction, and a needle bearing 9 is installed in each bearing hole 201. A connecting hole 202 is processed between two adjacent bearing holes 201. The connecting hole 202 is a fan-shaped annular hole.
The two angular contact ball bearings 12 are respectively installed on two sides of the annular pin gear set to circumferentially position the annular pin gear set and the two cycloidal gears 2.
The input gear shaft 14 penetrates through the inner center of the pin gear case 7. The input gear shaft 14 is provided with external splines. The input gear shaft 14 is externally engaged with three planetary gears 3 through external splines. An internal spline is machined in the planetary gear 3. The three planetary gears 3 are all positioned between the two cycloid gears 2.
Referring to fig. 8, a first eccentric section and a second eccentric section having a circular cross section are spaced apart from each other on the crank shaft 10. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft 10 is provided with a central section having a circular cross section, which is located between the first eccentric section and the second eccentric section. And the central section is provided with an external spline.
Three of said crankshafts 10 are located within the needle housing 7. Wherein, the central section of each crankshaft 10 correspondingly penetrates into one planetary gear 3 and is fixed, and the first eccentric section and the second eccentric section of the crankshaft 10 respectively correspondingly penetrate into the needle roller bearings 9 of the two cycloidal gears 2. In this embodiment, the central section is splined in the planetary gear 3.
The planetary gear 3 is limited on the central section of the crankshaft 10 through the elastic retainer ring 4 for the shaft, and the synchronous rotation of the gear 3 of the planetary gear 3 and the crankshaft 10 is ensured.
Referring to fig. 5, the output disc 5 is provided with three fan-shaped bosses 501 adapted to the connection holes 202, and three threaded holes are processed on the end surface of each fan-shaped boss 501. The output disc 5 is circumferentially and uniformly distributed with three crankshaft receiving holes I502 in the circumferential direction.
The output disc 5 is installed in the needle gear case 7, the boss 501 of the output disc 5 penetrates through the connecting holes 202 of the two cycloidal gears 2, and a gap is formed between the boss 501 and the connecting holes 202. The output disc 5 and the needle gear housing 7 are sealed through an outer framework oil seal 8.
Referring to fig. 6, the pressing plate 1 is centrally formed with a through hole for receiving the input gear shaft 14. The pressing disc 1 is circumferentially and uniformly distributed with three crankshaft accommodating holes II101 in the circumferential direction. The pressing disc 1 is installed in the needle gear shell 7, and the pressing disc 1 is connected with a boss 501 of the output disc 5 through a screw. One end of the crank shaft 10 penetrates into the crank shaft accommodating hole II101 of the pressing disk 1, and the other end penetrates into the crank shaft accommodating hole I502 of the output disk 5. A tapered roller bearing 11 is installed between the crank shaft 10 and the crank shaft receiving hole II 101. A tapered roller bearing 11 is mounted between the crankshaft 10 and the crankshaft receiving hole I502. A hole circlip 13 for restricting the tapered roller bearing 11 is attached to the crankshaft receiving hole II 101. An annular step for limiting the tapered roller bearing 11 is machined in the crankshaft accommodating hole I502, so that the crankshaft 10 is axially positioned.
During transmission, power is input through the input gear shaft 14, the input gear shaft 14 drives the planetary gear 3 to rotate, the planetary gear 3 is driven to drive the crank shaft 10 to rotate, the first eccentric section and the second eccentric section of the crank shaft 10 drive the two cycloidal gears 2 to rotate, the two cycloidal gears 2 drive the compression disc 1 and the output disc 5 to rotate relative to the needle gear shell 7 where the needle gears 6 are located, and the output of the power after speed reduction is completed through the output disc 5.
The accurate reduction gear of industrial robot that this embodiment discloses, place the reduction gear in the driven planetary gear 3 of first order in, and be located two cycloidal gear 2 intermediate positions, guaranteed between two cycloidal gear 2, between 10 both sides bearing shafts of crank axle, the homogeneous phase is for 3 position symmetries of planetary gear, not only can make the inside transmission spare part of reduction gear balanced bearing, showing and promoting reduction gear working property, and reduced the outside circumferential redundant space of reduction gear, the effective part that output disc 5 is used for connecting the arm has been increased. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel 2, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Example 2:
the present embodiment provides a basic implementation, a precision reducer for an industrial robot, see fig. 1 and 2, including a pressing plate 1, two cycloid gears 2, an output plate 5, a pin gear housing 7, three crank shafts 10, and an input gear shaft 14.
The inner wall of the needle tooth shell 7 is uniformly embedded with a plurality of needle teeth 6 to form an annular needle tooth group.
Referring to fig. 3, 4 and 7, the two cycloidal gears 2 are both meshed with the annular needle tooth group, and the cycloidal gears 2 and the annular needle tooth group form a small-tooth-difference planetary gear transmission mechanism with one tooth difference. Each of the cycloid gears 2 has a through hole at the center. Three bearing holes 201 are uniformly distributed on the periphery of each cycloid wheel 2 in the circumferential direction, and a needle bearing 9 is installed in each bearing hole 201. A connecting hole 202 is processed between two adjacent bearing holes 201.
The input gear shaft 14 penetrates through the inner center of the pin gear case 7. The input gear shaft 14 is provided with external splines. The input gear shaft 14 is externally engaged with three planetary gears 3 through external splines. The three planetary gears 3 are all positioned between the two cycloid gears 2.
Referring to fig. 8, a first eccentric section and a second eccentric section having a circular cross section are spaced apart from each other on the crank shaft 10. The first eccentric section and the second eccentric section are distributed in a 180-degree staggered mode. The crank shaft 10 is provided with a central section having a circular cross section, which is located between the first eccentric section and the second eccentric section.
Three of said crankshafts 10 are located within the needle housing 7. Wherein, the central section of each crankshaft 10 correspondingly penetrates into one planetary gear 3 and is fixed, and the first eccentric section and the second eccentric section of the crankshaft 10 respectively correspondingly penetrate into the needle roller bearings 9 of the two cycloidal gears 2.
Referring to fig. 5, the output disc 5 is provided with three fan-shaped bosses 501 adapted to the connection holes 202, and three threaded holes are processed on the end surface of each fan-shaped boss 501. The output disc 5 is circumferentially and uniformly distributed with three crankshaft receiving holes I502 in the circumferential direction.
The output disc 5 is installed in the needle gear case 7, the boss 501 of the output disc 5 penetrates through the connecting holes 202 of the two cycloidal gears 2, and a gap is formed between the boss 501 and the connecting holes 202.
Referring to fig. 6, the pressing plate 1 is centrally formed with a through hole for receiving the input gear shaft 14. The pressing disc 1 is circumferentially and uniformly distributed with three crankshaft accommodating holes II101 in the circumferential direction. The pressing disc 1 is installed in the needle gear shell 7, and the pressing disc 1 is connected with a boss 501 of the output disc 5 through a screw. One end of the crank shaft 10 penetrates into the crank shaft accommodating hole II101 of the pressing disk 1, and the other end penetrates into the crank shaft accommodating hole I502 of the output disk 5.
During transmission, power is input through the input gear shaft 14, the input gear shaft 14 drives the planetary gear 3 to rotate, the planetary gear 3 is driven to drive the crank shaft 10 to rotate, the first eccentric section and the second eccentric section of the crank shaft 10 drive the two cycloidal gears 2 to rotate, the two cycloidal gears 2 drive the compression disc 1 and the output disc 5 to rotate relative to the needle gear shell 7 where the needle gears 6 are located, and the output of the power after speed reduction is completed through the output disc 5.
The accurate reduction gear of industrial robot that this embodiment discloses, place the reduction gear in the driven planetary gear 3 of first order in, and be located two cycloidal gear 2 intermediate positions, guaranteed between two cycloidal gear 2, between 10 both sides bearing shafts of crank axle, the homogeneous phase is for 3 position symmetries of planetary gear, not only can make the inside transmission spare part of reduction gear balanced bearing, showing and promoting reduction gear working property, and reduced the outside circumferential redundant space of reduction gear, the effective part that output disc 5 is used for connecting the arm has been increased. On the premise of ensuring that the circumferential size of the whole speed reducer is not increased, the structural design effectively increases the thickness of the cycloid wheel 2, increases the distance between the main bearings and obviously improves the bending rigidity and torsional rigidity of the speed reducer.
Example 3:
the main structure of this embodiment is the same as embodiment 2, and further includes two angular contact ball bearings 12.
The two angular contact ball bearings 12 are respectively installed on two sides of the annular pin gear set to circumferentially position the annular pin gear set and the two cycloidal gears 2.
Example 4:
the main structure of this embodiment is the same as that of embodiment 2, and the output disc 5 and the pin gear housing 7 are sealed by an outer framework oil seal 8.
Example 5:
the main structure of this embodiment is the same as that of embodiment 2, and the planetary gear 3 is internally provided with an internal spline. The central section of the crankshaft 10 is machined with external splines. The central section of the crank shaft 10 is splined in the planet gears 3.
The planetary gear 3 is limited on the central section of the crankshaft 10 through the elastic retainer ring 4 for the shaft, and the synchronous rotation of the gear 3 of the planetary gear 3 and the crankshaft 10 is ensured.
Example 6:
the main structure of this embodiment is the same as that of embodiment 2, and further, the connection hole 202 is a sector annular hole. The boss 501 is a sector annular boss matched with the sector annular hole, and four corners of the sector annular hole and four corners of the sector annular boss are rounded corners so as to reduce abrasion between the boss 501 and the cycloid wheel 2.
Example 7:
the main structure of this embodiment is the same as that of embodiment 2, and further, a tapered roller bearing 11 is installed between the crankshaft 10 and the crankshaft receiving hole II 101. A tapered roller bearing 11 is mounted between the crankshaft 10 and the crankshaft receiving hole I502. A hole circlip 13 for restricting the tapered roller bearing 11 is attached to the crankshaft receiving hole II 101. An annular step for limiting the tapered roller bearing 11 is machined in the crankshaft accommodating hole I502, so that the crankshaft 10 is axially positioned.

Claims (8)

1.工业机器人精密减速器,其特征在于:包括所述压紧盘(1)、两个摆线轮(2)、输出盘(5)、针齿壳(7)、多个曲柄轴(10),以及输入齿轮轴(14);1. An industrial robot precision reducer, characterized in that it comprises the pressing plate (1), two cycloidal wheels (2), an output plate (5), a pin gear housing (7), a plurality of crankshafts (10). ), and the input gear shaft (14); 所述针齿壳(7)的内壁均匀镶嵌有多个针齿(6),形成环形针齿组;The inner wall of the pin-tooth shell (7) is evenly inlaid with a plurality of pin-tooth (6) to form an annular pin-tooth group; 两个所述摆线轮(2)均与环形针齿组内啮合,摆线轮(2)与环形针齿组构成一齿差的少齿差行星齿轮传动机构;每一个所述摆线轮(2)中心均具有通孔;每一个所述摆线轮(2)在周向方向上呈圆周均匀分布有多个轴承孔(201),每一个轴承孔(201)中均安装有滚针轴承(9);相邻两个轴承孔(201)之间设置有连接孔(202);The two cycloidal gears (2) are both internally meshed with the annular pin-tooth group, and the cycloidal wheel (2) and the annular pin-tooth group form a planetary gear transmission mechanism with a small tooth difference with a tooth difference; each of the cycloidal gears (2) There are through holes in the center; each of the cycloidal wheels (2) is uniformly distributed with a plurality of bearing holes (201) on the circumference in the circumferential direction, and needle rollers are installed in each bearing hole (201) A bearing (9); a connecting hole (202) is provided between two adjacent bearing holes (201); 所述输入齿轮轴(14)穿入在针齿壳(7)内部中心;所述输入齿轮轴(14)外啮合有多个行星齿轮(3);多个所述行星齿轮(3)均位于两个摆线轮(2)之间;The input gear shaft (14) penetrates into the inner center of the pin gear housing (7); the input gear shaft (14) is externally meshed with a plurality of planetary gears (3); the plurality of planetary gears (3) are located at between the two cycloidal wheels (2); 所述曲柄轴(10)上间隔设置有第一偏心段和第二偏心段;所述第一偏心段和第二偏心段呈180°错位分布;所述曲柄轴(10)上设置有中心段,所述中心段位于第一偏心段和第二偏心段之间;The crankshaft (10) is provided with a first eccentric section and a second eccentric section at intervals; the first eccentric section and the second eccentric section are 180° dislocation distributed; the crankshaft (10) is provided with a center section , the central segment is located between the first eccentric segment and the second eccentric segment; 多个所述曲柄轴(10)均位于针齿壳(7)内;其中,每一个曲柄轴(10)的中心段均对应穿入在一个行星齿轮(3)中,并固定,曲柄轴(10)的第一偏心段和第二偏心段分别对应穿入在两个摆线轮(2)的滚针轴承(9)中;The plurality of crankshafts (10) are all located in the pin gear housing (7); wherein, the center section of each crankshaft (10) is correspondingly penetrated into a planetary gear (3) and is fixed, and the crankshaft ( The first eccentric section and the second eccentric section of 10) are respectively penetrated into the needle roller bearings (9) of the two cycloidal wheels (2); 所述输出盘(5)上设置有与连接孔(202)相适应的多个凸台(501)。所述输出盘(5)在周向方向上呈圆周均匀分布有多个曲柄轴容纳孔I(502);The output plate (5) is provided with a plurality of bosses (501) adapted to the connection holes (202). The output disc (5) is uniformly distributed with a plurality of crankshaft accommodating holes I (502) in the circumferential direction; 所述输出盘(5)安装在针齿壳(7)内,输出盘(5)的凸台(501)贯穿在两个摆线轮(2)的连接孔(202)中,凸台(501)与连接孔(202)之间具有间隙;The output disc (5) is installed in the pin gear housing (7), the bosses (501) of the output disc (5) penetrate through the connecting holes (202) of the two cycloidal wheels (2), and the bosses (501) ) and the connecting hole (202) with a gap; 所述压紧盘(1)中心设置有容纳输入齿轮轴(14)的通孔;所述压紧盘(1)在周向方向上呈圆周均匀分布有多个曲柄轴容纳孔II(101);所述压紧盘(1)安装在针齿壳(7)内,压紧盘(1)通过螺钉连接输出盘(5)的凸台(501);所述曲柄轴(10)的一端穿入在压紧盘(1)的曲柄轴容纳孔II(101)中,另一端穿入在输出盘(5)的曲柄轴容纳孔I(502)中。The center of the pressing plate (1) is provided with a through hole for accommodating the input gear shaft (14); the pressing plate (1) is uniformly distributed with a plurality of crankshaft receiving holes II (101) in the circumferential direction. ; the pressure plate (1) is installed in the pin gear housing (7), and the pressure plate (1) is connected to the boss (501) of the output plate (5) by screws; one end of the crankshaft (10) is pierced through It is inserted into the crankshaft accommodating hole II (101) of the compression plate (1), and the other end is inserted into the crankshaft accommodating hole I (502) of the output plate (5). 2.根据权利要求1所述的工业机器人精密减速器,其特征在于:还包括两个角接触球轴承(12);2. The industrial robot precision reducer according to claim 1, characterized in that: further comprising two angular contact ball bearings (12); 两个所述角接触球轴承(12)分别安装在环形针齿组的两侧,对环形针齿组和两个摆线轮(2)进行周向定位。The two angular contact ball bearings (12) are respectively installed on both sides of the annular pin-tooth group to perform circumferential positioning of the annular pin-tooth group and the two cycloidal wheels (2). 3.根据权利要求3所述的工业机器人精密减速器,其特征在于:所述输出盘(5)与针齿壳(7)之间通过外骨架油封(8)密封。3 . The industrial robot precision reducer according to claim 3 , wherein the output disc ( 5 ) and the pin gear housing ( 7 ) are sealed by an outer skeleton oil seal ( 8 ). 4 . 4.根据权利要求1所述的工业机器人精密减速器,其特征在于:所述行星齿轮(3)内部设置有内花键;所述曲柄轴(10)的中心段上设置有外花键;所述曲柄轴(10)的中心段通过花键连接在行星齿轮(3)中。4. The industrial robot precision reducer according to claim 1, characterized in that: the planetary gear (3) is provided with internal splines; the center section of the crankshaft (10) is provided with external splines; The central section of the crankshaft (10) is splined in the planetary gear (3). 5.根据权利要求4所述的工业机器人精密减速器,其特征在于:所述行星齿轮(3)通过轴用弹性挡圈(4)限位在曲柄轴(10)的中心段上。5 . The industrial robot precision reducer according to claim 4 , wherein the planetary gear ( 3 ) is limited on the center section of the crank shaft ( 10 ) by a spring retaining ring ( 4 ) for the shaft. 6 . 6.根据权利要求1所述的工业机器人精密减速器,其特征在于:所述连接孔(202)为扇环形孔;所述凸台(501)为与扇环形孔相适应的扇环形凸台。6. The industrial robot precision reducer according to claim 1, characterized in that: the connecting hole (202) is a fan annular hole; the boss (501) is a fan annular boss adapted to the fan annular hole . 7.根据权利要求1所述的工业机器人精密减速器,其特征在于:所述曲柄轴(10)与曲柄轴容纳孔II(101)之间设置有圆锥滚子轴承(11);所述曲柄轴(10)与曲柄轴容纳孔I(502)之间设置有圆锥滚子轴承(11)。7. The industrial robot precision reducer according to claim 1, characterized in that: a tapered roller bearing (11) is arranged between the crankshaft (10) and the crankshaft accommodating hole II (101); the crankshaft A tapered roller bearing (11) is arranged between the shaft (10) and the crankshaft accommodating hole I (502). 8.根据权利要求7所述的工业机器人精密减速器,其特征在于:所述曲柄轴容纳孔II(101)中设置有对圆锥滚子轴承(11)限位的孔用弹性挡圈(13);所述曲柄轴容纳孔I(502)中设置有对圆锥滚子轴承(11)限位的环形台阶。8 . The industrial robot precision reducer according to claim 7 , wherein the crankshaft accommodating hole II ( 101 ) is provided with a retaining ring ( 13 ) for a hole for limiting the position of the tapered roller bearing ( 11 ). ); an annular step for limiting the position of the tapered roller bearing (11) is provided in the crankshaft accommodating hole I (502).
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