CN110486443B - Closed driving shaft type plane two-stage movable tooth speed reducer - Google Patents

Closed driving shaft type plane two-stage movable tooth speed reducer Download PDF

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CN110486443B
CN110486443B CN201910718057.8A CN201910718057A CN110486443B CN 110486443 B CN110486443 B CN 110486443B CN 201910718057 A CN201910718057 A CN 201910718057A CN 110486443 B CN110486443 B CN 110486443B
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driving shaft
oscillating tooth
shock wave
primary
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CN110486443A (en
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许立忠
李瑞兴
孙宇军
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Yanshan University
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Yanshan University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness

Abstract

The invention discloses a closed driving shaft type plane two-stage oscillating tooth speed reducer, which comprises a driving shaft, a first-stage fixed central wheel, an output shaft, a second-stage oscillating tooth rack and a first-stage oscillating tooth rack, wherein an eccentric circular track on a first end surface of a shock wave disc on the driving shaft is a first-stage shock wave device, an eccentric circular track on a second end surface of the shock wave disc is a second-stage shock wave device, and the first-stage shock wave device and the second-stage shock wave device have the same rotating speed by fixedly connecting the first-stage oscillating tooth rack and the second-stage oscillating tooth rack; the first-stage oscillating tooth rack, a first-stage shock wave device of the driving shaft and a first-stage fixed central wheel form first-stage oscillating tooth speed reduction transmission, the driving shaft is used as input, and the first-stage oscillating tooth rack is used as output; the secondary oscillating tooth rack, the secondary shock wave device of the driving shaft and the output shaft form secondary differential transmission, the secondary shock wave device of the driving shaft and the secondary oscillating tooth rack are jointly used as input, and the output shaft is used as output. The invention realizes large transmission ratio by optimizing the number of teeth and wave number of two-stage transmission, and has the characteristics of small axial size and compact structure.

Description

Closed driving shaft type plane two-stage movable tooth speed reducer
Technical Field
The invention relates to the field of oscillating tooth reducers in mechanical transmission, in particular to a closed driving shaft type plane two-stage oscillating tooth reducer.
Background
With the development of the reducer in mechanical transmission, the oscillating tooth reducer has the characteristics of small volume and large transmission ratio, so that the oscillating tooth reducer is widely applied to the industrial fields of spaceflight, robots, drilling platforms and the like and is accepted in the related fields. However, most of the existing two-stage movable-tooth reducers have relatively complex structures, relatively large space sizes and insufficient transmission efficiency. In the existing two-stage movable-tooth speed reduction transmission device, although a large transmission ratio can be realized, the structure is complex, the speed reducer is difficult to process and manufacture, the axial size is relatively large, and the application occasion is greatly limited.
Disclosure of Invention
In order to solve the problems, the invention provides a closed driving shaft type plane two-stage movable-tooth speed reducer which is compact in structure, small in axial size, capable of realizing transmission with a large transmission ratio and capable of being used for the conditions that the axial size is small and the transmission ratio is large in practical work.
The invention provides a closed driving shaft type plane secondary movable-tooth speed reducer which structurally comprises a driving shaft, a primary fixed central wheel, an outer shell, a right shell, an output shaft, a secondary movable-tooth rack and a primary movable-tooth rack, wherein the first end surface of the primary fixed central wheel is connected with an end cover, the second end surface of the primary fixed central wheel is provided with a sine-wave-shaped track, the center of the primary fixed central wheel is provided with a deep groove ball bearing, and the deep groove ball bearing is in interference fit with the driving shaft; the left end of the driving shaft is a stepped shaft, the right end of the driving shaft is a shock wave disc, two end faces of the shock wave disc are respectively provided with an eccentric circular track, a first end face eccentric circular track of the shock wave disc is a primary shock wave device, a second end face eccentric circular track of the shock wave disc is a secondary shock wave device, the end face of the primary oscillating tooth rack is provided with uniformly distributed long circular through hole grooves, and primary transmission steel balls are respectively contacted with a sine wave track of the primary fixed central wheel, the primary shock wave device of the driving shaft and the primary oscillating tooth rack; the primary oscillating tooth rack is arranged between the excitation disc of the driving shaft and the primary fixed central wheel, the primary oscillating tooth rack is fixedly connected with the secondary oscillating tooth rack, and the secondary oscillating tooth rack is provided with oblong through hole grooves which are uniformly distributed; the left end of the output shaft is provided with a sine wave track, the right end of the output shaft is provided with a stepped shaft, a secondary transmission steel ball is respectively contacted with a secondary shock wave device of the driving shaft, the secondary movable rack and the sine wave track of the output shaft, the output shaft and the right shell are coaxially arranged through a deep groove ball bearing, and the right shell is connected with an end cover.
Preferably, the primary fixed central wheel, the primary shock wave device of the driving shaft and the primary oscillating rack form a first-stage oscillating tooth speed reduction transmission, the driving shaft is used as an input to be connected with a driving device, and the primary oscillating rack is used as an output to be fixedly connected with the secondary oscillating rack, so that the primary shock wave device and the secondary shock wave device have the same rotating speed;
the secondary shock wave device of the driving shaft, the secondary oscillating tooth rack and the output shaft form a secondary differential oscillating tooth speed reduction transmission, the secondary shock wave device of the driving shaft and the secondary oscillating tooth rack are jointly used as input, and the output shaft is used as output.
Preferably, the primary fixing is performed inThe number of sine wave-shaped tracks on the core wheel is ZK1The number of the first-stage transmission steel balls is ZG1，ZG1-Z K11, the number of the sine wave-shaped tracks on the output shaft is ZK2The number of the second-stage transmission steel balls is ZG2，ZG2-Z K21, the rotating speed of the driving shaft is w1The rotational speed of the output shaft is w3The transmission ratio of the two-stage movable-tooth speed reducer is
Figure GDA0002512990730000021
Preferably, a first needle bearing is arranged between the secondary movable rack and the outer shell, a second needle bearing is arranged between the secondary movable rack and the driving shaft, the first needle bearing and the second needle bearing respectively axially position the secondary movable rack and the driving shaft, and the contact area is increased to ensure the transmission stability.
Preferably, the axes of the primary fixed center wheel, the outer shell and the right shell are all coincident and have the same outer diameter.
Preferably, the inner wall of the end cover is provided with a framework sealing retainer ring to prevent lubricating oil in the speed reducer from flowing out and prevent external dust from entering.
The invention has the following beneficial effects:
(1) the closed driving shaft type secondary plane oscillating tooth speed reducer changes the traditional series connection secondary plane oscillating tooth transmission structure, so that the oscillating tooth transmission application is more flexible;
(2) the speed reducer, the shock wave device of the first stage transmission and the shock wave device of the second stage transmission are both arranged on the driving shaft;
(3) the first-stage oscillating tooth rack and the second-stage oscillating tooth rack are fixedly connected, so that the first-stage oscillating tooth rack and the second-stage oscillating tooth rack have the same rotating speed, and the first-stage oscillating tooth rack and the second-stage oscillating tooth rack can be designed into a part under the condition of proper occasions;
(4) in the second-stage transmission of the speed reducer, a driving shaft and a second-stage movable rack are both input, an output shaft is output, so that the output shaft, the second-stage movable rack and the output shaft form differential transmission, and a large transmission ratio effect can be realized by preferably selecting the number of movable teeth and the number of central wheels of the structure;
(5) the structure uses the first needle bearing at the supporting position of the outer shell and the secondary movable rack, so that the radial dimension of the structure is reduced, and the needle bearing is in line contact, so that the structure is more stable and reliable in supporting.
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 shaft measuring diagram of a closed driving shaft type plane two-stage oscillating tooth speed reducer according to the invention;
FIG. 2 is a cross-sectional view of a closed driving shaft type planar two-stage oscillating tooth reducer according to the present invention;
FIG. 3 is an exploded view of the closed drive shaft type planar two-stage oscillating tooth reducer of the present invention; and
FIG. 4 is a schematic view of a portion of the primary oscillating tooth reduction transmission system of the present invention.
Reference numerals:
a driving shaft 1; an end cap 2; a primary fixed center wheel 3; an intermediate fixing member 4; an outer shell 5; a first needle bearing 6; a right housing 7; an output shaft 8; a secondary transmission steel ball 9; a second needle bearing 10; a secondary movable rack 11; a primary oscillating tooth rack 12; a first-stage transmission steel ball 13; deep groove ball bearings 14.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. 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 closed driving shaft type plane two-stage movable-tooth speed reducer to solve the problems in the prior art. 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. For the reader's understanding, the device is described in terms of its orientation in fig. 2.
The invention provides a closed driving shaft type plane two-stage oscillating tooth speed reducer, which comprises a driving shaft 1, an end cover 2, a first-stage fixed central wheel 3, an intermediate fixing piece 4, an outer shell 5, a first needle bearing 6, a right shell 7, an output shaft 8, a second-stage transmission steel ball 9, a second needle bearing 10, a second-stage oscillating tooth rack 11, a first-stage oscillating tooth rack 12, a first-stage transmission steel ball 13 and a deep groove ball bearing 14, as shown in figures 1 and 2. The device changes the structure of the traditional series connection two-stage oscillating tooth speed reducer, the left end of a driving shaft 1 is a stepped shaft, the right end of the driving shaft 1 is a shock wave disc, two end faces of the shock wave disc are respectively provided with an eccentric circular track, a first end face eccentric circular track of the shock wave disc is a first-stage shock wave device, the eccentricity of the first end face eccentric circular track corresponds to a first-stage fixed central wheel 3, a second end face eccentric circular track of the shock wave disc is a second-stage shock wave device, the eccentricity of the second end face eccentric circular track corresponds to a sine wave track of a first end face of an output shaft 8, in the first-stage transmission, the first-stage fixed central wheel 3 is used as a fixed part, the first-stage shock wave device of the driving shaft 1 is used as an input part, a first-stage oscillating tooth rack 12 is used as an output part, the driving shaft 1 rotates relative to the first-stage fixed central wheel 3 to, the first-stage transmission output first-stage movable gear rack 12 and the second-stage movable gear rack 11 are fixed into a whole through the middle fixing piece 4, and are fixed through screw connection.
In fig. 3, the end cap 2 is connected to the first-stage fixed center wheel 3 by 4 screws with a diameter of 3.3mm, and is positioned before being connected by a protruding part at the right end of the end cap, and a skeleton sealing check ring is arranged on the inner wall of the end cap and used for preventing lubricating oil in the speed reducer from flowing out and preventing external dust from entering the inside of the speed reducer.
Be equipped with 6 evenly distributed's M3 screw hole on the terminal surface of shell body 5 both sides respectively, left M3 screw hole can be used for linking to each other with one-level fixed centre wheel 3, the M3 screw hole on right side can be used for linking to each other with right casing 7, the inner wall department of shell body 5 is equipped with first bearing 6, carry out radial positioning with second grade oscillating tooth frame 11 through first bearing 6, adopt bearing's form, not only have great area of contact, can play better supporting role to second grade oscillating tooth frame 11, also have less radial dimension simultaneously, can reduce equipment overall dimension, one-level fixed centre wheel 3, shell body 5 equals with the external diameter homogeneous phase of right casing 7.
At the position of a first-stage transmission meshing plane, a first-stage oscillating tooth rack 12 is provided with through hole grooves which are uniformly distributed and have the shapes of figures, the through hole grooves are used for storing first-stage transmission steel balls 13, the long diameter of each through hole groove is 9mm, the short diameter of each through hole groove is 6.2mm, bulges corresponding to the concave parts of a second-stage oscillating tooth rack 11 are arranged at the position, close to the maximum outer diameter, of the first-stage oscillating tooth rack 12 so as to facilitate the positioning of the first-stage oscillating tooth rack, a second needle bearing 10 is arranged between the first-stage oscillating tooth rack and the second-stage oscillating tooth rack, and the second needle bearing 10 plays a radial supporting role on a driving shaft through the second.
At the meshing plane of the secondary transmission, the secondary oscillating tooth rack 11 is provided with through hole grooves which are uniformly distributed, the long diameter dimension of the through hole grooves is 9mm, the short diameter dimension of the through hole grooves is 6.4mm, the outer diameter axial cylindrical surface of the through hole grooves is radially fixed through the first needle roller bearing 6 and is fixedly connected with the primary oscillating tooth rack 12 through screws, the inner wall of the secondary oscillating tooth rack 11 radially supports the driving shaft through the second needle roller bearing 10, and the needle roller bearings have the characteristics of large supporting force and stable support.
The output shaft 8 is radially fixed through the deep groove ball bearing 14, the meshing surface of the first end surface of the output shaft 8 is a meshing surface of secondary transmission, the waveform of the meshing surface is also a sine wave waveform, and the equation of the waveform and the equation of the sine wave waveform of the right side surface of the first-stage fixed central wheel 3 are both:
Figure GDA0002512990730000041
where θ is rotated by an angle, x, y represent: when a rectangular coordinate system is established by the center of the track, when the track rotates theta, the position coordinates of the corresponding point on the track in the coordinate system are mutually meshed with the eccentric circular track on the left side of the driving shaft 1 through the primary transmission steel ball 13.
Two deep groove ball bearings 14 are arranged in the right shell 7, the two deep groove ball bearings 14 are used for better ensuring the output stability of the deep groove ball bearings so as to prevent the output stability of the deep groove ball bearings from deviating in the axial direction, the thickness of the right shell 7 is correspondingly increased and is similar to that of the left side, a right end cover is also arranged outside the right shell 7, the output shaft 8 and the right end cover are respectively connected with the inner ring and the outer ring of the deep groove ball bearings 14 to play a role in radial positioning, and the deep groove ball bearings 14 play a role in radial support for the output shaft 8. Near the maximum outer diameter a through hole with a diameter of 3.3mm is drilled for its connection to the outer shell 5.
As shown in fig. 4, the left end of the driving shaft 1 is a stepped shaft, the right end is a shock wave disk, the first and second shock waves on the shock wave disk are both trapezoidal eccentric circular tracks, the eccentricity is the eccentricity of meshing transmission, the right side surface of the first-stage fixed central wheel 3 is provided with a sinusoidal wave track, and the first-stage shock wave on the driving shaft 1 and the first-stage fixed central wheel 3 are components of a first-stage oscillating tooth speed reduction transmission system. The eccentricity of the left and right meshing surfaces of a shock wave plate of the driving shaft 1 is 1.2mm, the driving shaft 1 is radially fixed through the first needle roller bearing 6 and the deep groove ball bearing 14 to prevent radial deviation, meanwhile, the first-stage transmission steel ball 13 and the deep groove ball bearing 14 play a role in axial positioning to prevent axial movement, the diameter of the first-stage transmission steel ball 13 and the diameter of the second-stage transmission steel ball 9 are both 6mm, and the eccentricity is 1.2 mm. The center of the first-stage fixed central wheel 3 radially fixes the driving shaft 1 through the deep groove ball bearing 14, and 6 through holes which are uniformly distributed and have the diameter of 3.3mm are arranged at the position close to the maximum outer diameter, so that the first-stage fixed central wheel 3 and the outer shell 5 can be positioned and installed conveniently.
The first-stage shock wave device of the driving shaft 1 and the first-stage fixed central wheel 3 are crossed and are internally provided with first-stage transmission steel balls 13 which are uniformly distributed, and the wave number of the first-stage fixed central wheel 3 is ZK1The number of the first-stage transmission steel balls 13 is ZG1Here, Z is satisfiedG1-Z K11, a first-stage fixed central wheel 3, a first-stage shock wave device of a driving shaft 1 and a first-stage oscillating rack 12 form first-stage oscillating tooth speed reduction transmission, and the driving shaft 1 is used as input and driveThe device is connected, a first-stage oscillating tooth rack 12 is connected with a second-stage oscillating tooth rack 11 as an output, a first-stage transmission steel ball 13 pushes the first-stage oscillating tooth rack 12 to move after first-stage speed reduction transmission, the first-stage oscillating tooth rack is fixedly connected with the second-stage oscillating tooth rack 11 through an intermediate fixing piece 4, the first-stage oscillating tooth rack 12 and the second-stage oscillating tooth rack 11 have the same rotating speed, and the number of sine wave-shaped tracks on the first end face of an output shaft 8 is ZK2The second-stage movable rack 11 is provided with evenly distributed ZG2A second-stage transmission steel ball 9 satisfying ZK2-ZG2After the first-stage speed reduction, a second-stage shock wave device of the driving shaft 1, a second-stage oscillating tooth rack 11 and an output shaft 8 form second-stage oscillating tooth speed reduction transmission, the second-stage shock wave device of the driving shaft 1 and the second-stage oscillating tooth rack 11 are jointly used as input, the output shaft 8 is used as output, and the rotating speed omega of the driving shaft 1 is output1With the rotational speed omega of the output shaft 83The ratio of the movable gear speed reducer is the transmission ratio of the movable gear speed reducer, namely:
Figure GDA0002512990730000051
the transmission process and the reduction ratio calculation process of the two-stage oscillating tooth speed reducer are as follows:
the number of sine wave-shaped tracks on the first-stage fixed central wheel 3 is ZK16, the number of sinusoidal tracks Z of the first end face of the output shaft 8K2Is 5 as an example, according to ZG1-ZK1The number of the available first-stage transmission steel balls 13 is Z as 1G1Is 7 according to ZK2-ZG2The number of the available two-stage transmission steel balls 9 is Z as 1G2Is 6.
The primary shock wave device, the primary oscillating tooth rack 12 and the primary fixed central wheel 3 on the driving shaft 1 form a primary oscillating tooth speed reduction transmission system, the stepped shaft of the driving shaft 1 is connected with a power mechanism, and the initial input angular speed transmitted to the driving shaft 1 is omega1Because the first-stage oscillating tooth rack 12 is in an output form with a fixed central wheel, after the first-stage speed reduction, the rotating speed of the first-stage oscillating tooth rack 12 is equal to that of the first-stage oscillating tooth rack 12
Figure GDA0002512990730000052
Second stage of the drive shaft 1The shock wave device, the second-stage oscillating tooth rack 11 and the output shaft 8 form a second-stage oscillating tooth speed reduction transmission system, the second-stage shock wave device of the driving shaft 1 and the second-stage oscillating tooth rack 11 are jointly used as input, the output shaft 8 is used as output, the second-stage oscillating tooth speed reduction transmission form is differential transmission, and the transmission ratio is calculated:
Figure GDA0002512990730000061
thereby obtaining ω1＝-35ω3The gear ratio of this embodiment is 35.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. The utility model provides a seal shaft type plane second grade oscillating tooth reduction gear of initiative, its includes driving shaft, the fixed centre wheel of one-level, shell body, right casing, output shaft, second grade oscillating tooth frame and one-level oscillating tooth frame, its characterized in that:
the first end surface of the primary fixed central wheel is connected with the end cover, the second end surface of the primary fixed central wheel is provided with a sine wave-shaped track, the center of the primary fixed central wheel is provided with a deep groove ball bearing, and the deep groove ball bearing is in interference fit with the driving shaft;
the left end of the driving shaft is a stepped shaft, the right end of the driving shaft is a shock wave disc, two end faces of the shock wave disc are respectively provided with an eccentric circular track, a first end face eccentric circular track of the shock wave disc is a primary shock wave device, a second end face eccentric circular track of the shock wave disc is a secondary shock wave device, the end face of the primary oscillating tooth rack is provided with uniformly distributed long circular through hole grooves, and primary transmission steel balls are respectively contacted with a sine wave track of the primary fixed central wheel, the primary shock wave device of the driving shaft and the primary oscillating tooth rack;
the first-stage oscillating tooth frame is arranged between the excitation disc of the driving shaft and the first-stage fixed central wheel, the first-stage oscillating tooth frame is fixedly connected with the second-stage oscillating tooth frame, and the second-stage oscillating tooth frame is provided with oblong through hole grooves which are uniformly distributed, and
the first end face of the output shaft is provided with a sine wave track, the right end of the output shaft is provided with a stepped shaft, a secondary transmission steel ball is respectively contacted with a secondary shock wave device of the driving shaft, the secondary movable rack and the sine wave track of the output shaft, the output shaft and the right shell are coaxially arranged through a deep groove ball bearing, and the right shell is connected with an end cover.
2. The closed driving shaft type plane two-stage oscillating tooth speed reducer according to claim 1, wherein: the primary fixed central wheel, the primary shock wave device of the driving shaft and the primary oscillating rack form a first-stage oscillating tooth speed reduction transmission, the driving shaft is used as an input to be connected with a driving device, and the primary oscillating rack is used as an output to be fixedly connected with the secondary oscillating rack so that the primary shock wave device and the secondary shock wave device have the same rotating speed;
the secondary shock wave device of the driving shaft, the secondary oscillating tooth rack and the output shaft form a secondary differential oscillating tooth speed reduction transmission, the secondary shock wave device of the driving shaft and the secondary oscillating tooth rack are jointly used as input, and the output shaft is used as output.
3. The closed driving shaft type plane two-stage oscillating tooth speed reducer according to claim 2, wherein: the number of sine wave-shaped tracks on the primary fixed central wheel is ZK1The number of the first-stage transmission steel balls is ZG1，ZG1-ZK11, the number of the sine wave-shaped tracks on the output shaft is ZK2The number of the second-stage transmission steel balls is ZG2，ZG2-ZK21, the rotating speed of the driving shaft is w1The rotational speed of the output shaft is w3The transmission ratio of the two-stage movable-tooth speed reducer is
Figure FDA0002156143570000011
4. The closed driving shaft type plane two-stage oscillating tooth speed reducer according to claim 1, wherein: and a first needle bearing is arranged between the secondary movable rack and the outer shell, a second needle bearing is arranged between the secondary movable rack and the driving shaft, the first needle bearing and the second needle bearing respectively axially position the secondary movable rack and the driving shaft, and the contact area is increased to ensure the transmission stability.
5. The closed driving shaft type plane two-stage oscillating tooth speed reducer according to claim 1, wherein: the axes of the first-stage fixed central wheel, the outer shell and the right shell are overlapped and have equal outer diameters.
6. The closed driving shaft type plane two-stage oscillating tooth speed reducer according to claim 1, wherein: and a framework sealing retainer ring is arranged on the inner wall of the end cover to prevent lubricating oil in the speed reducer from flowing out and prevent external dust from entering.
CN201910718057.8A 2019-08-05 2019-08-05 Closed driving shaft type plane two-stage movable tooth speed reducer Active CN110486443B (en)

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JPH0762495B2 (en) * 1985-06-27 1995-07-05 加茂精工株式会社 Rolling ball type differential reduction mechanism
CN202484244U (en) * 2012-01-19 2012-10-10 无锡市恒畅起重物流机械有限公司 Ball reducer
CN105508532A (en) * 2016-03-09 2016-04-20 江苏泰隆减速机股份有限公司 Two-stage-parallel cycloidal steel ball speed reducer
CN105605182B (en) * 2016-03-13 2017-12-01 北京工业大学 It is a kind of that there is the heteropleural dual-axis swing of deceleration and auto-lock function output oscillating tooth cam mechanism
CN206309893U (en) * 2016-12-27 2017-07-07 北京龙微智能科技股份有限公司 Active-tooth transmission and plant equipment
CN207093691U (en) * 2017-08-17 2018-03-13 安徽捷线传动科技有限公司 A kind of cycloidal ball deceleration device and its joint of robot
CN109707802B (en) * 2019-02-25 2020-12-22 燕山大学 Two-stage integrated plane oscillating tooth speed reducer based on guide frame coupling
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