Reducer for high precision control

A reducer for high precision control, comprising a pin gear housing (1) and two-stage reduction components disposed inside:

• a first-stage reduction component comprising an input shaft (9), a sun wheel (14) and a planet gear (15);
• and a second-stage reduction component comprising 2-3 eccentric shafts (6) distributed uniformly, cycloidal gears, a pin (4), a left rigid disk (13) and a right rigid disk (12), wherein the cycloidal gears comprise a left cycloidal gear (3) and a right cycloidal gear (5), a shaft extension end of an eccentric shaft (6) is connected to the planet gear (15), two eccentric sections of each eccentric shaft (6) are provided with a first bearing (8) which is used for supporting the cycloidal gears, shaft extensions on two sides of the eccentric section are supported by second bearings (7) in peripheral holes of the left rigid disk (13) and the right rigid disk (12) respectively, the left rigid disk (13) and the right rigid disk (12) are supported by third bearings (2) in inner holes of two sides of the pin gear housing (1) respectively, the input shaft (9) is supported by fourth bearings (10) in center holes of the left rigid disk (13) and the right rigid disk (12) respectively, flanges (11) are uniformly distributed on the left rigid disk (13), and penetrate corresponding holes in the cycloidal gears to connect with the right rigid disk (12) by screws and positioning pins and form a rigid body, the cycloidal gears are modified by an equidistant-radial moving combination, and by modification, a radial gap and two backlashes Δc are formed between the pin (4) and a tooth socket of each cycloidal gear, wherein:
• the backlash satisfies Δc=(0.7-5)λ (mm) between the pin (4) and the tooth socket of each cycloidal gear, where:
• λ denotes a thermal expansion amount of the cycloidal gears when the reducer does work under a rated torque:
• λ=(d0Δt)αt=0.00062d0 (mm), a thermal expansion coefficient of bearing steel satisfies αt=1.379·10−5 (1/° C.), d0 is an average diameter of the cycloidal gears, and a temperature rise satisfies Δt=45° C.;
• and
• the cycloidal gears are modified by the positive equidistant-positive radial moving combination, and a return difference formed by modification based on the positive equidistant-positive radial moving combination is reduced to satisfy a design requirement according to an anti-backlash principle.