KR102544075B1 - Multistage Cycloid Reducer - Google Patents

Abstract

The present invention, the housing forming the exterior; an input/output eccentric shaft installed inside the housing and receiving power from a driving motor; and a cycloid gear unit that is connected to the input/output eccentric shaft and induces deceleration by the received power and is rotatable.

Description

Multistage Cycloid Reducer

The present invention relates to a multi-stage cycloidal reducer, and more particularly, to a multi-stage cycloidal reducer that can be applied to the joints of a robot to smoothly induce motion and realize high-speed reduction and high-precision characteristics while being structurally simplified.

In industrial robots, humanoid robots include various actuators (harmonic reducers, RV reducers, etc.) with deceleration functions for flexible joint motion.

Among them, various reduction ratios can be realized, and cycloid speed reducers, which are advantageous for high precision and high speed reduction, are widely used in fields requiring precise control.

As a prior art related to such a cycloid reducer, in Patent Document 1 (Registration Patent Publication No. 10-1424739), the input shaft rotates as the external tooth of the cycloid disk that moves in translation by the eccentric body of the input shaft connected to the drive source engages with the internal tooth of the output shaft. A cycloidal reducer for reducing the rotational force of and transmitting it to an output shaft is disclosed.

The conventional single-stage cycloid reducer has a structure in which the case of the reducer, the pin gear that performs the reduction function, and the bearing that supports rotation are manufactured separately from each other and then assembled together, so the structure is complicated and the processing is complicated. There was a problem in that high-speed precision control was hindered by generating processing errors during assembly and assembly errors during assembly.

In addition, for balancing, two cycloid gears are positioned in the direction of 180 degrees, and two 180-degree eccentric bearings each rotate on the inner ring of the cycloid gear, and the outer surface of the cycloid gear comes into contact with a roller fixed to the housing to rotate and revolve. As a structure that can be done, if the cycloid reducer is configured in two stages to increase the reduction ratio in the existing single-stage reducer structure, the overall volume of the reducer increases and there is a problem of becoming heavy.

Therefore, it is required to develop a multi-stage cycloidal reducer that can be applied to the joints of a robot to smoothly induce motion and realize high-speed reduction and high-precision characteristics while being structurally simplified.

Registered Patent Publication No. 10-1424739 (2014.08.04.)

One object of the present invention is to provide a multi-stage cycloidal reducer that can be applied to the joints of a robot to smoothly induce motion and realize high-speed reduction and high-precision characteristics while being structurally simplified.

Another object of the present invention is to provide a multi-stage cycloidal reducer capable of miniaturizing the overall volume of the reducer by simplifying the structure of the reducer.

In order to solve the above problems, the multi-stage cycloid reducer of the present invention includes a housing forming an exterior; an input/output eccentric shaft installed inside the housing and receiving power from a driving motor; and a cycloid gear unit that is connected to the input/output eccentric shaft and induces deceleration by the received power and is rotatable.

According to an example related to the present invention, the cycloid gear unit has a predetermined number of teeth, and induces reduction based on the predetermined number of teeth.

Preferably, the cycloid gear unit may include: a first cycloid gear disposed on one side of the input/output eccentric shaft; and a second cycloid gear disposed on the other side of the input/output eccentric shaft.

The multi-stage cycloidal reducer of the present invention further includes an intermediate disc module disposed between the first and second cycloid gears and connecting the first and second cycloid gears to each other so as to enable eccentric rotation.

In addition, the input/output eccentric shaft may allow the first and second cycloid gears to rotate with an eccentricity of 180° from each other.

A needle roller bearing may be installed on an inner ring of each of the first and second cycloid gears.

According to another example related to the present invention, the intermediate disk module includes a plurality of rotor pins formed on both surfaces provided on opposite sides of each other and disposed in a plurality in a circumferential direction, and the first and second cycloid gears may include a plurality of rotor holes along the circumferential direction so as to be inserted into the rotor pins.

Preferably, the housing includes a first housing capable of accommodating the first cycloid gear; and a second housing capable of accommodating the second cycloid gear.

According to another example related to the present invention, the input/output eccentric shaft includes a central support rod provided at a central portion of the input/output eccentric shaft; eccentric rods respectively connected to both ends of the central support rod so as to be eccentrically rotatable with respect to the central support rod; an input shaft rod rotatably connected to one end of an eccentric rod connected to one end of the central support rod; and an output shaft rod connected to one end of the eccentric rod connected to the other end of the central support rod so as to be eccentrically rotatable.

In order to solve another of the above problems, the multi-stage cycloid reducer of the present invention includes a housing forming an exterior; an input/output eccentric shaft installed inside the housing and receiving power from a driving motor; and a cycloid gear unit connected to the input/output eccentric shaft and rotatable while inducing deceleration by power received, wherein the cycloid gear unit comprises: a first cycloid gear disposed on one side of the input/output eccentric shaft; and a second cycloid gear disposed on the other side of the input/output eccentric shaft, wherein the housing includes: a first housing accommodating the first cycloid gear; and a second housing accommodating the second cycloid gear, wherein the cycloid gear unit has a predetermined number of teeth, and induces deceleration based on the predetermined number of teeth.

The multi-stage cycloidal reducer of the present invention may further include an intermediate disk module disposed between the first and second cycloid gears and connecting the first and second cycloid gears to enable eccentric rotation with each other.

The intermediate disc module includes rotor pins formed on both surfaces opposite to each other and disposed in a plurality in a circumferential direction, and the first and second cycloid gears are circumferentially inserted into the rotor pins, respectively. It may be provided with a plurality of rotor holes along the direction.

The input/output eccentric shaft may include a central support rod provided at a central portion of the input/output eccentric shaft; eccentric rods respectively connected to both ends of the central support rod so as to be eccentrically rotatable with respect to the central support rod; an input shaft rod rotatably connected to one end of an eccentric rod connected to one end of the central support rod; And it may include an output shaft rod rotatably connected to one end of the eccentric rod connected to the other end of the central support rod.

The multi-stage cycloidal reducer of the present invention integrates an input shaft and an output shaft, so that it can be applied to the joints of a robot to smoothly induce motion.

The multi-stage cycloidal reducer of the present invention, by configuring one cycloidal gear in each of the first and second stages of the reducer, can realize high-speed reduction and high-precision characteristics while being structurally simplified.

In the multi-stage cycloidal reducer of the present invention, the developed reducer-specific design and process technology can be used to develop a lightweight high reduction ratio reducer.

In addition, the multi-stage cycloid reducer of the present invention can be used in various robot fields by supplying the developed reducer to domestic manufacturers and mobile robot companies.

In addition, the multi-stage cycloidal reducer of the present invention makes it possible to secure the soundness of the industrial robot ecosystem in Korea necessary to survive in the global robot market.

1 is a cross-sectional view showing a multi-stage cycloid reducer of the present invention.
Figure 2 is a perspective view showing the configuration of some of the multi-stage cycloidal reducer of the present invention except for the configuration.
Figure 3 is a perspective view showing the configuration of some of the multi-stage cycloidal reducer of the present invention except for the configuration.
4 is an exploded perspective view showing an example of a multi-stage cycloid reducer of the present invention.
5 is an exploded perspective view showing another example of the multi-stage cycloidal reducer of the present invention.
6 is a conceptual diagram showing the input side and the output side of the multi-stage cycloid reducer of the present invention.

Hereinafter, the multi-stage cycloidal reducer 100 related to the present invention will be described in detail with reference to the drawings.

In this specification, the same or similar reference numerals are given to the same or similar components even in different embodiments, and overlapping descriptions thereof will be omitted.

In addition, a structure applied to one embodiment may be equally applied to another embodiment as long as there is no structural or functional contradiction between different embodiments.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions thereof will be omitted.

The accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes and equivalents included in the spirit and technical scope of the present invention are included. It should be understood to include water or substitutes.

Hereinafter, the multi-stage cycloidal reducer 100 according to this embodiment will be described in detail based on an embodiment shown in the accompanying drawings.

1 is a cross-sectional view showing a multi-stage cycloid reducer 100 of the present invention, and FIG. 2 is a perspective view of the multi-stage cycloid reducer 100 of the present invention except for some configurations.

In addition, FIG. 3 is a perspective view of the multi-stage cycloid reducer 100 except for some configurations of the present invention, and FIG. 4 is an exploded perspective view showing an example of the multi-stage cycloid reducer 100 of the present invention.

On the other hand, Figure 5 is an exploded perspective view showing another example of the multi-stage cycloid reducer 100 of the present invention, Figure 6 is a conceptual diagram showing the input side and output side of the multi-stage cycloid reducer 100 of the present invention.

The multi-stage cycloid reducer 100 of the present invention includes a housing 10, an input/output eccentric shaft 20, and a cycloid gear unit 30.

The housing 10 is made to form the appearance of the multi-stage cycloidal reducer 100.

As an example, the housing 10 may be formed to form part of the side and upper and lower edges of the multi-stage cycloid reducer 100 of the present invention, as shown in FIGS. 1 and 4 .

The housing 10 may include a first housing 12 and a second housing 14 to accommodate a first cycloid gear 33 and a second cycloid gear 35, which will be described later, respectively.

The first housing 12 may have a cylindrical shape having an accommodation space 12c capable of accommodating the first cycloid gear 33 .
In addition, the second housing 14 may also have a cylindrical shape having an accommodating space 14c capable of accommodating the second cycloid gear 35 .

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Meanwhile, a ring gear having teeth along an inner circumference to engage the first cycloid gear 33 may be provided in the accommodating space 12c of the first housing 12 .

Also, like the first housing 12, the receiving space 14c of the second housing 14 may also be provided with a ring gear having teeth along an inner circumference so that the second cycloid gear 35 meshes with it.

Ring gears may be provided in the first and second housings 12 and 14, but as shown in FIGS. 2, 4 and 5, the first housing 12 is provided with an input side support bar 12a, The input side bearing 12b may be installed in the input side support bar 12a, the output side support bar 14a may be provided in the second housing 14, and the output side bearing 14b may be installed in the output side support bar 14a. It is not limited to structure.

For example, the input side bearing 12b and the output side bearing 14b may each be a needle roller bearing.

In addition, the input side bearing 12b of the first housing 12 is engaged with the teeth of the first cycloid gear 33, and the output side bearing 14b of the second housing 14 is engaged with the teeth of the second cycloid gear 35. An example of engagement is shown in FIGS. 2 and 6 .

As shown in FIG. 4 , based on the drawing, the first housing 12 forms the outer periphery of the upper side and the edge of the upper surface, and the second housing 14 forms the outer circumference of the lower side and the edge of the lower surface. 4 shows an example in which the first and second housings 12 and 14 each have a cylindrical member forming the outer periphery and a member forming the edges of the upper and lower surfaces as separate members, but are necessarily limited to this structure. It is not.

4, the first and second housings 12 and 14 each have accommodating spaces 12c and 14c therein to accommodate the first and second cycloid gears 33 and 35. It may be made of a cylindrical structure.

However, the first and second housings 12 and 14 are not necessarily limited to cylindrical structures.

On the other hand, the input roller module 50 receiving the driving force from the driving motor and the output roller module 60 enabling the output of the reduced power are respectively installed at the ends of the first and second housings 12 and 14, respectively. may be, which will be discussed later.

The input/output eccentric shaft 20 is installed inside the housing 10 and receives power from the driving motor. To this end, the input/output eccentric shaft 20, although not shown in the drawings, may be rotatably connected to the driving motor to receive power from the driving motor.

In addition, the cycloid gear unit 30 is connected to the input/output eccentric shaft 20. For example, the first and second cycloid gears 33 and 35 may be connected to both sides of the input/output eccentric shaft 20, respectively.

1 shows an example in which first and second cycloid gears 33 and 35 are connected to the left and right sides of the input/output eccentric shaft 20, respectively. It can be understood that the left side is the input side and the right side is the output side.

In addition, the driving input/output eccentric shaft 20 may have a hollow part (not shown) formed in a ring shape.

In addition, the input/output eccentric shaft 20 is rotated so that a portion thereof is eccentric so that the first and second cycloid gears 33 and 35 can rotate while maintaining an eccentricity of 180° from each other.

More specifically, the input/output eccentric shaft 20 may include a central support bar 22, an eccentric bar 24, an input shaft bar 26 and an output shaft bar 28.

The central support bar 22 is a bar provided at the center of the input/output eccentric shaft 20 . As shown in FIG. 4 , the adjacent eccentric bar 24 or the input shaft bar 26 and the output shaft bar 28 may have a larger diameter than a predetermined width.

For example, the central support rod 22 may be formed in a ring shape to have a hollow part (not shown). The eccentric bar 24 may be disposed in the hollow part to be eccentric.

Alternatively, the central support rod 22 may be formed in a circular rod shape, and the eccentric rod 24 may be connected to both ends so as to be eccentric.

The eccentric rod 24 is connected to both ends of the central support rod 22 so as to be eccentrically rotatable with respect to the central support rod 22 .

First and second cycloid gears 33 and 35 may be installed on the eccentric rods 24 provided at both ends of the central support rod 22, respectively. To this end, the first and second cycloid gears 33, 35) may be provided with a hollow having a predetermined diameter in the middle.

For example, the eccentric rod 24 may be installed to be eccentrically rotatable in the hollow part 23 of the central support rod 22 .

The input shaft bar 26 is eccentrically rotatably connected to the left end of the eccentric bar 24 connected to the left end of the central support bar 22 shown in FIG. 4 .

The input roller module 50 may be installed on the input shaft rod 26, and for this purpose, the input roller module 50 may be provided with an input side shaft coupling part 51 having a predetermined diameter.

The output shaft rod 28 is connected to the right end of the eccentric rod 24 connected to the right end of the central support rod 22 shown in FIG. 4 so as to be eccentrically rotatable.

The output roller module 60 may be installed on the output shaft bar 28, and for this purpose, the output roller module 60 may be provided with an output side shaft coupling portion 61 having a predetermined diameter.

4, eccentric rods 24 are disposed eccentrically with respect to the central support rod 22 at both ends of the central support rod 22, and the input shaft rod 26 and the output shaft rod 28 are disposed with respect to the eccentric rods 24 at both ends. ) is also shown as an eccentric connection.

The cycloid gear unit 30 is connected to the input/output eccentric shaft 20 and is rotated while inducing deceleration by power received.

The cycloid gear unit 30 has a predetermined number of disk dimensions, and can induce reduction based on the predetermined number of disk dimensions.

For example, the cycloid gear unit 30 may include a first cycloid gear 33 and a second cycloid gear 35 .

The first cycloid gear 33 is disposed on one side of the input/output eccentric shaft 20 . In addition, the second cycloid gear 35 is disposed on the other side of the input/output eccentric shaft 20.

The first and second cycloid gears 33 and 35 may be rotated with an eccentricity of 180° from each other in the hollow part 23 of the input/output eccentric shaft 20 described above.

In addition, the first and second cycloid gears 33 and 35 induce deceleration by the size of the disk.

In addition, the first and second cycloid gears 33 and 35 may include a first gear shaft coupling portion 33b and a second gear shaft coupling portion 35b, respectively.

The eccentric bar 24 of the input eccentric shaft 20 may be installed in the first gear shaft coupling portion 33b and the second gear shaft coupling portion 35b, respectively.

The first and second cycloid gears 33 and 35 each have rotor holes 33c and 35c, and needle roller bearings may be installed in the rotor holes 33c and 35c. Needle roller bearings are installed on the inner rings of the first and second cycloid gears 33 and 35, so that the first cycloid gear 33 and the intermediate disk module 40 described later can rotate eccentrically, and the second cycloid gear 35 ) and the intermediate disc module 40 to be described later enable eccentric rotation.

In addition, the first and second cycloid gears 33 and 35 are provided with a plurality of rotor holes 33c and 35c along the circumferential direction so as to be inserted into a rotor pin 43 to be described later, respectively.

In addition, toothed portions 33a and 35a may be formed on the outer circumference of each of the first and second cycloid gears 33 and 35 along the circumferential direction. The toothed portions 33a and 35a may have a predetermined curvature and may be formed to protrude.

For example, the number of teeth 33a of the first cycloid gear 33 may be N, and the number of teeth 35a of the second cycloid gear 35 may be N−1.

In this way, the first and second cycloid gears 33 and 35 perform the functions of the first and second stages of the reducer, respectively, and the first and second cycloid gears 33 and 35 are one input/output eccentric shaft 20 ), the structure of the reducer is simplified, and the overall volume of the reducer can be miniaturized.

On the other hand, if the cycloid gear unit 30 is configured to include the first cycloid gear 33 and the second cycloid gear 35, the housing 10 also includes the first cycloid gear 33 and the second cycloid gear 35 It may include a first housing 12 and a second housing 14 to accommodate each.

The first housing 12 may include an accommodation space 12c capable of accommodating the first cycloid gear 33 .

In addition, the second housing 14 may also have an accommodating space 14c capable of accommodating the second cycloid gear 35.

On the other hand, an example in which an input side bearing 12b installed on the input side support bar 12a is provided in the accommodation space 12c of the first housing 12 to engage the first cycloid gear 33 is shown in FIGS. 2 and 6 do.

However, it is not necessarily limited to this structure, and the receiving space 12c of the first housing 12 may include a ring gear having teeth along the inner circumference to engage the first cycloid gear 33.

In addition, an example in which an output side bearing 14b installed on the output side support bar 14a is provided in the accommodation space 14c of the second housing 14 to engage the second cycloid gear 35 is shown in FIGS. 2 and 6 do.

Likewise, it is not necessarily limited to this structure, and in the accommodation space 14c of the second housing 14, like the first housing 12, a ring provided with teeth along the inner circumference so that the second cycloid gear 35 meshes with it. A gear may be provided.

The multi-stage cycloid reducer 100 of the present invention may further include an intermediate disc module 40.

The intermediate disc module 40 is disposed between the first and second cycloid gears 33 and 35 and connects the first and second cycloid gears 33 and 35 to each other so as to be eccentrically rotatable.

For example, the intermediate disc module 40 may include a rotor pin 43 . The rotor pins 43 are formed on both surfaces provided on opposite sides of each other and may be disposed in plurality along the circumferential direction.

3 and 4 show an example in which six rotor pins 43 are provided on each of the upper and lower surfaces on the drawing of the intermediate disk module 40 .

The rotor pin 43 may be provided with first and second cycloid gears 33 and 35, and an input roller module 50 and an output roller module 60 to be described later.

On the other hand, when the first and second cycloid gears 33 and 35, the input roller module 50 and the output roller module 60 to be described later are installed on the rotor pin 43, the rotor pin 43 and the Needle roller bearings 43a may be installed between the first and second cycloid gears 33 and 35, respectively, and the rotor pin 43 and the input roller module 50 and output roller module 60, which will be described later, respectively. A needle roller bearing (not shown) may also be installed on the rotor pin 43 between them.

The needle roller bearing enables more smooth eccentric rotation between the rotor pin 43 and the first and second cycloid gears 33 and 35, respectively, and the rotor pin 43 and an input roller module to be described later. Eccentric rotation can be made more smoothly between each of the 50 and the output roller module 60.

The multi-stage cycloid reducer 100 of the present invention may further include an input roller module 50 and an output roller module 60.

The input roller module 50 and the output roller module 60 may be installed at ends of the first and second housings 12 and 14, respectively.

For example, the input roller module 50 may be fastened to the end of the first housing 12 by means of bolts. To this end, in FIG. 4, the input roller module 50 and the first housing 12 are each bolted together. An example in which bolt holes are formed in the circumferential direction so that they can be fastened to each other is shown.

Similarly, the output roller module 60 may be fastened to the end of the second housing 14 by bolts, and in FIG. 4, the output roller module 60 and the second housing 14 may be fastened to each other with bolts. An example in which bolt holes are formed in the circumferential direction is shown.

In addition, the input roller module 50 may include a predetermined number of input side bearings 12b to match the dimensions of the first cycloid gear 33 .

The number of dimensions of the first cycloid gear 33 may be N.

As an example, referring to FIG. 6 , an example in which the number of dimensions of the first cycloid gear 33 is 11 is shown.

In addition, the output roller module 60 may include a predetermined number of output side bearings 14b to match the size of the second cycloid gear 35 .

The number of dimensions of the second cycloid gear 35 may be N-1.

As an example, referring to FIG. 6 , an example in which the number of dimensions of the second cycloid gear 35 is 10 is shown.

4 shows an example in which the input roller module 50 has a disk shape having a predetermined width and a circular tube structure having a predetermined width protruding inward. The input roller module 50 may also be understood as a structure having a flange.

A circular tube structure may be formed in the input roller module 50 and coupled to an end of the first housing 12 .

Similarly, the output roller module 60 may include a predetermined number of output side bearings 14b to match the dimensions of the second cycloid gear 35 .

For example, as described above, the number of dimensions of the first cycloid gear 33 may be N, and the number of dimensions of the second cycloid gear 35 may be N-1.

Similar to the input roller module 50, FIG. 4 shows an example in which the output roller module 60 has a disk shape having a predetermined width and a circular tube structure having a predetermined width protruding inward. The output roller module 60 may also be understood as a structure having a flange.

A circular tube structure may be formed in the output roller module 60 and coupled to an end of the second housing 14 .

Hereinafter, the operation of the multi-stage cycloidal reducer 100 of the present invention will be described.

Power generated by the operation of the driving motor is provided to the input/output eccentric shaft 20, and thus the input/output eccentric shaft 20 rotates.

In addition, the first cycloid gear 33 connected to the input/output eccentric shaft 20 also rotates together with the input/output eccentric shaft 20 .

When the input/output eccentric shaft 20 rotates, the eccentric rods 24 at both ends of the central support rod 22 rotate relatively eccentrically with respect to the central support rod 22 . In addition, the eccentric rods 24 at both ends of the central support rod 22 are relatively eccentrically rotated with respect to the input shaft rod 26 and the output shaft rod 28, respectively.

At this time, the intermediate disk module 40 and the first cycloid gear 33 do not rotate eccentrically relative to each other, and the intermediate disk module 40 and the second cycloid gear 35 do not rotate eccentrically relative to each other. don't

When the input/output eccentric shaft 20 rotates and the first cycloid gear 33 rotates, between the first cycloid gear 33 and the second cycloid gear 35, the first and second cycloid gears 33 and 35 ) Based on the number of teeth, the second cycloid gear 35 is decelerated and rotated.

At this time, the needle roller bearing enables more smooth eccentric rotation between the rotor pin 43 and the first and second cycloid gears 33 and 35, respectively, and the rotor pin 43 and the input to be described later. More smoothly eccentric rotation is possible between the roller module 50 and the output roller module 60, respectively.

The multi-stage cycloid reducer 100 described above is not limited to the configuration and method of the embodiments described above, but the embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made. .

It is apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: multi-stage cycloid reducer
10: housing 12: first housing 12c: accommodation space
12a: input side support bar 12b: input side bearing
14: second housing 14c: accommodation space
14a: output side support bar 14b: output side bearing
20: I/O eccentric shaft
22: central support rod 24: eccentric rod 26: input shaft rod
28: output shaft rod
30: cycloid gear unit 33: first cycloid gear
33a: tooth portion 35: second cycloid gear
33b: first gear shaft coupling part 33c: rotor hole
35a: tooth portion 35b: second gear shaft coupling portion
35c: rotor hall
35a: tooth portion 33a: needle roller bearing
40: intermediate disc module 43: rotor pin
50: input roller module
51: input shaft coupling part
60: output roller module
61: output side shaft coupling part

Claims (13)

A multi-stage cycloidal reducer having one cycloid gear on the input side and one output side,
a housing forming an exterior;
an input/output eccentric shaft installed inside the housing and receiving power from a driving motor; and
A cycloid gear unit that is connected to the input/output eccentric shaft and induces deceleration by the received power and is rotatable;
The cycloid gear unit,
a first cycloid gear disposed on one side of the input/output eccentric shaft; and
A second cycloid gear disposed on the other side of the input/output eccentric shaft,
Further comprising an intermediate disc module disposed between the first and second cycloid gears and connecting the first and second cycloid gears to enable eccentric rotation with each other;
The intermediate disk module is provided with a plurality of rotor pins formed on both surfaces provided on opposite sides of each other and disposed in a plurality along the circumferential direction,
The first and second cycloid gears each have a plurality of rotor holes provided in a circumferential direction so as to be inserted into the rotor pins,
the housing,
a first housing accommodating the first cycloid gear; and
And a second housing capable of accommodating the second cycloid gear,
An input side support bar is provided in the first housing, an input side bearing 12b is installed on the input side support bar, an output side support bar is provided in the second housing, and an output side bearing is installed on the output side support bar,
A tooth protruding to have a predetermined curvature is formed on the outer circumference of each of the first and second cycloid gears along the circumferential direction,
The teeth of the first cycloid gear are arranged to mesh with the input side bearing, and the teeth of the second cycloid gear are arranged to mesh with the output side bearing,
The number of teeth of the first cycloid gear may be N, and the number of teeth of the second cycloid gear may be N-1;
The multi-stage cycloidal reducer, characterized in that the number of input side support rods and input side bearings is M, respectively, and the number of output side support rods and output side bearings is M-1, respectively.
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The input/output eccentric shaft enables the first and second cycloid gears to rotate with an eccentricity of 180 ° from each other.
According to claim 5,
A multi-stage cycloidal reducer, characterized in that needle roller bearings are installed on the inner rings of each of the first and second cycloid gears.
delete delete According to claim 1,
The input and output eccentric shafts,
a central support rod provided at a central portion of the input/output eccentric shaft;
An eccentric rod connected to both ends of the central support rod to be eccentrically rotatable with respect to the central support rod, and having a central axis spaced apart from the central axis of the central support rod in a radial direction;
an input shaft rod connected to one end of an eccentric rod connected to one end of the central support rod, enabling eccentric rotation of the eccentric rod, and having a central axis spaced apart from the central axis of the eccentric rod in a radial direction; and
It is connected to one end of the eccentric rod connected to the other end of the central support rod, enables eccentric rotation of the eccentric rod, and includes an output shaft rod whose central axis is spaced apart from the central axis of the eccentric rod in a radial direction. multi-stage cycloid reducer.
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