WO2017156651A1 - 一种低背隙机器人减速机 - Google Patents

一种低背隙机器人减速机 Download PDF

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Publication number
WO2017156651A1
WO2017156651A1 PCT/CN2016/000594 CN2016000594W WO2017156651A1 WO 2017156651 A1 WO2017156651 A1 WO 2017156651A1 CN 2016000594 W CN2016000594 W CN 2016000594W WO 2017156651 A1 WO2017156651 A1 WO 2017156651A1
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WIPO (PCT)
Prior art keywords
wheel
crankshaft
cycloidal wheel
cycloidal
trapezoidal
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PCT/CN2016/000594
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English (en)
French (fr)
Inventor
谭军
曹鲜红
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深圳市领略数控设备有限公司
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Priority to US16/083,472 priority Critical patent/US11292125B2/en
Priority to JP2018566622A priority patent/JP6682756B2/ja
Publication of WO2017156651A1 publication Critical patent/WO2017156651A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C23/00—Bearings for exclusively rotary movement adjustable for aligning or positioning
    • F16C23/10—Bearings, parts of which are eccentrically adjustable with respect to each other
    • 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • 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
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
    • F16H21/18—Crank gearings; Eccentric gearings
    • 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
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0412—Cooling or heating; Control of temperature
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C9/00—Bearings for crankshafts or connecting-rods; Attachment of connecting-rods
    • F16C9/02—Crankshaft 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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
    • F16H1/24—Toothed gearings for conveying rotary motion without gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth

Definitions

  • the present invention relates to a speed reducer, and more particularly to a low backlash robot speed reducer.
  • the harmonic reducer is not as rigid as the RV reducer and does not have high rigidity.
  • the current RV reducer is a double crankshaft two-stage transmission structure. It belongs to two-stage transmission. The first-stage deceleration uses gear transmission. When the gear is in high-speed meshing, there are disadvantages of large vibration and large noise. At the same time, there is a certain gap, and the bearing of the internal double crankshaft is affected by space. Even small needle bearings are needed, and their play is also the main source of backlash.
  • the conventional RV reducer uses a gear transmission for the first-stage transmission, and vibration noise exists at high speed.
  • the big disadvantage, and the small bearing of the double crankshaft will also generate a large amount of heat, which affects the life of the entire reducer.
  • the first gear meshing also requires a certain clearance, and the clearance of the double crankshaft bearing affects the entire deceleration.
  • the technical problem to be solved by the present invention is to provide a direct use of a central crankshaft, which is advantageous for equipping a large crankshaft and a bearing, thereby reducing heat generation and facilitating an increase in running speed, and the torque of the cycloidal pinion transmission is double-crossed.
  • the block structure outputs a low backlash robot reducer whose cross slide gap is axially automatically compensated by elastic members.
  • a low backlash robot reducer including a wheel base, a pin gear housing, a first cycloidal wheel, a needle roller, a second cycloidal wheel, a gland, an elastic member, and a first a cross slider, a second cross slider and a crankshaft, wherein the gland is fixedly coupled to the wheel base;
  • a first main bearing is mounted between the gland and the pin housing, and a second main bearing is mounted between the wheel base and the pin housing, and the gland is fixedly coupled with the wheel base, and the central axis side of the crankshaft is pressed a first crankshaft bearing is mounted between the covers, and a second crankshaft bearing is mounted between the other side of the central axis of the crankshaft and the wheel base;
  • a first eccentric bearing is mounted between the first eccentric portion of the crankshaft and the first cycloidal wheel, and the first cycloidal wheel Attached to the outer ring of the first eccentric bearing, and an elastic member is mounted on the inner ring of the first eccentric bearing and the shoulder of the crankshaft, and a second is installed between the second eccentric portion of the crankshaft and the second cycloidal wheel The eccentric bearing, and the second cycloidal wheel is fixed to the outer ring of the second eccentric bearing.
  • the gland and the wheel seat are provided with a trapezoidal groove
  • the first cycloidal wheel and the second cycloidal wheel are provided with a trapezoidal boss outside, and one side of the first cross slider and the second cross slider
  • the trapezoidal boss is arranged, and the other side is provided with a trapezoidal groove.
  • the direction of the trapezoidal boss and the trapezoidal groove is a cross shape, and the trapezoidal boss is embedded in the trapezoidal groove.
  • the gap between the trapezoidal boss and the trapezoidal groove is automatically compensated by the elastic member. .
  • the trapezoidal angle of the trapezoidal groove and the trapezoidal boss is designed as a self-locking structure.
  • the number of needles on the inner side of the pin gear case is one more than the number of teeth of the first cycloidal wheel or the second cycloidal wheel.
  • the first cycloidal wheel has the same shape as the second cycloidal wheel, and is mounted back to back and has a 180 degree phase relationship.
  • the gland, the first cross slider, and the first cycloidal wheel constitute a first cross slider mechanism.
  • the wheel base, the second cross slider, and the second cycloidal wheel constitute a second cross slider mechanism
  • the first cycloidal wheel, the second cycloidal wheel, the pin gear housing, the crankshaft and the needle roller constitute a cycloidal pin wheel mechanism.
  • crankshaft size of the invention can be designed to be relatively large, and the eccentric bearing used can also select the deep groove ball bearing with good rotation, thereby reducing heat generation and improving the running speed of the crankshaft. Solved the problem of heating of the double crankshaft
  • Figure 1 is a schematic diagram of the present invention
  • Figure 2 is a schematic view showing the structure of the structure of the present invention.
  • Figure 3 is a side cross-sectional view of the present invention.
  • Figure 4 is a front cross-sectional view of the present invention.
  • a low backlash robot reducer of the present invention comprises a wheel base, a pin gear housing, a first cycloidal wheel, a needle roller, a second cycloidal wheel, a gland, an elastic member, a first cross slider, a second cross slider and a crankshaft;
  • the gland 2, the first cross slider 5, and the first cycloidal wheel 6 constitute a first cross slider mechanism
  • the wheel base 16, the second cross slider 13, and the second cycloidal wheel 11 constitute a second cross slider mechanism.
  • the first cycloidal wheel 6, the second cycloidal wheel 11, the pin gear housing 1, the crankshaft 10, and the needle roller 8 constitute a cycloidal pin wheel mechanism.
  • the number of the needle rollers 8 on the inner side of the pin gear housing 1 is one more than the number of teeth of the first cycloidal wheel 6 or the second cycloidal wheel 11, and the first cycloidal wheel when the single crankshaft 10 makes one rotation 6 eccentric movement of one turn while the second cycloidal wheel 11 is in contact with the needle roller 8, and as a result, the first cycloidal wheel 6 and the second cycloidal wheel 11 are rotated by one tooth in the opposite direction to the crankshaft 10. the distance.
  • the outer tooth shape of the first cycloidal wheel 6 or the second cycloidal wheel 11 is the center of the inner semicircular hole of the pinion housing 1
  • the distance radius, the radius of the needle roller 8, and the eccentricity of the crankshaft 10 result in a standard cycloid curve.
  • the shape of a single curve is tangential to all the needle rollers 8, thereby achieving multi-point meshing and having a large degree of coincidence. Low backlash and high rigidity.
  • a first main bearing 3 is mounted between the gland 2 and the pin housing 1, and a second main bearing 14 is mounted between the wheel housing 16 and the pin housing 1, and the gland 2 is
  • the wheel base 16 is fixedly connected;
  • a first crankshaft bearing is mounted between the central shaft side of the crankshaft 10 and the gland 2, and
  • a second crankshaft bearing 15 is mounted between the other side and the wheel base 16, and the crankshaft 10 is
  • a first eccentric bearing 7 is mounted between an eccentric portion and the first cycloidal wheel 6, and the first cycloidal wheel 6 is fixed to the outer ring of the bearing 7 of the first eccentric portion, and the bearing in the first eccentric portion
  • the inner ring of the crankshaft 10 and the shoulder of the crankshaft 10 are mounted with an elastic member.
  • the second eccentric portion bearing 12 is mounted between the second eccentric portion of the crankshaft 10 and the second cycloidal wheel 11, and the second cycloidal wheel 11 and the second The outer ring of the bearing 12 of the eccentric portion is fixed.
  • the inside of the gland 2 and the wheel base 16 is provided with a trapezoidal groove
  • the first cycloidal wheel 6 and the second cycloidal wheel 11 are provided with a trapezoidal boss outside
  • the first cross slide 5 and the second cross are provided.
  • the slider 13 has a trapezoidal boss on one side and a trapezoidal groove on the other side, and the trapezoidal boss and the trapezoidal groove are formed in a cross shape; the assembly relationship between them is that the trapezoidal boss is embedded in the trapezoidal groove and can be along the trapezoidal groove direction. The sliding is performed, and the gap between the trapezoidal boss and the trapezoidal groove is automatically compensated by the elasticity of the elastic member 9.
  • the trapezoidal angle of the trapezoidal groove and the trapezoidal boss can be designed to be self-locking, so that the gap compensated by the elastic member 9 is irreversible, and therefore, the rotary backlash of the gland 2 relative to the first cycloidal wheel 6 Zero, the rotational backlash of the wheel base 16 relative to the second cycloidal wheel 11 is also zero.
  • the cross slide structure realizes one-stage transmission of a single crankshaft on the one hand and zero backlash output on the other hand.
  • the invention adopts a single crankshaft eccentric motion, which is characterized in that: the crankshaft rotates to provide eccentric motion, the rotation center is coaxial with the wheel seat and the pressure cover, and the crankshaft can be a hollow keyway structure, and the gland has a threaded hole, which can be used for the motor.
  • the installation ensures the compactness of the entire structure.
  • the diameter of the crankshaft of the traditional RV reducer must be small, and the bearing of the eccentric part must even use the needle bearing without inner and outer rings.
  • the process and performance have certain problems.
  • the heating caused by high-speed rotation requires crankshaft rotation. The maximum speed does not exceed 1000r/min, otherwise it will affect the life of the reducer.
  • crankshaft size of the present invention can be designed to be relatively large, and the eccentric bearing used can also select the deep groove ball bearing with good rotation, thereby It is beneficial to reduce heat generation, improve the running speed of the crankshaft, and solve the heating problem of the double crankshaft.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Retarders (AREA)

Abstract

一种低背隙机器人减速机，包含轮座（16）、针齿壳（1）、第一摆线轮（6）、滚针（8）、第二摆线轮（11）、压盖（2）、弹性件（9）、第一十字滑块（5）、第二十字滑块（13）和曲轴（10），第一摆线轮（6）与第二摆线轮（11）两者成180度相位关系，和针齿壳（1）、滚针（8）之间属于多点啮合传动关系；第一十字滑块（5）与第二十字滑块（13）形成双十字滑块结构，其滑块槽型为梯形槽结构，通过弹性件（9）轴向自动补偿间隙；曲轴（10）旋转中心与轮座（16）、压盖（2）同轴心。该减速机采用单曲轴摆线针轮传动，十字滑块结构输出，属于一级减速传动，具有高效率、低背隙的特点。

Description

一种低背隙机器人减速机 技术领域
本发明涉及一种减速机，特别是涉及一种低背隙机器人减速机。
背景技术
现有的机器人减速机大部分采用谐波减速机，RV减速机等，谐波减速机刚性不如RV减速机大，不具备高刚性特点，而目前的RV减速机都是双曲轴两级传动结构，属于两级传动，一级减速采用的是齿轮传动，当齿轮处于高速啮合时，存在振动大，噪音大的缺点，同时也需要存在一定的间隙，而其内部双曲轴的轴承受空间影响，甚至需要很小的滚针轴承，其游隙也是主要的背隙来源。
由于目前的发展对机器人的运行速度要求越来越快，对其减速机的输入速度也就越来越高，而传统的RV减速机一级传动采用的是齿轮传动，在高速下存在振动噪音大的缺点，而且双曲轴的小轴承也会产生较大的发热量，从而影响整个减速机的寿命，其一级齿轮啮合也需要一定的间隙，同时双曲轴轴承的游隙都是影响整个减速机的背隙主要来源之一，且其背隙无法自动补偿
发明内容
本发明所要解决的技术问题是提供一种直接采用中心曲轴，这样有利于配备较大的曲轴与轴承，从而减小发热，有利于提高运行速度，其摆线针轮传动的扭矩通过双十字滑块结构输出，其十字滑块间隙通过弹性件实现轴向自动补偿的低背隙机器人减速机。
本发明是通过以下技术方案来实现的：一种低背隙机器人减速机，包括轮座、针齿壳、第一摆线轮、滚针、第二摆线轮、压盖、弹性件、第一十字滑块、第二十字滑块和曲轴，所述压盖与轮座固定连接于一体；
所述压盖与针齿壳之间安装有第一主轴承，轮座与针齿壳之间安装有第二主轴承，压盖与轮座固连在一起，曲轴的中心轴一侧与压盖之间安装有第一曲轴轴承，曲轴的中心轴另一侧与轮座之间安装有第二曲轴轴承；
曲轴的第一偏心部与第一摆线轮之间安装有第一偏心部轴承，第一摆线轮 与第一偏心部轴承的外圈固连，且在第一偏心部轴承的内圈与曲轴的轴肩安装有弹性件，曲轴的第二偏心部与第二摆线轮之间安装有第二偏心部轴承，且第二摆线轮与第二偏心部轴承的外圈固连。
作为优选的技术方案，所述压盖、轮座内侧设有梯形槽，第一摆线轮、第二摆线轮外侧设有梯形凸台，第一十字滑块、第二十字滑块的一面设置有梯形凸台，另一面设置有梯形槽，梯形凸台与梯形槽的方向呈十字型，梯形凸台嵌入于梯形槽内，梯形凸台与梯形槽之间的间隙通过弹性件自动进行补偿。
作为优选的技术方案，所述梯形槽与梯形凸台的梯形角度设计成自锁结构。
作为优选的技术方案，所述针齿壳内侧的滚针的数量比第一摆线轮或第二摆线轮的齿数多一个。
作为优选的技术方案，所述第一摆线轮与第二摆线轮形状相同，安装时背靠背且成180度相位关系。
作为优选的技术方案，所述压盖、第一十字滑块、第一摆线轮构成第一十字滑块机构。
作为优选的技术方案，所述轮座、第二十字滑块、第二摆线轮构成第二十字滑块机构；
作为优选的技术方案，所述第一摆线轮、第二摆线轮、针齿壳、曲轴和滚针构成摆线针轮机构。
本发明的有益效果是：本发明的曲轴尺寸可以设计的比较粗大，所用的偏心部轴承也可以相应地选择旋转性好的深沟球轴承，从而有利于减小发热，提高曲轴的运行速度，解决了双曲轴的发热问题
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明的原理图；
图2是本发明的结构爆炸结构示意图；
图3是本发明的侧向剖面视图；
图4是本发明的正向剖面视图；
图中：1、针齿壳，2、压盖，3、第一主轴承，4、第一曲轴轴承，5、第一十字滑块，6、第一摆线轮，7、第一偏心部轴承，8、滚针，9、弹性件，10、曲轴，11、第二摆线轮，12、第二偏心部轴承，13、第二十字滑块，14、第二主轴承，15、第二曲轴轴承，16、轮座。
具体实施方式
本说明书中公开的所有特征，或公开的所有方法或过程中的步骤，除了互相排斥的特征和/或步骤以外，均可以以任何方式组合。
本说明书(包括任何附加权利要求、摘要和附图)中公开的任一特征，除非特别叙述，均可被其他等效或具有类似目的的替代特征加以替换。即，除非特别叙述，每个特征只是一系列等效或类似特征中的一个例子而已。
如图1和图2所示，本发明的一种低背隙机器人减速机，包括轮座、针齿壳、第一摆线轮、滚针、第二摆线轮、压盖、弹性件、第一十字滑块、第二十字滑块和曲轴；
压盖2、第一十字滑块5、第一摆线轮6构成第一十字滑块机构，轮座16、第二十字滑块13、第二摆线轮11构成第二十字滑块机构，第一摆线轮6、第二摆线轮11、针齿壳1、曲轴10、滚针8构成摆线针轮机构。
如图4所示，针齿壳1内侧的滚针8的数量比第一摆线轮6或第二摆线轮11的齿数多一个，当单个曲轴10旋转一圈时，第一摆线轮6与第二摆线轮11与滚针8接触的同时进行一圈的偏心运动，其结果是第一摆线轮6与第二摆线轮11沿着与曲轴10相反的方向旋转1个齿数的距离。
第一摆线轮6或第二摆线轮11的外齿形是由针齿壳1的内侧半圆孔的中心 距半径，滚针8的半径，曲轴10的偏心距得出得标准摆线曲线，理论上单个曲线其外形与所有滚针8都保持相切，从而实现了多点啮合，具有重合度大、背隙低、刚性高的特点。
如图2和图3所示，压盖2与针齿壳1之间安装有第一主轴承3，轮座16与针齿壳1之间安装有第二主轴承14，而压盖2与轮座16固连在一起的；曲轴10的中心轴一侧与压盖2之间安装有第一曲轴轴承，另一侧与轮座16之间安装有第二曲轴轴承15，曲轴10的第一偏心部与第一摆线轮6之间安装有第一偏心部轴承7，且第一摆线轮6与第一偏心部的轴承7的外圈固连的，且在第一偏心部轴承7的内圈与曲轴10的轴肩安装有弹性件9曲轴10的第二偏心部与第二摆线轮11之间安装有第二偏心部轴承12，且第二摆线轮11与第二偏心部的轴承12的外圈固连的。
本实施例中，压盖2、轮座16内侧设有梯形槽，第一摆线轮6、第二摆线轮11外侧设有梯形凸台的，而第一十字滑块5、第二十字滑块13是一面带有梯形凸台，另一面带有梯形槽，其梯形凸台与梯形槽的方向成十字型；它们之间的装配关系是梯形凸台嵌入梯形槽，可以沿梯形槽方向进行滑动，而梯形凸台与梯形槽之间的间隙则由弹性件9的弹性自动进行补偿。
更进一步地说，所述梯形槽与梯形凸台的梯形角度可以设计成自锁，这样弹性件9补偿的间隙是不可逆的，因此，压盖2相对于第一摆线轮6的旋转背隙为零，轮座16相对于第二摆线轮11的旋转背隙也是零。从而这种十字滑槽结构一方面实现了单曲轴的一级传动，另一方面实现了零背隙输出。
本发明采用单曲轴偏心运动，其特征在于：曲轴旋转时提供偏心运动，其旋转中心与轮座，压盖同轴，其曲轴可以为中空键槽结构，压盖上有螺纹孔，可用于电机的安装，从而保证了整个结构的紧凑性。传统的RV减速机曲轴受空间影响直径尺寸须较小，偏心部的轴承甚至须用无内外圈的滚针轴承，其工艺性和性能都存在一定的问题，高速旋转带来的发热要求曲轴旋转的最高速度不超过1000r/min，否则将影响减速机的寿命，而本发明的曲轴尺寸可以设计的比较粗大，所用的偏心部轴承也可以相应地选择旋转性好的深沟球轴承，从而有 利于减小发热，提高曲轴的运行速度，解决了双曲轴的发热问题。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何不经过创造性劳动想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书所限定的保护范围为准。

Claims (8)

  1. 一种低背隙机器人减速机，其特征在于：包括轮座、针齿壳、第一摆线轮、滚针、第二摆线轮、压盖、弹性件、第一十字滑块、第二十字滑块和曲轴，所述压盖与轮座固定连接于一体；
    所述压盖与针齿壳之间安装有第一主轴承，轮座与针齿壳之间安装有第二主轴承，压盖与轮座固连在一起，曲轴的中心轴一侧与压盖之间安装有第一曲轴轴承，曲轴的中心轴另一侧与轮座之间安装有第二曲轴轴承；
    曲轴的第一偏心部与第一摆线轮之间安装有第一偏心部轴承，第一摆线轮与第一偏心部轴承的外圈固连，且在第一偏心部轴承的内圈与曲轴的轴肩安装有弹性件，曲轴的第二偏心部与第二摆线轮之间安装有第二偏心部轴承，且第二摆线轮与第二偏心部轴承的外圈固连。
  2. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述压盖、轮座内侧设有梯形槽，第一摆线轮、第二摆线轮外侧设有梯形凸台，第一十字滑块、第二十字滑块的一面设置有梯形凸台，另一面设置有梯形槽，梯形凸台与梯形槽的方向呈十字型，梯形凸台嵌入于梯形槽内，梯形凸台与梯形槽之间的间隙通过弹性件自动进行补偿。
  3. 根据权利要求2所述的低背隙机器人减速机，其特征在于：所述梯形槽与梯形凸台的梯形角度设计成自锁结构。
  4. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述针齿壳内侧的滚针的数量比第一摆线轮或第二摆线轮的齿数多一个。
  5. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述第一摆线轮与第二摆线轮形状相同，安装时背靠背且成180度相位关系。
  6. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述压盖、第一十字滑块、第一摆线轮构成第一十字滑块机构。
  7. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述轮座、第二十字滑块、第二摆线轮构成第二十字滑块机构；
  8. 根据权利要求1所述的低背隙机器人减速机，其特征在于：所述第一摆线轮、第二摆线轮、针齿壳、曲轴和滚针构成摆线针轮机构。
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