CN109882552B - Two-stage plane steel ball speed reducer - Google Patents
Two-stage plane steel ball speed reducer Download PDFInfo
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- CN109882552B CN109882552B CN201910264281.4A CN201910264281A CN109882552B CN 109882552 B CN109882552 B CN 109882552B CN 201910264281 A CN201910264281 A CN 201910264281A CN 109882552 B CN109882552 B CN 109882552B
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Abstract
The invention discloses a two-stage plane steel ball speed reducer, relating to the technical field of oscillating tooth steel ball transmission devices, wherein a first-stage plane steel ball transmission system is arranged on a driving shaft through a first bearing assembly, a second-stage plane steel ball transmission system is arranged on an output shaft through a second bearing assembly, the first-stage plane steel ball transmission system and the second-stage plane steel ball transmission system are connected through an intermediate transmission system, the intermediate transmission system can convert the swinging output of the first-stage plane steel ball transmission system into rotary motion and convert the rotary motion into the swinging input of the second-stage plane steel ball transmission system, the two-stage plane steel ball speed reducer has the advantages of two-stage transmission, large transmission ratio and plane steel ball speed reducer, adopts a bearing to transmit power, the bearing can convert high-speed motion into low-speed motion, the relative sliding between meshing pairs is reduced, and the driving shaft is not, the whole transmission efficiency of the device is greatly improved.
Description
Technical Field
The invention relates to the technical field of oscillating tooth steel ball transmission devices, in particular to a two-stage plane steel ball speed reducer.
Background
With the continuous development of movable tooth transmission, a plurality of novel movable tooth reducers are published successively, and an invention patent with the application number of 201510629776.4 discloses a movable tooth cam mechanism which can output by a swinging disc, and can realize that uniform speed input can be converted into various forms of swinging cam output motion by changing the tooth profile curve of a closed groove of the swinging disc, but the high-speed rotation of a driving shaft causes the relative sliding between meshing pairs to be greatly improved, so that the transmission efficiency is reduced; the plane steel ball speed reducer is a representative transmission type in oscillating tooth transmission, not only has small size, but also has good manufacturing manufacturability because a shock wave device and a roller path of the end surface of a central wheel are processed in a plane, but a driving shaft of the existing plane steel ball speed reducer which rotates at high speed is directly meshed with the oscillating tooth, so that the transmission efficiency is seriously influenced, and the transmission ratio of a single-stage plane steel ball speed reducer is smaller.
Disclosure of Invention
The invention aims to provide a two-stage plane steel ball speed reducer, which solves the problems in the prior art, has the advantages of a plane steel ball speed reducer, and is high in transmission efficiency and large in transmission ratio.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a two-stage plane steel ball speed reducer which comprises a driving shaft, an output shaft, a first-stage plane steel ball transmission system, an intermediate transmission system and a second-stage plane steel ball transmission system, wherein the first-stage plane steel ball transmission system is arranged on the driving shaft through a first bearing assembly, the second-stage plane steel ball transmission system is arranged on the output shaft through a second bearing assembly, the first-stage plane steel ball transmission system and the second-stage plane steel ball transmission system are connected through the intermediate transmission system, and the intermediate transmission system can convert the swinging output of the first-stage plane steel ball transmission system into the rotating motion and convert the rotating motion into the swinging input of the second-stage plane steel ball transmission system.
Preferably, the first-stage plane steel ball transmission system comprises a left central wheel and a first-stage shock wave device, the first bearing assembly comprises a first tapered roller bearing and a first deep groove ball bearing, the driving shaft comprises a first concentric section, an eccentric section and a second concentric section, the first concentric section, the eccentric section and the second concentric section are sequentially arranged along the axial direction of the driving shaft, the left central wheel is arranged on the first concentric section through the first deep groove ball bearing, the first-stage shock wave device is arranged on the eccentric section through the first tapered roller bearing, a left concentric circular raceway is arranged at one end, close to the left central wheel, of the first-stage shock wave device, a left sinusoidal raceway is arranged on the end face, close to the first-stage shock wave device, of the left central wheel, and a first-stage movable-tooth steel ball is arranged between the left concentric circular raceway and the left sinusoidal raceway.
Preferably, the second-stage plane steel ball transmission system comprises a second-stage shock wave device, a movable gear rack and a right central wheel which are arranged in sequence, the second bearing assembly comprises a second tapered roller bearing and a second deep groove ball bearing, the second-stage shock absorber is supported on the output shaft through a bearing inner ring of the second tapered roller bearing, the movable gear rack is fixedly sleeved on the output shaft, the right central wheel is arranged on the output shaft through the second deep groove ball bearing, a right concentric circular raceway is arranged at one end of the second-stage shock wave device close to the oscillating tooth rack, tooth grooves are arranged at one end of the oscillating tooth rack close to the second-stage shock wave device, a second-stage oscillating tooth steel ball is arranged in one tooth groove, and one end of the right central wheel, which is close to the oscillating tooth rack, is provided with a right sinusoidal raceway, and the right concentric raceway, the tooth socket and the right sinusoidal raceway are meshed through the second-stage oscillating tooth steel ball.
Preferably, the intermediate transmission system comprises a housing and a movable guide rail output mechanism, the housing, the left center wheel and the right center wheel form a transmission cavity, the first-stage shock wave device, the movable guide rail output mechanism, the second-stage shock wave device and the movable rack are all arranged in the transmission cavity, one end of the movable guide rail output mechanism is supported on the second concentric section through a third deep groove ball bearing, the other end of the movable guide rail output mechanism is supported on the inner wall of the housing through a fourth deep groove ball bearing, the other end of the movable guide rail output mechanism is sleeved on a bearing outer ring of the second tapered roller bearing, one end of the first-stage shock wave device close to the movable guide rail output mechanism is provided with a plurality of tooth pits, one end of the movable guide rail output mechanism close to the first-stage shock wave device is circumferentially provided with a plurality of radial tooth grooves, one tooth pit corresponds to one radial tooth groove, and a guide rail oscillating tooth steel ball is arranged between one tooth pit and one radial tooth groove.
Preferably, the number of the dents is 4.
Preferably, one end of the left center wheel, which is far away from the first-stage shock wave device, is provided with a left end cover, one end of the right center wheel, which is far away from the second-stage shock wave device, is provided with a right end cover, the left end cover is sleeved on the driving shaft and is in sealed connection with the driving shaft, and the right end cover is sleeved on the output shaft and is in sealed connection with the output shaft.
Preferably, the left end cover, the left center wheel, the shell, the right center wheel and the right end cover are detachably connected in sequence.
Preferably, the left end cover, the left center wheel, the shell, the right center wheel and the right end cover are all provided with adjusting gaskets.
Compared with the prior art, the invention has the following technical effects:
the two-stage plane steel ball speed reducer provided by the invention has the advantages that the first-stage plane steel ball transmission system is arranged on the driving shaft through the first bearing component, the second-stage plane steel ball transmission system is arranged on the output shaft through the second bearing component, the first-stage plane steel ball transmission system and the second-stage plane steel ball transmission system are connected through the middle transmission system, the middle transmission system can convert the swinging output of the first-stage plane steel ball transmission system into the rotary motion, and converts the rotary motion into the swing input of a second-stage plane steel ball transmission system, adopts two-stage transmission, has large transmission ratio, has the advantages of a plane steel ball speed reducer, and the bearing is adopted to transmit power, the bearing can convert high-speed motion into low-speed motion, the relative sliding between the meshing pairs is reduced, meanwhile, the driving shaft is not directly meshed with the movable teeth, and the whole transmission efficiency of the device is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of the overall structure of a two-stage plane steel ball speed reducer provided by the invention;
FIG. 2 is a schematic view of the structure of the driving shaft;
FIG. 3 is a schematic structural diagram of a left sinusoidal raceway;
FIG. 4 is a schematic structural diagram of a left concentric raceway;
FIG. 5 is a schematic view of the tooth slot configuration;
FIG. 6 is a schematic view of a radial tooth slot configuration;
fig. 7 is a schematic structural view of the tooth pits.
In fig. 1-7:
1-driving shaft, 101-first concentric section, 102-eccentric section, 103-second concentric section, 2-left end cover, 3-left central wheel, 301-left sinusoidal raceway, 4-first tapered roller bearing, 5-first stage oscillating tooth steel ball, 6-first stage shock wave device, 601-left concentric circular raceway, 602-tooth pit, 7-first shell, 8-guide rail oscillating tooth steel ball, 9-moving guide rail output mechanism, 901-radial tooth socket, 10-second tapered roller bearing, 11-fourth deep groove ball bearing, 12-second shell, 13-second stage shock wave device, 14-second stage oscillating tooth steel ball, 15-right central wheel, 16-right end cover, 17-oscillating tooth rack, 171-tooth socket, 18-output shaft, 19-shaft sleeve, 17-right end cover, 17-oscillating tooth rack, 171-tooth socket, 18-output shaft, 20-a third deep groove ball bearing, 21-an adjusting gasket, 22-a second deep groove ball bearing and 23-a first deep groove ball bearing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a two-stage plane steel ball speed reducer, which solves the problems in the prior art, has the advantages of a plane steel ball speed reducer, and is high in transmission efficiency and large in transmission ratio.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1, the present embodiment provides a two-stage plane steel ball speed reducer, which comprises a driving shaft 1, an output shaft 18, a first-stage plane steel ball transmission system, an intermediate transmission system and a second-stage plane steel ball transmission system, wherein the first-stage plane steel ball transmission system is mounted on the driving shaft 1 through a first bearing assembly, the second-stage plane steel ball transmission system is mounted on the output shaft 18 through a second bearing assembly, the first-stage plane steel ball transmission system and the second-stage plane steel ball transmission system are connected through the intermediate transmission system, the intermediate transmission system can convert the swing output of the first-stage plane steel ball transmission system into the swing motion and convert the swing motion into the swing input of the second-stage plane steel ball transmission system, the two-stage plane steel ball speed reducer is two-stage transmission, has a large transmission ratio, has the advantages of, the bearing can change high-speed motion into low-speed motion, and the relative slip between the meshing pair reduces, and driving shaft 1 is not direct to be meshed with the oscillating tooth simultaneously, and the whole transmission efficiency of device improves greatly.
In a particular use the drive shaft 1 is connected to a prime mover and the output shaft 18 is connected to a load.
In some embodiments, as shown in fig. 2-4, the first stage of the flat steel ball transmission system comprises a left center wheel 3 and a first stage of the shock 6, the first bearing assembly comprises a first tapered roller bearing 4 and a first deep groove ball bearing 23, the driveshaft 1 comprises a first concentric segment 101, an eccentric segment 102 and a second concentric segment 103, the first concentric segment 101, the eccentric section 102 and the second concentric section 103 are sequentially arranged along the axial direction of the driving shaft 1, the left center wheel 3 is installed on the first concentric section 101 through a first deep groove ball bearing 23, the first-stage shock wave device 6 is installed on the eccentric section 102 through a first tapered roller bearing 4, one end, close to the left center wheel 3, of the first-stage shock wave device 6 is provided with a left concentric circular raceway 601, the end face, close to the first-stage shock wave device 6, of the left center wheel 3 is provided with a left sinusoidal raceway 301, and a first-stage oscillating tooth steel ball 5 is arranged between the left concentric circular raceway 601 and the left sinusoidal raceway 301.
In a specific using process, the first tapered roller bearing 4 converts the high-speed rotary motion of the driving shaft 1 into low-speed swing of the bearing outer ring, so that the first-stage shock wave device 6 is driven to swing at a low speed, the relative sliding of a meshing pair is reduced, and the transmission efficiency is greatly improved.
In some embodiments, as shown in fig. 5, the second-stage flat steel ball transmission system comprises a second-stage shock wave device 13, a movable rack 17 and a right central wheel 15, which are arranged in sequence, the second bearing assembly comprises a second tapered roller bearing 10 and a second deep groove ball bearing 22, the second-stage shock wave device 13 is supported on the output shaft 18 through the bearing inner ring of the second tapered roller bearing 10, the movable rack 17 is fixedly sleeved on the output shaft 18, the right central wheel 15 is mounted on the output shaft 18 through the second deep groove ball bearing 22, one end of the second-stage shock wave device 13 close to the movable rack 17 is provided with a right concentric circular raceway, one end of the movable rack 17 close to the second-stage shock wave device 13 is provided with a tooth groove 171, one tooth groove 171 is provided with one second-stage movable-tooth steel ball 14, one end of the right central wheel 15 close to the movable rack 17 is provided with a, the tooth groove 171 and the right sinusoidal raceway are engaged by the second-stage oscillating-tooth steel ball 14.
In some embodiments, as shown in fig. 6-7, the intermediate transmission system includes a housing and a moving guide output mechanism 9, the housing forms a transmission cavity with the left central wheel 3 and the right central wheel 15, the first-stage exciter 6, the moving guide output mechanism 9, the second-stage exciter 13 and the movable rack 17 are all disposed in the transmission cavity, the third deep groove ball bearing 20 is mounted on the second concentric segment 103 through a shaft sleeve 19, one end of the moving guide output mechanism 9 is supported on the second concentric segment 103 through the third deep groove ball bearing 20, the other end of the moving guide output mechanism 9 is supported on the inner wall of the housing through the fourth deep groove ball bearing 11, and the other end of the moving guide output mechanism 9 is sleeved on the bearing outer ring of the second tapered roller bearing 10, specifically, the other end of the moving guide output mechanism 9 is provided with an eccentric hole, the bearing outer ring of the second tapered roller bearing 10 is matched with the eccentric hole, one end of the first-stage shock wave device 6 close to the movable guide rail output mechanism 9 is provided with a plurality of tooth pits 602, one end of the movable guide rail output mechanism 9 close to the first-stage shock wave device 6 is circumferentially provided with a plurality of radial tooth grooves 901, one tooth pit 602 corresponds to one radial tooth groove 901, and a guide rail oscillating tooth steel ball 8 is arranged between one tooth pit 602 and one radial tooth groove 901.
Specifically, the housing includes a first housing 7 and a second housing 12 which are coaxially disposed and connected, the first housing 7 is connected to the left center wheel 3, and the second housing 12 is connected to the right center wheel 15.
In the specific use process, the second tapered roller bearing 10 converts the high-speed rotary motion of the movable guide rail output mechanism 9 into low-speed swing of the bearing inner ring, so that the second-stage shock wave device 13 is driven to swing at a low speed, the relative sliding of the meshing pair is reduced, and the transmission efficiency is greatly improved.
In some embodiments, the number of tooth pits 602 is 4, and specifically, 4 tooth pits 602 are uniformly arranged along the circumferential direction of the moving rail output mechanism 9.
In some embodiments, a left end cover 2 is arranged at one end, away from the first-stage shock wave device 6, of the left central wheel 3, a right end cover 16 is arranged at one end, away from the second-stage shock wave device 13, of the right central wheel 15, the left end cover 2 is sleeved on the driving shaft 1 and is in sealing connection with the driving shaft 1, and the right end cover 16 is sleeved on the output shaft 18 and is in sealing connection with the output shaft 18.
In some embodiments, the left end cover 2, the left center wheel 3, the housing, the right center wheel 15 and the right end cover 16 are sequentially detachably connected, specifically, the left end cover 2, the left center wheel 3, the housing, the right center wheel 15 and the right end cover 16 are connected through bolts, and the device is convenient to disassemble and assemble.
In some embodiments, the left end cap 2, the left center wheel 3, the housing, the right center wheel 15, and the right end cap 16 are all provided with an adjusting gasket 21, so that the gap between the left end cap 2, the left center wheel 3, the housing, the right center wheel 15, and the right end cap 16 is tightly sealed.
In addition, the devices or components with different functions in the above embodiments can be combined, for example, the preferred solution of the present embodiment includes a driving shaft 1, an output shaft 18, a first-stage plane steel ball transmission system, an intermediate transmission system and a second-stage plane steel ball transmission system, the first-stage plane steel ball transmission system includes a left central wheel 3 and a first-stage shock absorber 6, the first bearing assembly includes a first tapered roller bearing 4 and a first deep groove ball bearing 23, the driving shaft 1 includes a first concentric segment 101, an eccentric segment 102 and a second concentric segment 103, the first concentric segment 101, the eccentric segment 102 and the second concentric segment 103 are sequentially arranged along the axial direction of the driving shaft 1, the left central wheel 3 is mounted on the first concentric segment 101 through the first deep groove ball bearing 23, the first-stage shock absorber 6 is mounted on the eccentric segment 102 through the first tapered roller bearing 4, a left concentric circular raceway 601 is arranged at one end of the first-stage shock wave device 6 close to the left central wheel 3, a left sinusoidal raceway 301 is arranged on the end surface of the left central wheel 3 close to the first-stage shock wave device 6, a first-stage oscillating tooth steel ball 5 is arranged between the left concentric circular raceway 601 and the left sinusoidal raceway 301, the second-stage planar steel ball transmission system comprises a second-stage shock wave device 13, an oscillating tooth rack 17 and a right central wheel 15 which are sequentially arranged, a second bearing assembly comprises a second conical roller bearing 10 and a second deep groove ball bearing 22, the second-stage shock wave device 13 is supported on the output shaft 18 through the bearing inner ring of the second conical roller bearing 10, the oscillating tooth rack 17 is fixedly sleeved on the output shaft 18, the right central wheel 15 is mounted on the output shaft 18 through the second deep groove ball bearing 22, a right concentric circular raceway is arranged at one end of the second-stage shock wave device 13 close to the oscillating tooth rack 17, and a tooth groove 171 is, a second-stage oscillating tooth steel ball 14 is arranged in a tooth groove 171, one end of a right central wheel 15 close to an oscillating tooth frame 17 is provided with a right sinusoidal raceway, a right concentric circular raceway, the tooth groove 171 and the right sinusoidal raceway are meshed through the second-stage oscillating tooth steel ball 14, an intermediate transmission system comprises a shell and a movable guide rail output mechanism 9, the shell, the left central wheel 3 and the right central wheel 15 form a transmission cavity, a first-stage exciter 6, the movable guide rail output mechanism 9, a second-stage exciter 13 and the oscillating tooth frame 17 are all arranged in the transmission cavity, a third deep groove ball bearing 20 is arranged on a second concentric section 103 through a shaft sleeve 19, one end of the movable guide rail output mechanism 9 is supported on the second concentric section 103 through the third deep groove ball bearing 20, the other end of the movable guide rail output mechanism 9 is supported on the inner wall of the shell through a fourth deep groove 11, and the other end of the movable ball bearing output mechanism 9 is provided, the bearing outer ring of the second tapered roller bearing 10 is matched with an eccentric hole, one end of the first-stage shock absorber 6 close to the moving guide rail output mechanism 9 is provided with a plurality of tooth pits 602, one end of the moving guide rail output mechanism 9 close to the first-stage shock absorber 6 is circumferentially provided with a plurality of radial tooth grooves 901, one tooth pit 602 corresponds to one radial tooth groove 901, a guide rail oscillating tooth steel ball 8 is arranged between one tooth pit 602 and one radial tooth groove 901, the shell comprises a first shell 7 and a second shell 12 which are coaxially arranged and connected, the first shell 7 is connected with the left central wheel 3, the second shell 12 is connected with the right central wheel 15, the number of the tooth pits 602 is 4, one end of the left central wheel 3 far away from the first-stage shock absorber 6 is provided with a left end cover 2, one end of the right central wheel 15 far away from the second-stage shock absorber 13 is provided with a right end cover 16, the left end cover 2 is sleeved on the driving shaft, the right end cover 16 is sleeved on the output shaft 18 and is in sealing connection with the output shaft 18, the left end cover 2, the left center wheel 3, the shell, the right center wheel 15 and the right end cover 16 are connected through bolts, and adjusting gaskets 21 are arranged among the left end cover 2, the left center wheel 3, the shell, the right center wheel 15 and the right end cover 16.
In this embodiment, the number of the first-stage oscillating-tooth steel balls 5 is set to Z1, the wave number of the left sinusoidal raceway 301 of the left center wheel 3 is set to Z2, the eccentricity of the eccentric section 102 of the driving shaft 1 is α 1, the radius of the left concentric raceway 601 of the first-stage shock absorber 6 is b1, the first-stage shock wave coefficient λ 1 is b1/α 1, θ 2 is the rotation angle of the first-stage shock absorber 6, and the theoretical tooth profile line parameter equation of the left sinusoidal raceway 301 of the left center wheel 3 is:
the first-stage transmission ratio calculation formula is as follows:
in this embodiment, the number of the second-stage oscillating-tooth steel balls 14 is set to Z3, the wave number of the right sinusoidal raceway of the right center wheel 15 is set to Z4, the eccentricity of the eccentric hole of the moving guide output mechanism 9 is α 2, the radius of the right concentric raceway of the second-stage shock absorber 13 is b2, the second-stage shock wave coefficient λ 2 is b2/α 2, θ 3 is the angle of rotation of the oscillating carrier 17, and the theoretical tooth profile line parameter equation of the right sinusoidal raceway of the right center wheel 15 is:
the second-stage transmission ratio calculation formula is as follows:
the principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A two-stage plane steel ball speed reducer is characterized in that: the swing mechanism comprises a driving shaft, an output shaft, a first-stage plane steel ball transmission system, an intermediate transmission system and a second-stage plane steel ball transmission system, wherein the first-stage plane steel ball transmission system is arranged on the driving shaft through a first bearing assembly, the second-stage plane steel ball transmission system is arranged on the output shaft through a second bearing assembly, the first-stage plane steel ball transmission system and the second-stage plane steel ball transmission system are connected through the intermediate transmission system, and the intermediate transmission system can convert the swing output of the first-stage plane steel ball transmission system into rotary motion and convert the rotary motion into the swing input of the second-stage plane steel ball transmission system;
the first-stage plane steel ball transmission system comprises a left central wheel and a first-stage shock absorber, the first bearing assembly comprises a first tapered roller bearing and a first deep groove ball bearing, the driving shaft comprises a first concentric section, an eccentric section and a second concentric section, the first concentric section, the eccentric section and the second concentric section are sequentially arranged along the axial direction of the driving shaft, the left central wheel is arranged on the first concentric section through the first deep groove ball bearing, the first-stage shock wave device is arranged on the eccentric section through the first tapered roller bearing, a left concentric circular raceway is arranged at one end of the first-stage shock wave device close to the left central wheel, a left sinusoidal raceway is arranged on the end face of the left central wheel close to the first-stage shock wave device, and a first-stage movable-tooth steel ball is arranged between the left concentric circular raceway and the left sinusoidal raceway;
the second-stage plane steel ball transmission system comprises a second-stage shock wave device, a movable gear rack and a right central wheel which are arranged in sequence, the second bearing assembly comprises a second tapered roller bearing and a second deep groove ball bearing, the second-stage shock absorber is supported on the output shaft through a bearing inner ring of the second tapered roller bearing, the movable gear rack is fixedly sleeved on the output shaft, the right central wheel is arranged on the output shaft through the second deep groove ball bearing, a right concentric circular raceway is arranged at one end of the second-stage shock wave device close to the oscillating tooth rack, tooth grooves are arranged at one end of the oscillating tooth rack close to the second-stage shock wave device, a second-stage oscillating tooth steel ball is arranged in one tooth groove, one end of the right central wheel, which is close to the oscillating tooth rack, is provided with a right sinusoidal raceway, and the right concentric raceway, the tooth socket and the right sinusoidal raceway are meshed through the second-stage oscillating tooth steel ball;
the middle transmission system comprises a shell and a movable guide rail output mechanism, the shell and the left center wheel and the right center wheel form a transmission cavity, the first-stage shock wave device, the movable guide rail output mechanism, the second-stage shock wave device and the movable rack are all arranged in the transmission cavity, one end of the movable guide rail output mechanism is supported on the second concentric section through a third deep groove ball bearing, the other end of the movable guide rail output mechanism is supported on the inner wall of the shell through a fourth deep groove ball bearing, the other end of the movable guide rail output mechanism is sleeved on a bearing outer ring of the second tapered roller bearing, one end of the first-stage shock wave device close to the movable guide rail output mechanism is provided with a plurality of tooth pits, one end of the movable guide rail output mechanism close to the first-stage shock wave device is circumferentially provided with a plurality of radial tooth grooves, one tooth pit corresponds to one radial tooth groove, and a guide rail oscillating tooth steel ball is arranged between one tooth pit and one radial tooth groove.
2. The two-stage plane steel ball speed reducer of claim 1, wherein: the number of the tooth pits is 4.
3. The two-stage plane steel ball speed reducer of claim 1, wherein: the left central wheel is provided with a left end cover at one end far away from the first-stage shock wave device, the right central wheel is provided with a right end cover at one end far away from the second-stage shock wave device, the left end cover is sleeved on the driving shaft and is in sealing connection with the driving shaft, and the right end cover is sleeved on the output shaft and is in sealing connection with the output shaft.
4. The two-stage flat steel ball retarder of claim 3, wherein: the left end cover, the left center wheel, the shell, the right center wheel and the right end cover are sequentially detachably connected.
5. The two-stage flat steel ball retarder of claim 3, wherein: the left end cover, the left center wheel, the shell, the right center wheel and the right end cover are all provided with adjusting gaskets.
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| CN110397711B (en) * | 2019-07-16 | 2020-08-28 | 燕山大学 | Cam shock wave type two-stage plane steel ball speed reducer |
| CN110425255B (en) * | 2019-08-05 | 2021-11-02 | 燕山大学 | Sinusoidal plane two-stage movable tooth speed reducer |
| CN110486443B (en) * | 2019-08-05 | 2020-08-11 | 燕山大学 | Closed driving shaft type plane two-stage movable tooth speed reducer |
| CN110513443B (en) * | 2019-08-16 | 2020-08-11 | 燕山大学 | Eccentric driving two-stage plane oscillating tooth speed reducer |
| CN110454552B (en) * | 2019-08-28 | 2020-08-25 | 燕山大学 | Hollow oscillating-tooth-rack coupled two-stage plane oscillating-tooth speed reducer |
| CN110645323B (en) * | 2019-10-15 | 2021-06-04 | 燕山大学 | Micro-miniature steel ball speed reducer based on crossed roller bearing and center wheel integrated structure |
| CN111022608B (en) * | 2019-11-25 | 2021-06-08 | 燕山大学 | Two-stage sine hammer-shaped roller oscillating tooth speed reducer |
| CN112343991B (en) * | 2020-10-23 | 2021-11-23 | 燕山大学 | Coaxial reverse double-output movable-tooth speed reducer |
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| CN104964011B (en) * | 2015-06-25 | 2018-07-13 | 广州启帆工业机器人有限公司 | Cross slide block driving speed reducer for multi-joint robot |
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| CN109882552A (en) | 2019-06-14 |
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