A flat two-stage steel ball movable tooth reducer

Abstract

The invention provides a flat two-stage steel ball movable tooth reducer, comprising an input shaft, a left housing, a first-stage center wheel, a second-stage movable tooth rack, a first-stage transmission steel ball, a second-stage transmission steel ball, a second-stage center wheel, a bearing I, a shaft sleeve I, a retaining spring, an output shaft, a bearing, a shaft sleeve, etc., adopting a method of radially connecting the first-stage transmission and the second-stage transmission in series, thereby reducing the volume without sacrificing the transmission ratio; adopting a structure in which the left housing and the first-stage movable tooth rack are integrated, and the first-stage center wheel also serves as a second-stage shock wave generator, thereby reducing the volume of the reducer, and the difficulty of processing and assembling; the first-stage shock wave generator adopts a structure in which an eccentric shaft is combined with a bearing, and the second-stage shock wave generator adopts a structure in which a first-stage center wheel is combined with a bearing, thereby changing the pure friction between the shock wave generator and the transmission movable tooth into the rotational friction of the bearing, thereby improving the transmission efficiency of the reducer; adopting a structure in which the second-stage movable tooth is adopted, multi-tooth meshing is achieved, thereby improving the load-bearing capacity; the invention has the characteristics of small volume, high load-bearing capacity, high transmission accuracy, etc., and is suitable for a wide range of applications.

Description

Technical Field

[0001] The present invention relates to the technical field of reducers, and in particular to a flat two-stage steel ball movable tooth reducer. Background Art

[0002] With the continuous development of industry, the reducer, as the core part of industrial robots, has also ushered in great development. Many new movable tooth reducers have been introduced one after another. The movable tooth reducer can achieve compact structure, high transmission efficiency, wide transmission ratio, high load-bearing capacity and other requirements. The theory and technology of movable tooth transmission are becoming more mature. In the context of the continuous improvement of the degree of automation in industrial production, the size of the reducer has a great restrictive effect on industrial robots. The size of the reducer largely determines the use and production cost of industrial robots. For this reason, a reducer with a smaller volume without sacrificing the transmission ratio has been developed to meet new development needs. Summary of the invention

[0003] In view of the above-mentioned technical problem that the volume of the reducer has a great limiting effect on industrial robots, a flat two-stage steel ball movable tooth reducer is provided. The present invention is provided with an input shaft, a left housing (also serving as a primary movable gear rack), a 5mm transmission steel ball, a primary center wheel (also serving as a secondary shock wave device), a secondary movable gear rack, a secondary center wheel, a 6mm transmission steel ball, a cross roller bearing, an output shaft, a bearing, etc. The volume of the reducer, the difficulty of processing and assembling are reduced mainly by adopting a structure in which the left housing and the primary movable gear rack are integrated and the primary center wheel also serves as a secondary shock wave device; the method of radially connecting the primary transmission and the secondary transmission in series breaks the method of axially connecting the traditional movable tooth reducer, and the volume is reduced without sacrificing the transmission ratio; the primary shock wave device adopts a structure combining an eccentric shaft and a bearing, and the secondary shock wave device adopts a structure combining a primary center wheel and a bearing, and the pure friction between the shock wave device and the transmission steel ball is changed to the rotational friction of the bearing, which improves the transmission efficiency of the reducer; the structure of the secondary movable teeth is adopted to achieve multi-tooth meshing and improve the load-bearing capacity; the torque is mainly transmitted radially to avoid the influence of the side clearance of the traditional movable tooth reducer on the transmission accuracy. The present invention has the characteristics of small volume, high load-bearing capacity, high transmission accuracy, etc., and is suitable for a wide range of applications.

[0004] The technical means adopted by the present invention are as follows:

[0005] A flat two-stage steel ball movable tooth reducer, comprising: an input shaft, a left housing, a first-stage center wheel, a second-stage movable tooth frame, a first-stage transmission steel ball, a second-stage transmission steel ball, a second-stage center wheel, a bearing I, a sleeve I, a retaining spring, an output shaft, a bearing II, two bearings III, a bearing IV, a bearing V, a bearing VI, a sleeve II and a sleeve III;

[0006] The input shaft is divided into the left end of the input shaft, the eccentric shaft section of the input shaft and the right end of the input shaft from left to right; a plurality of evenly distributed left housing movable gear rack guide holes are opened circumferentially on the right cylindrical surface of the left housing; a first-level center wheel inner hole I, a first-level center wheel movable gear track and a first-level center wheel inner hole II are opened in sequence from right to left inside the first-level center wheel, a first-level center wheel eccentric shaft section is provided in the middle, and a first-level center wheel groove is opened on the outer wall; a second-level movable gear rack inner hole is opened in the center of the right inner side of the second-level movable gear rack, and a plurality of evenly distributed second-level movable gear rack guide holes are opened circumferentially on the left cylindrical surface; a second-level center wheel movable gear track is opened inside the second-level center wheel;

[0007] The left housing, the secondary center wheel, and the bearing I are coaxially connected from left to right in sequence, forming a chamber inside, the primary center wheel and the secondary movable gear rack are located in the chamber, and the secondary movable gear rack is coaxially sleeved outside the primary center wheel; the secondary movable gear rack, the bearing I, and the output shaft are coaxially connected from left to right in sequence;

[0008] The left end of the input shaft is connected to the left inner part of the left housing through a bearing III located on the left side, the bearing IV is installed on the eccentric shaft section of the input shaft, and the sleeve II is installed at the right shoulder of the right end of the input shaft to fix the bearing IV; the left housing movable gear rack guide hole is adapted to the primary transmission steel ball, and a primary transmission steel ball is installed in each left housing movable gear rack guide hole, and the lower part of the primary transmission steel ball is in contact with the bearing IV; the inner hole II of the primary center wheel is connected to the middle outer wall of the left housing through two bearings V, and the inner hole I of the primary center wheel is connected to the right end of the input shaft through another bearing III located on the right side, and the upper part of the primary transmission steel ball is in contact with the primary center wheel movable tooth track. The bearing VI is installed on the eccentric shaft section of the primary center wheel, and the sleeve I is installed on the eccentric shaft section of the primary center wheel and is located on the right side of the bearing VI, which is used to fix the bearing VI; the retaining ring is installed on the groove of the primary center wheel and is located on the right side of the sleeve I, which is used to fix the sleeve I; the secondary movable gear rack is adapted to the secondary transmission steel ball through the secondary movable gear rack guide hole, and a secondary transmission steel ball is installed in each secondary movable gear rack guide hole, and the upper and lower parts of the secondary transmission steel ball are respectively in contact with the secondary center wheel movable gear track and the bearing VI; the inner hole of the secondary movable gear rack is connected to the right end of the input shaft through the bearing II, and a sleeve III is arranged between the bearing II and the right side bearing III;

[0009] The input shaft, bearing IV, the movable gear rack part on the left housing, the primary transmission steel ball and the primary center wheel are combined to form a plane steel ball movable gear transmission structure with the movable gear rack fixed, which serves as the primary transmission; the primary center wheel, bearing VI, the secondary movable gear rack and the secondary center wheel movable gear track constitute a plane steel ball movable gear transmission structure with the center wheel fixed, which serves as the secondary transmission structure. The primary transmission and the secondary transmission are radially connected in series to realize a flat secondary plane steel ball movable gear transmission, thereby improving the load-bearing capacity and transmission ratio and reducing the volume.

[0010] Furthermore, the input shaft and bearing IV form a primary shock wave structure, and the primary center wheel and bearing VI form a secondary shock wave structure. The output of the primary center wheel is directly used as the input of the secondary transmission without a transfer structure, which greatly improves the transmission accuracy and space utilization.

[0011] Furthermore, a left housing inner hole is provided inside the left housing, and a left housing bearing support portion is provided on the outer wall of the middle housing;

[0012] The left end of the input shaft is hinged in the inner hole of the left housing through a bearing III, wherein the bearing III is axially limited by a hole shoulder on the left side of the inner hole of the left housing and a shaft shoulder on the right side of the left end of the input shaft;

[0013] The first-stage center wheel inner hole II is hinged to the left housing bearing support part through two bearings V, wherein the bearing V is axially limited by the left shoulder of the left housing bearing support part and the right shoulder of the first-stage center wheel inner hole II.

[0014] Furthermore, the left and right sides of the secondary center wheel are connected to the left housing and bearing I respectively by bolts;

[0015] The left end wall of the left shell is provided with a left shell right end surface, a left shell outer ring and a plurality of left shell through holes, and the plurality of left shell through holes are evenly distributed in the circumferential direction along the center of the left shell right end surface;

[0016] The left end top of the secondary center wheel is provided with a left shoulder, and a plurality of circumferentially distributed middle shell threaded holes I are opened on the left end wall, and a right end top is provided with a right shoulder, and a plurality of circumferentially distributed middle shell threaded holes II are opened on the right end wall;

[0017] The right end face of the left housing contacts the left end face of the secondary center wheel, the outer ring of the left housing contacts the left shoulder of the secondary center wheel, the through hole of the left housing and the threaded hole I of the middle housing are connected with screws, and the left housing and the secondary center wheel are fixed by the screws, the through hole of the left housing and the threaded hole I of the middle housing;

[0018] The left end face of the bearing I contacts the right end face of the secondary center wheel, the left outer surface of the bearing I contacts the right shoulder of the secondary center wheel, and a screw is connected in the threaded hole II of the middle shell body, and the bearing I is fixed to the secondary center wheel by multiple screws and the threaded hole II of the middle shell body.

[0019] Furthermore, a plurality of secondary movable gear frame screw holes are provided on the right end wall of the secondary movable gear frame, and the plurality of secondary movable gear frame screw holes are evenly distributed circumferentially around the center line of the inner hole of the secondary movable gear frame, and screws are connected in the screw holes of the secondary movable gear frame; the secondary movable gear frame is fixed to the bearing I through the plurality of secondary movable gear frame through holes and the plurality of screws.

[0020] Furthermore, the output shaft includes a first shaft section located on the left side and a second shaft section located on the right side, a plurality of output shaft through holes are opened on the first shaft section, and the plurality of output shaft through holes are evenly distributed circumferentially around the center line of the output shaft, screws are connected in the output shaft through holes, an output shaft inner ring is provided on the side of the first shaft section away from the second shaft section, and the output shaft inner ring is adapted to the inner ring of the bearing I; the output shaft is fixed to the bearing I by means of a plurality of screws and a plurality of output shaft through holes.

[0021] Furthermore, the bearing I adopts a crossed roller bearing, the bearing II adopts a deep groove ball bearing, the bearing III adopts a double-row deep groove ball bearing, the bearing IV adopts a deep groove ball bearing, the bearing V adopts a thin-walled deep groove ball bearing, and the bearing VI adopts a thin-walled deep groove ball bearing.

[0022] Furthermore, one side of the primary center wheel is hinged to the left housing bearing support part of the left housing through bearing V, and the other side is hinged to the right end of the input shaft through bearing III, thereby realizing double-sided support and ensuring the stability of the rotation output of the primary center wheel.

[0023] Furthermore, the parameter equation of the theoretical contour line of the primary center wheel movable tooth track at the inner end of the primary center wheel is:

[0024]

[0025] Among them, a1 is the eccentricity of the eccentric section of the main shaft, in mm;

[0026] λ1 is the shock wave coefficient; λ1 is related to the outer contour radius of the first-stage shock wave;

[0027] Z1 is the theoretical profile fluctuation period number of the primary center wheel movable tooth track profile at the inner end of the primary center wheel;

[0028] θ2 is the rotation angle of the primary center wheel, in degrees;

[0029] The parameter equation of the theoretical contour line of the secondary center wheel movable tooth track at the inner end of the secondary center wheel is:

[0030]

[0031] Wherein, a2 is the eccentricity of the eccentric circular cam in the secondary shock wave generator, in mm;

[0032] λ2 is the shock wave coefficient, which is related to the outer contour radius of the secondary shock wave;

[0033] Z2 is the theoretical profile fluctuation period number of the secondary center wheel movable tooth track profile at the inner end of the secondary center wheel;

[0034] θ4 is the rotation angle of the secondary center wheel, in degrees.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] 1. The flat two-stage steel ball movable tooth reducer provided by the present invention adopts a two-stage movable tooth transmission series method. Compared with the traditional fixed tooth transmission reducer, it can realize multi-tooth meshing, greatly improve the load-bearing capacity, and achieve a larger transmission ratio.

[0037] 2. The flat two-stage steel ball movable tooth reducer provided by the present invention has a left shell which also serves as a first-stage movable tooth frame, and a first-stage center wheel also serves as a second-stage shock wave generator. It has multiple uses, which reduces the manufacturing cost and assembly difficulty, simplifies the structure, and reduces the size of the reducer.

[0038] 3. In the flat two-stage steel ball movable tooth reducer provided by the present invention, the rotation output structure of the first-stage transmission directly serves as the input structure of the second-stage transmission without a transfer structure, thereby improving the transmission accuracy.

[0039] 4. The flat two-stage steel ball movable tooth reducer provided by the present invention adopts a radial series connection method to improve the torque transmission stability and reduce the axial volume of the reducer.

[0040] 5. The flat two-stage steel ball movable tooth reducer provided by the present invention adopts a steel ball transmission method, changes the line contact into point contact, and improves the transmission efficiency compared with the cylindrical roller movable tooth transmission.

[0041] 6. The flat two-stage steel ball movable tooth reducer provided by the present invention has a first-stage center wheel supported by bearings on both sides, and a second-stage movable tooth frame connected to the cross roller bearing output to improve transmission accuracy.

[0042] 7. The flat two-stage steel ball movable tooth reducer provided by the present invention has the advantages of compact structure and wide transmission ratio range.

[0043] In summary, the application of the technical solution of the present invention can solve the problem in the prior art that the volume of the reducer has a great limiting effect on the industrial robot.

[0044] Based on the above reasons, the present invention can be widely promoted in the fields of industrial robots and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0046] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention.

[0047] Figure 2 This is a schematic diagram of the input shaft component structure of the present invention.

[0048] Figure 3 It is a schematic diagram of the structure of the left shell parts described in the present invention.

[0049] Figure 4 It is a schematic diagram of the structure of the first-stage center wheel parts described in the present invention.

[0050] Figure 5 The figure is a schematic diagram of the structure of the parts of the secondary movable gear rack according to the present invention.

[0051] Figure 6 It is a structural schematic diagram of one side of the secondary center wheel component of the present invention.

[0052] Figure 7 It is a schematic structural diagram of the other side of the secondary center wheel component of the present invention.

[0053] Figure 8 This is a schematic diagram of the output shaft component structure of the present invention.

[0054] In the figure: 1, input shaft; 2, left housing; 3, primary center wheel; 4, secondary movable gear rack; 5, primary transmission steel ball; 6, secondary transmission steel ball; 7, secondary center wheel; 8, bearing Ⅰ; 9, sleeve Ⅰ; 10, retaining spring; 11, output shaft; 12-a, bearing Ⅱ; 12-b, bearing Ⅲ; 12-c, bearing Ⅳ; 12-d, bearing Ⅴ; 12-e, bearing Ⅵ; 13, sleeve Ⅱ; 14, sleeve Ⅲ; 101, left end of input shaft; 102, eccentric shaft section of input shaft; 103, right end of input shaft; 201, inner hole of left housing; 202, guide hole of movable gear rack of left housing; 203, left housing Right end face of the body; 204, outer ring of the left housing; 205, through hole of the left housing; 206, bearing support part of the left housing; 301, inner hole I of the primary center wheel; 302, movable tooth track of the primary center wheel; 303, inner hole II of the primary center wheel; 304, eccentric shaft section of the primary center wheel; 305, groove of the primary center wheel; 401, screw hole of the secondary movable tooth rack; 402, inner hole of the secondary movable tooth rack; 403, guide hole of the secondary movable tooth rack; 701, threaded hole I of the middle housing; 702, movable tooth track of the secondary center wheel; 703, threaded hole II of the middle housing; 1101, through hole of the output shaft; 1102, inner ring of the output shaft. DETAILED DESCRIPTION

[0055] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0058] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0059] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0060] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0061] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0062] The theory and technology of movable tooth transmission are becoming more mature. The size of the reducer has a great limiting effect on industrial robots. The size of the reducer largely determines the use and production cost of industrial robots. Therefore, a reducer with a smaller size without sacrificing the transmission ratio can be developed to meet new development needs. In response to the above problems, such as Figure 1-8 As shown, the present invention provides a flat two-stage steel ball movable tooth reducer, which has the characteristics of small size, high load-bearing capacity, high transmission accuracy, etc. and is suitable for a wide range of applications.

[0063] The flat two-stage steel ball movable tooth reducer comprises: an input shaft 1, a left housing 2, a primary center wheel 3, a secondary movable tooth frame 4, a primary transmission steel ball 5, a secondary transmission steel ball 6, a secondary center wheel 7, a bearing I 8, a sleeve I 9, a retaining spring 10, an output shaft 11, a bearing II 12-a, two bearings III 12-b, a bearing IV 12-c, a bearing V 12-d, a bearing VI 12-e, a sleeve II 13 and a sleeve III 14;

[0064] The input shaft is divided into an input shaft left end 101, an input shaft eccentric shaft section 102 and an input shaft right end 103 from left to right, and the outer diameter of the input shaft eccentric shaft section 102 is larger than the outer diameters of the input shaft left end 101 and the input shaft right end 103 (the direction of the input shaft is left, and the direction of the output shaft is right); a plurality of evenly distributed left housing movable gear rack guide holes 202 are circumferentially opened on the right cylindrical surface of the left housing 2; a first-level center wheel inner hole I 301, a first-level center wheel movable gear track 302 and a first-level center wheel inner hole II 303 are opened in the first-level center wheel 3 from right to left, a first-level center wheel eccentric shaft section 304 is arranged in the middle, and a first-level center wheel groove 305 is opened on the outer wall; a second-level movable gear rack inner hole 402 is opened in the center of the right inner side of the second-level movable gear rack 4, and a plurality of evenly distributed second-level movable gear rack guide holes 403 are opened circumferentially on the left cylindrical surface; a second-level center wheel movable gear track 702 is opened in the second-level center wheel 7;

[0065] The left housing 2, the secondary center wheel 7, and the bearing Ⅰ8 are coaxially connected from left to right in sequence, forming a chamber inside, the primary center wheel 3 and the secondary movable gear rack 4 are located in the chamber, and the secondary movable gear rack 4 is coaxially sleeved outside the primary center wheel 3; the secondary movable gear rack 4, the bearing Ⅰ8, and the output shaft 11 are coaxially connected from left to right in sequence;

[0066] The left end 101 of the input shaft is connected to the left inner side of the left housing 2 through a bearing III12-b located on the left side, the bearing IV12-c is installed on the eccentric shaft section 102 of the input shaft, and the sleeve II13 is installed at the right shoulder of the right end 103 of the input shaft to fix the bearing IV12-c; the left housing movable gear rack guide hole 202 is adapted to the primary transmission steel ball 5, and a primary transmission steel ball 5 is installed in each left housing movable gear rack guide hole 202, and the lower part of the primary transmission steel ball 5 is in contact with the bearing IV12-c; the primary center wheel inner hole II303 is connected to the middle outer wall of the left housing 2 through two bearings V12-d, and the primary center wheel inner hole I301 is connected to the right end 103 of the input shaft through another bearing III12-b located on the right side, and the upper part of the primary transmission steel ball 5 is in contact with the primary center wheel movable tooth track 302 Connect; bearing VI 12-e is installed on the eccentric shaft section 304 of the primary center wheel, and sleeve I9 ​​is ​​installed on the eccentric shaft section 304 of the primary center wheel and is located on the right side of bearing VI 12-e, which is used to fix bearing VI 12-e; retaining ring 10 is installed on the groove 305 of the primary center wheel and is located on the right side of sleeve I9, which is used to fix sleeve I9; the secondary movable gear rack 4 is adapted to the secondary transmission steel ball 6 through the secondary movable gear rack guide hole 403, and a secondary transmission steel ball 6 is installed in each secondary movable gear rack guide hole 403, and the upper and lower parts of the secondary transmission steel ball 6 are respectively in contact with the secondary center wheel movable gear track 702 and bearing VI 12-e; the inner hole 402 of the secondary movable gear rack is connected to the right end 103 of the input shaft through bearing II 12-a, and sleeve III 14 is arranged between bearing II 12-a and right side bearing III 12-b;

[0067] The input shaft 1, bearing IV12-c, the movable gear rack part on the left housing 2, the first-level transmission steel ball 5 and the first-level center wheel 3 are combined into a planar steel ball movable gear transmission structure with a movable gear rack fixed, which serves as the first-level transmission; the first-level center wheel 3, bearing VI12-e, the second-level movable gear rack 4 and the second-level center wheel movable gear track 702 constitute a planar steel ball movable gear transmission structure with a center wheel fixed, which serves as the second-level transmission structure. The first-level transmission and the second-level transmission are radially connected in series, thereby realizing a flat second-level planar steel ball movable gear transmission, improving the load-bearing capacity and transmission ratio, and reducing the axial volume.

[0068] As a preferred embodiment, the input shaft 1 and bearing IV12-c form a first-stage shock wave structure, and the first-stage center wheel 3 and bearing VI12-e form a second-stage shock wave structure. The output of the first-stage center wheel 3 is directly used as the input of the second-stage transmission without a transfer structure, which greatly improves the transmission accuracy and space utilization.

[0069] As a preferred embodiment, a left housing inner hole 201 is opened inside the left housing 2, and a left housing bearing support part 206 is provided on the outer wall of the middle housing;

[0070] The left end 101 of the input shaft is hinged in the inner hole 201 of the left housing through the bearing III12-b, wherein the bearing III12-b is axially limited by the hole shoulder on the left side of the inner hole 201 of the left housing and the shaft shoulder on the right side of the left end 101 of the input shaft;

[0071] The first-stage center wheel inner hole II303 is hinged to the left housing bearing support part 206 through two bearings V12-d, wherein the bearing V12-d is axially limited by the left shoulder of the left housing bearing support part 206 and the right shoulder of the first-stage center wheel inner hole II303.

[0072] As a preferred embodiment, the left and right sides of the secondary center wheel 7 are connected to the left housing 2 and the bearing I8 respectively by bolts;

[0073] The left end wall of the left housing 2 is provided with a left housing right end surface 203, a left housing outer ring 204 and a plurality of left housing through holes 205, and the plurality of left housing through holes 205 are evenly distributed in the circumferential direction along the center of the left housing right end surface 203;

[0074] The left end top of the secondary center wheel 7 is provided with a left shoulder, and a plurality of circumferentially distributed middle shell threaded holes I 701 are opened on the left end wall, and a right end top is provided with a right shoulder, and a plurality of circumferentially distributed middle shell threaded holes II 703 are opened on the right end wall;

[0075] The right end face 203 of the left housing contacts the left end face of the secondary center wheel 7, the outer ring 204 of the left housing contacts the left shoulder of the secondary center wheel 7, the through hole 205 of the left housing and the threaded hole Ⅰ701 of the middle housing are connected with screws, and the left housing 2 and the secondary center wheel 7 are fixed by the screws, the through hole 205 of the left housing and the threaded hole Ⅰ701 of the middle housing;

[0076] The left end face of the bearing Ⅰ8 contacts the right end face of the secondary center wheel 7, the left outer surface of the bearing Ⅰ8 contacts the right shoulder of the secondary center wheel 7, and the threaded hole Ⅱ703 of the middle shell is matched with a screw to fix the bearing Ⅰ8 to the secondary center wheel 7 through multiple screws and the threaded hole Ⅱ703 of the middle shell.

[0077] As a preferred embodiment, a plurality of secondary movable gear rack screw holes 401 are provided on the right end wall of the secondary movable gear rack 4, and the plurality of secondary movable gear rack screw holes 401 are evenly distributed circumferentially around the center line of the secondary movable gear rack inner hole 402, and screws are connected in the secondary movable gear rack screw holes 401; the secondary movable gear rack 4 is fixed to the bearing Ⅰ8 by means of the plurality of secondary movable gear rack through holes 401 and the plurality of screws.

[0078] As a preferred embodiment, the output shaft 11 includes a first shaft section located on the left and a second shaft section located on the right, a plurality of output shaft through holes 1101 are opened on the first shaft section, and the plurality of output shaft through holes 1101 are evenly distributed circumferentially around the center line of the output shaft 11, and screws are connected in the output shaft through holes 1101, and an output shaft inner ring 1102 is provided on the side of the first shaft section away from the second shaft section, and the output shaft inner ring 1102 is adapted to the inner ring of the bearing Ⅰ8 (the output shaft inner ring 1102 is inserted into the inner ring of the bearing Ⅰ8); the output shaft 11 is fixed to the bearing Ⅰ8 by means of a plurality of screws and a plurality of output shaft through holes 1101.

[0079] As a preferred embodiment, the bearing I8 adopts a crossed roller bearing, the bearing II12-a adopts a deep groove ball bearing, the bearing III12-b adopts a double-row deep groove ball bearing, the bearing IV12-c adopts a deep groove ball bearing, the bearing V12-d adopts a thin-walled deep groove ball bearing, and the bearing VI12-e adopts a thin-walled deep groove ball bearing.

[0080] As a preferred embodiment, one side of the first-stage center wheel 3 is hinged to the left housing bearing support part 206 of the left housing 2 through bearing V12-d, and the other side is hinged to the right end 103 of the input shaft through bearing III12-b, thereby realizing double-sided support and ensuring the rotational output stability of the first-stage center wheel 3.

[0081] As a preferred embodiment, the parameter equation of the theoretical contour line of the primary center wheel movable tooth track 302 at the inner end of the primary center wheel 3 is:

[0082]

[0083] Among them, a1 is the eccentricity of the eccentric section of the main shaft, in mm;

[0084] λ1 is the shock wave coefficient; λ1 is related to the outer contour radius of the first-stage shock wave;

[0085] Z1 is the theoretical profile fluctuation period number of the profile of the primary center wheel movable tooth track 302 at the inner end of the primary center wheel 3;

[0086] θ2 is the rotation angle of the primary center wheel 3, in degrees;

[0087] The parameter equation of the theoretical contour line of the secondary center wheel movable tooth track 702 at the inner end of the secondary center wheel 7 is:

[0088]

[0089] Wherein, a2 is the eccentricity of the eccentric circular cam in the secondary shock wave generator, in mm;

[0090] λ2 is the shock wave coefficient, which is related to the outer contour radius of the secondary shock wave;

[0091] Z2 is the theoretical contour fluctuation period number of the contour of the secondary center wheel movable tooth track 702 at the inner end of the secondary center wheel 7;

[0092] θ4 is the rotation angle of the secondary center wheel 7, in degrees.

[0093] The present invention adopts a structure in which the left housing and the first-stage movable tooth frame are integrated, and the first-stage center wheel also serves as the second-stage shock wave generator, thereby reducing the volume of the reducer and the difficulty of processing and assembling; adopts a method of radially connecting the first-stage transmission and the second-stage transmission in series, thereby reducing the volume without sacrificing the transmission ratio; the first-stage shock wave generator adopts a structure in which an eccentric shaft is combined with a bearing, and the second-stage shock wave generator adopts a structure in which a first-stage center wheel is combined with a bearing, thereby changing the pure friction between the shock wave generator and the transmission steel ball into the rotational friction of the bearing, thereby improving the transmission efficiency of the reducer; by adopting a second-stage movable tooth structure, multi-tooth meshing is achieved, thereby improving the load-bearing capacity; the torque is mainly transmitted radially, thereby avoiding the influence of the side clearance of the traditional movable tooth reducer on the transmission accuracy. The present invention has the characteristics of small volume, high load-bearing capacity, high transmission accuracy, etc., and is suitable for a wide range of applications.

[0094] Example 1

[0095] like Figure 1-8 As shown, the present invention designs a flat two-stage steel ball movable tooth reducer for a certain application occasion, and its overall dimensions are: outer diameter φ82mm, total length 42mm, the movable tooth tracks of the first-stage center wheel and the second-stage center wheel are both chord tracks; the model of bearing II12-a (deep groove ball bearing) and bearing IV12-c (thin-walled deep groove ball bearing) is 6200; the model of bearing V12-d (thin-walled deep groove ball bearing) and bearing VI12-e (thin-walled deep groove ball bearing) is 6801, 6806, 6708; the model of bearing III12-b (double-row deep groove ball bearing) is 3800; the model of bearing I8 (cross roller bearing) is GL XRU2512UUCC0P5; the theoretical parameters of the two stages are shown in Table 1.

[0096] Table 1 Basic parameters of a radial series movable tooth transmission system

[0097]

[0098]

[0099] The flat two-stage steel ball movable tooth reducer comprises: an input shaft 1, a left housing 2, a first-stage center wheel 3, a second-stage movable tooth frame 4, a first-stage transmission steel ball 5, a second-stage transmission steel ball 6, a second-stage center wheel 7, a bearing I 8 (cross roller bearing), a sleeve I 9, a retaining spring 10, an output shaft 11, a bearing II 12-a (deep groove ball bearing), a bearing III 12-b (double row deep groove ball bearing), a bearing IV 12-c (deep groove ball bearing), a bearing V 12-d (thin-wall deep groove ball bearing), a bearing VI 12-e (thin-wall deep groove ball bearing), a sleeve II 13, a sleeve III 14, an input shaft left end 101, an input shaft eccentric shaft section 102, an input shaft right end 10 3. Left housing inner hole 201, left housing movable gear rack guide hole 202, left housing right end face 203, left housing outer ring 204, left housing through hole 205, left housing bearing support part 206, primary center wheel inner hole I301, primary center wheel movable gear track 302, primary center wheel inner hole II303, primary center wheel eccentric shaft section 304, primary center wheel groove 305, secondary movable gear rack screw hole 401, secondary movable gear rack inner hole 402, secondary movable gear rack guide hole 403, middle housing threaded hole I701, secondary center wheel movable gear track 702, middle housing threaded hole II703, output shaft through hole 1101 and output shaft inner ring 1102.

[0100] The left end 101 of the input shaft is hinged to the inner hole 201 of the left housing through the bearing III 12-b (double-row deep groove ball bearing); the bearing IV 12-c (deep groove ball bearing) is installed on the eccentric shaft section 102 of the input shaft, and the sleeve II 13 is installed on the right end 103 of the input shaft to fix the bearing IV 12-c (deep groove ball bearing). The guide hole 202 of the movable gear rack of the left housing is adapted to the primary transmission steel ball 5, and each guide hole 202 of the movable gear rack of the left housing is installed with a primary transmission steel ball 5; the inner hole II 303 of the primary center wheel The first-stage center wheel inner hole I301 is hinged to the right end 103 of the input shaft through the bearing III12-b (double-row deep groove ball bearing); the first-stage transmission steel ball 5 is matched with the bearing IV12-c (deep groove ball bearing) and the first-stage center wheel movable tooth track 302; the bearing VI12-e (thin-wall deep groove ball bearing) is installed on the eccentric shaft section 304 of the first-stage center wheel; the sleeve I9 ​​is ​​installed on the eccentric shaft section 304 of the first-stage center wheel; the ... first-stage center wheel inner hole I301 is hinged to the right end 103 of the input shaft through the bearing III12-b (double-row deep groove ball bearing); the first-stage center wheel inner hole I301 is hinged to the right end 103 of the input shaft through the bearing III12-b (double-row deep groove ball bearing); the first-stage center wheel inner hole I301 is hinged to the right end 103 of the input shaft through the bearing III12-b (double-row deep The spindle section 304 completes the fixation of the bearing VI12-e (thin-walled deep groove ball bearing); the retaining ring 10 is installed in the groove 305 of the primary center wheel to complete the fixation of the shaft sleeve I9; the right end face 203 of the left housing and the outer ring 204 of the left housing are in contact with the secondary center wheel 7, and the left housing 2 is fixed by screws, the left housing through hole 205, and the middle housing threaded hole I701; the bearing I8 (cross roller bearing) is fixed in the middle housing threaded hole II703 by screws; the secondary movable gear rack 4 is fixed by the secondary The movable gear rack through hole 401, screws and bearing I8 (cross roller bearing) are fixed; the secondary movable gear rack 4 is adapted to the secondary transmission steel ball 6 through the secondary movable gear rack guide hole 403, and each secondary movable gear rack guide hole 403 is equipped with a secondary transmission steel ball 6; the secondary transmission steel ball 6 is in contact with the bearing VI12-e (thin-walled deep groove ball bearing) and the secondary center wheel movable gear track 702; the output shaft inner ring 1102 is adapted to the bearing I8 (cross roller bearing) and connected through screws and the output shaft through hole 1101. The secondary movable gear rack inner hole 402 is connected to the right end 103 of the input shaft through the bearing II12-a (deep groove ball bearing), and a shaft sleeve III14 is arranged between the bearing II12-a (deep groove ball bearing) and the right side bearing III12-b (double row deep groove ball bearing), and the shaft sleeve III14 is used to axially limit the bearing II12-a (deep groove ball bearing) and the right side bearing III12-b (double row deep groove ball bearing).

[0101] The input shaft 1 and bearing IV12-c (deep groove ball bearing) form a first-stage shock wave structure, and the first-stage center wheel 3 and bearing VI12-e (thin-wall deep groove ball bearing) form a second-stage shock wave structure. The output of the first-stage center wheel is directly used as the input of the second-stage transmission without a transfer structure, which greatly improves the transmission accuracy and improves the space utilization.

[0102] In this embodiment, the first-stage center wheel 3 is hinged to the left housing bearing support part 206 through bearing V12-d (thin-walled deep groove ball bearing) and is hinged to the right end 103 of the input shaft through bearing III12-b (double-row deep groove ball bearing) to complete double-sided support, thereby ensuring the rotational output stability of the first-stage center wheel 3.

[0103] In this embodiment, the parameter equation of the theoretical contour line of the primary center wheel movable tooth track 302 at the inner end of the primary center wheel 3 is:

[0104]

[0105] Where a1 is the eccentricity of the eccentric section of the main shaft, unit (mm);

[0106] λ1 is the shock wave coefficient;

[0107] Z1 is the theoretical profile fluctuation period number of the profile of the primary center wheel movable tooth track 302 at the inner end of the primary center wheel 3;

[0108] θ2 is the rotation angle of the primary center wheel 3, unit (°);

[0109] λ1 is related to the outer contour radius of the first-stage shock wave.

[0110] The parameter equation of the theoretical contour line of the secondary center wheel movable tooth track 702 at the inner end of the secondary center wheel 7 is:

[0111]

[0112] Wherein, a2 is the eccentricity of the eccentric circular cam in the secondary shock wave generator, unit (mm);

[0113] λ2 is the shock wave coefficient;

[0114] Z2 is the theoretical contour fluctuation period number of the contour of the secondary center wheel movable tooth track 702 at the inner end of the secondary center wheel 7;

[0115] θ4 is the rotation angle of the secondary center wheel 7, unit (°);

[0116] λ2 is related to the outer radius of the secondary shock wave.

[0117] In this embodiment, the input shaft 1, bearing IV12-c (deep groove ball bearing), the movable gear rack part on the left housing 2, the first-level transmission steel ball 5, and the first-level center wheel 3 are combined into a planar steel ball movable gear transmission structure with a movable gear rack fixed, which serves as the first-level transmission; the first-level center wheel 3 and the bearing VI12-e (thin-walled deep groove ball bearing), the second-level movable gear rack 4, and the second-level center wheel movable gear track 702 constitute a planar steel ball movable gear transmission structure with a center wheel fixed, which serves as the second-level transmission structure, thereby realizing a flat second-level planar steel ball movable gear transmission, improving the load-bearing capacity and transmission ratio, and reducing the axial volume.

[0118] Working principle of the present invention: when in use, taking the above example, the input shaft 1 is rotated, and its eccentric shaft section will drive the thin-walled deep groove ball bearing 12-c, thereby pushing the first-level transmission steel ball 5 to move along the first-level center wheel movable tooth track 302. Since the movable tooth rack is fixed, the first-level center wheel 3 can rotate in the opposite direction, and the reduction ratio is the center wheel chord wave number 6; at the same time, the center wheel drives the bearing Ⅵ12-e (thin-walled deep groove ball bearing) to rotate, thereby pushing the second-level transmission steel ball 6 to move along the second-level center wheel movable tooth track 702. Since the center wheel is fixed, the second-level movable tooth rack 4 can rotate in the same direction, and the reduction ratio is 8 teeth of the second-level movable tooth rack. The second-level movable tooth rack 4 transmits power to the output shaft 11 through the bearing Ⅰ8 (cross roller bearing) to complete the deceleration movement of the transmission ratio 48. It has the characteristics of small size, high load-bearing capacity, high transmission accuracy, etc., and is suitable for a wide range of applications.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flat two-stage steel ball movable tooth reducer, characterized in that: include: Input shaft (1), left housing (2), primary center wheel (3), secondary movable gear rack (4), primary transmission steel ball (5), secondary transmission steel ball (6), secondary center wheel (7), bearing I (8), sleeve I (9), retaining ring (10), output shaft (11), bearing II (12-a), two bearings III (12-b), bearing IV (12-c), bearing V (12-d), bearing VI (12-e), sleeve II (13) and sleeve III (14); The input shaft is divided into an input shaft left end (101), an input shaft eccentric shaft section (102) and an input shaft right end (103) from left to right; a plurality of evenly distributed left housing movable gear rack guide holes (202) are opened on the right cylindrical surface of the left housing (2); a first-level center wheel inner hole I (301), a first-level center wheel movable gear track (302) and a first-level center wheel inner hole II (303) are opened in the first-level center wheel (3) from right to left, a first-level center wheel eccentric shaft section (304) is opened in the middle, and a first-level center wheel groove (305) is opened on the outer wall; a second-level movable gear rack inner hole (402) is opened in the center of the right inner side of the second-level movable gear rack (4), and a plurality of evenly distributed second-level movable gear rack guide holes (403) are opened on the left cylindrical surface; a second-level center wheel movable gear track (702) is opened in the second-level center wheel (7); The left housing (2), the secondary center wheel (7), and the bearing I (8) are coaxially connected in sequence from left to right, forming a chamber inside, the primary center wheel (3) and the secondary movable gear rack (4) are located in the chamber, and the secondary movable gear rack (4) is coaxially sleeved outside the primary center wheel (3); the secondary movable gear rack (4), the bearing I (8), and the output shaft (11) are coaxially connected in sequence from left to right; The left end (101) of the input shaft is connected to the left inner part of the left housing (2) through a bearing III (12-b) located on the left side, the bearing IV (12-c) is installed on the eccentric shaft section (102) of the input shaft, and the sleeve II (13) is installed on the right shoulder of the right end (103) of the input shaft to fix the bearing IV (12-c); the left housing movable gear rack guide hole (202) is adapted to the primary transmission steel ball (5), and a A primary transmission steel ball (5), the lower part of the primary transmission steel ball (5) is in contact with the bearing IV (12-c); the inner hole II (303) of the primary center wheel is connected to the middle outer wall of the left housing (2) through two bearings V (12-d), the inner hole I (301) of the primary center wheel is connected to the right end (103) of the input shaft through another bearing III (12-b) located on the right side, and the upper part of the primary transmission steel ball (5) is in contact with the primary center wheel movable tooth track (302); The bearing VI (12-e) is installed on the eccentric shaft section (304) of the primary center wheel, and the sleeve I (9) is installed on the eccentric shaft section (304) of the primary center wheel and is located on the right side of the bearing VI (12-e) for fixing the bearing VI (12-e); the retaining ring (10) is installed on the groove (305) of the primary center wheel and is located on the right side of the sleeve I (9) for fixing the sleeve I (9); the secondary movable gear rack (4) is connected to the secondary movable gear rack through the guide hole (403) of the secondary movable gear rack Adapted to the secondary transmission steel ball (6), a secondary transmission steel ball (6) is installed in each secondary movable gear rack guide hole (403), and the upper and lower parts of the secondary transmission steel ball (6) are respectively in contact with the secondary center wheel movable gear track (702) and the bearing VI (12-e); the inner hole (402) of the secondary movable gear rack is connected to the right end (103) of the input shaft through the bearing II (12-a), and a shaft sleeve III (14) is arranged between the bearing II (12-a) and the right side bearing III (12-b); The input shaft (1), bearing IV (12-c), the movable gear rack part on the left housing (2), the primary transmission steel ball (5) and the primary center wheel (3) are combined to form a plane steel ball movable gear transmission structure with the movable gear rack fixed, which serves as the primary transmission; the primary center wheel (3), bearing VI (12-e), the secondary movable gear rack (4) and the secondary center wheel movable gear track (702) constitute a plane steel ball movable gear transmission structure with the center wheel fixed, which serves as the secondary transmission structure. The primary transmission and the secondary transmission are radially connected in series to realize a flat secondary plane steel ball movable gear transmission, thereby improving the load-bearing capacity and transmission ratio and reducing the volume.

2. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: The input shaft (1) and the bearing IV (12-c) form a primary shock wave generator structure, and the primary center wheel (3) and the bearing VI (12-e) form a secondary shock wave generator structure. The output of the primary center wheel (3) is directly used as the input of the secondary transmission without a transfer structure, thereby greatly improving the transmission accuracy and space utilization.

3. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: The left housing (2) is provided with a left housing inner hole (201), and the outer wall of the middle housing is provided with a left housing bearing support part (206); The left end (101) of the input shaft is hinged in the inner hole (201) of the left housing through a bearing III (12-b), wherein the bearing III (12-b) is axially limited by a hole shoulder on the left side of the inner hole (201) of the left housing and a shaft shoulder on the right side of the left end (101) of the input shaft; The first-stage center wheel inner hole II (303) is hinged to the left housing bearing support part (206) through two bearings V (12-d), wherein the bearing V (12-d) is axially limited by the left shoulder of the left housing bearing support part (206) and the right shoulder of the first-stage center wheel inner hole II (303).

4. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: The left and right sides of the secondary center wheel (7) are respectively connected to the left housing (2) and the bearing I (8) by bolts; The left end wall of the left shell (2) is provided with a left shell right end surface (203), a left shell outer ring (204) and a plurality of left shell through holes (205), and the plurality of left shell through holes (205) are evenly distributed in the circumferential direction along the center of the left shell right end surface (203); The secondary center wheel (7) is provided with a left shoulder at the top of the left end, and a plurality of circumferentially distributed middle shell threaded holes I (701) are opened on the left end wall, and a right shoulder is provided at the top of the right end, and a plurality of circumferentially distributed middle shell threaded holes II (703) are opened on the right end wall; The right end face (203) of the left housing is in contact with the left end face of the secondary center wheel (7), the outer ring (204) of the left housing is in contact with the left shoulder of the secondary center wheel (7), the left housing through hole (205) and the middle housing threaded hole I (701) are connected with screws, and the left housing (2) and the secondary center wheel (7) are fixed by means of the screws, the left housing through hole (205) and the middle housing threaded hole I (701); The left end face of the bearing I (8) contacts the right end face of the secondary center wheel (7), the left outer surface of the bearing I (8) contacts the right shoulder of the secondary center wheel (7), and a screw is connected in the threaded hole II (703) of the middle shell body, and the bearing I (8) and the secondary center wheel (7) are fixed by multiple screws and the threaded hole II (703) of the middle shell body.

5. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: A plurality of secondary movable gear frame screw holes (401) are provided on the right end wall of the secondary movable gear frame (4), and the plurality of secondary movable gear frame screw holes (401) are evenly distributed in the circumferential direction around the center line of the secondary movable gear frame inner hole (402), and screws are matched and connected in the secondary movable gear frame screw holes (401); the secondary movable gear frame (4) is fixed to the bearing I (8) through the plurality of secondary movable gear frame screw holes (401) and the plurality of screws.

6. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: The output shaft (11) comprises a first shaft section located on the left side and a second shaft section located on the right side. The first shaft section is provided with a plurality of output shaft through holes (1101), and the plurality of output shaft through holes (1101) are evenly distributed in the circumferential direction around the center line of the output shaft (11). Screws are matched and connected in the output shaft through holes (1101). An output shaft inner ring (1102) is provided on the side of the first shaft section away from the second shaft section, and the output shaft inner ring (1102) is adapted to the inner ring of the bearing I (8). The output shaft (11) is fixed to the bearing I (8) by means of the plurality of screws and the plurality of output shaft through holes (1101).

7. The flat two-stage steel ball movable tooth reducer according to claim 1 is characterized in that: The bearing I (8) adopts a crossed roller bearing, the bearing II (12-a) adopts a deep groove ball bearing, the bearing III (12-b) adopts a double-row deep groove ball bearing, the bearing IV (12-c) adopts a deep groove ball bearing, the bearing V (12-d) adopts a thin-walled deep groove ball bearing, and the bearing VI (12-e) adopts a thin-walled deep groove ball bearing.

8. The flat two-stage steel ball movable tooth reducer according to claim 1 or 3, characterized in that: One side of the primary center wheel (3) is hinged to the left housing bearing support part (206) of the left housing (2) through a bearing V (12-d), and the other side is hinged to the right end (103) of the input shaft through a bearing III (12-b), thereby achieving double-sided support and ensuring the stability of the rotation output of the primary center wheel (3).

9. The flat two-stage steel ball movable tooth reducer according to claim 1, characterized in that: The parameter equation of the theoretical contour line of the primary center wheel movable tooth track (302) at the inner end of the primary center wheel (3) is: Among them, a1 is the eccentricity of the eccentric section of the main shaft, in mm; λ1 is the shock wave coefficient; λ1 is related to the outer contour radius of the first-stage shock wave; Z1 is the theoretical contour fluctuation period number of the contour of the primary center wheel movable tooth track (302) at the inner end of the primary center wheel (3); θ2 is the rotation angle of the primary center wheel (3), in degrees; The parameter equation of the theoretical contour line of the secondary center wheel movable tooth track (702) at the inner end of the secondary center wheel (7) is: Wherein, a2 is the eccentricity of the eccentric circular cam in the secondary shock wave generator, in mm; λ2 is the shock wave coefficient, which is related to the outer contour radius of the secondary shock wave; Z2 is the theoretical contour fluctuation period number of the contour of the secondary center wheel movable tooth track (702) at the inner end of the secondary center wheel (7); θ4 is the rotation angle of the secondary center wheel (7), in degrees.

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