WO2017152429A1 - 一种二级并联摆线钢球减速器 - Google Patents

一种二级并联摆线钢球减速器 Download PDF

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WO2017152429A1
WO2017152429A1 PCT/CN2016/076658 CN2016076658W WO2017152429A1 WO 2017152429 A1 WO2017152429 A1 WO 2017152429A1 CN 2016076658 W CN2016076658 W CN 2016076658W WO 2017152429 A1 WO2017152429 A1 WO 2017152429A1
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Prior art keywords
cycloidal
eccentric sleeve
steel ball
input shaft
planetary
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PCT/CN2016/076658
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English (en)
French (fr)
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张鹏
殷爱国
孔霞
张介禄
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江苏泰隆减速机股份有限公司
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Publication of WO2017152429A1 publication Critical patent/WO2017152429A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
    • F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/125—Adjustment of backlash during mounting or assembly of gearing

Definitions

  • the invention relates to a precision reduction transmission device, which can be applied to the field of precision mechanical transmissions such as robots, numerical control machine tools, aviation, medical instruments, instruments and meters.
  • the required reduction gear transmission has the characteristics of compact structure, small volume, large transmission ratio, small backlash, fast response, high efficiency, etc., and requires a high reduction gear transmission. Reciprocating positioning accuracy.
  • the existing conventional precision reduction transmission devices mostly adopt the single-stage K-H-V type or the two-stage NN type small-tooth difference transmission mechanism.
  • the single-stage KHV type small-tooth difference transmission can achieve a relatively small transmission, especially the single-stage cycloidal steel ball transmission.
  • the transmission ratio can be smaller and it is difficult to adapt to the robot equipment.
  • the two-stage NN type small tooth difference transmission can achieve a higher transmission ratio, but the common NN type cycloidal steel ball transmission, the two planetary wheels are installed in the same eccentric shaft section, the inertia force is large when the transmission is running, and the arm bearing load is large. The life is low and it is difficult to have excellent transmission performance.
  • Chinese Patent 200720311321.9 discloses a name for a cycloidal ball reducer consisting of an input part and an output part.
  • the main technical feature is that there is an eccentricity at one end of the input shaft.
  • the shaft and the eccentric shaft are provided with a oscillating disc through a bearing, and one end of the oscillating disc is provided with an annular cycloidal groove track, and a center of the cycloid groove is provided with a concave oil reservoir, and the other end of the oscillating disc is provided.
  • the input shaft and the output shaft are scrolled through the yaw, the oscillating disc and the steel ball.
  • the utility model has the advantages of simple structure, small volume, flexible operation and high power transmission efficiency.
  • the utility model adopts a single-stage KHV type gearless transmission mechanism, the achievable transmission is relatively small, and it is difficult to be applied to equipment such as robots. The need for low speed operation.
  • China Patent 200820076990.7 published on January 28, 2009, published a second-precision steel ball planetary reducer with no backlash drive, including a center plate with input eccentric shaft and a cycloidal closed groove on the end face, combination
  • the planetary disk and the output disk and the frame have a cycloidal closed groove on the end face
  • the planetary disk end of the combined planetary disk has a cycloidal closed groove planet disk, a butterfly spring, a pin shaft and a planet disk having a cycloid closed groove at the end face.
  • the utility model solves the problems that the precision steel ball planetary reducer has a gap due to the wear of the meshing pair, causes the transmission hysteresis and the thermal expansion of the meshing pair to cause jamming, etc., and can realize the automatic non-return drive of the speed reducer at the time, but the utility model adopts In the NN type small tooth difference transmission mechanism, the two planetary discs are installed on the same eccentric shaft section, the inertia force is large during the transmission operation, the slewing bearing has a large load and a low life, and the machining precision and assembly precision requirements of the combined planetary disc are required. Very high, so the transmission performance is not good.
  • the present invention overcomes the above-mentioned drawbacks and provides a two-stage parallel cycloidal steel ball reducer, which belongs to the field of precision mechanical transmission.
  • the reducer adopts the basic structure of the NN type two-stage parallel small-tooth differential planetary transmission, and adopts the inner and outer cycloidal closing grooves on the end faces of the end cover, the planetary disk and the output shaft as the tooth profile, and the steel ball is used as the intermediate body for the meshing transmission.
  • the four-point contact between the steel ball and the cycloidal closing groove eliminates the backlash, and has the advantages of simple structure, small volume, large transmission ratio, zero backlash, high transmission precision and low impact.
  • the two planetary discs of the present invention are 180° symmetrically mounted on different eccentric shaft segments, and are connected by a constant velocity mechanism of the steel ball ring groove, so that the meshing force and the habit can be realized.
  • the balance of sexual force has the advantages of small inertia force during transmission operation, small load on the arm bearing and high life.
  • the invention adopts the following technical scheme: a two-stage parallel cycloidal steel ball reducer, including an input shaft, an input shaft end cover, an end cover, a steel ball set, a planetary disk I, a rotary arm bearing I, an eccentric sleeve I, a steel ball Group, Planetary Disk II, Rotary Arm Bearing II, Eccentric Bushing II, Bushing, Steel Ball Set, Output Shaft, Pre-tightening Nut, Output Shaft End Cover, Case.
  • the utility model is characterized in that: the input shaft is fixedly connected with the eccentric sleeve I by an interference fit, and is connected with the planet disk I through the arm bearing I; the input shaft is also fixedly connected with the eccentric sleeve II by an interference fit, and is passed through the arm bearing II and Planetary disk II is connected.
  • the eccentric sleeve I and the eccentric sleeve II have the same eccentricity and are arranged symmetrically at 180°.
  • the right end of the output shaft is a flange structure.
  • the end cap is fixed to the casing through the screw set.
  • the end cover is fixedly connected to the casing through a screw set, and the left end surface of the end cover is processed with a tapered cross-section inner cycloidal closed groove, and the right end of the planetary disk I
  • a tapered cross-section outer cycloidal closing groove is formed on the surface, and a movable steel ball set is installed between the inner and outer cycloidal closed grooves to form a first-stage reduction transmission meshing pair.
  • the left end surface of the planet disk II is processed with a tapered cross-section outer cycloidal closing groove
  • the right end surface of the right end flange of the output shaft is processed with a tapered cross-section inner cycloidal closing groove
  • the inner and outer cycloidal closed grooves are installed between
  • the movable steel ball set constitutes the second-stage reduction transmission meshing pair.
  • the utility model also includes the two-stage parallel cycloidal steel ball reducer, wherein the left end surface of the planetary disk I is uniformly provided with four W-shaped annular grooves on the upper circumference, and the right end surface of the planetary disk II is also uniformly distributed on the circumference.
  • the utility model further comprises the two-stage parallel cycloidal steel ball reducer, wherein the input shaft right support bearing adopts an inner and outer ring axial fixed manner, and the input shaft left support bearing adopts an inner ring axial fixed and an outer ring axial swimming manner.
  • the inner hole of the left end of the casing is machined with a thread, and the left support bearing of the output shaft is screwed into the pre-tightening nut, and a retaining washer is installed between the pre-tightening nut and the casing.
  • the meshing pair of the two-stage parallel cycloidal ball reducer is the four-point meshing contact between the inner and outer cycloidal closing grooves and the steel ball.
  • the precision is high, the transmission hysteresis is less than ⁇ 4arc ⁇ min, and the two-stage parallel transmission mode is easy to realize a large transmission ratio, and the transmission ratio can reach more than 60.
  • each pair of W-shaped annular grooves maintains four-point meshing contact with the steel ball.
  • the gearless precision transmission can be ensured.
  • the two eccentric sleeves on the eccentric shaft segment are arranged symmetrically with 180° eccentricity. The inertial forces are opposite in direction and cancel each other out, which can balance the inertial force, reduce the load on the rotating arm bearing, and improve the life of the rotating arm bearing.
  • Figure 1 is a schematic view of the structure of the present invention
  • Figure 2 is a cross-sectional view taken along line A-A of Figure 1;
  • Figure 3 is a cross-sectional view taken along line B-B of Figure 1;
  • Figure 4 is a cross-sectional view taken along line C-C of Figure 1;
  • Figure 5 is a cross-sectional view taken along line D-D of Figure 1;
  • Figure 6 is a cross-sectional view taken along line E-E of Figure 1;
  • Fig. 7 is a sectional view taken along line F-F of Fig. 1;
  • 21 output shaft
  • 22 screw set
  • 23 washer
  • 24 shaft circlip
  • Figure 1 to Figure 6 shows a two-stage parallel cycloidal ball reducer.
  • the power is input by the input shaft (1). Since the input shaft (1) is fixedly connected to the eccentric sleeve I (29) by the interference fit, the input shaft (1) drives the eccentric sleeve I (29) to rotate together and pass the eccentric sleeve I.
  • the upper arm bearing I (6) drives the planetary disk I (7) to move.
  • the outer cycloidal closing groove on the right end surface of the planet disk I (7) pushes the steel ball group (8) to move, and the steel ball group (8) is constrained by the inner pendulum closing groove on the left end surface of the end cover (9).
  • the reverse thrust planet disk I (7) is rotated at a lower angular velocity to complete the first stage reduction drive.
  • the annular groove on the left end of the planet disk I (7), the steel ball group (14), and the annular groove on the right end surface of the planet disk II (12) constitute the steel ball ring groove meshing pair, and pass the planetary disk I (7), the planet Disk II (12) and steel ball group (14) form a parallelogram mechanism to form a constant velocity mechanism.
  • the rotation of the planetary disk I (7) after the first stage deceleration is transmitted to the planet disk II (12) at a constant speed by the ball ring groove constant velocity mechanism.
  • the outer cycloidal closing groove on the left end surface of the planet disk II (12) pushes the steel ball group (13) to move, and the steel ball group (13) meshes with the inner cycloidal closing groove on the right end face of the right end flange of the output shaft (21).
  • the output shaft (21) is pushed to rotate at a lower angular velocity to complete the second-stage reduction transmission.
  • the left end inner hole of the casing (11) is machined with a thread, and the pre-tightening nut (18) is screwed to push the shaft part to move axially, thereby eliminating the cycloidal closing groove, the annular groove and the steel ball group (8, 13) , 14) between the backlash, to ensure transmission accuracy.
  • a retaining washer (19) is installed between the pre-tightening nut (18) and the casing (11) to prevent loosening of the pre-tightening nut (18).
  • the input shaft (1) adopts the right support bearing (3) to be bidirectionally fixed, and the support structure of the left support bearing (25) swims to ensure the positioning of the shafting parts and the axial direction of the shafting parts during the process of eliminating the backlash. Mobile requirements.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种二级并联摆线钢球减速器，包括机壳（11）、输入轴（1）、行星盘I（7）、偏心套I（29）、钢球组（8）、行星盘II（12）、偏心套II（27）、钢球组（13）、端盖（9）、输出轴（21）、预紧螺母（18）、支承轴承和轴承端盖。输入轴（1）通过过盈配合与偏心套I（29）固连，并通过转臂轴承I（6）与行星盘I（7）连接；输入轴（1）还通过过盈配合与偏心套II（27）固连，并通过转臂轴承II（15）与行星盘II（12）连接，偏心套I（29）与偏心套II（27）的偏心距相等且呈180°对称布置。上述减速器采用NN型二级并联少齿差行星传动的基本结构，以端盖、行星盘和输出轴端面上的内、外摆线封闭槽作为齿廓，以钢球作为中介体进行啮合传动，通过钢球与摆线封闭槽的四点接触消除齿隙，具有结构简单、体积小、传动比大、零齿隙、传动精度高、低冲击的优点。

Description

一种二级并联摆线钢球减速器 技术领域
本发明涉及一种精密减速传动装置，可应用于机器人、数控机床、航空、医疗器械、仪器仪表等精密机械传动领域。
背景技术
为了提高机器人等精密机械的传动精度与控制精度，要求使用的减速传动装置具有结构紧凑、体积小、传动比大、齿隙小、响应快、效率高等特点，同时要求减速传动装置具有较高的往复定位精度。
现有常用的精密减速传动装置多采用单级K-H-V型或二级NN型少齿差传动的机构形式。其中，单级K-H-V型少齿差传动可实现的传动比较小，尤其是单级摆线钢球传动，由于其采用二齿差的齿数组合，因此可实现的传动比更小，难以适应机器人装备低速运转的需求。二级NN型少齿差传动可以实现较高的传动比，但是常见的NN型摆线钢球传动，两行星轮安装于同一偏心轴段，传动运行时惯性力大，转臂轴承负载很大、寿命较低，难以具备优良的传动性能。
中国专利200720311321.9，公开日2008年10月8日，公开了一份名称为一种摆线钢球减速器，由输入部分和输出部分相啮合组成，其主要技术特点是在输入轴一端设有偏心轴，偏心轴上通过轴承设有动摆线盘，动摆线盘一端设有环形摆线槽轨道，摆线槽中心设有截面为凹形的贮油槽，动摆线盘的另一端面设有圆形钢球窝，钢球窝在动摆线盘上同一半径上均匀分布设置，输入轴和输出轴通过定摆线盘、动摆线盘和钢球相滚动链接。该实用新型结构简单，体积小，运转灵活，动力传递效率高，但由于该实用新型采用了单级K-H-V型少齿差传动的机构形式，其可实现的传动比较小，难以适用在机器人等装备低速运转的需求。
中国专利200820076990.7，公开日2009年1月28日，公开了一份名称为时时无回差传动二级精度钢球行星减速器，其包括输入偏心轴、端面有摆线封闭槽的中心盘、组合式行星盘、端面有摆线封闭槽的输出盘及机架，组合式行星盘端面有摆线封闭槽的行星盘、蝶形弹簧、销轴和端面有摆线封闭槽的行星盘组成。该实用新型解决了精密钢球行星减速器因啮合副磨损出现间隙，导致传动回差及啮合副热膨胀导致卡死等问题，可实现减速器的时时自动无回差传动，但在该实用新型采用的NN型少齿差传动机构中，两行星盘安装于同一偏心轴段，传动运行时惯性力大，转臂轴承负载很大、寿命较低，且组合式行星盘的加工精度与装配精度要求很高，因此传动性能不佳。
发明内容
本发明克服上述存在的缺陷，提供一种二级并联摆线钢球减速器，属于精密机械传动领域。该减速器采用NN型二级并联少齿差行星传动的基本结构，以端盖、行星盘和输出轴端面上的内、外摆线封闭槽作为齿廓，以钢球作为中介体进行啮合传动，通过钢球与摆线封闭槽的四点接触消除齿隙，具有结构简单、体积小、传动比大、零齿隙、传动精度高、低冲击的优点。同时，不同于普通的NN型摆线钢球传动，本实用新型中两行星盘180°对称安装于不同偏心轴段，并通过钢球环槽等速机构连接，可实现啮合力与惯 性力的平衡，具有传动运行时惯性力小，转臂轴承负载小、寿命高的优点。
本发明采用如下技术方案：一种二级并联摆线钢球减速器，包括输入轴、输入轴端盖、端盖、钢球组、行星盘I、转臂轴承I、偏心套I、钢球组、行星盘II、转臂轴承II、偏心套II、轴套、钢球组、输出轴、预紧螺母、输出轴端盖、机壳。其特征是：输入轴通过过盈配合与偏心套I固连，并通过转臂轴承I与行星盘I连接；输入轴还通过过盈配合与偏心套II固连，并通过转臂轴承II与行星盘II连接。偏心套I与偏心套II的偏心距相等且呈180°对称布置。输出轴的右端为法兰盘结构。端盖通过螺钉组与机壳固连。
进一步地，所述的二级并联摆线钢球减速器，其端盖通过螺钉组与机壳固连，端盖的左端面上加工有锥形截面内摆线封闭槽，行星盘I的右端面上加工有锥形截面外摆线封闭槽，内、外摆线封闭槽之间安装有活动的钢球组，构成第一级减速传动啮合副。行星盘II的左端面上加工有锥形截面外摆线封闭槽，输出轴右端法兰盘的右端面上加工有锥形截面内摆线封闭槽，内、外摆线封闭槽之间安装有活动的钢球组，构成第二级减速传动啮合副。
还包括，所述的二级并联摆线钢球减速器，其行星盘I的左端面上圆周均布有4个截面为W形的环形槽，行星盘II的右端面上也圆周均布有4个同样形状的环形槽，行星盘I和行星盘II对应环形槽的交错区域中放置有活动的钢球组。
还包括，所述的二级并联摆线钢球减速器，其输入轴右支承轴承采用内外圈轴向固定方式，输入轴左支承轴承采用内圈轴向固定、外圈轴向游动方式。机壳左端内孔加工有螺纹，拧入预紧螺母固定输出轴的左支承轴承，预紧螺母与机壳之间安装有止动垫圈。
采用以上技术方案后，本发明达到的有益效果是：
(1)二级并联摆线钢球减速器的啮合副为内、外摆线封闭槽与钢球的四点啮合接触，当减速器正反转运行时，均可保证无齿隙传动，传动精度高，传动回差小于±4arc·min，且二级并联的传动形式易于实现较大的传动比，传动比可达60以上。
(2)钢球环槽等速机构中，各对W形的环形槽与钢球保持四点啮合接触，当减速器正反转运行时，均可保证无齿隙精密传动。同时，偏心轴段上的两偏心套采用180°偏心对称布置，惯性力方向相反，相互抵消，可以平衡惯性力，减小转臂轴承所受的载荷，提高转臂轴承寿命。
(3)机壳左端内孔加工有螺纹，拧入预紧螺母推动轴系零件移动，可消除初装配时残留的齿隙，保证传动精度。同时，预紧螺母与机壳之间安装有止动垫圈，防止预紧螺母产生松动。
附图说明
图1为本发明的结构示意图；
图2为图1的A-A剖面图；
图3为图1的B-B剖面图；
图4为图1的C-C剖面图；
图5为图1的D-D剖面图；
图6为图1的E-E剖面图；
图7为图1的F-F剖面图。
图1～图7中：
1—输入轴；            2—毡圈油封；      3—输入轴右支承轴承；   4—输入轴端盖；
5—螺钉组；            6—转臂轴承I；     7—行星盘I；            8—钢球组；
9—端盖；              10—螺钉组；       11—机壳；              12—行星盘II；
13—钢球组；           14—钢球组；       15—转臂轴承II；        16—输出轴右支承轴承；
17—输出轴左支承轴承； 18—预紧螺母；     19—止动垫圈；          20—输出轴端盖；
21—输出轴；           22—螺钉组；       23—垫圈；              24—轴用弹性挡圈；
25—输入轴左支承轴承； 26—轴套；         27—偏心套II；          28—轴用弹性挡圈；
29—偏心套I；          30—轴用弹性挡圈；
具体实施方式
附图非限制性地公开了本发明一种实施例的具体结构，下面结合附图对本发明作进一步的描述。
图1～图6所示的一种二级并联摆线钢球减速器。动力由输入轴(1)输入，由于输入轴(1)通过过盈配合与偏心套I(29)固连，因此输入轴(1)带动偏心套I(29)一起自转，并通过偏心套I上的转臂轴承I(6)带动行星盘I(7)运动。与此同时，行星盘I(7)右端面上的外摆线封闭槽推动钢球组(8)运动，钢球组(8)受到端盖(9)左端面上内摆线封闭槽的约束，反推行星盘I(7)以较低的角速度转动，从而完成第一级减速传动。行星盘I(7)左端面上的环形槽、钢球组(14)、行星盘II(12)右端面上的环形槽构成钢球环槽啮合副，并通过行星盘I(7)、行星盘II(12)和钢球组(14)组成平行四边形机构，从而组成等速机构。行星盘I(7)的经第一级减速后的自转运动通过钢球环槽等速机构等速传递给行星盘II(12)。行星盘II(12)左端面上的外摆线封闭槽推动钢球组(13)运动，钢球组(13)与输出轴(21)右端法兰盘右端面上的内摆线封闭槽啮合，推动输出轴(21)以更低的角速度转动，从而完成第二级减速传动。
本实例中机壳(11)的左端内孔加工有螺纹，拧入预紧螺母(18)推动轴系零件作轴向移动，可消除摆线封闭槽、环形槽与钢球组(8、13、14)之间的齿隙，保证传动精度。同时，预紧螺母(18)与机壳(11)之间安装止动垫圈(19)，防止预紧螺母(18)产生松动。输入轴(1)采用右支承轴承(3)双向固定，左支承轴承(25)游动的支承结构，既保证了轴系零件的定位，又能满足消除齿隙过程中轴系零件的轴向移动要求。

Claims (5)

  1. 一种二级并联摆线钢球减速器，包括输入轴(1)、输入轴端盖(4)、端盖(8)、钢球组(8)、行星盘I(7)、转臂轴承I(6)、偏心套I(29)、钢球组(14)、行星盘II(12)、转臂轴承II(15)、偏心套II(27)、轴套(26)、钢球组(13)、输出轴(21)、预紧螺母(18)、输出轴端盖(20)、机壳(11)。其特征是：输入轴(1)通过过盈配合与偏心套I(29)固连，并通过转臂轴承I(6)与行星盘I(7)连接；输入轴(1)还通过过盈配合与偏心套II(27)固连，并通过转臂轴承II(15)与行星盘II(12)连接。偏心套I(29)与偏心套II(27)的偏心距相等且呈180°对称布置。输出轴(21)的右端为法兰盘结构。端盖(8)通过螺钉组(22)与机壳(11)固连。
  2. 根据权利要求1所述的一种二级并联摆线钢球减速器，其特征是：所述端盖(8)通过螺钉组(10)与机壳(11)固连，端盖(8)的左端面上加工有锥形截面内摆线封闭槽，行星盘I(7)的右端面上加工有锥形截面外摆线封闭槽，内、外摆线封闭槽之间安装有活动的钢球组(8)，构成第一级减速传动啮合副。行星盘II(12)的左端面上加工有锥形截面外摆线封闭槽，输出轴(21)右端法兰盘的右端面上加工有锥形截面内摆线封闭槽，内、外摆线封闭槽之间安装有活动的钢球组(13)，构成第二级减速传动啮合副。
  3. 根据权利要求1所述的一种二级并联摆线钢球减速器，其特征是：所述行星盘I(7)的左端面上圆周均布有4个截面为W形的环形槽，行星盘II(12)的右端面上也圆周均布有4个同样形状的环形槽，行星盘I(7)和行星盘II(12)对应环形槽的交错区域中放置有活动的钢球组(14)。
  4. 根据权利要求1所述的一种二级并联摆线钢球减速器，其特征是：所述输入轴(1)右支承轴承(3)采用内外圈轴向固定方式，输入轴(1)左支承轴承(25)采用内圈轴向固定、外圈轴向游动方式。
  5. 根据权利要求1所述的一种二级并联摆线钢球减速器，其特征是：所述机壳(11)左端内孔加工有螺纹，拧入预紧螺母(18)固定输出轴(21)的左支承轴承(17)，预紧螺母(18)与机壳(11)之间安装有止动垫圈(19)。
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