Multi-crankshaft cycloidal pin wheel reducer

A multi-crankshaft cycloidal pin wheel reducer, including a gland, a first cycloidal wheel, an intermediate crankshaft, a plurality of planetary bearings, planetary crankshafts, a pin gear shell, a second cycloidal wheel, a connecting shaft, a wheel base, an intermediate eccentric bearing, an intermediate bearing, a planetary eccentric bearing, a main bearing, and roller pins, characterized in that:

• the gland and the wheel base are fixedly connected by the connecting shaft through screws and are rotated by the main bearing coaxially with the pin gear shell,
• the intermediate crankshaft is coaxial with the gland or the wheel base, and as an output shaft of the reducer, constitutes a cycloidal pin wheel transmission structure together with the first cycloidal wheel, the second cycloidal wheel, the pin gear shell, and the roller pins,
• the intermediate crankshaft is coupled with the gland and the wheel base through the intermediate bearing to form a rotating pair connection, and is coupled with the first cycloidal wheel and the second cycloidal wheel through the intermediate eccentric bearing to form a rotating pair connection,
• the plurality of planetary bearings are provided on inner rings of the gland and the wheel base, each of the planetary crankshafts being mounted between a corresponding pair of the plurality of planetary bearings, and
• the planetary crankshafts are coupled with the first cycloidal wheel and the second cycloidal wheel, respectively through the planetary eccentric bearing, to form a rotating pair connection, so as to form a multi-crankshaft force transmission structure,
• wherein the planetary eccentric bearing, between the planetary crankshafts and the first cycloidal wheel and between the planetary crankshafts and the second cycloidal wheel, is a roller pin bearing without inner and outer rings.