The invention discloses a two-stage closed type cylindrical sine end surface movable teeth
reducer. A high-speed stage comprises an input shaft, a center wheel, three planetary gears distributed in aradial direction, a sun gear and three planetary wheel shafts to form a 2K-H type differential
gear train. A low-speed stage comprises a
shock wave device, a fixed movable tooth frame, movable teeth,a movable gear and an output shaft. The sun gear and the movable gear are fixedly connected into one component, and rotation of the movable gear is fed back to the sun gear as input movement of a high-speed stage differential
gear train, so that two-stage closed type planetary transmission is formed. The left ends of the planetary wheel shafts are fixedly connected with the planetary gears respectively, the right ends of the planetary wheel shafts are connected with corresponding pin holes on the
shock wave device to form a rotating pair, the autorotation movement of the
shock wave device is implemented through revolving movement of the planetary gears, and then an axial shock wave is generated. For the two-stage closed type cylindrical sine end surface movable teeth
reducer, a transmission chain is shortened to the maximum, the transmission efficiency and the reliability are improved, the axial structure is compact, the large
reduction ratio and multi-tooth engagement are realized, the rigidity is large, the
bearing capacity is strong, and transmission is stable; and compared with a common movable gear, the two-stage closed type cylindrical sine end surface movable teeth
reducer has the characteristic of the axial shock wave.