CN217029824U

CN217029824U - Cycloidal pin gear speed reducer

Info

Publication number: CN217029824U
Application number: CN202123213533.2U
Authority: CN
Inventors: 薛平旺; 王少伟; 郭步平
Original assignee: Tongbuer Beijing Science And Technology Co ltd
Current assignee: Tongbuer Beijing Science And Technology Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-07-22
Anticipated expiration: 2031-12-20

Abstract

The utility model provides a cycloidal pin gear speed reducer, which comprises a shell, a cycloidal shaft, a first cycloidal gear, a second cycloidal gear and an output flange, wherein the cycloidal shaft is arranged on the shell; the shell comprises a pin wheel shell, a cavity for mounting a first cycloidal gear and a second cycloidal gear is arranged in the pin wheel shell, the inner circumferential surface of the pin wheel shell is of an internal tooth structure, and the internal tooth structure and the pin wheel shell are of an integrated structure; the middle part of the cycloid shaft is provided with a first eccentric shaft section and a second eccentric shaft section which are arranged non-coaxially and staggered with each other; the outer peripheries of the first cycloidal gear and the second cycloidal gear are provided with outer tooth structures, the wheel surfaces of the first cycloidal gear and the second cycloidal gear are provided with a plurality of pin holes, the first cycloidal gear is arranged on the first eccentric shaft section through a bearing, and the second cycloidal gear is arranged on the second eccentric shaft section through a bearing; the output flange includes integrated into one piece's cylinder section and round pin axle section, and the round pin axle section includes a plurality of round pins, but each round pin axle is designed into the assembly to peg graft in the pinhole of first cycloid wheel and second cycloid wheel, and the cylinder section is used for connecting output structure.

Description

Cycloidal-pin gear speed reducer

Technical Field

The utility model relates to the field of speed reducers of mechanical equipment, in particular to a cycloidal pin gear speed reducer.

Background

The cycloidal pin gear speed reducer is a novel transmission device which applies planetary transmission principle and adopts cycloidal pin gear meshing, the unique stable structure of the cycloidal pin gear speed reducer can replace a common cylindrical gear speed reducer and a worm gear speed reducer under many conditions, and the cycloidal pin gear speed reducer has the advantages of large transmission ratio, high transmission efficiency, convenient maintenance, small volume, light weight, smooth and stable operation, low noise, reliable use, few faults, long service life and the like. The cycloidal pin gear speed reducer can reach 1: 87 and more than 90 percent of high-efficiency single-stage transmission, and if multi-stage transmission is adopted, the reduction ratio is larger. The first-stage transmission reduction ratio is 9-87, the two-stage transmission reduction ratio is 121-5133, the multi-stage combination can reach tens of thousands, pin teeth are meshed in a sleeved rolling friction mode, and the meshing surfaces do not slide relatively, so that the first-stage reduction efficiency reaches 94%. The planetary transmission principle is adopted, and the input shaft and the output shaft are on the same axis, so that the machine type of the planetary transmission mechanism is as small as possible. The cycloidal needle teeth have more meshing teeth, large overlap coefficient and a mechanism of part balance, so that the vibration and the noise are limited to the minimum degree. The number of tooth pairs contacted simultaneously in operation is many, and the contact ratio is big, and the operation is steady, and the overload capacity is strong, and vibration and noise are low, and the model noise of various specifications is little.

All transmission devices of the cycloidal pin gear speed reducer can be divided into three parts: the cycloidal pin gear speed reducer comprises an input part, a speed reduction part and an output part, but the combined structure of the cycloidal pin gear speed reducer in the prior art is complex, a plurality of pin gear pins and pin gear sleeves are generally required to be installed on a pin gear shell, an input shaft is also required to be provided with an eccentric sleeve and a bearing and assembled with a cycloidal gear, the structure is complex, and the assembly process is also complex.

Therefore, a novel cycloidal pin gear speed reducer which is simpler and more practical in structure and convenient and quick to assemble is needed.

SUMMERY OF THE UTILITY MODEL

In view of the above, embodiments of the present invention provide a cycloidal pin gear reducer to obviate or mitigate one or more of the disadvantages of the prior art.

The technical scheme of the utility model is as follows:

the cycloidal pin gear speed reducer comprises a shell, and a cycloidal shaft, a first cycloidal gear, a second cycloidal gear and an output flange which are arranged in the shell; the shell comprises a pin wheel shell, a cavity for mounting the first cycloidal gear and the second cycloidal gear is arranged in the pin wheel shell, an inner peripheral surface of the pin wheel shell is an inner tooth structure which is used for interacting with an outer tooth structure of the first cycloidal gear and the second cycloidal gear, the inner tooth structure and the pin wheel shell are of an integrated structure, and the inner diameter of the cavity is larger than the outer diameters of the first cycloidal gear and the second cycloidal gear; the two ends of the swinging shaft are respectively used for being connected with the pinwheel shell and the output flange, and the middle of the swinging shaft is provided with a first eccentric shaft section and a second eccentric shaft section which are arranged non-coaxially and are mutually staggered; the outer peripheries of the first cycloidal gear and the second cycloidal gear are provided with outer tooth structures, the wheel surfaces of the first cycloidal gear and the second cycloidal gear are provided with a plurality of pin holes which are annularly arranged and run through, the first cycloidal gear is installed on the first eccentric shaft section through a bearing, and the second cycloidal gear is installed on the second eccentric shaft section through a bearing; the output flange comprises a cylindrical section and pin shaft sections which are integrally formed, each pin shaft section comprises a plurality of pin shafts, the number of the pin shafts is the same as that of the pin holes, each pin shaft is designed to be capable of being assembled to be inserted into the pin holes of the first cycloid gear and the second cycloid gear, the diameter of each pin shaft is smaller than the inner diameter of each pin hole, and the cylindrical section is used for being connected with an output structure.

In some embodiments, the first eccentric shaft section and the second eccentric shaft section of the cycloid shaft are of an integrally formed structure, and the first eccentric shaft section and the second eccentric shaft section are adjacent and are offset by 180 °.

In some embodiments, the pendulum shaft is a hollow shaft; alternatively, the cycloid shaft has a D-shaped hole provided therethrough or not.

In some embodiments, the internal tooth structure of the pinwheel housing has an arcuate rib for sliding frictional contact with the external tooth structure.

In some embodiments, the arcuate ridges of the pin wheel housing adjacent the inner tooth structure have arcuate recesses therebetween, the arcuate recesses and arcuate ridges being designed to be in close arcuate configuration with the outer tooth structure when in contact therewith.

In some embodiments, the pinwheel housing has a base portion inside the cavity, the base portion having an input through hole at a central portion thereof.

In some embodiments, the end face of the base part of the pinwheel housing on one side of the cavity is provided with an annular base inner groove, and in a state that the output flange is assembled in place, the position of the base inner groove corresponds to the pin shaft section of the output flange, and the pin shaft section enters the base inner groove and has a gap with the bottom surface of the base inner groove.

In some embodiments, the pinwheel housing has an outer groove at an outer end surface of the base portion, and an outer edge portion of the outer end surface has a plurality of counter bores parallel to the axial direction.

In some embodiments, the housing further comprises a cover plate mounted to a side of the cavity of the pinwheel housing; the cover plate is provided with a plurality of threaded holes corresponding to the positions of the counter bores, so that the cover plate is installed on the pin wheel shell through screws; the pinwheel housing has a bearing first docking platform at an end facing the cover plate, the cover plate has a bearing second docking platform at an end facing the pinwheel housing, the cylindrical section of the output flange is mounted within the pinwheel housing and the cover plate by bearings, and the bearings are disposed at the first and second docking platforms.

In some embodiments, the input shaft segment adjacent to the first eccentric shaft segment and the output shaft segment adjacent to the second eccentric shaft segment are respectively disposed on two sides of the swing shaft; the pinwheel shell is provided with an input end bearing seat hole used for installing the swing shaft at the input end through hole, and an input end shaft section of the swing shaft is installed on the input end bearing seat hole through a bearing; the output end shaft section of the swing shaft is arranged on the output end bearing seat hole through a bearing; and a bearing on the input end shaft section of the swing shaft is separated from a bearing of the first eccentric shaft section through a retaining ring, and a bearing of the output end shaft section is separated from a bearing of the second eccentric shaft section through a retaining ring.

The cycloidal pin gear speed reducer provided by the embodiment of the utility model does not need to be provided with traditional pin gear pins, pin gear sleeves and other parts, converts traditional rolling friction into sliding friction, optimizes the structural design of each component part, has the advantages of simple structure, small volume, light weight, simple assembly and the like, greatly improves the comprehensive performance, and is suitable for medium and small cycloidal pin gear speed reducers.

Additional advantages, objects, and features of the utility model will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the principles of the utility model. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the utility model. For purposes of illustrating and describing some portions of the present invention, corresponding parts may be exaggerated in the drawings, i.e., may be larger relative to other components in an exemplary device actually made according to the present invention. In the drawings:

fig. 1 is a schematic perspective view of an overall structure of a cycloidal-pin gear speed reducer according to an embodiment of the present invention.

Fig. 2 is an exploded view of a cycloidal pin gear reducer according to an embodiment of the present invention.

Fig. 3 is an exploded view of a cycloidal pin gear reducer according to an embodiment of the present invention.

Fig. 4 is a sectional view of a cycloidal pin gear speed reducer according to an embodiment of the present invention.

Fig. 5 is a side view of a cycloidal pin gear reducer on the input side in an embodiment of the present invention.

Fig. 6 is a side view of the cycloidal pin gear reducer on the output side in an embodiment of the present invention.

Reference numerals are as follows:

1. a cover plate; 101. a threaded hole; 102. a second butt-joint platform of the bearing; 2. a third bearing; 3. an output flange; 31. a cylindrical section; 32. a pin shaft; 311. a cylindrical section shoulder; 312. connecting holes; 313. an output end through hole; 314. an output end bearing block hole; 4. a first bearing; 5. a non-metallic retainer ring; 6a, a first cycloid wheel; 6b, a second cycloid wheel; 61. an external tooth structure; 62. a pin hole; 63. a central bore; 7. a second bearing; 8. a pendulum shaft; 81. an input end shaft section; 82. a first eccentric shaft section; 83. a second eccentric shaft section; 84. an output end shaft section; 85. a D-shaped hole; 9. a pinwheel housing; 91. a cavity; 92. a base part; 93. an input end through hole; 911. an internal tooth structure; 912. an arc-shaped rib; 913. an arc-shaped concave part; 914. a bearing first butt-joint platform; 921. an inner bore step; 922. a base inner groove; 923. an input end bearing housing bore; 924. an outer groove; 925. a countersunk hole; 10. a screw;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

It is also noted that, unless otherwise specified, the term "coupled" is used herein to refer not only to a direct connection, but also to an indirect connection with an intermediate.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or similar parts, or the same or similar steps.

The utility model provides a novel cycloidal pin gear speed reducer, which aims to reduce the structural composition, reduce the cost and greatly facilitate the assembly process.

As shown in fig. 1 to 5, in some embodiments, the cycloidal pin gear reducer includes a housing and a cycloidal shaft 8, a first cycloidal gear 6a, a second cycloidal gear 6b, an output flange 3, and the like mounted in the housing.

As shown in fig. 2, 3 and 4, the housing includes a pinwheel housing 9, the pinwheel housing 9 has a cavity 91 for mounting the first and second cycloidal gears 6a and 6b therein, an inner circumferential surface of the cavity is an inner tooth structure 911 for interacting with the outer tooth structures 61 of the first and second cycloidal gears 6a and 6b, the inner tooth structure 911 and the pinwheel housing 9 are of an integral structure, and an inner diameter of the cavity 91 is larger than outer diameters of the first and second cycloidal gears 6a and 6 b. In this embodiment, because pinwheel shell 9 sets up internal tooth structure 911 to the integral type structure, this cycloid pinwheel speed reducer need not to set up parts such as traditional pin gear round pin, pin gear cover, convert traditional rolling friction into sliding friction, and optimized the structural design of each component part, make this speed reducer have advantages such as simple structure, small, light in weight and assembly are simple, improve its comprehensive properties greatly (comprehensive consideration processing technology, the assembly degree of difficulty, the accumulative error, the comprehensive properties of the representation mechanical structure of noise), be applicable to middle-size and small-size cycloid pinwheel speed reducer.

In some embodiments, as shown in fig. 2 and 3, the internal tooth structure 911 of the pinwheel housing 9 has an arc-shaped rib 912 for sliding frictional contact with the external tooth structure 61. Further, between the arc-shaped convex ribs 912 adjacent to the internal tooth structure 911 of the pinwheel housing 9, there is an arc-shaped concave portion 913, and the arc-shaped concave portion 913 and the arc-shaped convex ribs 912 are designed so that they are close arc structures with the external tooth structure 61 when they are in contact with the external tooth structure 61.

In some embodiments, the two ends of the cycloid shaft 8 are respectively used for connecting with the pinwheel housing 9 and the output flange 3, and the middle part of the cycloid shaft 8 has a first eccentric shaft section 82 and a second eccentric shaft section 83 which are arranged non-coaxially and are offset from each other. Preferably, the first eccentric shaft section 82 and the second eccentric shaft section 83 of the cycloid shaft 8 are integrally formed, and the first eccentric shaft section 82 and the second eccentric shaft section 83 are adjacent and are offset by 180 °. Further, the pendulum line shaft 8 is a hollow shaft; alternatively, as shown in fig. 5, the swing shaft 8 has a D-shaped hole 85 provided therethrough or not. The D-shaped hole 85 may be directly connected to an input structure, but the hollow shaft structure of the cycloid shaft 8 is not limited thereto, and may be a key structure, for example.

In some embodiments, as shown in fig. 2 and 3, the cycloid shaft 8 is of a one-piece structure, which simplifies the structure of the input portion and facilitates assembly, relative to the input shaft of the prior art, which requires the assembly of an eccentric sleeve. The construction of the cycloid shaft 8 can be divided into an input shaft section 81, a first eccentric shaft section 82, a second eccentric shaft section 83 and an output shaft section 84, which are arranged next to one another. Wherein the input shaft segment 81 and the output shaft segment 84 are coaxially arranged and have the same outer diameter.

In some embodiments, as shown in fig. 2 and 3, the outer peripheral surfaces of the first and second cycloidal gears 6a and 6b each have an external tooth structure 61, the wheel surfaces of the first and second cycloidal gears 6a and 6b each have a plurality of pin holes 62 arranged annularly and penetrating therethrough, the first cycloidal gear 6a is bearing-mounted on the first eccentric shaft section 82, and the second cycloidal gear 6b is bearing-mounted on the second eccentric shaft section 83. Alternatively, the center portions of the first and second cycloid gears 6a and 6b may have center holes 63, and the center holes 63 may have a structure similar to bearing housing holes, i.e., one side having a larger opening and the other side having a smaller opening, with a shoulder for mounting a bearing. The two cycloidal gears may be the same size and dimension, but the pin holes 62 are arranged so that the pin 32 can pass through both cycloidal gears simultaneously. The external tooth structure 61 of the two cycloidal gears can adopt the external profile of the cycloidal gear in the prior art, and is not described in detail here.

In some embodiments, as shown in fig. 2 and 3, the output flange 3 may include an integrally formed cylindrical section 31 and a pin section, the pin section includes a plurality of pins 32 having the same number as the pin holes 62, each pin 32 is designed to be inserted into the pin holes 62 of the first and second cycloidal gears 6a and 6b, and the diameter of the pin 32 is smaller than the inner diameter of the pin hole 62, and the cylindrical section 31 is used for connecting an output structure. In this embodiment, the pin shaft 32 of the output flange 3 is of an integral structure and is not provided with the pin shaft 32 sleeve, so that the structure and the assembly are simplified more conveniently, and in addition, compared with a cycloidal gear reducer in the prior art, the pin shaft 32 of the output flange 3 has a larger diameter, so that the strength and the bearing capacity are greatly enhanced, and the output structure of the reducer is stable and can have a larger reduction ratio.

As shown in fig. 3 and 6, the output flange 3 has a plurality of circumferentially distributed connection holes 312 on one side of the cylindrical section 31, and the connection holes 312 can be used for external connection with other structures, such as a flange, to output the power of the reducer.

In some embodiments, as shown in fig. 2 to 4, the end face of the base part 92 of the pinwheel housing 9 on the side of the cavity 91 has an annular base inner groove 922, and in the state where the output flange 3 is assembled in place, the position of the base inner groove 922 corresponds to the pin segment of the output flange 3, which enters the base inner groove 922 with a gap from the bottom surface thereof. This seating recess 922 provides an axial clearance between the pin 32 and the base portion 92 of the pinwheel housing 9, avoiding direct contact.

Further, the pinwheel housing 9 has an outer groove 924 at an outer end surface of the base portion 92, and an outer edge portion of the outer end surface has a plurality of countersunk holes 925 parallel to the axial direction. Outer groove 924 facilitates weight reduction and reduces the finished precision area of the outer surface for mating with other external structures.

The cycloid shaft 8 of the embodiment of the utility model is arranged at the central part of the speed reducer and has shafting assembly relation with the pin wheel shell 9, the two cycloid wheels and the output flange 3.

Specifically, the pinwheel housing 9 is in input through-hole 93 department has and is used for installing input bearing housing hole 923 of pendulum axle 8, the input shaft section 81 of pendulum axle 8 passes through the bearing and installs on input bearing housing hole 923. The bearing may be the first bearing 4. Correspondingly, the central part of the cylindrical section 31 of the output flange 3 is provided with an output end through hole 313, the inner side of the output end through hole 313 is provided with an output end bearing seat hole 314, and the output end shaft section 84 of the cycloid shaft 8 is mounted on the output end bearing seat hole 314 through a bearing; the bearing may be the first bearing 4.

Specifically, the first cycloid wheel 6a is bearing-mounted on the first eccentric shaft section 82, and the second cycloid wheel 6b is bearing-mounted on the second eccentric shaft section 83. The bearing may be the second bearing 7.

Further, the (first) bearing on the input shaft section 81 of the pendulum shaft 8 is separated from the (second) bearing of the first eccentric shaft section 82 by a retaining ring, and the (first) bearing of the output shaft section 84 is separated from the (second) bearing of the second eccentric shaft section 83 by a retaining ring. The retainer ring may be a non-metallic retainer ring 5 to reduce its friction.

In the above embodiment, the outer ring of the first bearing 4 may be positioned by the shoulder of the bearing seat hole, and the inner ring may be positioned and fixed by the shoulder of the bearing seat hole and the retainer ring. The outer ring of the second bearing 7 can be positioned by means of a bearing seat bore structure in the region of the central bore 63 of the cycloid wheel, and the inner ring can be positioned and fixed by means of a shoulder and a securing ring between the first eccentric shaft section 82 and the second eccentric shaft section 83 which are adjacent to one another.

In some embodiments, the housing further comprises a cover plate 1, the cover plate 1 being mounted on the side of the cavity 91 of the pinwheel housing 9; the cover plate 1 encloses an output flange 3 in a housing. The cover plate 1 has a plurality of threaded holes 101 corresponding to the positions of the countersunk holes 925, so that the cover plate 1 is mounted on the pinwheel housing 9 by screws 10.

In some embodiments, the pinwheel housing 9 has a bearing first docking platform 914 at the end facing the cover plate 1, the cover plate 1 has a bearing second docking platform 102 at the end facing the pinwheel housing 9, the cylindrical section 31 of the output flange 3 is mounted by bearings in the pinwheel housing 9 and the cover plate 1, and the bearings are arranged at the first and second docking platform positions.

Further, the output flange 3 has a cylindrical section shoulder 311 at the joint of the cylindrical section 31 and the pin shaft section to separate the two-side bearing from the cycloid gear. As shown in fig. 2 and 4, the bearing may be a third bearing 2, the outer race of the third bearing 2 being collectively covered and sealed by the pin gear housing 9 and the cover plate 1. The outer race of the third bearing 2 may be secured by the bearing first docking platform 914 and the bearing second docking platform 102, and the outer race of the third bearing 2 may be secured by the cylindrical segment shoulder 311 and the bearing second docking platform 102.

In some embodiments, the first bearing 4, the second bearing 7 and the third bearing 2 may be bearings in the prior art, such as deep groove ball bearings, roller bearings, etc. The transmission parts of the speed reducer are all designed in a sealing mode, so that grease or solid lubricant can be added into the speed reducer to reduce friction force.

Compared with the prior art, the novel cycloidal pin gear speed reducer simplifies the structures of a pin gear pin, a pin gear sleeve, a pin sleeve, an eccentric sleeve and the like, optimizes the structural design of each component part, has the advantages of simple structure, small volume, light weight, simple assembly and the like, greatly improves the comprehensive performance, and is suitable for small and medium-sized speed reducers.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The cycloidal pin gear speed reducer is characterized by comprising a shell, and a cycloidal shaft, a first cycloidal gear, a second cycloidal gear and an output flange which are arranged in the shell;

the shell comprises a pin wheel shell, a cavity for mounting the first cycloidal gear and the second cycloidal gear is arranged in the pin wheel shell, an inner peripheral surface of the pin wheel shell is an inner tooth structure which is used for interacting with an outer tooth structure of the first cycloidal gear and the second cycloidal gear, the inner tooth structure and the pin wheel shell are of an integrated structure, and the inner diameter of the cavity is larger than the outer diameters of the first cycloidal gear and the second cycloidal gear;

two ends of the cycloid shaft are respectively used for being connected with the pinwheel shell and the output flange, and the middle of the cycloid shaft is provided with a first eccentric shaft section and a second eccentric shaft section which are arranged non-coaxially and staggered mutually;

the outer peripheries of the first cycloidal gear and the second cycloidal gear are provided with outer tooth structures, the wheel surfaces of the first cycloidal gear and the second cycloidal gear are provided with a plurality of pin holes which are annularly arranged and run through, the first cycloidal gear is installed on the first eccentric shaft section through a bearing, and the second cycloidal gear is installed on the second eccentric shaft section through a bearing;

the output flange comprises a cylindrical section and pin shaft sections which are integrally formed, each pin shaft section comprises a plurality of pin shafts, the number of the pin shafts is the same as that of the pin holes, each pin shaft is designed to be capable of being assembled to be inserted into the pin holes of the first cycloid gear and the second cycloid gear, the diameter of each pin shaft is smaller than the inner diameter of each pin hole, and the cylindrical section is used for being connected with an output structure.

2. The cycloidal pin gear reducer of claim 1 wherein the first and second eccentric shaft segments of the cycloidal shaft are of an integrally formed structure and are adjacent and offset by 180 °.

3. The cycloidal pin gear reducer of claim 2 wherein said cycloidal axis is a hollow shaft; alternatively, the cycloid shaft has a D-shaped hole provided therethrough or not.

4. The cycloidal pin gear reducer of claim 1 wherein said inner tooth structure of said pin gear housing has an arcuate rib for sliding frictional contact with said outer tooth structure.

5. The cycloidal pin gear reducer of claim 4 in which between adjacent arcuate ribs of said internal tooth structure of said pin gear housing are arcuate recesses, said arcuate recesses and said arcuate ribs being designed to be in close arcuate configuration with the external tooth structure when in contact therewith.

6. The cycloidal pin gear reducer of claim 1 wherein said pin gear housing has a base portion inside said cavity, said base portion having an input end through hole in a central portion thereof.

7. The cycloidal pinwheel reducer according to claim 6 wherein the end face of the base portion of the pinwheel housing on one side of the cavity has an annular base inner groove, the base inner groove is positioned to correspond to the pin shaft segment of the output flange when the output flange is in place, and the pin shaft segment enters the base inner groove with a gap from the bottom surface thereof.

8. The cycloidal pin gear reducer of claim 7 wherein said pin gear housing has an outer groove at an outer end surface of said base portion, said outer end surface having a plurality of counter bores parallel to the axial direction at an outer edge portion thereof.

9. The cycloidal pin gear reducer of claim 8 wherein said housing further includes a cover plate mounted to one side of a cavity of said pin gear housing;

the cover plate is provided with a plurality of threaded holes corresponding to the countersunk holes in position, so that the cover plate is mounted on the pin wheel shell through screws;

the pinwheel housing has a bearing first docking platform at an end facing the cover plate, the cover plate has a bearing second docking platform at an end facing the pinwheel housing, the cylindrical section of the output flange is mounted within the pinwheel housing and the cover plate by bearings, and the bearings are disposed at the first and second docking platforms.

10. The cycloidal pin gear reducer of claim 8,

an input end shaft section adjacent to the first eccentric shaft section and an output end shaft section adjacent to the second eccentric shaft section are respectively arranged on two sides of the swing shaft;

the pin wheel shell is provided with an input end bearing seat hole used for installing the swing shaft at the input end through hole, and an input end shaft section of the swing shaft is installed on the input end bearing seat hole through a bearing;

the output end shaft section of the swing shaft is arranged on the output end bearing seat hole through a bearing;

and a bearing on the input end shaft section of the swing shaft is separated from a bearing of the first eccentric shaft section through a retaining ring, and a bearing on the output end shaft section is separated from a bearing of the second eccentric shaft section through a retaining ring.