The invention relates to a double-
cycloid speed
reducer of an RV-E type substituted
industrial robot. The double-
cycloid speed
reducer of the RV-E type substituted
industrial robot comprises a planetary transmission part and a double-
cycloid transmission part, wherein the planetary transmission part comprises a central shaft, a sun wheel, a
planet wheel and an input shaft, and the double-cycloid transmission part comprises a first cycloid wheel, a second cycloid wheel, a first eccentric bearing, a second eccentric bearing, an inner
cycloid gear ring, a left
machine frame and a right
machine frame. The cycloid wheels are connected through a
roller bearing in a penetrating mode, eccentric sleeves are installed in inner holes of the
roller bearing, and an inner hole of the eccentric sleeve is an
involute oblique inner tooth, and the
involute oblique inner tooth is matched with an
involute oblique outer tooth in a sliding mode on the input shaft. The oblique inner teeth and the oblique outer teeth are processed by a
cutting machine tool with medium-slow production lines, a
processing technology is simple, the production efficiency is high, the cost is low, and the matching accuracy of the oblique inner teeth and the oblique outer teeth is high. Elastic
retainer rings are respectively arranged on outer sides of disc springs on two sides of the input shaft. The double-cycloid speed
reducer aims at enabling
phase difference of the two single eccentric sleeves to be 180 degrees-
delta psi, wherein a small
deflection angle delta psi is that wheel teeth of the first cycloid wheel 9 lean against one anticlockwise side of wheel teeth of an upper half region of the inner
cycloid gear ring, and wheel teeth of the second cycloid wheel 21 lean against one
clockwise side of wheel teeth of a
lower half region of the inner
cycloid gear ring. The shortcoming of repeated dismantling in the former invention is improved.