Abstract: A low-back-clearance robot speed reducer includes a wheel holder (16), a pin gear shell (1), a first cycloidal wheel (6), a roller pin (8), a second cycloidal wheel (11), a gland (2), an elastic member (9), a first cross-shaped slider (5), a second cross-shaped slider (13) and a crankshaft (10). The first cycloidal wheel (6) and the second cycloidal wheel (11) are in a phase relation of 180 degrees and have a multi-point engagement transmission relationship with the pin gear shell (1) and the roller pin (8). The first cross-shaped slider (5) and the second cross-shaped slider (13) form a double cross-shaped slider structure, in which the groove profile of the sliders is of a trapezoidal groove structure. A clearance is automatically axially compensated by the elastic member (9). The center of rotation of the crankshaft (10) is coaxial with the wheel holder (16) and the gland (2).

Abstract: A cycloidal pin wheel harmonic transmission device includes camshaft, flexible bearing, flexible wheel, roller pins and rigid wheel. The flexible bearing is mounted on the camshaft with elliptical shape. The flexible wheel has inner ring cooperated with outer ring of the flexible bearing, and outer teeth surface contacted with each roller pin. The roller pins are evenly disposed inside semicircular groove of the rigid wheel. The flexible wheel is fixedly connected with inner ring and the rigid wheel is fixedly connected with outer ring of the main bearing. Both teeth height and root have cycloidal teeth profiles reduces the risk of breakage failure, possible to obtain larger engagement without deep engaging distance. Teeth width is large, used for the engagement, the surface specific pressure is small. It is possible to withstand large torque to reduce the amount of deformation of the flexible wheel, and to greatly improve the longevity.

Abstract: Disclosed is a multi-crankshaft cycloidal pin wheel reducer. The gland and the wheel base are fixedly connected by a connecting shaft through screws and are rotated by the main bearing, coaxially with the pin gear shell, with intermediate crankshaft and pin gear shell and roller pin constitutes a cycloidal pin wheel together with the first and second cycloidal to form a rotating pair connection respectively. The plurality of planetary bearings are provided on inner rings of the gland and the wheel base, with the planetary crankshafts being mounted between each pair of the planetary bearings. The planetary crankshafts are coupled with the first cycloidal wheel and the second cycloidal wheel, respectively through the eccentric bearing, to form a rotating pair connection, so as to form a multi-crankshaft force transmission structure. It has the advantages of smooth operation, low noise, high efficiency, and small angular transmission error.

Abstract: Disclosed is a multi-crankshaft cycloidal pin wheel reducer. The gland and the wheel base are fixedly connected by a connecting shaft through screws and are rotated by the main bearing, coaxially with the pin gear shell, with intermediate crankshaft and pin gear shell and roller pin constitutes a cycloidal pin wheel together with the first and second cycloidal to form a rotating pair connection respectively. The plurality of planetary bearings are provided on inner rings of the gland and the wheel base, with the planetary crankshafts being mounted between each pair of the planetary bearings. The planetary crankshafts are coupled with the first cycloidal wheel and the second cycloidal wheel, respectively through the eccentric bearing, to form a rotating pair connection, so as to form a multi-crankshaft force transmission structure. It has the advantages of smooth operation, low noise, high efficiency, and small angular transmission error.

Abstract: Disclosed is cycloidal pin wheel harmonic transmission device, includes camshaft, flexible bearing, flexible wheel, roller pins and rigid wheel. The flexible bearing is mounted on the camshaft with elliptical shape. The flexible wheel has inner ring cooperated with outer ring of the flexible bearing, and outer teeth surface contacted with each roller pin. The roller pins are evenly disposed inside semicircular groove of the rigid wheel. The flexible wheel is fixedly connected with inner ring and the rigid wheel is fixedly connected with outer ring of the main bearing. Both teeth height and root have cycloidal teeth profiles reduces the risk of breakage failure, possible to obtain larger engagement without deep engaging distance. Teeth width is large, used for the engagement, the surface specific pressure is small. It is possible to withstand large torque to reduce the amount of deformation of the flexible wheel, and to greatly improve the longevity.

Abstract: Disclosed is a low-back-clearance robot speed reducer, comprising a wheel holder (16), a pin gear shell (1), a first cycloidal wheel (6), a roller pin (8), a second cycloidal wheel (11), a gland (2), an elastic member (9), a first cross-shaped slider (5), a second cross-shaped slider (13) and a crankshaft (10). The first cycloidal wheel (6) and the second cycloidal wheel (11) are in a phase relation of 180 degrees and have a multi-point engagement transmission relationship with the pin gear shell (1) and the roller pin (8). The first cross-shaped slider (5) and the second cross-shaped slider (13) form a double cross-shaped slider structure, in which the groove profile of the sliders is of a trapezoidal groove structure. A clearance is automatically axially compensated by the elastic member (9). The center of rotation of the crankshaft (10) is coaxial with the wheel holder (16) and the gland (2).