CN209762167U

CN209762167U - Straight tooth planet wheel ball combined speed reducer

Info

Publication number: CN209762167U
Application number: CN201822278058.9U
Authority: CN
Inventors: 王小三
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2019-12-10
Anticipated expiration: 2028-12-29

Abstract

The utility model belongs to the technical field of the reduction gear technique and specifically relates to indicate a straight-tooth planet wheel ball combination formula reduction gear, it includes planet wheel speed reduction subassembly and ball speed reduction subassembly, and planet wheel speed reduction subassembly includes first input shaft, planet carrier, first shell, first output dish and a plurality of straight-tooth planet wheel, and ball speed reduction subassembly includes second input shaft, second shell, driving-disc, cycloid dish, second output dish and a plurality of ellipsoid ball. The utility model discloses utilize the rotation transmission motion of straight-tooth planet wheel and first ring gear, realize the one-level speed reduction to the motor, recycle the roll transmission motion of ball and cycloid rail groove, realize the second grade speed reduction to the motor, improve transmission efficiency, the friction when rolling friction when the ball rolls is compared in traditional gear reducer in the gear engagement is littleer, reduce the wearing and tearing loss, planet wheel speed reduction subassembly is all littleer with the transmission ratio error that ball speed reduction subassembly compared in traditional gear reducer, reduce the transmission ratio error.

Description

Straight tooth planet wheel ball combined speed reducer

Technical Field

the utility model belongs to the technical field of the reduction gear technique and specifically relates to indicate a straight-tooth planet wheel ball combination formula reduction gear.

background

The speed reducer plays a role in matching rotating speed and transmitting torque between a prime motor and a working machine or an actuating mechanism, is a relatively precise machine, aims to reduce the rotating speed, has been developed in China for nearly 40 years in the past, and is widely applied to various fields of national economy and national defense industry. At present, the industry with large using amount of speed reducers mainly comprises: the number of speed reducer products used in the industries such as industrial robots, electric power machinery, metallurgical machinery, environmental protection machinery, electronic appliances and the like accounts for 40-60% of the total number of speed reducers used in all the industries in China. A planetary reducer is a relatively common reducer, which is a relatively precise machine used for reducing the rotation speed and increasing the torque. Planetary gear reducers are often used in transmission devices with low rotational speed and large torque, and generally, the power of high-speed operation such as motors is reduced by engaging gears with a small number of teeth on an input shaft of the planetary gear reducer with a large gear on an output shaft.

However, the traditional planetary reducer has low transmission efficiency, large transmission ratio error and low reduction ratio, and cannot meet the requirements of modern production.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a straight-tooth planet wheel ball combination formula reduction gear comprises planet wheel speed reduction subassembly and ball speed reduction subassembly, improves transmission efficiency greatly, reduces the drive ratio error, and the friction loss is little.

In order to solve the technical problem, the utility model discloses a following technical scheme:

The utility model provides a straight-teeth planet wheel ball combination formula reduction gear, its ball that includes planet wheel speed reduction subassembly and be connected with planet wheel speed reduction subassembly transmission, planet wheel speed reduction subassembly includes first input shaft, planet carrier, first shell, first output dish and a plurality of straight-teeth planet wheel, first input shaft is fixed with the sun gear, and the planet carrier rotates to set up in first input shaft, and a plurality of straight-teeth planet wheel set up around the sun gear and all mesh with the sun gear, and a plurality of straight-teeth planet wheel all rotate to set up in the planet carrier, the protruding first ring gear that is equipped with of inner wall of first shell, a plurality of straight-teeth planet wheel all are located first ring gear and all mesh with first ring gear, and first output dish rotates with first shell and sets up, and a plurality of straight-teeth planet wheel all rotate to set up in first output dish, and a plurality of straight-teeth planet wheel all are located between planet carrier and the first output dish, the first input shaft, the first output disc and the first shell are coaxially arranged;

The ball reduction assembly comprises a second input shaft, a second shell, a driving disc, a cycloid disc, a second output disc and a plurality of ellipsoidal balls, the second shell is connected with the first shell, the first output disc and the second input shaft are coaxially and fixedly arranged, the second input shaft comprises an installation part and an eccentric part connected with the installation part, the installation part is rotatably arranged on the second shell, the cycloid disc is rotatably sleeved outside the installation part, the driving disk is sleeved outside the eccentric part, the driving disk drives the cycloid disk to rotate through the ellipsoidal balls, the driving disk, the cycloid disk, the second output disk and the second input shaft are coaxially arranged, the cycloid disk is positioned between the driving disk and the second output disk, and one side of the cycloid disk, which is close to the second output disk, is provided with a cycloid rail groove, one side of the second output disk, which is close to the cycloid disk, is circumferentially and uniformly provided with a plurality of ball fixing grooves, and a plurality of ellipsoidal balls are movably arranged between the cycloid rail groove and the ball fixing grooves.

Further, the installation department includes first installation department and second installation department, the eccentric portion is located between first installation department and the second installation department, and the second shell rotates with first installation department and sets up, and the cycloid dish rotates the cover and locates the second installation department outside, the second input shaft is the integrated into one piece structure.

Further, the ball speed reduction assembly further comprises a third shell and a fourth shell fixedly arranged on the third shell, the third shell is connected with the second shell, the third shell and the fourth shell are both sleeved on a second output disc, and the second output disc is rotatably arranged in the third shell and the fourth shell.

Furthermore, a first ring groove and a second ring groove which is arranged in a concave mode and is crossed with the first ring groove are arranged on the outer side of the second output disc, a third ring groove is arranged on the inner side of the third shell, a fourth ring groove is arranged on the inner side of the fourth shell, the first ring groove, the second ring groove, the third ring groove and the fourth ring groove are surrounded to form a containing ring channel, a plurality of first rollers and a plurality of second rollers are arranged in the first ring groove and the third ring groove, the plurality of first rollers and the plurality of second rollers are arranged in a staggered mode, and the central axis of each first roller is perpendicular to the central axis of each second roller; a plurality of third rollers and a plurality of fourth rollers are arranged in the second ring groove and the fourth ring groove, the third rollers and the fourth rollers are arranged in a staggered mode, and the central axis of each third roller is perpendicular to the central axis of each fourth roller.

Furthermore, the ball speed reduction assembly further comprises a limiting ring sleeved on the outer side of the second output disc, a plurality of limiting through holes are uniformly distributed on the circumference of the limiting ring, and the first roller, the second roller, the third roller and the fourth roller are all limited in the limiting through holes.

Further, one side of driving-disc is equipped with a plurality of first spouts, second shell inner wall is equipped with a plurality of second spouts corresponding with first spout, and the activity is equipped with first ball between first spout and the second spout, and one side that the driving-disc is close to the cycloid dish is equipped with a plurality of third spouts, one side that the cycloid dish is close to the driving-disc is equipped with a plurality of fourth spouts corresponding with the third spout, and the activity is equipped with the second ball between third spout and the fourth spout.

Furthermore, a plurality of the first sliding grooves are parallel to each other, a plurality of the third sliding grooves are parallel to each other, and the first sliding grooves and the third sliding grooves are vertically arranged.

Further, the ellipsoid ball includes ellipsoid portion and the ball portion of being connected with ellipsoid portion, and ellipsoid portion sets up in second output dish, and ball portion sets up in cycloid dish.

Furthermore, two first balls are arranged in the first sliding groove and the second sliding groove; two second balls are arranged in the third sliding groove and the fourth sliding groove; a plurality of bearings are sleeved on the first input shaft, the straight-tooth planet gear and the second input shaft.

Furthermore, the outer sides of the first shell, the second shell, the third shell and the fourth shell are all provided with a plurality of heat dissipation ring grooves.

The utility model has the advantages that: the utility model discloses utilize the rotation transmission motion of straight-tooth planet wheel and first ring gear, make first output dish reduce the rotational speed, realize the one-level speed reduction to the motor, recycle the roll transmission motion of ball and cycloid rail groove, make second output dish reduce the rotational speed, realize the second grade speed reduction to the motor, improve transmission efficiency greatly, rolling friction when the ball rolls is littleer when comparing in traditional gear reducer gear engagement, the wearing and tearing loss that reduces greatly, planet wheel speed reduction subassembly is all littleer with the drive ratio error that ball speed reduction subassembly was compared in traditional gear reducer, the drive ratio error that reduces greatly.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a cross-sectional view of the present invention.

Fig. 3 is a schematic view of the exploded structure of the present invention.

Fig. 4 is the utility model discloses a planet carrier, first input shaft, straight-tooth planet wheel and the decomposition structure schematic diagram of first output dish.

Fig. 5 is a schematic structural view of the second output disc and the cycloid disc of the present invention.

Fig. 6 is a schematic structural diagram of the stop collar, the first roller, the second roller, the third roller and the fourth roller of the present invention.

Fig. 7 is a schematic structural diagram of a second input shaft according to the present invention.

Fig. 8 is a schematic structural diagram of a driving disc of the present invention.

Fig. 9 is a schematic perspective view of another perspective of the present invention.

Fig. 10 is a top view of a drive plate of the present invention.

3 fig. 3 11 3 is 3 a 3 sectional 3 view 3 taken 3 along 3 a 3- 3 a 3 in 3 fig. 3 10 3. 3

Fig. 12 is a schematic structural view of an ellipsoidal ball according to the present invention.

Description of reference numerals:

1-a planet gear speed reduction assembly; 11-a first input shaft; 111-sun gear; 12-a planet carrier; 13-a first housing; 131-a first toothed ring; 14-a first output tray; 15-straight-tooth planet gear; 16-heat dissipation holes; 2-a ball reduction assembly; 21-a second input shaft; 211-an eccentric portion; 22-a second housing; 23-a drive disc; 24-cycloid discs; 241-cycloid rail grooves; 25-a second output tray; 251-ball fixing groove; 26-ellipsoidal balls; 261-an elliptical sphere; 262-a spherical portion; 27-a third housing; 28-a fourth housing; 29-a stop collar; 291-limit through hole; 3-an installation part; 31-a first mounting portion; 32-a second mounting portion; 4-a first chute; 5-accommodating the ring channel; 51-a first ring groove; 52-a second ring groove; 53-third ring groove; 54-a fourth ring groove; 611-a first roller; 612-a second roller; 613-third roller; 614-fourth roller; 62-a first ball; 63-a second ball; 7-a bearing; 8-heat dissipation ring groove.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

As shown in fig. 1 to 12, the present invention provides a straight-tooth planetary gear and ball combined type speed reducer, which includes a planetary gear speed reducing assembly 1 and a ball speed reducing assembly 2 in transmission connection with the planetary gear speed reducing assembly 1, wherein the planetary gear speed reducing assembly 1 includes a first input shaft 11, a planet carrier 12, a first housing 13, a first output disc 14 and a plurality of straight-tooth planetary gears 15, the first input shaft 11 is fixed with a sun gear 111, the planet carrier 12 is rotatably disposed on the first input shaft 11, the plurality of straight-tooth planetary gears 15 are disposed around the sun gear 111 and are all engaged with the sun gear 111, the plurality of straight-tooth planetary gears 15 are rotatably disposed on the planet carrier 12, a first gear ring 131 is convexly disposed on an inner wall of the first housing 13, the plurality of straight-tooth planetary gears 15 are all located in the first gear ring 131 and are all engaged with the first gear ring 131, the first output disc 14 is rotatably disposed with the first housing 13, the plurality of straight-tooth planetary gears 15 are all rotatably disposed on the first output, the plurality of straight-tooth planet gears 15 are all positioned between the planet carrier 12 and the first output disc 14, and the planet carrier 12, the first input shaft 11, the first output disc 14 and the first shell 13 are coaxially arranged; the ball speed reducing assembly 2 comprises a second input shaft 21, a second shell 22, a driving disc 23, a cycloid disc 24, a second output disc 25 and a plurality of ellipsoidal balls 26, the second shell 22 is connected to the first shell 13, the first output disc 14 and the second input shaft 21 are coaxially and fixedly arranged, the second input shaft 21 comprises an installation part 3 and an eccentric part 211 connected with the installation part 3, the installation part 3 is rotatably arranged on the second shell 22, the cycloid disc 24 is rotatably sleeved on the outer side of the installation part 3, the driving disc 23 is sleeved on the outer side of the eccentric part 211, the driving disc 23 drives the cycloid disc 24 to rotate through the ellipsoidal balls 26, the driving disc 23, the cycloid disc 24, the second output disc 25 and the second input shaft 21 are coaxially arranged, the cycloid disc 24 is positioned between the driving disc 23 and the second output disc 25, a cycloid rail groove is formed in one side of the cycloid disc 24, which is close to the second output disc 25, a plurality of ball fixing grooves 251 are uniformly distributed on one side of the second output disc 25, which is close to the, a plurality of ellipsoidal balls 26 are movably disposed between the cycloid track grooves 241 and the ball fixing grooves 251.

In practical application, the planetary gear speed reduction assembly 1 is used as a primary speed reduction assembly, the ball speed reduction assembly 2 is used as a secondary speed reduction assembly, the first input shaft 11 is connected with an external motor, power is input by the sun gear 111, the sun gear 111 drives the plurality of straight-tooth planetary gears 15 to rotate, the first housing 13 is locked and kept immovable, due to the limiting effect of the first toothed ring 131 and the plurality of straight-tooth planetary gears 15 on the first output disc 14, the first output disc 14 rotates, the first output disc 14 is used as a power output end of the primary speed reduction assembly, the second input shaft 21 is fixedly connected with the first output disc 14, the second input shaft 21 is used as a power input end of the secondary speed reduction assembly, the second input shaft 21 eccentrically drives the driving disc 23 to rotate, the eccentric part 211 drives the driving disc 23 to do circular motion around the center of the second input shaft 21 by taking the eccentric distance as the radius, the driving disc 23 drives the cycloid disc 24 to rotate, due to the limiting effect of the cycloid disc 24 and the plurality of ellipsoidal balls 26 on the second output disc 25, the second output disc 25 rotates, the second output disc 25 serves as a power output end of the two-stage speed reduction assembly, and power is initially input through the first input shaft 11 and finally output through the second output disc 25; the utility model discloses utilize straight-tooth planet wheel 15 and first ring gear 131's rotation transmission motion, make first output dish 14 reduce the rotational speed, the realization is to the one-level speed reduction of motor, recycle ellipsoid ball 26 and cycloid rail groove 241's roll transmission motion, make second output dish 25 reduce the rotational speed, the realization is to the second grade speed reduction of motor, the transmission efficiency is greatly improved, promote the reduction ratio greatly, rolling friction when ellipsoid ball 26 rolls is littleer than the friction when gear engagement in traditional gear reducer, the wearing and tearing loss that reduces greatly, planet wheel speed reduction subassembly 1 all is littleer with ball speed reduction subassembly 2 transmission ratio error than in traditional gear reducer, the transmission ratio error that reduces greatly.

In this embodiment, the planetary gear reduction assembly 1 and the ball reduction assembly 2 are both combined components, the first input shaft 11, the planetary carrier 12, the first housing 13, the first output disc 14, and the plurality of straight-tooth planetary gears 15 are sequentially assembled to form a combined component, the second input shaft 21, the second housing 22, the driving disc 23, the cycloid disc 24, the second output disc 25, and the plurality of ellipsoidal balls 26 are sequentially assembled to form another combined component, and then the two combined components are combined together, compared with the case where the planetary carrier 12, the first housing 13, the first output disc 14, the straight-tooth planetary gears 15, the second input shaft 21, the second housing 22, the driving disc 23, the cycloid disc 24, the second output disc 25, and the plurality of ellipsoidal balls 26 are installed one by one, the installation errors between the components can be reduced, the fitting accuracy between the components can be improved, and the transmission accuracy of the speed reducer can be further improved, the assembly time is shortened, and the production efficiency is improved.

In this embodiment, the installation portion 3 includes a first installation portion 31 and a second installation portion 32, the eccentric portion 211 is located between the first installation portion 31 and the second installation portion 32, the second housing 22 and the first installation portion 31 are rotatably disposed, the cycloid disc 24 is rotatably sleeved on the outer side of the second installation portion 32, and the second input shaft 21 is of an integrally formed structure. The ball reduction assembly 2 further includes a third housing 27 and a fourth housing 28 fixedly disposed on the third housing 27, the third housing 27 is connected to the second housing 22, the third housing 27 and the fourth housing 28 are both sleeved on the second output disc 25, and the second output disc 25 is rotatably disposed in the third housing 27 and the fourth housing 28. The first shell 13, the second shell 22, the third shell 27 and the fourth shell 28 are all of a circular cylinder structure, in the using process, the first shell 13, the second shell 22, the third shell 27 and the fourth shell 28 are all kept motionless, the first shell 13, the second shell 22, the third shell 27 and the fourth shell 28 are all made of high-hardness high-wear-resistance steel such as high-carbon chromium steel, and the like, and the first shell 13, the second shell 22, the third shell 27 and the fourth shell 28 are all provided with a plurality of through holes for penetrating bolts or screws so as to achieve a fixing effect.

In this embodiment, a first ring groove 51 and a second ring groove 52 intersecting with the first ring groove 51 are concavely provided on the outer side of the second output disk 25, a third ring groove 53 is provided on the inner side of the third housing 27, a fourth ring groove 54 is provided on the inner side of the fourth housing 28, the first ring groove 51, the second ring groove 52, the third ring groove 53, and the fourth ring groove 54 are enclosed to form the accommodating ring channel 5, a plurality of first rollers 611 and a plurality of second rollers 612 are provided in the first ring groove 51 and the third ring groove 53, the plurality of first rollers 611 and the plurality of second rollers 612 are staggered, and the central axis of the first rollers 611 is perpendicular to the central axis of the second rollers 612; a plurality of third rollers 613 and a plurality of fourth rollers 614 are disposed in the second ring groove 52 and the fourth ring groove 54, the plurality of third rollers 613 and the plurality of fourth rollers 614 are disposed alternately, and the center axes of the third rollers 613 and the center axes of the fourth rollers 614 are disposed perpendicularly to each other. The first roller 611, the second roller 612, the third roller 613 and the fourth roller 614 are preferably cylinders, the receiving ring channel 5 is used for receiving the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614, and the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614 are used for releasing the eccentric motion of the second input shaft 21, so that the sliding friction and the loss are reduced.

In this embodiment, the ball decelerating assembly 2 further includes a limiting ring 29 sleeved outside the second output disc 25, a plurality of limiting through holes 291 are uniformly distributed on the circumference of the limiting ring 29, and the first roller 611, the second roller 612, the third roller 613, and the fourth roller 614 are all limited in the limiting through holes 291. The first roller 611, the second roller 612, the third roller 613 and the fourth roller 614 are designed to be spaced from each other, so that the abrasion of the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614, which is caused by the mutual contact among the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614, is prevented from being accelerated, the limit ring 29 is used for limiting the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614, the rotation stability of the second output disc 25 is improved, and the abrasion of the first roller 611, the second roller 612, the third roller 613 and the fourth roller 614 is reduced.

In this embodiment, a plurality of first chutes 4 are disposed on one side of the driving disc 23, a plurality of second chutes (not shown in the figure) corresponding to the first chutes 4 are disposed on an inner wall of the second housing 22, first balls 62 are movably disposed between the first chutes 4 and the second chutes, a plurality of third chutes (not shown in the figure) are disposed on one side of the driving disc 23 close to the cycloid disc 24, a plurality of fourth chutes (not shown in the figure) corresponding to the third chutes are disposed on one side of the cycloid disc 23 close to the driving disc 23, and second balls 63 are movably disposed between the third chutes and the fourth chutes. The first balls 62 can prevent the driving disc 23 from being directly matched with the second shell 22, the play of the second shell 22 in a plane perpendicular to the second input shaft 21 when the driving disc 23 rotates is reduced, so that the second shell 22 is kept stable, the second balls 63 can prevent the driving disc 23 from being directly matched and connected with the cycloid disc 24, the first balls 62 and the second balls 63 are used for releasing the eccentric motion of the second input shaft 21, and meanwhile, the sliding friction between the driving disc 23 and the second shell 22 and between the driving disc 23 and the cycloid disc 24 is changed into rolling friction, so that the friction loss is reduced; the first ball 62 and the second ball 63 can be roller bodies, the shapes of the first sliding groove 4 and the second sliding groove are matched with the shape of the first ball 62, the shapes of the third sliding groove and the fourth sliding groove are matched with the shape of the second ball 63, abrasion of the first ball 62, the second ball 63, the driving disc 23 and the cycloid disc 24 is reduced, and the service life is prolonged.

In this embodiment, the plurality of first sliding grooves 4 are parallel to each other, the plurality of third sliding grooves are parallel to each other, and the first sliding grooves 4 and the third sliding grooves are vertically disposed.

In this embodiment, the ellipsoidal ball 26 includes an ellipsoidal part 261 and a spherical part 262 connected to the ellipsoidal part 261, the ellipsoidal part 261 is disposed on the second output disc 25, and the spherical part 262 is disposed on the cycloid disc 24. The cycloid disc 24 and the cycloid track groove 241 are used as the most core structure of the ball speed reduction assembly 2, and the ellipsoidal balls 26 can reduce the friction loss of the cycloid disc 24 and the second output disc 25, so that the working noise is reduced, the transmission power is improved, and the service life is prolonged.

In this embodiment, the planet carrier 12 and the first output disc 14 are respectively provided with a plurality of heat dissipation holes 16. The heat dissipation holes 16 are used for dissipating heat, and play a role in reducing weight of the planet carrier 12, so that the speed reducer is lighter.

In this embodiment, two first balls 62 are disposed in the first sliding groove 4 and the second sliding groove; two second balls 63 are arranged in the third sliding groove and the fourth sliding groove; the first input shaft 11, the straight-tooth planet gear 15 and the second input shaft 21 are all sleeved with a plurality of bearings 7. The main function of the bearing 7 is to support each element to rotate, reduce the friction coefficient of each element in the rotating process and ensure the rotating precision.

In this embodiment, a plurality of heat dissipation ring grooves 8 are formed on the outer sides of the first casing 13, the second casing 22, the third casing 27, and the fourth casing 28. The reduction gear can generate heat in the course of the work, and heat dissipation annular groove 8 has increaseed the area of contact of reduction gear shell with the outside air, can accelerate the heat dissipation.

All the technical features in the embodiment can be freely combined according to actual needs.

The above-mentioned embodiment is the utility model discloses the implementation scheme of preferred, in addition, the utility model discloses can also realize by other modes, any obvious replacement is all within the protection scope of the utility model under the prerequisite that does not deviate from this technical scheme design.

Claims

1. The utility model provides a straight-teeth planet wheel ball combination formula reduction gear, includes planet wheel speed reduction subassembly and the ball speed reduction subassembly of being connected with planet wheel speed reduction subassembly transmission, its characterized in that: the planet gear speed reducing assembly comprises a first input shaft, a planet carrier, a first shell, a first output disc and a plurality of straight-tooth planet gears, wherein the first input shaft is fixedly provided with a sun gear, the planet carrier is rotatably arranged on the first input shaft, the plurality of straight-tooth planet gears are arranged around the sun gear and are respectively meshed with the sun gear, the plurality of straight-tooth planet gears are respectively rotatably arranged on the planet carrier, a first gear ring is convexly arranged on the inner wall of the first shell, the plurality of straight-tooth planet gears are respectively positioned in the first gear ring and are respectively meshed with the first gear ring, the first output disc is rotatably arranged with the first shell, the plurality of straight-tooth planet gears are respectively rotatably arranged on the first output disc, the plurality of straight-tooth planet gears are respectively positioned between the planet carrier and the first output disc, and the planet carrier, the first input shaft, the first output disc and the first shell;

2. The spur-planet-ball combined reducer of claim 1, wherein: the installation department includes first installation department and second installation department, eccentric portion is located between first installation department and the second installation department, and the second shell rotates with first installation department and sets up, and the cycloid dish rotates the cover and locates the second installation department outside, the second input shaft is the integrated into one piece structure.

3. The spur-planet-ball combined reducer of claim 1, wherein: the ball speed reduction assembly further comprises a third shell and a fourth shell fixedly arranged with the third shell, the third shell is connected with the second shell, the third shell and the fourth shell are both sleeved on a second output disc, and the second output disc is rotatably arranged in the third shell and the fourth shell.

4. The spur-planet-ball combined reducer of claim 3, wherein: a first ring groove and a second ring groove which is crossed with the first ring groove are concavely arranged on the outer side of the second output disc, a third ring groove is arranged on the inner side of the third shell, a fourth ring groove is arranged on the inner side of the fourth shell, the first ring groove, the second ring groove, the third ring groove and the fourth ring groove are surrounded to form a containing ring channel, a plurality of first rollers and a plurality of second rollers are arranged in the first ring groove and the third ring groove, the plurality of first rollers and the plurality of second rollers are arranged in a staggered mode, and the central axis of each first roller is perpendicular to the central axis of each second roller; a plurality of third rollers and a plurality of fourth rollers are arranged in the second ring groove and the fourth ring groove, the third rollers and the fourth rollers are arranged in a staggered mode, and the central axis of each third roller is perpendicular to the central axis of each fourth roller.

5. The spur-planet-ball combined reducer of claim 4, wherein: the ball speed reduction assembly further comprises a limiting ring sleeved on the outer side of the second output disc, a plurality of limiting through holes are evenly distributed on the circumference of the limiting ring, and the first roller, the second roller, the third roller and the fourth roller are all limited in the limiting through holes.

6. The spur-planet-ball combined reducer of claim 1, wherein: one side of driving-disc is equipped with a plurality of first spouts, second shell inner wall is equipped with a plurality of second spouts corresponding with first spout, and the activity is equipped with first ball between first spout and the second spout, and one side that the driving-disc is close to the cycloid dish is equipped with a plurality of third spouts, one side that the cycloid dish is close to the driving-disc is equipped with a plurality of fourth spouts corresponding with the third spout, and the activity is equipped with the second ball between third spout and the fourth spout.

7. the spur-planet-ball combined reducer of claim 6, wherein: the first sliding grooves are parallel to each other, the third sliding grooves are parallel to each other, and the first sliding grooves and the third sliding grooves are perpendicular to each other.

8. The spur-planet-ball combined reducer of claim 1, wherein: the ellipsoid ball includes ellipsoid portion and the ball portion of being connected with ellipsoid portion, and ellipsoid portion sets up in second output dish, and ball portion sets up in cycloid dish.

9. The spur-planet-ball combined reducer of claim 6, wherein: two first balls are arranged in the first sliding groove and the second sliding groove; two second balls are arranged in the third sliding groove and the fourth sliding groove; a plurality of bearings are sleeved on the first input shaft, the straight-tooth planet gear and the second input shaft.

10. The spur-planet-ball combined reducer of claim 3, wherein: the outer sides of the first shell, the second shell, the third shell and the fourth shell are all provided with a plurality of heat dissipation ring grooves.