CN216279213U - Sealed cycloidal speed reducer for heavy industrial robot - Google Patents

Abstract

The utility model discloses a sealed cycloidal speed reducer for a heavy industrial robot, which comprises a needle shell, wherein the left end of the needle shell is connected with a transition flange through bolt threads, the right end of the transition flange is connected with a transfer flange through bolt threads, an input mechanism is arranged inside the transfer flange, the left end inside the needle shell is movably connected with a first front framework oil seal, the left end of the first front framework oil seal is movably connected with a rear planet carrier, the outer surface of the rear planet carrier is provided with a deflection mechanism, the right end surface inside the needle shell is movably sleeved with an O-shaped sealing ring, the right end surface of the needle shell and the inside of the transition flange are movably connected with a front planet carrier adjusting gasket, and a transmission mechanism is arranged inside the rear planet carrier. According to the sealed cycloidal speed reducer for the heavy industrial robot, the needle shell and the transition flange are fastened through the bolts, and the device can work with high sealing performance through mutual transmission of all mechanisms.

Description

Sealed cycloidal speed reducer for heavy industrial robot

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a sealed cycloidal speed reducer for a heavy industrial robot.

Background

The RV (Rot-vector) transmission (belonging to a crank type closed differential gear train) for the robot is a novel transmission developed on the basis of cycloidal pin gear transmission, and is mainly characterized by three large (large transmission ratio, large bearing capacity and rigidity), two high (high motion precision and high transmission efficiency) and one small (small return difference), and has smaller volume and larger overload capacity than simple cycloidal pin gear planetary transmission, and the rigidity of an output shaft is large, so that the RV (Rot-vector) transmission is widely emphasized at home and abroad, and pure cycloidal pin gear planetary transmission and harmonic transmission are gradually replaced in a transmission mechanism of a Japanese robot to a great extent. RV transmissions have two very strict technical indicators: the transmission error cannot exceed 1'; the Backlash (Backlash) is regulated according to the model of the RV reducer and is not more than 1 'to 1.5'. Furthermore, the total return difference, including the return difference caused by elastic deformation, cannot exceed 6' when operating under rated load.

Because the robot bears the weight of greatly with high-accuracy cycloid differential gear speed reducer, and transmission precision is high, and service environment all is different moreover, how to design the RV speed reducer that small, precision is high, with low costs, the leakproofness is good, has become the difficult problem that faces now.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a sealed cycloidal reducer for a heavy industrial robot, which solves the problems of unreasonable structure, small crankshaft strength, poor impact resistance and poor sealing performance of the sealed cycloidal reducer for the heavy industrial robot.

In order to achieve the purposes of reasonable structure, high crankshaft strength, good impact resistance and good sealing performance of the sealed cycloidal speed reducer for the heavy industrial robot, the utility model provides the following technical scheme: the utility model provides a canned type cycloid speed reducer for heavy industrial robot, includes the needle shell, the left side terminal surface of needle shell has transition flange through bolted connection, transition flange's right side terminal surface has adapter flange through bolted connection, adapter flange's inside is provided with input mechanism, the inside left side terminal surface swing joint of needle shell has first preceding skeleton oil blanket, the left side terminal surface of first preceding skeleton oil blanket has the rear planet carrier with the inside swing joint that is located the needle shell, the surface of rear planet carrier is provided with deflection mechanism with the inside that is located the needle shell, O type sealing washer has been cup jointed in the inside right side terminal surface activity of needle shell, the right side terminal surface of needle shell has preceding planet carrier adjustment gasket with the inside swing joint that is located transition flange, the inside of rear planet carrier is provided with drive mechanism.

Preferably, the input mechanism comprises a front hole retainer ring, a second front framework oil seal, a front shaft retainer ring, a deep groove ball bearing and an input gear shaft, the front hole retainer ring is movably clamped in a right clamping groove in the inner wall of the adapter flange, the second front framework oil seal is movably sleeved on the outer surface of the input gear shaft and is positioned at the right end face of the front hole retainer ring, the front shaft retainer ring is movably clamped in a left clamping groove in the inner wall of the adapter flange, the deep groove ball bearing is movably clamped on the outer surface of the input gear shaft and is positioned at the left side of the front hole retainer ring, the input gear shaft is connected with an external power source and can be driven to rotate, the deep groove ball bearing can be axially limited through the front hole retainer ring and the front shaft retainer ring, and can also be axially limited when the deep groove ball bearing is rotationally connected with the input gear shaft, so that the input gear shaft can rotate in the circumferential direction, and the input gear shaft is tightly connected so that the input gear shaft can drive the planet gear to rotate subsequently.

Preferably, the left end of the input gear shaft penetrates through the retaining ring 25 for the front shaft, the input gear shaft is rotatably connected with the adapter flange through the deep groove ball bearing, the number of teeth of the input gear shaft is 20, the modulus is 1.25, the pressure angle is 20 degrees, the tooth width is 12mm, the input gear shaft can be axially limited and can also be rotated in the circumferential direction, and therefore the input gear shaft can be more reasonably and tightly connected.

Preferably, the deflection mechanism comprises a rubber-coated end cover, an angular contact ball bearing, a rear cycloidal gear, a front cycloidal gear and a roller pin, the rubber-coated end cover is movably clamped at the left port of an inner hole of the rear planetary carrier, the angular contact ball bearing is movably sleeved on the outer surface of the rear planetary carrier and is positioned in the needle shell, the rear cycloidal gear is movably connected with the right end surface of the rear planetary carrier, the front cycloidal gear is movably connected with the right end surface of the rear cycloidal gear and is positioned in the needle shell, the roller pin is respectively and movably connected with the outer surface of the rear cycloidal gear, the outer surface of the front cycloidal gear and the inner wall of the needle shell, when the rear cycloidal gear and the front cycloidal gear eccentrically rotate, the roller pin can be driven to rotate in a clearance mode and can rotate in the tooth grooves of the inner wall of the needle shell, and when the rear cycloidal gear and the front cycloidal gear eccentrically rotate, the roller pin can be axially limited through the angular contact ball bearings at two sides, and the port on the left side of the inner hole of the rear cycloidal gear can be sealed through the rubber-coated end cover, so that the sealing performance of the port of the rear cycloidal gear and the port of the front cycloidal gear can be improved while the rear cycloidal gear and the front cycloidal gear rotate with larger torque.

Preferably, the outer surface of the rear cycloid wheel, the outer surface of the front cycloid wheel and the inner wall of the needle shell are all in the shape of gears, the number of cycloid gear teeth of the rear cycloid wheel and the front cycloid wheel is 39, the outer diameter of the needle gear sleeve is phi 7mm, the eccentricity is 1.5mm, the central circle diameter of the needle roller and the needle wheel is phi 164mm, the tooth width is 11.8mm, the number of needle shell teeth is 40, the central circle diameter is phi 164mm, the needle tooth diameter is phi 7mm, the outer diameter of the needle roller is phi 7mm, and the length is 27.8 mm.

Preferably, the transmission mechanism comprises a conical pin, an inner hexagonal cylinder head screw, a front planet carrier, a retaining ring for a rear shaft, planet gears, a retaining ring for a rear hole, a steel retainer bearing, an eccentric shaft washer and a tapered roller bearing, the front planet carrier is movably connected with the rear planet carrier through the conical pin, the front planet carrier is in threaded connection with the rear planet carrier through the inner hexagonal cylinder head screw, the retaining ring for the rear shaft is movably clamped on the outer surface of one side of the gear teeth of the eccentric shaft, the planet gears are movably sleeved on the outer surface of one side of the gear teeth of the eccentric shaft and positioned between the retaining rings for the rear shaft on the left side and the right side, the retaining ring for the rear hole is movably clamped on the inner wall of the inner hole of the rear planet carrier and positioned on the right side of the rubber-coated end cover, the steel retainer bearing is movably connected on the outer surface of the eccentric shaft and positioned inside the inner holes of the rear cycloid wheel and the front cycloid wheel respectively, the eccentric shaft washer is movably sleeved on the outer side end face of the steel retainer bearing, the tapered roller bearings are respectively and movably connected to the outer side end faces of the left and right eccentric shaft washers, the left tapered roller bearing is rotatably connected with the rear hole retainer ring, when the input gear shaft drives the planetary gear to rotate, the planetary gear can drive the eccentric shaft to rotate, the tapered roller bearings can be axially limited through the rear hole retainer ring, the tapered roller bearings can be tightly connected through the eccentric shaft washers on the two sides, the eccentric shaft can drive the steel retainer bearings on the two sides to eccentrically rotate, the rear cycloid wheel and the front cycloid wheel can be respectively driven to eccentrically rotate when the steel retainer bearings eccentrically rotate, and the fixing piece on the end face of the rear cycloid wheel and the front cycloid wheel can be driven to rotate by higher torque when the rear cycloid wheel and the front cycloid wheel eccentrically rotate.

Preferably, the planet gears are meshed with the input gear shaft, the number of the involute planet gears of the planet gears is 55, the modulus is 1.25, the pressure angle is 20 degrees, the tooth width is 8mm, the eccentric distance of the eccentric shaft 18 is 1.5mm, so that the planet gears are more tightly meshed with the input gear shaft, and the rear cycloidal gear and the front cycloidal gear can be respectively driven by the eccentric shaft to eccentrically rotate so as to increase the torque when the rear cycloidal gear and the front cycloidal gear rotate.

Compared with the prior art, the utility model provides a sealed cycloidal speed reducer for a heavy industrial robot, which has the following beneficial effects:

1. the sealed cycloidal speed reducer for the heavy industrial robot has a reasonable and compact structure, reduces the axial size of the speed reducer so as to achieve the purpose of reducing weight, reduces return difference of the speed reducer under a large load, and improves working precision; the cycloidal gear adopts a single differential tooth structure, the meshing precision is superior to that of two differential teeth, the full-tooth rolling friction of the cycloidal gear, the roller pin and the needle shell is removed, and the rigidity is good; the single-difference tooth meshing is easier to realize high requirements on transmission chain errors and return difference, the rigidity is better, the tooth clearance is smaller, and the conditions of shaking and overlarge damping vibration in the use process of the speed reducer can be avoided. The planet carrier adopts a column type taper pin connecting structure, has the characteristics of simple structure, convenient processing, high strength and the like, and simultaneously, the high-precision taper pin connecting structure can ensure the processing and assembling identity; compared with a common RV speed reducer, the number of the eccentric shafts and the planetary gears is changed from two to three, so that the shock resistance of the speed reducer is improved, the strength of the eccentric shafts is greatly increased, and the service life of the speed reducer is greatly prolonged. In addition, an input flange and a transition flange are arranged at the input end, so that the whole speed reducer forms a closed structure, and the sealing performance is enhanced.

2. The sealed cycloidal speed reducer for the heavy industrial robot has the characteristics of reasonable structure, small volume, high efficiency, low cost and the like, and the application range of the RV speed reducer is widened; the utility model has the advantages of simplifying structural design, facilitating part processing and manufacturing, reducing cost, and simultaneously having the characteristics of high efficiency, light weight, stable operation, impact resistance, low noise, strong overload capacity, long service life, strong sealing performance and the like.

Drawings

Fig. 1 is an exploded view of a sealed cycloidal reducer for a heavy industrial robot according to the present invention;

fig. 2 is a structural assembly diagram of a sealed cycloidal reducer for a heavy industrial robot according to the utility model.

The scores in the figures are as follows:

1. encapsulating an end cover; 2. angular contact ball bearings; 3. a rear cycloid wheel; 4. a front cycloid wheel; 5. a rear planet carrier; 6. a first front skeleton oil seal; 7. a needle shell; 8. rolling needles; 9. an O-shaped sealing ring; 10. adjusting a gasket of the front planet carrier; 11. a taper pin; 12. a socket head cap screw; 13. a forward planet carrier; 14. a retainer ring for a rear shaft; 15. a planet gear; 16. a back hole retainer ring; 17. a steel cage bearing; 18. an eccentric shaft; 19. an eccentric shaft washer; 20. a tapered roller bearing; 21. a transition flange; 22. a transfer flange; 23. a retainer ring for the front hole; 24. a second front skeleton oil seal; 25. a retainer ring for a front shaft; 26. a deep groove ball bearing; 27. an input gear shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the utility model provides a sealed cycloidal speed reducer for a heavy industrial robot, which comprises a needle housing 7, wherein the left end face of the needle housing 7 is connected with a transition flange 21 through a bolt thread, the right end face of the transition flange 21 is connected with an adapter flange 22 through a bolt thread, an input mechanism is arranged inside the adapter flange 22, the left end face inside the needle housing 7 is movably connected with a first front frame oil seal 6, the left end face of the first front frame oil seal 6 is movably connected with a rear planet carrier 5 inside the needle housing 7, the outer surface of the rear planet carrier 5 is provided with a deflection mechanism inside the needle housing 7, the right end face inside the needle housing 7 is movably sleeved with an O-ring 9, the right end face of the needle housing 7 is movably connected with a front planet carrier adjusting gasket 10 inside the transition flange 21, and a transmission mechanism is arranged inside the rear planet carrier 5.

Further, the input mechanism comprises a front hole retainer ring 23, a second front framework oil seal 24, a front shaft retainer ring 25, a deep groove ball bearing 26 and an input gear shaft 27, the front hole retainer ring 23 is movably clamped in a right clamping groove on the inner wall of the adapter flange 22, the second front framework oil seal 24 is movably sleeved on the outer surface of the input gear shaft 27 and is positioned on the right end face of the front hole retainer ring 23, the front shaft retainer ring 25 is movably clamped in a left clamping groove on the inner wall of the adapter flange 22, the deep groove ball bearing 26 is movably clamped on the outer surface of the input gear shaft 27 and is positioned on the left side of the front hole retainer ring 23, the input gear shaft 27 is connected with an external power source and can be driven to rotate, at the moment, the deep groove ball bearing 26 can be axially limited through the front hole retainer ring 23 and the front shaft retainer ring 25, and the deep groove ball bearing 26 can also be axially limited when being rotatably connected with the input gear shaft 27, thereby rotating the input gear shaft 27 in the circumferential direction and tightly coupling the input gear shaft 27 so that it subsequently rotates the planetary gears 15.

Furthermore, the left end of the input gear shaft 27 penetrates through the front shaft retainer ring 25, the input gear shaft 27 is rotatably connected with the adapter flange 22 through the deep groove ball bearing 26, the number of teeth of the input gear shaft 27 is 20, the modulus is 1.25, the pressure angle is 20 degrees, the tooth width is 12mm, the input gear shaft 27 can be axially limited and can also be rotated in the circumferential direction, and therefore the input gear shaft 27 can be more reasonably and tightly connected.

Further, the deflection mechanism comprises a rubber-covered end cover 1, an angular contact ball bearing 2, a rear cycloidal gear 3, a front cycloidal gear 4 and a needle roller 8, the rubber-covered end cover 1 is movably clamped at the left port of an inner hole of the rear planetary carrier 5, the angular contact ball bearing 2 is movably sleeved on the outer surface of the rear planetary carrier 5 and is positioned in a needle shell 7, the rear cycloidal gear 3 is movably connected with the right end surface of the rear planetary carrier 5, the front cycloidal gear 4 is movably connected with the right end surface of the rear cycloidal gear 3 and is positioned in the needle shell 7, the needle roller 8 is respectively movably connected with the outer surface of the rear cycloidal gear 3, the outer surface of the front cycloidal gear 4 and the inner wall of the needle shell 7, when the rear cycloidal gear 3 and the front cycloidal gear 4 eccentrically rotate, the needle roller 8 can be driven to rotate in a clearance manner and can rotate in a tooth grooves in the inner wall of the needle shell 7, and when the rear cycloidal gear 3 and the front cycloidal gear 4 eccentrically rotate, the angular contact ball bearing 2 at two sides can axially limit the needle, and the port on the left side of the inner hole of the rear cycloidal gear 3 can be sealed through the rubber-covered end cover 1, so that the sealing performance of the port of the rear cycloidal gear 3 and the port of the front cycloidal gear 4 can be improved while the rear cycloidal gear and the front cycloidal gear rotate with larger torque.

Furthermore, the outer surface of the rear cycloid wheel 3, the outer surface of the front cycloid wheel 4 and the inner wall of the needle shell 7 are all in gear shapes, the number of cycloid gear teeth of the rear cycloid wheel 3 and the front cycloid wheel 4 is 39, the outer diameter of the needle gear sleeve is phi 7mm, the eccentricity is 1.5mm, the central circle diameter of the needle roller 8 is phi 164mm, the tooth width is 11.8mm, the number of teeth of the needle shell 7 is 40, the central circle diameter is phi 164mm, the needle tooth diameter is phi 7mm, the outer diameter of the needle roller 8 is phi 7mm, and the length is 27.8mm, so that the needle roller 8 can be driven to rotate in the tooth groove of the needle shell 7 when the cycloid wheel 3 and the front cycloid wheel 4 deflect and swing, and the connection and rationality of the structure between the device can be increased.

Further, the transmission mechanism comprises a conical pin 11, an inner hexagonal cylinder head screw 12, a front planet carrier 13, a back shaft retainer ring 14, planet teeth 15, a back hole retainer ring 16, a steel retainer bearing 17, an eccentric shaft 18, an eccentric shaft gasket 19 and a tapered roller bearing 20, the front planet carrier 13 is movably connected with the back planet carrier 5 through the conical pin 11, the front planet carrier 13 is in threaded connection with the back planet carrier 5 through the inner hexagonal cylinder head screw 12, the back shaft retainer ring 14 is movably clamped on the outer surface of one side of the gear teeth of the eccentric shaft 18, the planet teeth 15 are movably sleeved on the outer surface of one side of the gear teeth of the eccentric shaft 18 and positioned between the left and right side back shaft retainer rings 14, the back hole retainer ring 16 is movably clamped on the inner wall of the inner hole of the back planet carrier 5 and positioned on the right side of the end cover 1, the steel retainer bearing 17 is movably connected on the outer surface of the eccentric shaft 18 and respectively positioned in the inner holes of the back cycloid wheel 3 and the front cycloid wheel 4, the eccentric shaft gasket 19 is movably sleeved on the outer end surface of the steel retainer bearing 17, the tapered roller bearings 20 are respectively and movably connected with the outer end surfaces of the eccentric shaft gaskets 19 at the left and the right sides, the tapered roller bearing 20 at the left side is rotatably connected with the retainer ring 16 for a rear hole, when the input gear shaft 27 drives the planet gears 15 to rotate, the planet gears 15 can drive the eccentric shafts 18 to rotate, the tapered roller bearing 20 can be axially limited by the retainer ring 16 for the rear hole and can be tightly connected by the eccentric shaft gaskets 19 at the two sides, the eccentric shaft 18 can drive the steel retainer bearings 17 on both sides to eccentrically rotate, and can respectively drive the rear cycloid wheel 3 and the front cycloid wheel 4 to eccentrically rotate when the steel retainer bearings 17 eccentrically rotate, and when the rear cycloid wheel 3 and the front cycloid wheel 4 eccentrically rotate, the fixing piece on the end face of the rear cycloid wheel is driven to rotate by higher torque.

Further, the planetary gear 15 is engaged with the input gear shaft 27, the number of the involute planetary gear teeth of the planetary gear 15 is 55, the modulus is 1.25, the pressure angle is 20 °, the tooth width is 8mm, and the eccentricity of the eccentric shaft 18 is 1.5mm, so that the planetary gear 15 is more tightly engaged with the input gear shaft 27, and the eccentric shaft 18 can respectively drive the rear cycloid wheel 3 and the front cycloid wheel 4 to eccentrically rotate so as to increase the torque when the rear cycloid wheel and the front cycloid wheel rotate.

When in use, the transition flange 21 is respectively fixedly connected with the needle shell 7 and the adapter flange 22 through bolts, the input gear shaft 27 is connected with an external power source and can be driven to rotate, the deep groove ball bearing 26 can be axially limited through the retaining ring 23 for the front hole and the retaining ring 25 for the front shaft, the deep groove ball bearing 26 can also be axially limited while the deep groove ball bearing 26 is rotationally connected with the input gear shaft 27, the input gear shaft 27 can drive the planet gears 15 to rotate, when the input gear shaft 27 drives the planet gears 15 to rotate, the planet gears 15 can drive the eccentric shaft 18 to rotate, the eccentric shaft 18 can drive the steel retainer bearings 17 on both sides to eccentrically rotate, when the steel retainer bearings 17 eccentrically rotate, the rear cycloid wheel 3 and the front cycloid wheel 4 can be respectively eccentrically driven to eccentrically rotate, and when the rear cycloid wheel 3 and the front cycloid wheel 4 eccentrically rotate, the needle roller 8 can be driven to rotate in the tooth grooves on the inner wall of the needle shell 7 in a clearance mode, and when the rear cycloid wheel 3 and the front cycloid wheel 4 eccentrically rotate, the axial limiting can be realized through the angular contact ball bearings 2 on the two sides, and each rotary connecting port can be respectively sealed through the rubber-coated end cover 1, the first front framework oil seal 6, the O-shaped sealing ring 9, the front planet carrier adjusting gasket 10, the eccentric shaft gasket 19 and the second front framework oil seal 24, so that the device is compactly and reasonably connected, and meanwhile, the sealing performance of each component in connection rotation is also ensured, and the output is realized through larger torque.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides a heavy industrial robot is with canned type cycloid speed reducer, includes needle shell (7), its characterized in that: the left end face of the needle shell (7) is connected with a transition flange (21) through a bolt thread, the right end face of the transition flange (21) is connected with an adapter flange (22) through bolt threads, an input mechanism is arranged inside the adapter flange (22), the left end face inside the needle shell (7) is movably connected with a first front framework oil seal (6), the left end face of the first front framework oil seal (6) is movably connected with a rear planet carrier (5) in the needle shell (7), a deflection mechanism is arranged on the outer surface of the rear planet carrier (5) and positioned in the needle shell (7), an O-shaped sealing ring (9) is movably sleeved on the right end face inside the needle shell (7), the right end face of the needle shell (7) is located inside the transition flange (21) and is movably connected with a front planet carrier adjusting gasket (10), and a transmission mechanism is arranged inside the rear planet carrier (5).

2. The sealed cycloidal reducer for a heavy industrial robot according to claim 1, characterized in that: input mechanism includes retaining ring (23) for the front hole, skeleton oil blanket (24) before the second, retaining ring (25) for the front axle, deep groove ball bearing (26) and input gear shaft (27), the right side draw-in groove of retaining ring (23) activity joint at adaptor flange (22) inner wall is used in the front hole, skeleton oil blanket (24) activity cup joints the surface at input gear shaft (27) before the second to be located the right side terminal surface of retaining ring (23) for the front hole, retaining ring (25) activity joint is at the left side draw-in groove of adaptor flange (22) inner wall for the front axle, deep groove ball bearing (26) activity joint is at the surface of input gear shaft (27) to be located the left side of retaining ring (23) for the front hole.

3. The sealed cycloidal reducer for a heavy industrial robot according to claim 2, characterized in that: the left end of the input gear shaft (27) penetrates through the retaining ring (25) for the front shaft, and the input gear shaft (27) is rotatably connected with the adapter flange (22) through a deep groove ball bearing (26).

4. The sealed cycloidal reducer for a heavy industrial robot according to claim 1, characterized in that: the deflection mechanism comprises a rubber coating end cover (1), an angular contact ball bearing (2), a rear cycloid wheel (3), a front cycloid wheel (4) and a roller pin (8), the rubber coating end cover (1) is movably clamped at a port on the left side of an inner hole of the rear planet carrier (5), the angular contact ball bearing (2) is movably sleeved on the outer surface of the rear planet carrier (5) and is located inside a needle shell (7), the rear cycloid wheel (3) is movably connected to the end face on the right side of the rear planet carrier (5), the front cycloid wheel (4) is movably connected to the end face on the right side of the rear cycloid wheel (3) and is located inside the needle shell (7), and the roller pin (8) is movably connected with the outer surface of the rear cycloid wheel (3), the outer surface of the front cycloid wheel (4) and the inner wall of the needle shell (7) respectively.

5. The sealed cycloidal reducer for a heavy industrial robot according to claim 4, characterized in that: the outer surface of the rear cycloid wheel (3), the outer surface of the front cycloid wheel (4) and the inner wall of the needle shell (7) are all in the shape of gears.

6. The sealed cycloidal reducer for a heavy industrial robot according to claim 4, characterized in that: the transmission mechanism comprises a conical pin (11), an inner hexagonal cylinder head screw (12), a front planet carrier (13), a back shaft retainer ring (14), planet gears (15), a back hole retainer ring (16), a steel retainer bearing (17), an eccentric shaft (18), an eccentric shaft gasket (19) and a conical roller bearing (20), wherein the front planet carrier (13) is movably connected with the back planet carrier (5) through the conical pin (11), the front planet carrier (13) is in threaded connection with the back planet carrier (5) through the inner hexagonal cylinder head screw (12), the back shaft retainer ring (14) is movably clamped on the outer surface of one side of gear teeth of the eccentric shaft (18), the planet gears (15) are movably sleeved on the outer surface of one side of the gear teeth of the eccentric shaft (18) and positioned between the back shaft retainer rings (14) on the left side and the right side, the back hole retainer ring (16) is movably clamped on the inner wall of a back planet carrier (5) of the back planet carrier (5), and the steel retainer bearing (17) is movably connected to the outer surface of the eccentric shaft (18) and is respectively positioned in inner holes of the rear cycloid wheel (3) and the front cycloid wheel (4), the eccentric shaft gasket (19) is movably sleeved on the outer side end face of the steel retainer bearing (17), the tapered roller bearings (20) are respectively and movably connected to the outer side end faces of the left and right eccentric shaft gaskets (19), and the left tapered roller bearing (20) is rotatably connected with the rear hole retainer ring (16).

7. The sealed cycloidal reducer for a heavy industrial robot according to claim 6, characterized in that: the planet gears (15) are meshed with an input gear shaft (27).

8. The sealed cycloidal reducer for a heavy industrial robot according to claim 5, characterized in that: the number of cycloid gear teeth of the rear cycloid gear (3) and the front cycloid gear (4) is 39, the outer diameter of a needle gear sleeve is phi 7mm, the eccentricity is 1.5mm, the diameter of a central circle of a needle wheel of a needle roller (8) is phi 164mm, the tooth width is 11.8mm, the number of teeth of a needle shell (7) is 40, the diameter of the central circle is phi 164mm, the diameter of the needle gear is phi 7mm, the outer diameter of the needle roller (8) is phi 7mm, and the length is 27.8 mm.

9. The sealed cycloidal reducer for a heavy industrial robot according to claim 6, characterized in that: the planet gears (15) are meshed with an input gear shaft (27), the number of the involute planet gears of the planet gears (15) is 55, the modulus is 1.25, the pressure angle is 20 degrees, the tooth width is 8mm, and the eccentricity of the eccentric shaft (18) is 1.5 mm.

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