CN112377579A

CN112377579A - Lightweight cycloid oscillating tooth speed reducer

Info

Publication number: CN112377579A
Application number: CN202011339224.7A
Authority: CN
Inventors: 闫济东; 邢鹏达
Original assignee: Henan Zhulong High Tech Co ltd
Current assignee: Henan Zhulong High Tech Co ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-02-19

Abstract

The invention provides a lightweight cycloidal oscillating tooth speed reducer which comprises an input shaft, a fixed wheel, a transmission wheel, a shell, an end cover, an output wheel, an oscillating tooth, a constant-speed tooth, a cycloidal speed reduction pair, a constant-speed output pair and the like. The transmission mechanism adopts a single-stage cycloid oscillating tooth transmission mechanism and a constant speed output mechanism, and the single-stage cycloid oscillating tooth transmission mechanism realizes speed reduction motion and outputs speed reduction motion by the constant speed output mechanism; the cycloidal reduction pair of the single-stage cycloidal oscillating tooth transmission mechanism adopts an undercut tooth surface raceway or a combined tooth surface raceway, so that a single-stage large reduction ratio can be realized; the end cover is provided with external threads which are matched with the internal threads on the shell or the fixed wheel, so that the precision of the transmission mechanism can be adjusted; all parts of the speed reducer are made of alloy, carbon fiber, engineering plastic, industrial ceramic or organic glass, and different parts can be made of different materials.

Description

Lightweight cycloid oscillating tooth speed reducer

Technical Field

The invention relates to the technical field of movable tooth transmission, in particular to a light-weight cycloid movable tooth speed reducer.

Background

The invention provides an undercut tooth surface raceway oscillating tooth transmission technology and a combined tooth surface raceway oscillating tooth transmission technology aiming at the defects of the traditional cycloid oscillating tooth transmission structure design, and can be widely applied to speed reducers with various specifications, such as a two-stage closed type undercut cycloid oscillating tooth speed reducer provided with a patent number of 202010012353.9, a combined tooth surface oscillating tooth transmission meshing pair provided with a patent number of 202010178794.6, and a generation method thereof. The prior art is mainly used for calibrating RV reducers and is more suitable for high rigidity and heavy load conditions.

With the rapid development of artificial intelligence, the reduction gear is lightweight, which becomes a main use target, the most common harmonic reduction gear under the traditional light load condition is a harmonic reduction gear, and the length-diameter ratio of the latest generation harmonic reduction gear in the hamraniaceae family reaches 0.25, so that for the target harmonic reduction gear, the reduction gear with small length-diameter ratio and lightweight is designed and developed, which becomes a problem to be solved.

Furthermore, the harmonic reducer can not be made of other materials except the conventional common alloy materials due to the rigor of the requirement of the harmonic reducer on the materials; the movable-tooth speed reducer can be made of metal and non-metal materials widely, and when the non-metal materials are adopted, such as carbon fibers, engineering plastics, industrial ceramics or organic glass, the speed reducer which is ultra-light, completely insulated, magnetism-insulated, corrosion-resistant and self-lubricating can be obtained, so that the movable-tooth speed reducer has the characteristics which cannot be achieved by a harmonic speed reducer and other traditional speed reducers.

Disclosure of Invention

Aiming at the problems, the invention provides a lightweight cycloid oscillating tooth speed reducer, wherein a transmission mechanism adopts a single-stage cycloid oscillating tooth transmission mechanism and a constant speed output mechanism, and the single-stage cycloid oscillating tooth transmission mechanism realizes speed reduction motion and outputs speed reduction motion by the constant speed output mechanism; the cycloidal reduction pair of the single-stage cycloidal oscillating tooth transmission mechanism adopts an undercut tooth surface raceway or a combined tooth surface raceway, so that a single-stage large reduction ratio can be realized; the end cover is provided with external threads which are matched with the internal threads on the shell or the fixed wheel, so that the precision of the transmission mechanism can be adjusted; all parts of the speed reducer are made of alloy, carbon fiber, engineering plastic, industrial ceramic or organic glass, and different parts can be made of different materials.

The technical scheme adopted by the invention is as follows: a lightweight cycloidal oscillating tooth speed reducer comprises an input shaft, a fixed wheel, a transmission wheel, a shell, an end cover, an output wheel, an oscillating tooth, a constant-speed tooth, a cycloidal speed reduction pair, a constant-speed output pair, a first bearing, a second bearing and a third bearing, wherein the fixed wheel is fixedly arranged on the shell through a screw; the output wheel is hinged on the shell; two ends of the input shaft are respectively hinged on the fixed wheel and the output wheel; an eccentric shaft section is arranged in the middle of the input shaft, and a driving wheel is hinged on the eccentric shaft section; a second bearing is arranged between the driving wheel and the input shaft; a third bearing is assembled between the output wheel and the input shaft; the end cover is provided with an external thread pair which is assembled on the shell or the fixed wheel; when the end cover is assembled on the shell, the shell is provided with an internal thread pair matched with the external thread pair on the end cover, the fixed wheel is an integrated independent part, a first bearing is assembled between the end cover and the output wheel, and a third bearing is assembled between the input shaft and the fixed wheel; when the end cover is assembled on the fixed wheel, the fixed wheel is formed by combining two splitting parts, the two splitting parts are respectively a first splitting wheel and a second splitting wheel, at the moment, a hole matched with the end cover is formed in the first splitting wheel, an internal thread pair matched with an external thread pair in the end cover is formed in the second splitting wheel, a first bearing is assembled between the shell and the output wheel, and a third bearing is assembled between the input shaft and the end cover; the first disassembling wheel is provided with an orientation boss; the second disassembling wheel is provided with a directional concave platform; the orientation boss and the orientation concave platform are same in shape and are matched with each other; a cycloidal reduction pair or a constant-speed output pair is arranged between the transmission wheel and the fixed wheel or the first splitting wheel; when the cycloid speed reduction pair is arranged between the driving wheel and the fixed wheel or the first splitting wheel, the constant-speed output pair is arranged between the driving wheel and the output wheel; when a constant-speed output pair is arranged between the driving wheel and the fixed wheel or the first splitting wheel, a cycloid speed reduction pair is arranged between the driving wheel and the output wheel; a plurality of movable teeth which are uniformly distributed on the circumference are arranged in the cycloid speed reduction pair; a plurality of constant speed teeth which are evenly distributed on the circumference are arranged in the constant speed output pair.

Furthermore, a first meshing pair is arranged on the end face, facing the driving wheel, of the fixed driving wheel or the first splitting wheel; a second meshing pair is arranged on the end face, facing the fixed driving wheel or the first splitting wheel, of the driving wheel; a third meshing pair is arranged on the end surface of the driving wheel facing the output wheel; a fourth meshing pair is arranged on the end surface of the output wheel facing the transmission wheel; when the first meshing pair and the second meshing pair are respectively meshed with the movable teeth, the first meshing pair and the second meshing pair form a movable tooth meshing pair, the first meshing pair is a movable tooth groove or a cycloid raceway, and the second meshing pair is a movable tooth groove or a cycloid raceway and is different from the first meshing pair; when the first meshing pair and the second meshing pair are respectively meshed with the constant-speed teeth, the first meshing pair and the second meshing pair form a constant-speed output pair, wherein the first meshing pair is a constant-speed tooth socket or a constant-speed output raceway, and the second meshing pair is a constant-speed tooth socket or a constant-speed output raceway and is different from the first meshing pair; when the third meshing pair and the fourth meshing pair are respectively meshed with the movable teeth, the third meshing pair and the fourth meshing pair form a movable tooth meshing pair, the third meshing pair is a movable tooth groove or a cycloid raceway, and the fourth meshing pair is a movable tooth groove or a cycloid raceway and is different from the third meshing pair; when the third and fourth meshing pairs are respectively meshed with the constant-speed teeth, the three parts form a constant-speed output pair, wherein the third meshing pair is a constant-speed tooth socket or a constant-speed output raceway, and the fourth meshing pair is a constant-speed tooth socket or a constant-speed output raceway and is different from the third meshing pair.

Further, the tooth surface of the oscillating tooth or the constant velocity tooth is shaped as a closed curve with a bounded continuous curve for one complete revolution around an axis not passing through the curve.

Furthermore, the groove surface of the movable tooth groove is completely attached to the surface of the movable tooth or is tangent to the surface of the movable tooth; the groove surface of the constant-speed tooth groove is completely attached to the surface of the constant-speed tooth or is tangent to the surface of the constant-speed tooth; the surface of the constant-speed output raceway is annular and is always tangent to the surface of the constant-speed gear; the raceway surface of the cycloid raceway is always tangent to all the movable teeth or is not tangent to one of the movable teeth.

Furthermore, the tooth surface of the cycloid raceway is an undercut tooth surface raceway or a combined tooth surface raceway.

Furthermore, the tooth surface of the undercut tooth surface raceway has a single-side undercut characteristic, namely, the outer side undercut of the epicycloid raceway or the inner side undercut of the hypocycloid raceway.

Furthermore, the combined tooth surface raceway is formed by combining and splicing different tooth surfaces, the center lines of all the tooth surfaces can form a complete closed epicycloid or hypocycloid, and the epicycloid or hypocycloid is a motion curve of the center of the movable tooth.

Furthermore, the number of the movable tooth grooves is the same as that of the movable teeth; the number of constant-speed tooth grooves is the same as that of constant-speed teeth; the number of constant speed output roller paths is the same as that of constant speed teeth; the quantity of the cycloid raceways and the number of the movable teeth are different by one.

Furthermore, the motion track of the axis of the constant speed gear in the constant speed output raceway is a cylindrical surface with the radius being the eccentricity of the eccentric shaft section; the difference between the radial minimum point and the radial maximum point of the central line of the rolling way (namely the moving track line of the center of the movable tooth) of the rolling way of the cycloid rolling way is twice of the eccentricity of the eccentric shaft section.

Furthermore, the cross section of the orientation boss or the orientation concave table is a continuous closed non-circular curve, can be a regular polygon with a fillet between every two sides, can also be a smooth continuous closed curve with more than two symmetrical wave bands, such as an ellipse, or a zigzag segmented continuous closed curve.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) small length-diameter ratio, small volume and light weight; (2) the whole machine parts can be made of nonmetal materials, so that the characteristics of ultralight weight, insulation, magnetism insulation, corrosion resistance and self lubrication are obtained; (3) the tooth side backlash of the cycloid speed reduction pair and the constant speed output pair can be adjusted, so that the high-precision use characteristic in the whole life cycle is achieved; (4) the transmission ratio range is wide; (5) the structure is simple and compact, and the processing, the manufacturing and the assembly are convenient.

Drawings

Fig. 1 is an assembled sectional view of an overall structure according to a first embodiment of the present invention.

Fig. 2 and 3 are assembly views of the overall structure according to the first embodiment of the present invention.

Fig. 4 and 5 are exploded views of the overall structure according to the first embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an input shaft component according to a first embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a fixed wheel component according to a first embodiment of the present invention.

Fig. 8 and 9 are schematic structural views of parts of a transmission wheel according to a first embodiment of the invention.

Fig. 10 is a schematic structural diagram of an output wheel component according to a first embodiment of the present invention.

Fig. 11 and 12 are assembled cross-sectional views of the overall structure of the second embodiment of the present invention.

Fig. 13 and 14 are assembly views of the overall structure of the second embodiment of the present invention.

Fig. 15 and 16 are exploded views of the overall structure of the second embodiment of the present invention.

Fig. 17 and 18 are schematic structural views of parts of a first splitting wheel according to a second embodiment of the invention.

Fig. 19 is a schematic structural view of a second split wheel according to a second embodiment of the invention.

Reference numerals: 1-an input shaft; 2-a fixed wheel; 3-a transmission wheel; 4-a shell; 5-end cover; 6-an output wheel; 7-oscillating teeth; 8-constant velocity teeth; 9-a first bearing; 10-a second bearing; 11-a third bearing; 12-a sealing ring; 13-a screw; 14-set screws; 101-eccentric shaft section; 201-a first engagement pair; 301-a second engagement pair; 302-a third mating pair; 401-internal thread pair; 501-external thread pair; 601-a fourth mating pair; 2 a-a first split wheel; 2 b-a second split wheel; 2a 1-orientation boss; 2b 1-internal thread pairing; 2b 2-orientation pocket.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Fig. 1-10 illustrate a first embodiment of the present invention, in which an end cap 5 is used to cooperate with a housing 4, which has an advantage of a small aspect ratio; the disadvantage is that the end cap 5 carries via the first bearing 9 a part of the torque from the output wheel 6, which torque causes a slight disturbance to the fit of the internal and external thread pairing between the housing 4 and the end cap 5, and over time the contact between the set screw 14 and the end cap 5 becomes unreliable, i.e. the pressing force of the set screw 14 against the end cap 5 will decrease or even disappear, so that regular pretensioning of the set screw 14 is required.

Further, as shown in fig. 1, 4 or 5, a cycloidal reduction pair is arranged between the transmission wheel 3 and the fixed wheel 2, and a constant-speed output pair is arranged between the transmission wheel 3 and the output wheel 6; all the movable teeth and the constant-speed teeth adopt standard spheres.

Furthermore, two ends of the input shaft are respectively provided with a sealing ring, when the end cover is matched with the shell or the second splitting wheel, a circle of uniformly distributed set screws are assembled on the shell or the second splitting wheel, and each set screw is in contact fit with the end cover; except the sealing ring, all parts or bearings are made of alloy, carbon fiber, engineering plastic, industrial ceramic or organic glass, and different parts or bearings can be made of different materials.

Further, as shown in fig. 7, the first meshing pairs 201 on the fixed wheel 2 are movable tooth grooves uniformly distributed on the circumference, and the number of the first meshing pairs is 50.

Further, as shown in fig. 8, the second meshing pair 301 on the transmission wheel 3 is a combined tooth surface outer cycloid raceway, and the number of raceway waves is 49.

Further, as shown in fig. 9, the third meshing pairs 302 on the transmission wheel 3 are equi-speed tooth sockets uniformly distributed on the circumference, and the number of the third meshing pairs is 16.

Further, as shown in fig. 10, the fourth meshing pairs 601 on the output wheel 6 are uniform-speed output raceways which are uniformly distributed on the circumference, and the number of the fourth meshing pairs is 16.

Fig. 11-19 illustrate a second embodiment of the present invention, which uses a scheme that the end cap 5 is matched with the fixed wheel 2, wherein the fixed wheel 2 is composed of a first split wheel 2a and a second split wheel 2b, and the end cap 5 is assembled on an internal thread pair 2b1 of the first split wheel 2b through an external thread pair 501; as shown in fig. 12, the cross section of the orientation boss 2a1 on the first split wheel 2a and the orientation boss 2b2 on the second split wheel 2b are regular octagons, and the two sides are rounded; the end cover 5 is in contact fit with the first disassembling wheel 2a, the depth of the directional boss 2a1 inserted into the directional concave table 2b2 can be adjusted through the internal thread pair and the external thread pair, and the end cover 5 is assembled on the second disassembling wheel 2b, so that the end cover 5 does not bear the torque in the transmission process, and the torque is transmitted to the directional concave table 2b2 through the directional boss 2a1 without periodically pre-tightening the set screw 14 on the second disassembling wheel 2 b; however, this structure has a disadvantage that the major diameter is larger than that of the embodiment.

The second embodiment adopts the same transmission structure and parameters as the first embodiment, and as shown in fig. 17, a first meshing pair 201 is arranged on a first split wheel 2a of the fixed wheel 2; as shown in fig. 19, the female screw pair 2b1 is provided on the second split wheel 2b of the fixed wheel 2, and is used to assemble the male screw pair 501 on the end cap 5, as the same technical effect as the female screw pair 401 of the first embodiment.

Further, fig. 18 shows a schematic structural view of the orientation boss 2a1, and fig. 19 shows a schematic structural view of the orientation recess 2b 2.

In particular, the first bearing 9, the second bearing 10 and the third bearing 11, besides using the conventional bearing with inner and outer races, can also only retain the rolling elements, leave the inner and outer races of the bearing away, and directly use the parts matched with the rolling elements as the inner and outer races, which belongs to the conventional technical means and belongs to the protection scope of the present invention. For example, in the first embodiment, the first bearing 9, the second bearing 10 and the third bearing 11 are deep groove ball bearings; in the second embodiment, the first bearing 9 adopts a cross roller bearing, the second bearing 10 adopts a needle roller bearing without an inner ring, and the third bearing 11 adopts a deep groove ball bearing; further, if the first bearing 9 in the first embodiment only retains the cross roller rolling elements, and the end cover 5 serves as the outer ring of the cross roller bearing, and the output wheel 6 serves as the inner ring of the cross roller bearing, the end cover 5, the output wheel 6, and the first bearing 9 together constitute a cross roller bearing. The technical means can also be applied to the second embodiment, and the housing 4, the output wheel 6 and the first bearing 9 together form a crossed roller bearing; in addition, in the first and second embodiments, the inner and outer races of each of the second bearing 10 and the third bearing 11 may be omitted, and only the rolling elements, that is, the cylindrical roller rolling elements formed by the cylindrical rollers and the cages may be retained.

In particular, the sealing ring 12 is usually made of rubber, and other parts constituting the reducer of the present invention may be made of carbon fiber, engineering plastic, industrial ceramic or organic glass, besides alloy materials, and different parts may be made of different materials. Taking the third bearing 11 of the first or second embodiment as an example, a zirconia ceramic bearing or a silicon nitride ceramic bearing made of all ceramics may be used, or zirconia ceramic may be used for the inner and outer races of the bearing and silicon nitride balls may be used for the balls, or silicon nitride ceramic may be used for the inner and outer races of the bearing and zirconia balls may be used for the balls; the third bearing 11 can also adopt a plastic bearing, the bearing body is made of engineering plastics or the balls of the bearing body are made of organic glass; the movable teeth 7 and the constant-speed teeth 8 can be made of carbon fiber, engineering plastics, industrial ceramics or organic glass; the part material matched with the movable teeth 7 and the constant-speed teeth 8 can be carbon fiber, engineering plastic, industrial ceramic or organic glass, and when the organic glass material is adopted, acrylic can be used; the materials of other parts can adopt carbon fiber, engineering plastics, industrial ceramics or organic glass, wherein the materials of the screws or the set screws generally adopt the engineering plastics.

Furthermore, in the reducer in the first embodiment or the second embodiment, except for the seal ring 12, other parts and bearings can be made of industrial ceramics, so that a fully-ceramic reducer can be obtained, and due to the characteristics of the industrial ceramics, the reducer does not need to be added with a lubricant, has a self-lubricating characteristic, is insulating, magnetism-insulating and corrosion-resistant, and reduces the whole machine mass by 25% -60% compared with a conventional reducer, so that the reducer is particularly suitable for a corrosive environment in a vacuum environment and a chemical industry and an environment with insulating and magnetism-insulating requirements.

Further, in the reducer in the first or second embodiment, except for the seal ring 12, the rest of the parts and the bearing can be made of carbon fiber, engineering plastic or organic glass, specifically, all the bearings, the screws 13 and the set screws 14 can be made of plastic, all the movable teeth 7 and the constant speed teeth 8 can be made of plastic balls or glass balls, and all the rest of the parts can be made of transparent acrylic materials, so that a nonmetallic reducer is obtained.

Further, in the reducer according to the first or second embodiment, the bearing, the movable teeth 7, and the constant velocity teeth 8 may be made of a ceramic material, and the remaining parts may be made of an alloy material, except for the seal ring 12.

The working principle of the invention is as follows: when the invention is used, any one of the input shaft 1, the fixed wheel 2 and the output wheel 6 is fixed, any one of the rest two pieces is driven, and the rest pieces are output; the common modes are two, namely, the fixed wheel 2 is fixed, the input shaft 1 is driven, and the output wheel 6 can output the speed reduced; the fixed output wheel 6 drives the output shaft 1 and can be output in a speed reduction mode through the fixed wheel 2.

Taking a scheme of fixing the fixed wheel 2, driving the input shaft 1 and outputting the speed reduced by the output wheel 6 as an example of the embodiment, in the driving of the input shaft 1, the eccentric shaft section 101 on the input shaft 1 drives the driving wheel to simultaneously drive the cycloid speed reduction pair and the constant speed output pair to simultaneously work, wherein the movable tooth 7 is limited in the first meshing pair 201, namely the movable tooth groove, of the fixed wheel 2, and because the movable tooth 7 is meshed with the second meshing pair 301, namely the combined tooth surface epicycloid raceway, on the driving wheel 3, the movable tooth 7 can push the driving wheel 3 to rotate around the axis of the eccentric shaft section 101 through the second meshing pair 301, namely the combined tooth surface epicycloid raceway, on the driving wheel 3 while the driving wheel 3 revolves around the axis of the input shaft 1; the rotation of the power transmission wheel 3 while revolving is transmitted from the constant velocity output pair to the output wheel 6 for constant velocity output, and specifically, the constant velocity teeth 8 are confined in the constant velocity grooves, which are the third meshing pair 302, on the power transmission wheel 3, and the constant velocity teeth 8 mesh with the constant velocity output races, which are the fourth meshing pair 601, on the output wheel 6, so that the constant velocity teeth 8 drive the output wheel 6 to decelerate and output when they cyclically circulate in the annular constant velocity output races, which are the fourth meshing pair 601, on the output wheel 6.

When the end cover 5 is assembled on the internal thread pair 401 of the shell 4 through the external thread pair 501, the end cover 5 is rotated, and the end cover 5 reciprocates along the axial direction of the speed reducer and simultaneously drives the output wheel 6 to reciprocate along the axial direction of the speed reducer through the first bearing 9, so that the tight meshing of the transmission mechanism where the movable teeth 7 and the constant-speed teeth 8 are positioned is realized; furthermore, after the position of the end cover 5 is adjusted, the end cover 5 is tightly fixed through a circle of fastening screws 14 which are uniformly distributed on the circumference, the self-rotation of the end cover 5 is prevented, and a part of axial force is shared.

When the end cover 5 is assembled on the internal thread pair 2b1 of the second split wheel 2b in the fixed wheel 2 through the external thread pair 501, the end cover 5 is rotated, and the end cover 5 reciprocates along the axial direction of the speed reducer and simultaneously drives the second split wheel 2a to reciprocate along the axial direction of the speed reducer through the third bearing 11, so that the close meshing of the transmission mechanism where the movable teeth 7 and the constant-speed teeth 8 are positioned is realized; furthermore, after the position of the end cover 5 is adjusted, the end cover 5 is tightly fixed through a circle of fastening screws 14 which are uniformly distributed on the circumference, and a part of axial force is shared.

In order to realize the purpose of light weight, firstly, the speed reducer has a small length-diameter ratio, secondly, the density of raw materials for manufacturing the speed reducer is small, and further the total mass is reduced, so that the parts of the light-weight cycloid oscillating tooth speed reducer and the materials of the bearing can adopt carbon fibers, engineering plastics, industrial ceramics or organic glass besides alloys due to the particularity of oscillating tooth transmission, and materials for manufacturing the bearing can be used.

The reducer made of materials except alloy has limited bearing capacity and is suitable for low-load and low-impact occasions because the mechanical property is inferior to that of the alloy, but the reducer made of the materials except the alloy has the properties which are inferior to those of the conventional reducer, namely the properties of insulation, magnetic insulation, corrosion resistance or self-lubrication and the like because the composition materials do not contain the alloy, and is very suitable for special occasions such as the fields of chemical engineering and aerospace.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will 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

1. The utility model provides a lightweight cycloid oscillating tooth reduction gear, includes input shaft 1, fixed pulley, drive wheel, casing, end cover, output wheel, oscillating tooth, constant velocity tooth, cycloid speed reduction is vice, constant velocity output is vice, first bearing, second bearing, third bearing, its characterized in that: the fixed wheel is fixedly arranged on the shell through a screw; the output wheel is hinged on the shell; two ends of the input shaft 1 are respectively hinged on the fixed wheel and the output wheel; an eccentric shaft section is arranged in the middle of the input shaft, and a driving wheel is hinged on the eccentric shaft section; a second bearing is arranged between the driving wheel and the input shaft; a third bearing is assembled between the output wheel and the input shaft; the end cover is provided with an external thread pair which is assembled on the shell or the fixed wheel; when the end cover is assembled on the shell, an internal thread pair matched with the external thread pair on the end cover is arranged on the shell, the fixed wheel 2 is an integrated independent part, a first bearing is assembled between the end cover and the output wheel, and a third bearing is assembled between the input shaft and the fixed wheel; when the end cover is assembled on the fixed wheel, the fixed wheel is formed by combining two splitting parts, the two splitting parts are respectively a first splitting wheel and a second splitting wheel, at the moment, a hole matched with the end cover is formed in the first splitting wheel, an internal thread pair matched with an external thread pair in the end cover is formed in the second splitting wheel, a first bearing is assembled between the shell and the output wheel, and a third bearing is assembled between the input shaft and the end cover; the first disassembling wheel is provided with an orientation boss; the second disassembling wheel is provided with a directional concave platform; the orientation boss and the orientation concave platform are same in shape and are matched with each other; a cycloidal reduction pair or a constant-speed output pair is arranged between the transmission wheel and the fixed wheel or the first splitting wheel; when the cycloid speed reduction pair is arranged between the driving wheel and the fixed wheel or the first splitting wheel, the constant-speed output pair is arranged between the driving wheel and the output wheel; when a constant-speed output pair is arranged between the driving wheel and the fixed wheel or the first splitting wheel, a cycloid speed reduction pair is arranged between the driving wheel and the output wheel; a plurality of movable teeth which are uniformly distributed on the circumference are arranged in the cycloid speed reduction pair; a plurality of constant speed teeth which are evenly distributed on the circumference are arranged in the constant speed output pair.

2. The lightweight cycloidal oscillating tooth speed reducer of claim 1, further comprising: a first meshing pair is arranged on the end face, facing the driving wheel, of the fixed driving wheel or the first splitting wheel; a second meshing pair is arranged on the end face, facing the fixed driving wheel or the first splitting wheel, of the driving wheel; a third meshing pair is arranged on the end surface of the driving wheel facing the output wheel; a fourth meshing pair is arranged on the end surface of the output wheel facing the transmission wheel; when the first meshing pair and the second meshing pair are respectively meshed with the movable teeth, the first meshing pair and the second meshing pair form a movable tooth meshing pair, the first meshing pair is a movable tooth groove or a cycloid raceway, and the second meshing pair is a movable tooth groove or a cycloid raceway and is different from the first meshing pair; when the first meshing pair and the second meshing pair are respectively meshed with the constant-speed teeth, the first meshing pair and the second meshing pair form a constant-speed output pair, wherein the first meshing pair is a constant-speed tooth socket or a constant-speed output raceway, and the second meshing pair is a constant-speed tooth socket or a constant-speed output raceway and is different from the first meshing pair; when the third meshing pair and the fourth meshing pair are respectively meshed with the movable teeth, the third meshing pair and the fourth meshing pair form a movable tooth meshing pair, the third meshing pair is a movable tooth groove or a cycloid raceway, and the fourth meshing pair is a movable tooth groove or a cycloid raceway and is different from the third meshing pair; when the third and fourth meshing pairs are respectively meshed with the constant-speed teeth, the three parts form a constant-speed output pair, wherein the third meshing pair is a constant-speed tooth socket or a constant-speed output raceway, and the fourth meshing pair is a constant-speed tooth socket or a constant-speed output raceway and is different from the third meshing pair.

3. The lightweight cycloidal oscillating tooth speed reducer of claim 1, further comprising: the tooth surface of the oscillating tooth or the constant-speed tooth is a closed curve surface with a whole circle of a bounded continuous curve rotating around an axis which does not pass through the curve.

4. A lightweight cycloidal oscillating tooth speed reducer as claimed in claim 2 or 3, further comprising: the groove surface of the movable tooth groove is completely attached to the surface of the movable tooth or is tangent to the surface of the movable tooth; the groove surface of the constant-speed tooth groove is completely attached to the surface of the constant-speed tooth or is tangent to the surface of the constant-speed tooth; the surface of the constant-speed output raceway is annular and is always tangent to the surface of the constant-speed gear; the raceway surface of the cycloid raceway is always tangent to all the movable teeth or is not tangent to one of the movable teeth.

5. The lightweight cycloidal oscillating tooth speed reducer of claim 4, further comprising: the tooth surface of the cycloid raceway is an undercut tooth surface raceway or a combined tooth surface raceway.

6. The lightweight cycloidal oscillating tooth speed reducer of claim 5, further comprising: the tooth surface of the undercut tooth surface raceway has a unilateral undercut characteristic, namely, the outer side of an epicycloid raceway is undercut or the inner side of a hypocycloid raceway is undercut.

7. The lightweight cycloidal oscillating tooth speed reducer of claim 5, further comprising: the combined tooth surface roller path is formed by combining and splicing different tooth surfaces, the central lines of all the tooth surfaces can form a complete closed epicycloid or hypocycloid, and the epicycloid or hypocycloid is a motion curve of the center of the movable tooth.

8. A lightweight cycloidal oscillating tooth speed reducer as claimed in claim 2 or 3, further comprising: the number of the movable tooth grooves is the same as that of the movable teeth; the number of constant-speed tooth grooves is the same as that of constant-speed teeth; the number of constant speed output roller paths is the same as that of constant speed teeth; the quantity of the cycloid raceways and the number of the movable teeth are different by one.

9. A lightweight cycloidal oscillating tooth speed reducer as claimed in claim 1 or 2, further comprising: the motion track of the axis of the constant speed gear in the constant speed output raceway is a cylindrical surface with the radius being the eccentricity of the eccentric shaft section; the difference between the radial minimum point and the radial maximum point of the central line of the roller path of the cycloid roller path is twice of the eccentricity of the eccentric shaft section.

10. The lightweight cycloidal oscillating tooth speed reducer of claim 1, further comprising: the cross-sectional shape of the orientation boss or the orientation recess is a continuous closed non-circular curve.