WO2024045564A1 - 一种摆线减速器 - Google Patents

一种摆线减速器 Download PDF

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Publication number
WO2024045564A1
WO2024045564A1 PCT/CN2023/082348 CN2023082348W WO2024045564A1 WO 2024045564 A1 WO2024045564 A1 WO 2024045564A1 CN 2023082348 W CN2023082348 W CN 2023082348W WO 2024045564 A1 WO2024045564 A1 WO 2024045564A1
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Prior art keywords
inner cavity
needle
needle roller
cycloid
gear
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PCT/CN2023/082348
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English (en)
French (fr)
Inventor
马国勤
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苏州觅径智能科技有限公司
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Publication of WO2024045564A1 publication Critical patent/WO2024045564A1/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
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/34—Toothed gearings for conveying rotary motion with gears having orbital motion involving gears essentially having intermeshing elements other than involute or cycloidal teeth
    • 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
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • 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
    • F16H2001/323—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 comprising eccentric crankshafts driving or driven by a gearing

Definitions

  • the present disclosure belongs to the technical field of mechanical transmission, and specifically relates to a cycloidal reducer.
  • the cycloidal reducer is a transmission device that applies the planetary transmission principle and adopts cycloidal pin tooth meshing. It is mainly composed of three structures: an input part, a reduction part, and an output part. In order to reduce friction, the reduction part has needle teeth with The needle tooth sleeve, at this time, the needle teeth and the needle wheel sleeve are in sliding friction.
  • Chinese patent CN201020693047.8 discloses a cycloid reducer, which includes a casing, and an input device, a reduction device and an output device are assembled in the casing. Since the cycloid wheel and the pin tooth sleeve form a small tooth difference mesh, when the input When the shaft makes one revolution with the eccentric shaft, the cycloid wheel has both revolution and rotation motion. When the input shaft rotates forward for one revolution, the eccentric shaft also rotates forward for one revolution. When the cycloidal wheel revolutions for one revolution, it rotates in the opposite direction with a small tooth difference. Angle, thereby decelerating.
  • the purpose of the present disclosure includes, for example, providing a cycloidal reducer, which can at least solve the above-mentioned technical problems existing in the prior art.
  • a cycloidal reducer includes an input part, an output part, and a reduction part.
  • the input part serves as a transmission input through an eccentric shaft;
  • the output part drives an output shaft through a cycloidal gear as a transmission output, so that the eccentric shaft drives two parallel groups.
  • the deceleration part includes a pinwheel and a needle roller assembly.
  • the gear corridor movement curve of the outer edge of the cycloid gear is limited by the pinwheel provided on the outer periphery and meshes for transmission;
  • the needle roller assembly is composed of several sets of needle rollers located in the raceway formed between the needle wheel and the inner cavity wall of the housing, and a cage.
  • the width of the two ends where the needle rollers are located is not less than the two ends of the needle wheel.
  • the cage positions at least one end of the needle roller, so that when the needle wheel rolls, the needle roller drives the needle roller to roll synchronously between the raceway walls of the inner cavity of the outer shell.
  • the input part, output part and deceleration part are located in the inner cavity wrapped by the outer shell and the end cover. inside, so that the end of the output shaft extends out of the end cover.
  • connection between the end cover and the output shaft is connected and fixed with a bearing.
  • the cages are arranged symmetrically at the two ends where the pinwheel is located, and are respectively located on the left and right sides of the inner cavity of the outer shell.
  • the outer edge of the cage and the inner cavity raceway wall of the outer casing fit together to form an annular arc surface, so that the needle roller as a whole fits the inner cavity raceway wall of the outer casing.
  • the lower end of the outer edge where the cage is located is set as an upward arc-shaped flange.
  • the arc-shaped flange is located between two adjacent sets of pin wheels and forms an arc-shaped support surface with an angle ⁇ .
  • the needle rollers are supported by curved edges.
  • the cycloid gear is disposed in the inner cavity so that the outer diameter of the cycloid gear meshes with the pinwheel, so that when the eccentric shaft rotates, the cycloid gear is driven Rotate synchronously.
  • the movement of the cycloid gear becomes both revolution and rotation. plane motion.
  • the friction on the wavy raceway formed by the needle wheel and the inner cavity wall of the outer shell is generated by rolling friction of the needle roller.
  • the cycloidal reducer provided by the embodiment of the present disclosure adopts the transmission between the cycloidal gear and the needle wheel, through the arrangement of the needle roller assembly, the needle wheel is realized in the raceway formed between the inner cavity wall of the outer casing.
  • the transmission mode is changed to rolling friction, which is beneficial to improving the efficiency and service life of the whole machine.
  • the needle roller assembly of the cycloidal reducer uses a cage to support the needle roller during the rolling process, providing a rolling channel for the rolling of the needle roller, and improving its rolling efficiency.
  • Figure 1 is a schematic structural diagram of an explosion state according to an embodiment of the present disclosure
  • Figure 2 is a schematic structural diagram of the connection state of the deceleration part according to the embodiment of the present disclosure
  • Figure 3 is a schematic structural diagram of the explosion state of the deceleration part of the embodiment of the present disclosure.
  • Figure 4 is a schematic structural diagram of one set of states of the cage according to the embodiment of the present disclosure.
  • FIG. 5 is another set of state structural schematic diagrams of the cage according to the embodiment of the present disclosure.
  • Figure 6 is a schematic cross-sectional structural diagram of the cage according to the embodiment of the present disclosure.
  • an embodiment of the present disclosure provides a cycloidal reducer.
  • the cycloidal reducer may include an input part, an output part, and a deceleration part.
  • the input part, the output part, and the deceleration part may be located outside the outer shell 4
  • one end of the output shaft 1 can extend out of the end cover 41.
  • the connection between the end cover 41 and the output shaft 1 is connected and fixed by a bearing 201 as the output end. department.
  • the input part can be used as the transmission input through the eccentric shaft 11; the output part can drive the output shaft 1 through the cycloidal gear 12 as the transmission output, so that the eccentric shaft 11 can drive two sets of cycloidal gears 12 arranged in parallel for synchronous transmission.
  • the symmetrically arranged cycloid gear 12 can generate less harmonic resonance, and finally the transmitted torque can be output through the output shaft 1 through the cycloid gear 12 .
  • the deceleration part can include a needle wheel 31 and a needle roller assembly 32.
  • a cycloidal gear 12 is provided in the inner cavity 401 where the outer shell 4 is located, so that the outer diameter of the cycloid gear 12 is in line with the needle.
  • the wheels 31 can mesh with each other, that is, when the eccentric shaft 11 rotates, the cycloid gear 12 can be driven to rotate synchronously for one revolution. Due to the characteristics of the tooth gallery curve on the cycloidal gear 12 and the limitation of the pin teeth on the pin wheel 31, the cycloidal gear 12 rotates synchronously. The motion of the gear 12 becomes a planar motion with both revolution and rotation.
  • the cycloid gear 12 rotates through one tooth difference (or two tooth differences) in the opposite direction to be decelerated, and the low-speed rotation motion of the cycloid gear 12 is passed through The pin is transferred to the output shaft 22, thereby obtaining a lower output speed.
  • the needle roller assembly 32 is composed of several sets of needle rollers 321 located in the raceway formed between the needle wheel 31 and the inner cavity wall of the outer shell 4 (that is, the corrugated raceway formed by the inner cavity wall), and a cage 322.
  • the width of the two ends where 321 is located is not less than the width of the two ends of the pinwheel 31 (that is, during assembly, the needle roller 321 will extend outward in the width direction of the pinwheel 31), as shown in Figure 4, at this time the cage
  • the outer edge where 322 is located and the outer wall formed by the needle wheel 31 that is, the raceway profile formed by the inner cavity wall of the outer shell 4) fit together and form an annular arc surface, so that the needle roller 321 fits the inner cavity of the outer shell 4 as a whole.
  • the cage 322 positions at least one end of the extended end of the needle roller 321 (this disclosure adopts the cage 322 to be arranged in two groups, and is symmetrically arranged at the two ends where the needle wheel 31 is located), so that the needle wheel 31 rolls At this time, the needle roller 321 is driven to fit between the inner cavity wall of the outer casing 4 and roll synchronously. That is, at this time, the friction on the wavy raceway formed by the needle wheel 31 and the inner cavity wall of the outer casing 4 is generated by the rolling friction of the needle roller 321.
  • the sliding friction coefficient between the traditional needle roller 321 and the inner cavity wall of the outer shell 4 is about 0.1-0.15, while the needle roller 321 of the present disclosure passes through the rolling friction with the needle roller 321
  • the coefficient is about 0.001-0.005, which greatly improves its service life and the transmission efficiency of the whole machine).
  • the lower end of the outer edge of the cage 322 can also be provided with an upward arc-shaped protrusion 301, and the arc-shaped protrusion 301 can be located between two adjacent sets of pin wheels 31.
  • the arc-shaped support surface forming an angle ⁇ ( ⁇ can be the arc difference formed by taking the center of the cage 322 as the center of the circle and the angles of the left and right sides where the arc-shaped protrusion 301 is located), through the arc-shaped protrusion 301 to the needle roller 321 for support. Since this position is the connection between adjacent needle wheels 31, the needle roller 321 cannot be supported.
  • the outer ring of the needle roller 321 When the outer ring of the needle roller 321 covers the raceway distributed on the inner cavity wall of the outer shell 4, it is located at the upper end of the needle wheel 31.
  • the needle roller 321 at the bottom (that is, the position of the inner cavity wall raceway that is close to the outer shell 4) will act in the direction when the needle wheel 31 itself rotates. External support force will not cause the needle roller 321 to fall off at this position.
  • Embodiments of the present disclosure provide a cycloidal reducer.
  • the cycloidal reducer provided by the embodiment of the present disclosure uses a cycloidal gear and a pinwheel for transmission, through the arrangement of the needle roller assembly, the needle wheel is connected to the pinwheel.
  • the internal transmission mode of the raceway formed between the inner cavity walls of the outer shell is changed to rolling friction, which is beneficial to improving the efficiency and service life of the entire machine.
  • the needle roller assembly of the cycloidal reducer provided by the embodiment of the present disclosure adopts a cage to support the needle roller during the rolling process, providing a rolling channel for the rolling of the needle roller, and improving its rolling efficiency.
  • the cycloidal reducer provided by the embodiments of the present disclosure is reproducible and can be used in a variety of industrial applications.
  • the cycloidal reducer provided by the embodiment of the present disclosure can be used in the field of mechanical transmission technology, such as the field of cycloidal reducer.

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

Abstract

一种摆线减速器，包括输入部分、输出部分、减速部分，减速部分包括针轮（31）、滚针组件（32），摆线齿轮（12）传动时所在外沿的齿廓运动曲线受限于外周设置的针轮（31），摆线齿轮（12）与针轮（31）啮合传动；滚针组件（32）由位于针轮（31）与外壳体（4）内腔壁之间形成的滚道内设置的若干组滚针（321）以及保持架（322）组成，滚针（321）所在的两端部宽度不小于针轮（31）的两端部宽度，同时保持架（322）至少对滚针（321）伸出的一端部进行位置定位，使针轮（31）滚动时带动滚针（321）贴合于外壳体（4）内腔壁之间同步滚动。

Description

一种摆线减速器
相关申请的交叉引用
本公开要求于2022年9月2日提交中国国家知识产权局的申请号为202211069189.0、名称为“一种摆线减速器”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开属于机械传动技术领域，具体涉及一种摆线减速器。
背景技术
摆线减速器是一种应用行星式传动原理，采用摆线针齿啮合的传动装置，主要由输入部分、减速部分、输出部分三个结构组成，减速部分为了减小摩擦，针齿上带有针齿套，此时的针齿与针轮套为滑动摩擦。
在中国专利CN201020693047.8中公开了一种摆线减速机，包括有壳体，壳体内装配有输入装置、减速装置和输出装置，由于摆线轮和针齿套组成少齿差啮合，当输入轴带着偏心轴转动一周时，摆线轮既有公转又有自转运动，在输入轴正转一周时，偏心轴亦正转一周，摆线轮公转一周的同时反向自转一个少齿差的角度，从而得到减速，这种方式在摆线轮转动时，会与针齿套之间产生滑动摩擦，而在机械传动过程中的滑动摩擦会造成磨损增加，不仅对传动的精度产生影响，甚至还会造成一定程度上造成使用寿命的降低。
发明内容
针对现有技术的不足，本公开的目的例如包括提供一种摆线减速器，从而能至少解决了现有技术中存在的上述技术问题。
本公开的目的可以通过以下技术方案实现：
一种摆线减速器，包括输入部分、输出部分、减速部分，所述输入部分通过偏心轴作为传动输入；所述输出部分通过摆线齿轮带动输出轴作为传动输出，使偏心轴带动两组并列设置的摆线齿轮同步传动；
减速部分包括针轮、滚针组件，所述摆线齿轮传动时所在外沿的齿廊运动曲线受限于外周设置的针轮并啮合传动；
所述滚针组件由位于针轮与外壳体内腔壁之间形成的滚道内设置的若干组滚针，以及保持架组成，所述滚针所在的两端部宽度不小于针轮的两端部宽度，同时所述保持架至少对滚针伸出的一端部进行位置定位，使所述针轮滚动时带动滚针贴合于外壳体的内腔体滚道壁之间同步滚动。
可选地，所述输入部分、输出部分、减速部分位于外部外壳体与端盖所包裹的内腔体 内，使输出轴所在的一端部伸出端盖向外。
可选地，所述端盖与输出轴的连接处采用轴承连接并固定。
可选地，所述保持架于针轮所在的两端部位置对称设置，并分别位于外壳体的内腔体左右两侧。
可选地，所述保持架所在的外沿与外壳体的内腔体滚道壁相互贴合并形成环形弧面，使滚针整体贴合于外壳体的内腔体滚道壁。
可选地，所述保持架所在的外沿下端部设置为向上的弧形突沿，所述弧形突沿位于相邻两组针轮之间的位置并形成α角度的弧形支撑面，通过弧形突沿对滚针进行支撑。
可选地，在所述内腔体内设置所述摆线齿轮，使所述摆线齿轮所在的外径与所述针轮相互啮合，使得当所述偏心轴转动时，带动所述摆线齿轮同步转动。
可选地，由于所述摆线齿轮的上齿廊曲线的特点以及所述摆线齿轮受所述针轮的上针齿限制之故，所述摆线齿轮的运动成为即有公转又有自转的平面运动。
可选地，所述针轮与所述外壳体的内腔壁所形成波形滚道上的摩擦方式是通过所述滚针的滚动摩擦产生。
本公开至少能够实现如下有益效果：
1、本公开实施例提供的摆线减速器采用的是摆线齿轮与针轮之间传动时，通过滚针组件的设置，实现针轮在与外壳体的内腔壁之间形成的滚道内传动方式改为滚动摩擦，有利于提高整机效率和使用寿命。
2、本公开实施例提供的摆线减速器的滚针组件中采用保持架对滚动过程中的滚针进行支撑，为滚针的滚动提供滚动通道，提高其滚动效率。
附图说明
为了更清楚地说明本公开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。
图1是本公开实施例的爆炸状态结构示意图；
图2是本公开实施例的减速部分连接状态结构示意图；
图3是本公开实施例的减速部分爆炸状态结构示意图；
图4是本公开实施例保持架的其中一组状态结构示意图；
图5是本公开实施例保持架的另一组状态结构示意图；
图6是本公开实施例保持架的截面展示结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得 的所有其它实施例，都属于本公开保护的范围。
如图1所示，本公开实施例提供一种摆线减速器，该摆线减速器可以包括输入部分、输出部分、减速部分，该输入部分、输出部分、减速部分可以位于外部的外壳体4与端盖41形成的内腔体401内，使输出轴1所在的一端部可以伸出端盖41向外，此时端盖41与输出轴1的连接处采用轴承201连接并固定作为输出端部。
输入部分可以通过偏心轴11作为传动输入；输出部分可以通过摆线齿轮12带动输出轴1作为传动输出，使偏心轴11可以带动两组并列设置的摆线齿轮12同步传动，此时的两组对称设置的摆线齿轮12可时间少谐波共振产生，最后可以通过摆线齿轮12将传输的力矩通过输出轴1输出。
如图2、图3所示，减速部分可以包括针轮31、滚针组件32，在外壳体4所在的内腔体401内设置摆线齿轮12，使摆线齿轮12所在的外径与针轮31可以相互啮合，即当偏心轴11转动时，可以带动摆线齿轮12同步转动一周，由于摆线齿轮12上齿廊曲线的特点及其受针轮31上针齿限制之故，摆线齿轮12的运动成为即有公转又有自转的平面运动，摆线齿轮12于相反方向上转过一个齿差(或者两个齿差)从而得到减速，并将摆线齿轮12的低速自转运动通过销轴传递给输出轴22，从而获得较低的输出转速。
滚针组件32由位于针轮31与外壳体4内腔壁之间形成的滚道(即内腔壁所形成波形滚道)内设置的若干组滚针321，以及保持架322组成，滚针321所在的两端部宽度不小于针轮31的两端部宽度(即在装配时，滚针321会伸出针轮31所在的宽度方向向外)，如图4所示，此时保持架322所在的外沿与针轮31所形成的外壁(即外壳体4内腔壁所形成的滚道轮廓)相互贴合并形成环形弧面，使滚针321整体贴合于外壳体4的内腔体滚道壁。保持架322至少对滚针321伸出的一端部进行位置定位(本公开采用的是保持架322为两组设置，并于针轮31所在的两端部位置对称设置)，使针轮31滚动时带动滚针321贴合于外壳体4内腔壁之间同步滚动，即此时针轮31与外壳体4的内腔壁所形成波形滚道上的摩擦方式是通过滚针321的滚动摩擦产生，有利于提高整机效率和使用寿命(传统的滚针321与外壳体4内腔壁之间的滑动摩擦系数约0.1-0.15，而本公开的滚针321通过与滚针321之间的滚动摩擦系数约0.001-0.005，大大提高了其使用寿命以及整机的传动效率)。
如图5、图6所示，同时保持架322还可以设置所在的外沿下端部为向上的弧形突沿301，弧形突沿301可以位于相邻两组针轮31之间的位置并形成α角度的弧形支撑面(α可以是以保持架322的中心为圆心，以弧形突沿301所在的左右两侧的角度所形成的弧度差)，通过弧形突沿301对滚针321进行支撑，由于该位置时相邻针轮31连接处，无法对滚针321起到支撑，当滚针321外圈覆盖分布于外壳体4的内腔壁滚道时，位于针轮31上端部的滚针321(即贴合于外壳体4的内腔壁滚道位置)会在针轮31自身的转动时起到向 外的支撑力，不会造成该位置滚针321的脱落。
以上显示和描述了本公开的基本原理、主要特征和本公开的优点。本行业的技术人员应该了解，本公开不受上述实施例的限制，上述实施例和说明书中描述的只是说明本公开的原理，在不脱离本公开精神和范围的前提下，本公开还会有各种变化和改进，这些变化和改进都落入要求保护的本公开范围内。
工业实用性
本公开的实施例提供了一种摆线减速器，本公开实施例提供的摆线减速器采用的是摆线齿轮与针轮之间传动时，通过滚针组件的设置，实现针轮在与外壳体的内腔壁之间形成的滚道内传动方式改为滚动摩擦，有利于提高整机效率和使用寿命。而且，本公开实施例提供的摆线减速器的滚针组件中采用保持架对滚动过程中的滚针进行支撑，为滚针的滚动提供滚动通道，提高其滚动效率。
此外，可以理解的是，本公开实施例提供的一种摆线减速器是可以重现的，并且可以用在多种工业应用中。例如，本公开实施例提供的一种摆线减速器可以用于涉及机械传动技术领域，例如摆线减速器的领域。

Claims (7)

  1. 一种摆线减速器，其中，所述摆线减速器包括输入部分、输出部分、减速部分，所述输入部分通过偏心轴(11)作为传动输入；所述输出部分通过摆线齿轮(12)带动输出轴(1)作为传动输出，使偏心轴(11)同时带动两组并列设置的摆线齿轮(12)同步传动；其特征在于，
    所述减速部分包括针轮(31)、滚针组件(32)，所述摆线齿轮(12)传动时所在外沿的齿廊运动曲线受限于外周设置的针轮(31)并啮合传动；
    所述滚针组件(32)由位于针轮(31)与外壳体(4)内腔壁之间形成的滚道内设置的若干组滚针(321)，以及保持架(322)组成，所述滚针(321)所在的两端部宽度不小于针轮(31)的两端部宽度，同时所述保持架(322)至少对滚针(321)伸出的一端部进行位置定位，使所述针轮(31)滚动时带动滚针(321)贴合于外壳体(4)的内腔体滚道壁之间同步滚动。
  2. 根据权利要求1所述的摆线减速器，其中，所述输入部分、输出部分、减速部分位于外部外壳体(4)与端盖(41)所包裹的内腔体(401)内，使输出轴(1)所在的一端部伸出端盖(41)向外。
  3. 根据权利要求2所述的摆线减速器，其中，所述端盖(41)与输出轴(21)的连接处采用轴承(201)连接并固定。
  4. 根据权利要求2所述的摆线减速器，其中，所述保持架(322)于针轮(31)所在的两端部位置对称设置，并分别位于外壳体(4)的内腔体(401)左右两侧。
  5. 根据权利要求1所述的摆线减速器，其中，所述保持架(322)所在的外沿与外壳体(4)的内腔体滚道壁相互贴合并形成环形弧面，使滚针(321)整体贴合于外壳体(4)的内腔体滚道壁。
  6. 根据权利要求1所述的摆线减速器，其中，所述保持架(322)所在的外沿下端部设置为向上的弧形突沿(301)，所述弧形突沿(301)位于相邻两组针轮(31)之间的位置并形成α角度的弧形支撑面，通过弧形突沿(301)对滚针(321)进行支撑。
  7. 根据权利要求2至6中的任一项所述的摆线减速器，其中，在所述内腔体(401)内设置所述摆线齿轮(12)，使所述摆线齿轮(12)所在的外径与所述针轮(31)相互啮合，使得当所述偏心轴(11)转动时，带动所述摆线齿轮(12)同步转动。
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