JP2018189237A - Cycloid speed reducer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cycloid speed reducer (registered trade mark) including characteristics of an RV speed reducer and a harmonic drive (registered trade mark) speed reducer, and achieving high reduction ratio, high rigidity and dynamic balance.SOLUTION: A cycloid speed reducer includes two rotating disc assemblies 5, 6. Each rotating disc assembly includes two cycloid discs 50, 51 or 60, 61. The cycloid speed reducer has four cycloid discs to be contacted with the corresponding rollers 31. An eccentric assembly 21 of an eccentric mechanism includes a plurality of eccentric cylinders. The eccentric cylinders are installed within axle holes of the corresponding cycloid discs. Due to the plurality of eccentric cylinders, the eccentric direction of two cycloid discs is opposite to the eccentric direction of the other two cycloid discs.SELECTED DRAWING: Figure 2

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application claims the benefit of US Patent Application No. 62 / 500,161 entitled “Reduction Gear” filed May 3, 2017, which is incorporated herein by reference in its entirety. Mu This application also claims the priority of Taiwan Patent Application No. 107112454 entitled “Cyclo Reducer” filed on April 11, 2018, which is incorporated herein by reference in its entirety.

  The present invention relates to a reduction gear, and more particularly to a cyclo reduction gear that is highly rigid and capable of achieving dynamic balance.

  In general, the motor operates at high speed and low torque. That is, it is difficult to apply a large load. Therefore, in order to allow the motor to drive a heavy object, a reduction gear is used to reduce the rotational speed of the reduction gear and increase the torque.

  Conventionally, reducers are classified into several types including RV reducers, harmonic drive reducers and cyclo reducers. For example, (Not published for violation of public order and morals)

  The harmonic drive speed reducer includes a wave generator, a flex gear, and a rigid gear. The elastic deformation of the flexible gear is controlled to produce a mechanical transmission motion and a pushing action to transmit power. The harmonic drive speed reducer is smaller and lighter than the RV speed reducer and has high accuracy. However, the harmonic drive speed reducer has a problem that it cannot withstand high impact because of the low rigidity of the flex gear, and also causes friction due to the difference in the number of teeth. In other words, the harmonic drive speed reducer has a short service life. Moreover, since the input speed of the harmonic drive speed reducer is not high, the reduction ratio is small.

  Conventionally, a cyclo reducer includes an eccentric shaft and two cycloid disks. Each of the two cycloid disks includes at least one tooth. The two cycloid disks are connected to the power input shaft and the power output shaft, respectively. During operation of the cyclo reducer, one cycloid disk rotates with the power input shaft via the eccentric shaft, and the power output shaft rotates with the other cycloid disk. Through the corresponding tooth structure, the two cycloid disks rotate correspondingly. The conventional cyclo reducer has many advantages such as a high transmission ratio, a compact structure, and a high transmission efficiency. However, when the conventional cyclo reducer is applied to a high load environment, the two cycloid disks must withstand the high load. If the structural strength of the cycloid disk is insufficient, the cycloid disk may be damaged and an abnormality may occur in the cyclo reducer. Furthermore, the rotation of the conventional cyclo reducer is deflected in a specific direction by the eccentric shaft. Further, in order to compensate the dynamic balance, the conventional cyclo reducer is additionally provided with a weight compensation device. If the dynamic balance is not effectively compensated, the cyclo reducer generates obvious vibrations.

  Therefore, there is a need to provide a cyclo reduction gear that has the characteristics of an RV reduction gear and a harmonic drive reduction gear, achieves a high reduction ratio, high rigidity, and dynamic balance, and eliminates the above disadvantages.

  An object of the present invention is to provide a cyclo reducer. The cyclo reducer of the present invention overcomes the problems (eg, size, weight, and cost) of conventional RV reducers and the problems of conventional harmonic drive reducers (eg, flex spline deformation and differential friction). Is done. In addition, the cyclo reducer of the present invention can achieve high rigidity and dynamic balance.

  According to one aspect of the present invention, a cyclo reducer is provided. The cyclo reducer includes an eccentric mechanism, a first roller assembly, a second roller assembly, a first rotating disk assembly, and a second rotating disk assembly. The eccentric mechanism includes a rotating shaft and an eccentric assembly. The eccentric assembly is eccentrically fixed to the rotating shaft and is disposed between the first end and the second end of the rotating shaft. As the rotating shaft rotates, the eccentric assembly rotates eccentrically with respect to the axis of the rotating shaft. The first roller assembly includes a first wheel disc and a plurality of first rollers. The plurality of first rollers are disposed on the first wheel disk. The second roller assembly includes a second wheel disc and a plurality of second rollers. The plurality of second rollers are disposed on the second wheel disk. The first rotating disk assembly is attached to the eccentric assembly and rotates with the eccentric assembly. The first rotating disk assembly includes a first cycloid disk and a second cycloid disk. The first cycloid disc is disposed on the side of the first wheel disc. The first cycloid disc includes at least one first external tooth. At least one first external tooth abuts at least one corresponding first roller. The second cycloid disc is disposed on the side of the first cycloid disc. The first cycloid disc and the first wheel disc are located on one side and the other side of the first cycloid disc. The second cycloid disk includes at least one second external tooth. At least one second external tooth abuts at least one corresponding first roller. The second rotating disk assembly is attached to the eccentric assembly and rotates with the eccentric assembly. The second rotating disk assembly includes a third cycloid disk and a fourth cycloid disk. The third cycloid disc is disposed between the second cycloid disc and the second wheel disc. The third cycloid disc includes at least one third external tooth. At least one third external tooth abuts at least one corresponding second roller. The fourth cycloid disc is disposed between the third cycloid disc and the second wheel disc. The fourth cycloid disc includes at least one fourth external tooth. At least one fourth external tooth is in contact with at least one corresponding second roller.

  The above description of the present invention will become more readily apparent to those of ordinary skill in the art by reference to the following detailed description and the accompanying drawings.

  FIG. 1 is a schematic configuration diagram of a cyclo reducer according to the first embodiment of the present invention.

  FIG. 2 is a schematic exploded view of the cyclo reducer of FIG. 1 viewed from a certain viewpoint.

  FIG. 3 is a schematic exploded view showing the cyclo reducer of FIG. 1 as seen from another viewpoint.

  FIG. 4 is a schematic cross-sectional view showing the cyclo reducer of FIG.

  FIG. 5 is a schematic exploded view showing the relationship between the eccentric assembly and the bearing set in the cyclo reducer of FIG.

  FIG. 6 is a schematic cross-sectional view showing a method of assembling the eccentric cylinder shown in FIG. 4 to the rotating shaft.

  FIG. 7 is a diagram schematically showing the sequential operation of the cyclo reducer according to the first embodiment of the present invention.

  FIG. 8 is an exploded view schematically showing the cyclo reducer according to the second embodiment of the present invention as seen from a certain viewpoint.

  FIG. 9 is a schematic exploded view of the cyclo reducer of FIG. 8 as seen from another viewpoint.

  FIG. 10 is a schematic cross-sectional view showing the cyclo reducer of FIG.

  FIG. 11 is a schematic exploded view showing the relationship between the eccentric assembly and the bearing set in the cyclo reducer of FIG.

Detailed description

  Hereinafter, the present invention will be described more specifically with reference to embodiments. Note that the following description, which is a preferred embodiment of the present invention, is presented herein for purposes of illustration and description only. It is not intended to be exhaustive or limited to the precise form disclosed.

  Please refer to FIG. 1, FIG. 2, FIG. 3 and FIG. FIG. 1 is a schematic configuration diagram of a cyclo reducer according to the first embodiment of the present invention. FIG. 2 is a schematic exploded view of the cyclo reducer of FIG. 1 viewed from a certain viewpoint. FIG. 3 is a schematic exploded view showing the cyclo reducer of FIG. 1 as seen from another viewpoint. FIG. 4 is a schematic cross-sectional view showing the cyclo reducer of FIG. The cyclo reducer 1 can be applied to a power machine such as a motor, a machine tool, a robot arm, an automobile, and a motorcycle in order to provide a deceleration function.

  In the present embodiment, the cyclo reducer 1 is a two-stage cyclo reducer. The cyclo reducer 1 includes an eccentric mechanism 2, a first roller assembly 3, a second roller assembly 4, a first rotating disk assembly 5, and a second rotating disk assembly 6.

  The eccentric mechanism 2 receives input power from a motor (not shown). The eccentric mechanism 2 is driven to rotate according to the input power. In one embodiment, the eccentric mechanism 2 includes a rotating shaft 20 and an eccentric assembly 21. The rotary shaft 20 rotates in response to input power from the motor. The rotating shaft 20 includes a first end 200 and a second end 201 that face each other. The eccentric assembly 21 is fixed eccentrically with respect to the rotating shaft 20. That is, the center of rotation of the eccentric assembly 21 is not the axis of the rotating shaft 20. The eccentric assembly 21 is disposed between the first end 200 and the second end 201 of the rotating shaft 20. When the rotating shaft 20 rotates, the eccentric assembly 21 rotates eccentrically with respect to the axis of the rotating shaft 20.

  The first roller assembly 3 includes a first wheel disk 30 and a plurality of first rollers 31. The first wheel disk 30 has a disk structure or a hollow cylindrical structure, and is made of a metal material or an alloy. A first bearing 90 (see FIG. 4) is disposed in the center hole 300 of the first wheel disc 30. The center hole 300 is located at the geometric center of the first wheel disk 30. Examples of the first bearing 90 include, but are not limited to, a ball bearing, a needle bearing, or an oil bearing. The rotary shaft 20 is partially accommodated in the central hole 300 of the first wheel disc 30 via the first bearing 90. Accordingly, the first end portion 200 and the second end portion 201 of the rotary shaft 20 are located on one side and the other side of the first wheel disc 30. Preferably, the plurality of first rollers 31 are cylinders made of a metal material or an alloy, but are not limited thereto. Further, the plurality of first rollers 31 are arranged on the first wheel disk 30 in a discrete manner at equal intervals in the circumferential direction. In the present embodiment, the first roller assembly 3 does not rotate around the axis of the rotating shaft 20. That is, the first wheel disk 30 and the plurality of first rollers 31 do not rotate around the axis of the rotating shaft 20, but the plurality of first rollers 31 rotate (that is, rotate) about its own axis.

  In some embodiments, the first roller assembly 3 further comprises a casing 32. The casing 32 is assembled to the first wheel disc 30 and has a hollow structure. After the eccentric mechanism 2, the first roller assembly 3, the second roller assembly 4, the first rotating disk assembly 5, and the second rotating disk assembly 6 are combined to form the cyclo reducer 1 (see FIG. 1), , The second roller assembly 4, the first rotating disk assembly 5, and the second rotating disk assembly 6 are accommodated in the hollow structure of the casing 32. Alternatively, a part of the eccentric mechanism 2, the second roller assembly 4, and the second rotating disk assembly 6 are accommodated in the hollow structure of the casing 32, and the first rotating disk assembly 5 is the first wheel disk 30 (FIG. 4). See).

  The second roller assembly 4 includes a second wheel disk 40 and a plurality of second rollers 41. The second wheel disk 40 has a disk structure or a hollow cylindrical structure, and is made of a metal material or an alloy. A second bearing 91 (see FIG. 4) is disposed in the center hole 400 of the second wheel disk 40. The center hole 400 is located at the geometric center of the second wheel disk 40. Examples of the second bearing 91 include, but are not limited to, a ball bearing, a needle bearing, or an oil retaining bearing. The rotary shaft 20 is partially accommodated in the center hole 400 of the second wheel disc 40 via the second bearing 91. Therefore, the first end portion 200 and the second end portion 201 of the rotating shaft 20 are located on one side and the other side of the second wheel disc 40. Preferably, the plurality of second rollers 41 are cylinders made of a metal material or an alloy, but are not limited thereto. The plurality of second rollers 41 are arranged on the second wheel disk 40 in a circumferential direction discretely and at equal intervals. In the present embodiment, the second roller assembly 4 rotates around the axis of the rotary shaft 20. That is, the second wheel disk 40 and the plurality of second rollers 41 rotate around the axis of the rotary shaft 20. In addition, the second wheel disc 40 is an output member of a cyclo reducer that generates an output. In some embodiments, the plurality of second rollers 41 rotate about their own axes.

  In one embodiment, the cyclo reducer 1 further includes a third bearing 93 (see FIG. 4). The third bearing 93 is disposed in the hollow structure of the casing 32 and is disposed between the casing 32 and the second wheel disc 40. As a result, the second roller assembly 4 can rotate within the casing 32.

  The first rotating disk assembly 5 is attached to the eccentric assembly 21 and rotates together with the eccentric assembly 21. The first rotating disk assembly 5 includes a first cycloid disk 50 and a second cycloid disk 51. The first cycloid disc 50 is disposed on the side of the first wheel disc 30. The first cycloid disc 50 includes a plurality of first connecting parts 52 and at least one first external tooth 54. At least one first external tooth 54 protrudes from the outer periphery of the first cycloid disc 50. Further, at least one first external tooth 54 abuts on at least one first roller 31. The second cycloid disc 51 is disposed on the side of the first cycloid disc 50. In addition, the second cycloid disc 51 and the first wheel disc 30 are located on one side and the other side of the first cycloid disc 50. The second cycloid disc 51 includes at least one second external tooth 55, a plurality of second connecting portions 53, and a plurality of first through holes 56. At least one second external tooth 55 protrudes from the outer periphery of the second cycloid disc 51. In addition, at least one second external tooth 55 is in contact with at least one first roller 31.

  The second rotating disk assembly 6 is attached to the eccentric assembly 21 and rotates together with the eccentric assembly 21. The second rotating disk assembly 6 includes a third cycloid disk 60 and a fourth cycloid disk 61. The third cycloid disc 60 is disposed between the second cycloid disc 51 and the second wheel disc 40. The third cycloid disc 60 includes a plurality of second through holes 62 and at least one third external tooth 63. At least one third external tooth 63 protrudes from the outer periphery of the third cycloid disc 60. In addition, at least one third external tooth 63 contacts at least one second roller 41. The fourth cycloid disc 61 is disposed between the third cycloid disc 60 and the second wheel disc 40. The fourth cycloid disc 61 includes at least one fourth external tooth 64. At least one fourth external tooth 64 protrudes from the outer periphery of the fourth cycloid disc 61. Further, the at least one fourth external tooth 64 is in contact with the at least one second roller 41.

  The first connecting portion 52 is disposed between the first cycloid disc 50 and the third cycloid disc 60 and penetrates the corresponding first through hole 56. One end of the first connecting portion 52 is fixed to the first cycloid disc 50. The other end of the first connecting portion 52 is assembled to the third cycloid disc 60. Thereby, the first cycloid disc 50 and the third cycloid disc 60 are connected via the first connecting portion 52. The second connecting portion 53 is disposed between the second cycloidal disc 51 and the fourth cycloid disc 61 and penetrates the corresponding second through hole 62. One end of the second connecting portion 53 is fixed to the second cycloid disc 51. The other end of the second connecting portion 53 is assembled to the fourth cycloid disc 61. Thus, the second cycloid disc 51 and the fourth cycloid disc 61 are connected via the second connecting portion 53.

  The first cycloid disc 50 includes a first shaft hole 57, and the second cycloid disc 51 includes a second shaft hole 58. The first shaft hole 57 is located at the geometric center of the first cycloid disc 50. The second shaft hole 58 is located at the geometric center of the second cycloid disc 51. A part of the eccentric assembly 21 is rotatably disposed in the first shaft hole 57 and the second shaft hole 58. When the eccentric mechanism 2 rotates, the first cycloid disk 50 and the second cycloid disk 51 correspondingly rotate together with the eccentric assembly 21 of the eccentric mechanism 2. Since the first cycloid disc 50 and the third cycloid disc 60 are connected via the first connecting portion 52, the first cycloid disc 50 and the third cycloid disc 60 rotate in synchronization in the same direction.

  In addition, the third cycloid disc 60 has a third shaft hole 65, and the fourth cycloid disc 61 has a fourth shaft hole 66. The third shaft hole 65 is located at the geometric center of the third cycloid disc 60. The fourth shaft hole 66 is located at the geometric center of the fourth cycloid disc 61. A part of the eccentric assembly 21 is rotatably disposed in the third shaft hole 65 and the fourth shaft hole 66. When the eccentric assembly 21 rotates, the third cycloid disk 60 and the fourth cycloid disk 61 correspondingly rotate together with the eccentric assembly 21 of the eccentric mechanism 2. Since the second cycloid disc 51 and the fourth cycloid disc 61 are connected via the second connecting portion 53, the second cycloid disc 51 and the fourth cycloid disc 61 rotate in synchronization in the same direction.

  As described above, the cyclo reducer 1 includes two cycloid disk assemblies, the first rotating disk assembly 5 and the second rotating disk assembly 6. The first rotating disk assembly 5 includes two cycloid disks, that is, a first cycloid disk 50 and a second cycloid disk 51. The second rotating disk assembly 6 includes two cycloid disks, that is, a third cycloid disk 60 and a fourth cycloid disk 61. That is, it has four cycloid discs that contact the first roller 31 of the first roller assembly 3 and the second roller 41 of the second roller assembly 4. Compared to a conventional cyclo reducer that uses two cycloid disks in contact with the rollers, the load received by each cycloid disk of the cyclo reducer 1 is reduced. Since the cyclo reducer 1 has high structural strength and high rigidity, it can be applied to a high load environment.

  FIG. 5 is a schematic exploded view showing the relationship between the eccentric assembly and the bearing set in the cyclo reducer of FIG. Please refer to FIG. 2, FIG. 4 and FIG. The eccentric assembly 21 is rotatably disposed in the first shaft hole 57, the second shaft hole 58, the third shaft hole 65, and the fourth shaft hole 66 via the bearing set 8. Preferably, the bearing set 8 includes four independent fourth bearings 80, but is not limited to this configuration. The eccentric assembly 21 includes a first eccentric cylinder 22, a second eccentric cylinder 23, a third eccentric cylinder 24 and a fourth eccentric cylinder 25 which are eccentrically fixed to the rotary shaft 20. These are eccentrically fixed to the rotating shaft 20 and arranged side by side. Each of the fourth bearings 80 is mounted around the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25. Thus, the first eccentric cylinder 22 is installed in the first shaft hole 57 of the first cycloid disc 50 via the fourth bearing 80. Similarly, the second eccentric cylinder 23 is installed in the second shaft hole 58 of the second cycloid disc 51 via the corresponding fourth bearing 80. Similarly, the third eccentric cylinder 24 is installed in the third shaft hole 65 of the third cycloid disc 60 via the corresponding fourth bearing 80. Similarly, the fourth eccentric cylinder 25 is installed in the fourth shaft hole 66 of the fourth cycloid disc 61 via the fourth bearing 80. That is, the first cycloid disc 50, the second cycloid disc 51, the third cycloid disc 60, and the fourth cycloid disc 61 are the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25. The exterior is each surrounded by. The eccentric direction of the first eccentric cylinder 22 and the eccentric direction of the third eccentric cylinder 24 are the same. The eccentric direction of the second eccentric cylinder 23 and the eccentric direction of the fourth eccentric cylinder 25 are the same. The eccentric directions of the first eccentric cylinder 22 and the third eccentric cylinder 24 are opposite to the eccentric directions of the second eccentric cylinder 23 and the fourth eccentric cylinder 25. That is, the eccentric directions of the first cycloid disc 50 and the third cycloid disc 60 are opposite to the eccentric directions of the second cycloid disc 51 and the fourth cycloid disc 61. Therefore, there is no need to install an additional weight compensator on the cyclo reducer 1 to compensate for the dynamic balance.

  As described above, the first external teeth 54 of the first cycloid disc 50 and the second external teeth 55 of the second cycloid disc 51 are in contact with the first roller 31 and the third external teeth 63 of the third cycloid disc 60. The fourth external teeth 64 of the fourth cycloid disc 61 are in contact with the second roller 41. Therefore, the number of teeth of the first external teeth 54 of the first cycloid disk 50 is equal to the number of teeth of the second external teeth 55 of the second cycloid disk 51, and the number of teeth of the third external teeth 63 of the third cycloid disk 60 is , Equal to the number of teeth of the fourth external teeth 64 of the fourth cycloid disc 61. The shape of the first external teeth 54 of the first cycloid disc 50 matches the shape of the second external teeth 55 of the second cycloid disc 51, and the shape of the third external teeth 63 of the third cycloid disc 60. Corresponds to the tooth shape of the fourth external tooth 64 of the fourth cycloid disc 61. The number of first rollers 31 is at least one more than the number of teeth of the first external teeth 54 and at least one more than the number of teeth of the second external teeth 55, and the number of second rollers 41 is the third number. At least one more than the number of external teeth 63 and at least one more than the number of fourth external teeth 64.

  Preferably, the second connecting portion 53 penetrates the corresponding second through hole 62 and is separated from the peripheral edge of the corresponding second through hole 62. Therefore, the operation of the first cycloid disc 50 and the third cycloid disc 60 is not hindered by the second connecting portion 53 while the first cycloid disc 50 and the third cycloid disc 60 are rotating in synchronization. Similarly, the first connecting portion 52 passes through the corresponding first through hole 56 and is separated from the peripheral edge of the corresponding first through hole 56. Therefore, while the second cycloid disc 51 and the fourth cycloid disc 61 are rotating in synchronization, the operations of the first cycloid disc 50 and the fourth cycloid disc 61 are not hindered by the first connecting portion 52.

  In the embodiment shown in FIG. 2, the first connecting part 52 and the second connecting part 53 are trapezoidal prisms. Correspondingly, the first through hole 56 and the second through hole 62 have a trapezoidal outline. In addition, the shape of the 1st connection part 52, the 2nd connection part 53, the 1st through-hole 56, and the 2nd through-hole 62 is not specifically limited, It can change suitably according to practical requirements. For example, in other embodiment, the 1st connection part 52 and the 2nd connection part 53 are cylindrical shape, and the 1st through-hole 56 and the 2nd through-hole 62 have a circular outline corresponding to this.

  In one embodiment, the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25 of the eccentric assembly 21 are formed integrally with the rotary shaft 20. In order to cover four bearings 80 corresponding to the periphery of the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25, the first eccentric cylinder 22, the second eccentric cylinder 23, The radii of the third eccentric cylinder 24 and the fourth eccentric cylinder 25 are specially designed. For example, the radius R 2 of the second eccentric cylinder 23 is larger than the radius R 1 of the first eccentric cylinder 22, and the radius R 3 of the third eccentric cylinder 24 is larger than the radius R 4 of the fourth eccentric cylinder 25.

In some other embodiments, the eccentric cylinder of the eccentric assembly 21 is not integrally formed with the rotating shaft 20. At least two of the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25 are attached to the rotary shaft 20 so that the bearings 80 are mounted around the corresponding eccentric cylinders. The other eccentric cylinder is assembled integrally with the rotating shaft 20.

  FIG. 6 is a schematic cross-sectional view showing a method of assembling the eccentric cylinder shown in FIG. 4 to the rotating shaft. In the embodiment shown in FIG. 6, the eccentric cylinder (for example, the first eccentric cylinder 22) is assembled to the rotary shaft 20. In order to smoothly transmit the rotational force of the rotating shaft 20 to each eccentric cylinder on the rotating shaft 20, the return device further includes a coupling pin 26. The eccentric cylinder is fixed to the rotary shaft 20 via the coupling pin 26, so that the eccentric cylinder can be tightly fitted to the rotary shaft 20.

  Hereinafter, the principle of achieving a desired reduction ratio using the cyclo reducer 1 will be described. Please refer to FIGS. 1 to 5 again. For example, the number of the first rollers 31 of the first roller assembly 3 is N, and the number of the second rollers 41 of the second roller assembly 4 is M. The number of first rollers 31 is one more than the number of first external teeth 54 and one more than the number of second external teeth 55. Similarly, the number of first rollers 31 is one more than the number of third external teeth 63 and one more than the number of fourth external teeth 64. That is, the number of teeth of the first external teeth 54 is (N-1), the number of teeth of the second external teeth 55 is (N-1), the number of teeth of the third external teeth 63 is (M-1), and the fourth external The number of teeth of the teeth 64 is (M−1). Therefore, the reduction ratio R of the cyclo reducer 1 is (N−1) × M / (N−M). To achieve the purpose of deceleration, N and M are not equal. In order to increase the effectiveness of dynamic equilibrium, N and M are even numbers, and N ≧ 2 and M ≧ 2. When N> M and the reduction ratio R is positive, the rotation direction of the second wheel disc 40 (that is, the power output component) matches the rotation direction of the rotary shaft 20. When N <M and the reduction ratio R is negative, the rotation direction (power output component) of the second wheel disk 40 and the rotation direction of the rotary shaft 20 are reversed.

  Hereinafter, the operation of the cyclo reducer 1 will be described with reference to FIG. FIG. 7 is a diagram schematically showing the sequential operation of the cyclo reducer according to the first embodiment of the present invention. For example, the number N of the first rollers 31 is 4, and the number M of the second rollers 41 is 2. In this case, the reduction ratio R of the cyclo reducer 1 is equal to (4-1) × 2 / (4-2) = 3. The time interval between two adjacent operations shown in FIG. 7 is equal to the time for rotating the rotating shaft 20 once. Please refer to FIG. 7 and FIGS. The rotating shaft 20 receives power input from a motor (not shown) and rotates counterclockwise. When the rotary shaft 20 rotates, the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25 rotate eccentrically. While the first eccentric cylinder 22, the second eccentric cylinder 23, the third eccentric cylinder 24, and the fourth eccentric cylinder 25 rotate eccentrically, the first cycloid disk 50, the second cycloid disk 51, the third cycloid disk 60, and the fourth cycloid. The disk 61 rotates slowly in the clockwise direction. Further, since the first roller 31 does not rotate around the axis of the rotary shaft 20, the third external teeth 63 of the third cycloid disc 60 and the fourth external teeth 64 of the fourth cycloid disc 61 are the second of the second roller assembly. Pressed against the roller 41. At this time, the second roller 41 rotates counterclockwise about the axis of the rotating shaft 20. Thereby, the movement of the second roller 41 causes the second wheel disk 40 to rotate counterclockwise. That is, the second roller assembly 4 also rotates counterclockwise. In the present embodiment, the second wheel disk 40 of the second roller assembly 4 is an output member of the cyclo reducer 1 that generates an output.

  Please refer to FIG. 8, FIG. 9 and FIG. FIG. 8 is an exploded view schematically showing the cyclo reducer according to the second embodiment of the present invention as seen from a certain viewpoint. FIG. 9 is a schematic exploded view of the cyclo reducer of FIG. 8 as seen from another viewpoint. FIG. 10 is a schematic cross-sectional view showing the cyclo reducer of FIG. The cyclo reducer 1 ′ can be applied to a power machine such as a motor, a machine tool, a robot arm, an automobile, and a motorcycle in order to provide a deceleration function.

  In the present embodiment, the cyclo reducer 1 ′ is a two-stage cyclo reducer. The cyclo reducer 1 ′ includes an eccentric mechanism 2 ′, a first roller assembly 3 ′, a second roller assembly 4 ′, a first rotating disk assembly 5 ′, and a second rotating disk assembly 6 ′.

  The eccentric mechanism 2 ′ receives input power from a motor (not shown). The eccentric mechanism 2 ′ is driven to rotate according to the input power. In one embodiment, the eccentric mechanism 2 'comprises a rotating shaft 20' and an eccentric assembly 21 '. The rotary shaft 20 ′ rotates in response to input power from the motor. The rotating shaft 20 ′ includes a first end portion 200 ′ and a second end portion 201 ′ that face each other. The eccentric assembly 21 ′ is fixed eccentrically with respect to the rotating shaft 20 ′. That is, the eccentric assembly 21 ′ is disposed between the first end 200 ′ and the second end 201 ′ of the rotating shaft 20 ′. When the rotating shaft 20 ′ rotates, the eccentric assembly 21 ′ rotates eccentrically with respect to the axis of the rotating shaft 20 ′.

  The first roller assembly 3 ′ includes a first wheel disc 30 ′ and a plurality of first rollers 31 ′. The first wheel disk 30 ′ has a disk structure or a hollow cylindrical structure, and is made of a metal material or an alloy. A first bearing 90 ′ is disposed in the center hole 300 ′ of the first wheel disc 30 ′. The center hole 300 ′ is located at the geometric center of the first wheel disc 30 ′. Examples of the first bearing 90 ′ include, but are not limited to, a ball bearing, a needle bearing, or an oil bearing. Via the first bearing 90 ', the rotary shaft 20' is partially accommodated in the central hole 300 'of the first wheel disc 30'. Accordingly, the first end portion 200 ′ and the second end portion 201 ′ of the rotary shaft 20 ′ are located on one side and the other side of the first wheel disc 30 ′. Preferably, the plurality of first rollers 31 ′ are cylinders made of a metal material or an alloy, but are not limited thereto. The plurality of first rollers 31 ′ are arranged discretely at equal intervals in the circumferential direction on the first wheel disk 30 ′.

  In some embodiments, the first roller assembly 3 ′ further comprises a casing 32 ′. The casing 32 ′ is assembled to the first wheel disk 30 ′ and has a hollow structure. After the eccentric mechanism 2 ′, the first roller assembly 3 ′, the second roller assembly 4 ′, the first rotating disk assembly 5 and the second rotating disk assembly 6 ′ are combined into the cyclo reducer 1 ′, the eccentric mechanism 2 ′ A portion, a second roller assembly 4 ', a first rotating disk assembly 5', and a second rotating disk assembly 6 'are housed in the hollow structure of the casing 32'. In the present embodiment, the first roller assembly 3 ′ does not rotate around the axis of the rotating shaft 20 ′. That is, the first wheel disk 30 ′, the plurality of first rollers 31 ′, and the casing 32 ′ do not rotate about the axis of the rotary shaft 20. However, the plurality of first rollers 31 ′ rotate (that is, rotate) around its own axis.

The second roller assembly 4 ′ includes a second wheel disc 40 ′ and a plurality of second rollers 41 ′. The second wheel disk 40 ′ has a disk structure or a hollow cylindrical structure, and is made of a metal material or an alloy. A second bearing 91 ′ is disposed in the center hole 400 ′ of the second wheel disk 40. The center hole 400 ′ is located at the geometric center of the second wheel disc 40 ′.
An example of the second bearing 91 ′ includes, but is not limited to, a ball bearing, a needle bearing, or an oil retaining bearing. The rotary shaft 20 ′ is partially accommodated in the center hole 400 ′ of the second wheel disc 40 ′ via the second bearing 91 ′. Accordingly, the first end portion 200 ′ and the second end portion 201 ′ of the rotary shaft 20 ′ are located on one side and the other side of the second wheel disc 40 ′. Preferably, the plurality of second rollers 41 ′ are cylinders made of a metal material or an alloy, but are not limited thereto. The plurality of second rollers 41 ′ are arranged discretely at equal intervals in the circumferential direction on the second wheel disk 40 ′. In the present embodiment, the second roller assembly 4 ′ rotates around the axis of the rotating shaft 20 ′. That is, the second wheel disk 40 ′ and the plurality of second rollers 41 ′ rotate around the axis of the rotating shaft 20 ′. In addition, the second wheel disc 40 'is an output member of a cyclo reducer that generates an output. In some embodiments, the plurality of second rollers 41 ′ rotate about their own axes.

  In one embodiment, the cyclo reducer 1 ′ further includes a third bearing 93 ′. The third bearing 93 ′ is disposed in the hollow structure of the casing 32 ′, and is disposed between the casing 32 ′ and the second wheel disk 40 ′. As a result, the second roller assembly 4 'can rotate within the casing 32'.

The first rotating disk assembly 5 ′ is attached to the eccentric assembly 21 ′ and rotates together with the eccentric assembly 21 ′. The first rotating disk assembly 5 ′ includes a first cycloid disk 50 ′ and a second cycloid disk 51 ′.
The first cycloid disc 50 ′ is disposed on the side of the first wheel disc 30 ′. The first cycloid disc 50 'includes a plurality of connecting portions 52' and at least one first external tooth 53 '. At least one first external tooth 53 ′ protrudes from the outer periphery of the first cycloid disc 50 ′. Further, the at least one first external tooth 53 ′ contacts the at least one first roller 31 ′.
The second cycloid disc 51 ′ is disposed on the side of the first cycloid disc 50 ′. In addition, the second cycloid disc 51 ′ and the first wheel disc 30 ′ are located on one side and the other side of the first cycloid disc 50 ′. The second cycloid disc 51 ′ includes at least one second external tooth 54 ′ and a plurality of first through holes 55 ′. At least one second external tooth 54 ′ protrudes from the outer periphery of the second cycloid disc 51 ′. Further, the at least one second external tooth 54 ′ is in contact with the at least one first roller 31 ′.

  The second rotating disk assembly 6 ′ is attached to the eccentric assembly 21 ′ and rotates together with the eccentric assembly 21 ′. The second rotating disk assembly 6 ′ includes a third cycloid disk 60 ′ and a fourth cycloid disk 61 ′. The third cycloid disc 60 ′ is disposed between the second cycloid disc 51 ′ and the second wheel disc 40 ′, and is fixed to the second cycloid disc 51 ′. The third cycloid disc 60 includes a plurality of second through holes 62 ′ and at least one third external tooth 63 ′. At least one third external tooth 63 ′ protrudes from the outer periphery of the third cycloid disc 60 ′. Further, at least one third external tooth 63 ′ comes into contact with at least one second roller 41 ′. The fourth cycloid disc 61 ′ is disposed between the third cycloid disc 60 ′ and the second wheel disc 40 ′. The fourth cycloid disc 61 ′ includes at least one fourth external tooth 64 ′. At least one fourth external tooth 64 ′ protrudes from the outer periphery of the fourth cycloid disc 61 ′. In addition, at least one fourth external tooth 64 ′ is in contact with at least one second roller 41 ′. The plurality of second through holes 62 'are aligned with the corresponding first through holes 55'.

  The connecting portion 52 ′ passes through the corresponding first through hole 55 ′ and the corresponding second through hole 62 ′. In addition, the connecting portion 52 ′ is disposed between the first cycloid disc 50 ′ and the fourth cycloid disc 61 ′. The first end of the connecting portion 52 ′ is fixed to the first cycloid disc 50 ′. The second end of the connecting portion 52 ′ is assembled to the fourth cycloid disc 61 ′. Thereby, 1st cycloid disc 50 'and 4th cycloid disc 61' are connected via connecting part 52 '. The first cycloid disc 50 ′ includes a first shaft hole 56 ′, and the second cycloid disc 51 ′ includes a second shaft hole 57 ′. The first shaft hole 56 ′ is located at the geometric center of the first cycloid disc 50 ′. The second shaft hole 57 ′ is located at the geometric center of the second cycloid disc 51 ′. A part of the eccentric assembly 21 is rotatably disposed in the first shaft hole 56 ′ and the second shaft hole 57 ′. When the eccentric mechanism 2 ′ rotates, the first cycloid disk 50 ′ and the second cycloid disk 51 ′ correspondingly rotate together with the eccentric assembly 21 ′ of the eccentric mechanism 2 ′.

  In addition, the third cycloid disc 60 ′ has a third shaft hole 65 ′, and the fourth cycloid disc 61 ′ has a fourth shaft hole 66 ′. The third shaft hole 65 is positioned at the geometric center of the third cycloid disc 60. The fourth shaft hole 66 ′ is located at the geometric center of the fourth cycloid disc 61 ′. A part of the eccentric assembly 21 ′ is rotatably disposed in the third shaft hole 65 ′ and the fourth shaft hole 66 ′. As the eccentric assembly 21 'rotates, the third cycloid disc 60' and the fourth cycloid disc 61 'rotate correspondingly with the eccentric assembly 21'.

  Since the first cycloid disc 50 ′ and the fourth cycloid disc 61 ′ are connected via the connecting portion 52 ′, the first cycloid disc 50 ′ and the fourth cycloid disc 61 ′ rotate in synchronization in the same direction. Further, since the second cycloid disc 51 ′ and the third cycloid disc 60 ′ are fixed to each other, the second cycloid disc 51 ′ and the third cycloid disc 60 ′ rotate in synchronization in the same direction.

  As described above, the cyclo reducer 1 ′ includes two cycloid disk assemblies, the first rotating disk assembly 5 ′ and the second rotating disk assembly 6 ′. The first rotating disk assembly 5 ′ includes two cycloid disks, namely a first cycloid disk 50 ′ and a second cycloid disk 51 ′. The second rotating disk assembly 6 'includes two cycloid disks, namely a third cycloid disk 60' and a fourth cycloid disk 61 '. That is, it has four cycloid discs that contact the first roller 31 ′ of the first roller assembly 3 ′ and the second roller 41 ′ of the second roller assembly 4 ′. Compared to a conventional cyclo reducer that uses two cycloid discs in contact with the rollers, the load experienced by each cycloid disc of the cyclo reducer 1 'is reduced. Since the cyclo reducer 1 ′ has a high structural strength and high rigidity, it can be applied to a high load environment.

  FIG. 11 is a schematic exploded view showing the relationship between the eccentric assembly and the bearing set in the cyclo reducer of FIG. The eccentric assembly 21 ′ includes a first eccentric cylinder 22 ′, a second eccentric cylinder 23 ′, a third eccentric cylinder 24 ′, and a fourth eccentric cylinder 25 ′ that are eccentrically fixed to the rotary shaft 20 ′. These are eccentrically fixed to the rotary shaft 20 ′ and arranged side by side. The eccentric direction of the second eccentric cylinder 23 'and the eccentric direction of the third eccentric cylinder 24' are the same. The eccentric directions of the first eccentric cylinder 22 ′ and the fourth eccentric cylinder 25 ′ are opposite to the eccentric directions of the second eccentric cylinder 23 ′ and the third eccentric cylinder 24 ′.

  The eccentric assembly 21 ′ is rotatably installed in the first shaft hole 56 ′, the second shaft hole 57 ′, the third shaft hole 65 ′, and the fourth shaft hole 66 ′ via the bearing set 8 ′. Preferably, the bearing set 8 'includes at least three independent fourth bearings 80', but is not limited to this configuration. The first eccentric cylinder 22 'is installed in the first shaft hole 56' of the first cycloid disc 50 'via the corresponding fourth bearing 80'. Since the second eccentric cylinder 23 'and the third eccentric cylinder 24' are arranged side by side and have the same eccentric direction, the second shaft hole 57 'of the second cycloid disk 51' and the third cycloid disk 60 ' A single fourth bearing 80 'is accommodated in the triaxial hole 65'. That is, the second eccentric cylinder 23 ′ is disposed in the second shaft hole 57 ′ of the second cycloid disc 51 ′ via the same fourth bearing 80 ′, and the third eccentric cylinder 24 ′ is arranged on the third cycloid disc 60. It is disposed in the 'third shaft hole 65'. The fourth eccentric cylinder 25 ′ is installed in the fourth shaft hole 66 ′ of the fourth cycloid disc 61 ′ via the fourth bearing 80 ′. That is, the eccentric directions of the first cycloid disc 50 ′ and the fourth cycloid disc 61 ′ are opposite to the eccentric directions of the second cycloid disc 51 ′ and the third cycloid disc 60 ′. Therefore, it is not necessary to install an additional weight compensator on the cyclo reducer 1 ′ to compensate for the dynamic balance. Alternatively, in another embodiment, two fourth bearings 80 ′ are accommodated in the second shaft hole 57 ′ of the second cycloid disc 51 ′ and the third shaft hole 65 ′ of the third cycloid disc 60 ′, respectively. That is, the second eccentric cylinder 23 ′ and the third eccentric cylinder 24 ′ are connected to the second shaft hole 57 ′ of the second cycloid disk 51 ′ and the third shaft hole 65 ′ of the third cycloid disk 60 ′ via the bearing 80 ′. Placed in. In this case, the bearing set 8 'includes four independent fourth bearings 80'.

  As described above, the first external teeth 53 ′ of the first cycloid disk 50 ′ and the second external teeth 54 ′ of the second cycloid disk 51 ′ are in contact with the first roller 31 ′ and the third cycloid disk 60 ′ The third outer teeth 63 ′ and the fourth outer teeth 64 ′ of the fourth cycloid disc 61 ′ are in contact with the second roller 41 ′. Accordingly, the number of teeth of the first external teeth 53 ′ of the first cycloid disk 50 ′ is equal to the number of teeth of the second external teeth 54 ′ of the second cycloid disk 51 ′, and the third external teeth of the first cycloid disk 60 ′. The number of teeth of 63 ′ is equal to the number of teeth of the fourth external teeth 64 ′ of the fourth cycloid disc 61 ′. The shape of the first external teeth 53 ′ of the first cycloid disc 50 ′ matches the shape of the second external teeth 54 ′ of the second cycloid disc 51 ′, and the third external teeth 63 ′ of the third cycloid disc 60 ′. The tooth profile of the cycloid disc 60 ′ matches the tooth profile of the fourth external tooth 64 ′ of the fourth cycloid disc 61 ′. The number of first rollers 31 ′ is at least one more than the number of first outer teeth 53 ′ and at least one more than the number of second outer teeth 54 ′, and the number of second rollers 41 ′. Is at least one more than the number of teeth of the third outer teeth 63 ′ and at least one more than the number of teeth of the fourth outer teeth 64 ′. Preferably, the connecting portion 52 ′ passes through the corresponding first through hole 55 ′ and the corresponding second through hole 62 ′, and the peripheral edge of the corresponding first through hole 55 ′ and the corresponding second through hole 62 ′. Separated from the periphery. Therefore, while the second cycloid disc 51 ′ and the third cycloid disc 60 ′ are rotating in synchronization, the operations of the second cycloid disc 51 ′ and the third cycloid disc 60 ′ are hindered by the connecting portion 52 ′. There is no.

  In the embodiment shown in FIG. 8, the connecting portion 52 ′ is cylindrical. Correspondingly, the first through hole 55 ′ and the second through hole 62 ′ have a circular outline. The shapes of the connecting portion 52 ′, the first through hole 55 ′, and the second through hole 62 ′ are not particularly limited, and can be appropriately changed according to practical requirements. For example, in another embodiment, the connecting portion 52 ′ is a trapezoidal prism, and the first through hole 55 ′ and the second through hole 62 ′ have a trapezoidal outline correspondingly.

  In one embodiment, the first eccentric cylinder 22 ′, the second eccentric cylinder 23 ′, the third eccentric cylinder 24 ′, and the fourth eccentric cylinder 25 ′ of the eccentric assembly 21 ′ are integrally formed with the rotary shaft 20 ′. . The first eccentric cylinder 22 ', the second eccentric cylinder 22', the second eccentric cylinder 23 ', the third eccentric cylinder 24', and the fourth eccentric cylinder 25 'are covered with a bearing 80' corresponding to the periphery thereof. The radii of the cylinder 23 ', the third eccentric cylinder 24' and the fourth eccentric cylinder 25 'are specially designed. For example, the radius R2 ′ of the second eccentric cylinder 23 ′ is larger than the radius R1 ′ of the first eccentric cylinder 22 ′, and the radius R3 ′ of the third eccentric cylinder 24 ′ is the radius R4 ′ of the fourth eccentric cylinder 25 ′. Bigger than.

  In some other embodiments, the eccentric cylinder of the eccentric assembly 21 'is not integrally formed with the rotating shaft 20'. At least two of the first eccentric cylinder 22 ′, the second eccentric cylinder 23 ′, the third eccentric cylinder 24 ′ and the fourth eccentric cylinder 25 ′ are provided to cover the bearing 80 ′ around the corresponding eccentric cylinder. Is assembled to the rotating shaft 20 ', and the other eccentric cylinder is formed integrally with the rotating shaft 20'. In order to smoothly transmit the rotational force of the rotating shaft 20 ′ to each eccentric cylinder on the rotating shaft 20 ′, the return device further includes a coupling pin (see also FIG. 6). The eccentric cylinder is fixed to the rotary shaft 20 ′ via a coupling pin, so that the eccentric cylinder can be tightly fitted to the rotary shaft 20 ′.

  The speed reduction ratio and the operating principle of the cyclo reducer 1 'in FIG. 8 are the same as those of the cyclo reducer 1 in FIG.

  As described above, the present invention provides a cyclo reducer. The cyclo reducer includes two cycloid disc assemblies. Each rotating disk assembly includes two cycloid disks. In other words, the cyclo reducer includes four cycloid disks that come into contact with corresponding rollers. Compared with a conventional cyclo reducer using two cycloid discs, the cyclo reducer of the present invention reduces the load on each cycloid disc. Since this cyclo reducer has high structural strength and high rigidity, it can be applied to a high load environment. Further, the eccentric assembly of the eccentric mechanism includes a plurality of eccentric cylinders. The plurality of eccentric cylinders are disposed in the shaft holes of the corresponding cycloid discs. Due to the plurality of eccentric cylinders, the eccentric directions of the two cycloid disks are opposite to the eccentric directions of the other two cycloid disks. Therefore, there is no need to install an additional weight compensator on the cyclo reducer to compensate for the dynamic balance.

  Although the present invention has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention need not be limited to the disclosed embodiments. On the contrary, it is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims in accordance with the broadest interpretation, and to encompass all such modifications and similar structures.

Claims (15)

A cyclo reducer,
An eccentric mechanism, a first roller assembly, a second roller assembly, a first rotating disk assembly, and a second rotating disk assembly;
The eccentric mechanism includes a rotation shaft and an eccentric assembly, and the eccentric assembly is eccentrically fixed to the rotation shaft and rotates eccentrically with respect to the axis of the rotation shaft when the rotation shaft rotates.
The first roller assembly includes a first wheel disc and a plurality of first rollers, and the plurality of first rollers are disposed on the first wheel disc,
The second roller assembly comprises a second wheel disc and a plurality of second rollers, the plurality of second rollers being disposed on the second wheel disc;
The first rotating disk assembly is attached to the eccentric assembly and rotates together with the eccentric assembly, and includes a first cycloid disk and a second cycloid disk,
The first cycloid disk is disposed on a side of the first wheel disk and includes at least one first external tooth, and the at least one first external tooth corresponds to at least one corresponding to the plurality of first rollers. Abut against one,
The second cycloid disc is disposed on a side of the first cycloid disc, and the second cycloid disc and the first wheel disc are positioned on one side and the other side of the first cycloid disc, The second cycloid disk includes at least one second external tooth, and the at least one second external tooth abuts at least one corresponding one of the plurality of second rollers;
The second rotating disk assembly is attached to the eccentric assembly and rotates together with the eccentric assembly, and includes a third cycloid disk and a fourth cycloid disk.
The third cycloid disk is disposed between the second cycloid disk and the second wheel disk and includes at least one third external tooth, and the at least one third external tooth is formed by the plurality of second rollers. Abuts at least one corresponding,
The fourth cycloid disk is disposed between the third cycloid disk and the second wheel disk and includes at least one fourth external tooth, and the at least one fourth external tooth includes the plurality of second rollers. A cyclo reducer that abuts at least one of the corresponding ones. The cyclo reducer according to claim 1,
The rotating shaft receives input power, and the rotating shaft and the eccentric assembly rotate in synchronization with the input power,
The first roller assembly does not rotate about the axis of the rotary shaft;
The at least one third external tooth and the at least one fourth external tooth are pressed against the second roller so that the second roller assembly rotates, and the second wheel disk of the second roller assembly rotates. A cyclo reducer that produces output. The cyclo reducer according to claim 1,
The first roller assembly further comprises a casing, the casing being assembled to the first wheel disc and having a hollow structure;
A part of the eccentric mechanism, the second roller assembly, and the second rotating disk assembly are housed in a hollow structure of the casing, and the first rotating disk assembly is housed in the first wheel disk or the hollow structure of the casing. A cyclo reducer housed. The cyclo reducer according to claim 1,
The first cycloid disc further includes a plurality of first connecting portions,
The second cycloid disc further includes a plurality of second connecting portions and a plurality of first through holes,
The third cycloid disc further includes a plurality of second through holes,
The first connecting part passes through the corresponding first connecting part to connect the first cycloid disc and the third cycloid disc;
The said 2nd connection part penetrates the said 2nd connection part, and is a cyclo reducer which connects the said 2nd cycloid disc and the said 4th cycloid disc. The cyclo reducer according to claim 4,
The second connecting portion is spaced from the peripheral edge of the corresponding second through hole,
The first connecting portion is spaced from the peripheral edge of the corresponding first through hole,
The first connecting part and the second connecting part are trapezoidal prisms, and the first through hole and the second through hole have a trapezoidal outline, or the first connecting part and the second connecting part. A cyclo reducer in which a connecting portion is cylindrical and the first through hole and the second through hole have a circular outline. The cyclo reducer according to claim 4,
The eccentric assembly includes a first eccentric cylinder, a second eccentric cylinder, a third eccentric cylinder, and a fourth eccentric cylinder that are eccentrically fixed to the rotating shaft and disposed adjacent to each other.
The first cycloid disc is sheathed around the first eccentric cylinder;
The second cycloid disc is sheathed around the second eccentric cylinder;
The third cycloid disc is sheathed around the third eccentric cylinder;
The fourth cycloid disc is sheathed around the fourth eccentric cylinder;
The eccentric direction of the first eccentric cylinder and the eccentric direction of the third eccentric cylinder are the same,
The eccentric direction of the second eccentric cylinder and the eccentric direction of the fourth eccentric cylinder are the same,
The cyclo reducer, wherein an eccentric direction of the first eccentric cylinder and the third eccentric cylinder is a direction opposite to an eccentric direction of the second eccentric cylinder and the fourth eccentric cylinder. The cyclo reducer according to claim 6,
The first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder, and the fourth eccentric cylinder are formed integrally with the rotary shaft;
The radius of the second eccentric cylinder is larger than the radius of the first eccentric cylinder;
The cyclo reducer, wherein a radius of the third eccentric cylinder is larger than a radius of the fourth eccentric cylinder. The cyclo reducer according to claim 6,
At least two eccentric cylinders of the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder, and the fourth eccentric cylinder are assembled to a rotating shaft, and the other eccentric cylinders are formed integrally with the rotating shaft. A cyclo reducer. The cyclo reducer according to claim 8,
The cyclo reducer, wherein the at least two eccentric cylinders are fixed to the rotating shaft via corresponding coupling pins. The cyclo reducer according to claim 1,
The second cycloid disc and the third cycloid disc are fixed to each other;
The first cycloid disc further includes a plurality of connecting portions,
The second cycloid disc further includes a plurality of first through holes,
The third cycloid disc further includes a plurality of second through holes,
The cyclo reducer in which the first cycloid disc and the fourth cycloid disc are connected by the connecting portion passing through the corresponding first through hole and the corresponding second through hole. The cyclo reducer according to claim 10,
The connecting portion is separated from the peripheral edge of the corresponding first and second through holes,
The connecting portion is a trapezoidal prism and the first through hole and the second through hole have a trapezoidal outline, or the connecting portion is cylindrical and the first through hole and the first through hole. A cyclo reducer in which two through holes have a circular contour. The cyclo reducer according to claim 10,
The eccentric assembly includes a first eccentric cylinder, a second eccentric cylinder, a third eccentric cylinder, and a fourth eccentric cylinder that are eccentrically fixed to the rotating shaft and disposed adjacent to each other.
The first cycloid disc is sheathed around the first eccentric cylinder;
The second cycloid disc is sheathed around the second eccentric cylinder;
The third cycloid disc is sheathed around the third eccentric cylinder;
The fourth cycloid disc is sheathed around the fourth eccentric cylinder;
The eccentric direction of the second eccentric cylinder and the eccentric direction of the third eccentric cylinder are the same,
The eccentric direction of the first eccentric cylinder and the eccentric direction of the fourth eccentric cylinder are the same,
The cyclo reducer, wherein an eccentric direction of the second eccentric cylinder and the third eccentric cylinder is a direction opposite to an eccentric direction of the first eccentric cylinder and the fourth eccentric cylinder. The cyclo reducer according to claim 12,
The first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder, and the fourth eccentric cylinder are formed integrally with the rotary shaft;
The radius of the second eccentric cylinder is larger than the radius of the first eccentric cylinder;
The cyclo reducer, wherein a radius of the third eccentric cylinder is larger than a radius of the fourth eccentric cylinder. The cyclo reducer according to claim 4 or claim 10,
The number of teeth of the at least one first external tooth is equal to the number of teeth of the at least one second external tooth;
The number of teeth of the at least one third external tooth is equal to the number of teeth of the at least one fourth external tooth,
The tooth shape of the at least one first external tooth matches the tooth shape of the at least one second external tooth;
The cyclo reducer, wherein a tooth shape of the at least one third external tooth matches a tooth shape of the at least one fourth external tooth. The cyclo reducer according to claim 6 or claim 12,
Cyclic deceleration, wherein the eccentric direction of two eccentric cylinders of the first eccentric cylinder, the second eccentric cylinder, the third eccentric cylinder, and the fourth eccentric cylinder is opposite to the eccentric directions of the other two eccentric cylinders. Machine.