A combined speed reducer

Abstract

The present application relates to a kind of combined speed reducer, including base, input plane wave wheel, output plane gear, live tooth assembly and compression spring.The present application utilizes input plane wave wheel to drive live tooth assembly to fluctuate up and down to push output plane gear to do deceleration movement, wherein, input plane wave wheel is provided with wave structure along the circumferential arrangement, the lower surface of the wave structure is rolled with the upper end of live tooth assembly, when input plane wave wheel rotates, the lower surface of the wave structure pushes live tooth assembly to form continuous fluctuation in circumferential direction, the lower end of live tooth assembly is rolled with the tooth of output plane gear, eliminates the interference problem of the rigid engagement between the tooth and tooth of prior art, improves the stability of force transmission, realizes the balanced output of torque and power;At the same time, since eliminating the interference problem of tooth engagement, also reduce the difficulty of tooth modification.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gear reduction device, and particularly relates to a combined reducer. BACKGROUND

[0002] At present, the reduction structure based on the few-tooth difference reduction principle is relatively mature in the prior art.

[0003] For example, a Chinese patent application for invention with the application publication number CN113078773A (application number: CN202010005474.0) discloses a structure, which comprises a shell, an input mechanism, a reduction device and an output shaft, the input mechanism is arranged in the shell, the input mechanism comprises a stator and a rotor, the stator is attached to the inner wall of the shell; the reduction device is arranged in the shell, the reduction device comprises a driving part and a driven part, wherein the driving part is located in the rotor of the input mechanism and is fixedly connected with the rotor; the output shaft is driven by the driven part of the reduction device. In the above scheme, the reduction device is a harmonic reducer, the harmonic reducer comprises a rigid wheel, a flexible wheel and a wave generator, the rigid wheel is fixedly connected to the shell, the flexible wheel is arranged on the inner circumferential side of the rigid wheel, the output shaft is fixedly connected with the flexible wheel, the wave generator is arranged on the inner side of the flexible wheel and is pressed against the inner side of the flexible wheel, the wave generator is connected with the annular input mechanism and is driven by the annular input mechanism, wherein the wave generator is the driving part and the flexible wheel is the driven part.

[0004] The above scheme adopts the flexible wheel to transmit the torque, which can save the assembly space and improve the transmission stability by absorbing the vibration. However, the load that can be borne by such a reduction device is limited, because when the load is large, the flexible wheel is easy to deform in the process of transmitting the torque, resulting in unstable transmission of the torque. In addition, the input wheel and the output wheel of the current reduction device are usually matched in transmission by the meshing mode of the teeth, the contact area of force transmission is small, there is interference between the teeth, which greatly affects the transmission stability, and also leads to high difficulty in modification of the output teeth.

[0005] Therefore, the current reduction structure needs to be further improved. SUMMARY

[0006] The first technical problem to be solved by the present application is to provide a combined reducer which can eliminate interference and improve the stability of force transmission by adopting rolling engagement transmission, in view of the current situation of the prior art.

[0007] The second technical problem to be solved by the present application is to provide a combined reducer which can reduce the difficulty of modification of the teeth, in view of the current situation of the prior art.

[0008] The technical scheme adopted by the present application to solve at least one of the above technical problems is as follows:

[0009] A combined speed reducer comprises:

[0010] A base;

[0011] Further comprising:

[0012] An input flat wave wheel rotatably arranged on the top of the base, the lower surface of the input flat wave wheel is provided with a wave structure arranged in the circumferential direction and with ups and downs, the wave structure comprises at least two downward convex parts;

[0013] An output flat gear rotatably arranged on the bottom of the base, the upper surface of the output flat gear is provided with a plurality of teeth arranged in the circumferential direction;

[0014] A plurality of movable teeth assemblies movably constrained in the base and rolling engaged with the lower surface of the wave structure at the upper end and rolling engaged with the teeth of the output flat gear at the lower end, the number of the movable teeth assemblies is greater than the number of the teeth of the output flat gear; and

[0015] A compression spring arranged in the base to keep the movable teeth assemblies always in contact with the wave structure at the upper end.

[0016] In order to facilitate assembly, an assembly block arranged in the transverse direction is arranged in the base, the central part of the bottom of the input flat wave wheel is rotatably connected to the top of the assembly block through a first bearing assembly, the central part of the top of the output flat gear is rotatably connected to the bottom of the assembly block through a second bearing assembly, a plurality of assembly holes arranged in the circumferential direction and penetrating through the upper and lower parts for the movable teeth assemblies to pass through are formed in the assembly block.

[0017] In the above scheme, the wave structure is formed by extending downward at the outer edge of the input flat wave wheel, the teeth are formed by protruding upward at the edge of the upper surface of the output flat gear, and the lower surface of the wave structure corresponds to the assembly hole and the teeth from top to bottom. With the above structure, the upper end of the movable teeth is engaged with the movable teeth structure and the lower end is engaged with the flat teeth of the gear at the edge of the transmission device, which facilitates the connection of the driving source in the middle part and the stable support through the bearing.

[0018] In the present application, the movable teeth assembly comprises:

[0019] A top seat arranged above the assembly block and rolling engaged with the lower surface of the wave structure at the top;

[0020] A movable teeth connecting column movably arranged through the assembly hole and connected with the top seat at the upper end; the upper end of the movable teeth connecting column is fixedly connected with the bottom of the top seat in the interference static fit mode;

[0021] A tooth seat connected with the lower end of the movable teeth connecting column; the lower end of the movable teeth connecting column is fixedly connected with the top of the tooth seat in the interference static fit mode.

[0022] a roller rotatably arranged at the bottom of the tooth holder and in rolling engagement with the tooth surfaces between two adjacent teeth; and

[0023] a pin for constraining the roller at the bottom of the tooth holder.

[0024] With the above-mentioned structure of the movable tooth assembly, the movable tooth can be in rolling engagement with the tooth while maintaining the rigid structure, thus eliminating the interference problem of the existing tooth-tooth engagement and improving the load capacity to achieve balanced output of torque and power of the speed reducer.

[0025] Preferably, the lower end of the tooth holder is provided with a first connecting arm and a second connecting arm extending downward and arranged at intervals, the first connecting arm is arranged corresponding to the outer side of the tooth, the second connecting arm is arranged corresponding to the inner side of the tooth, and the pin passes through the first connecting arm and the second connecting arm to rotatably constrain the roller between the first connecting arm and the second connecting arm. This structure facilitates the connection of the roller to the lower end of the movable tooth to facilitate rolling engagement with the tooth.

[0026] Preferably, the upper surface of the assembly block is provided with a mounting groove extending downward and used for accommodating the compression spring, and the lower part of the compression spring is accommodated in the mounting groove and the upper end abuts against the top seat. The above-mentioned structure facilitates the installation of the compression spring and keeps the upper end of the movable tooth assembly in contact with the lower surface of the wave structure at all times through the compression spring.

[0027] Further preferably, the movable tooth connecting column is two, the assembly hole corresponding to one movable tooth assembly is two and arranged at intervals along the radial direction of the assembly block, and the mounting groove and the corresponding compression spring are arranged between the two assembly holes. With such a structure, the stability and reliability of the movable tooth assembly are improved, and the compression spring is arranged between the two movable tooth connecting columns to further improve the stability of the contact and cooperation between the movable tooth assembly and the wave structure.

[0028] Preferably, the adjacent two teeth of the output spur gear form a U-shaped tooth groove with a gradually increasing opening from bottom to top along the radial direction, and correspondingly, the roller is in the shape of a cylinder and the outer surface forms an inner concave modification surface with a gradually decreasing outer diameter from both ends to the middle, which can form a planar cooperation with the U-shaped tooth groove. On the basis of the rolling engagement between the lower end of the movable tooth assembly and the tooth, the above-mentioned structure converts the cooperation between the two from the existing spatial engagement to planar engagement, completely eliminates the interference problem of engagement, and is conducive to achieving balanced output of torque and power.

[0029] Preferably, a cylindrical roller cage is arranged between the movable tooth assembly and the wave structure to form a rolling fit therebetween, the bottom of the cylindrical roller cage is arranged on the upper end of each movable tooth assembly and encloses an annular track, and the top of the cylindrical roller cage is in rolling fit with the lower surface of the wave structure. The cylindrical roller cage is arranged to form a stable rolling fit structure between the upper end of the movable tooth assembly and the lower surface of the wave structure.

[0030] In the present application, the cylindrical roller cage comprises:

[0031] A connecting block is arranged between the limiting blocks on the top of the adjacent two movable tooth assemblies, and a plurality of connecting blocks are arranged along the annular track to form a stepped annular track.

[0032] A needle roller is arranged on the connecting block, the bottom of the needle roller is in rolling fit with the upper surface of the connecting block, and the top of the needle roller is in rolling fit with the lower surface of the wave structure.

[0033] A plurality of needle roller cages are arranged along the annular track on the upper surface of the connecting block, and the needle roller cage is provided with a mounting hole for mounting the needle roller, and the mounting hole is through from top to bottom to expose the top and bottom of the needle roller.

[0034] Since the upper ends of the adjacent two movable tooth assemblies have a spacing and are not at the same height, it is difficult to form a stable rolling fit between the movable tooth assembly and the wave structure. After the cylindrical roller cage with the above structure is used, the connecting block forms a stepped annular track, and the top of the needle roller is in stable rolling fit with the lower surface of the wave structure and the bottom of the needle roller is in stable rolling fit with the upper surface of the connecting block after being constrained by the needle roller cage, so that stable rolling fit on the uneven surface is realized.

[0035] Preferably, the cross section of the limiting block in the circumferential direction of the connecting block is in an arc surface structure that is arched upward, and correspondingly, the first side edge of the bottom of the connecting block is recessed upward to form a first arc-shaped gap matched with the arc surface structure of one movable tooth assembly, and the second side edge is recessed upward to form a second arc-shaped gap matched with the arc surface structure of another movable tooth assembly. The above structure facilitates the limiting installation of the connecting block, and allows a certain movable fit between the connecting block and the limiting block to better adapt to the rolling fit between the upper end of the movable tooth assembly and the wave structure.

[0036] Preferably, the top of the connecting block is provided with a first limiting edge corresponding to the inner edge of the needle roller cage and a second limiting edge corresponding to the outer edge of the needle roller cage, and the needle roller cage is constrained between the first limiting edge and the second limiting edge. Such a structure is adopted to improve the constraint reliability of the needle roller.

[0037] Preferably, the unfolded waveform corresponding to the waveform structure includes at least two interconnected V-shaped segments, and the tips of the V-shaped segments are smoothly transitioned by arc segments. With this structure, the angle between the straight segments of the V-shaped segments and the original creation plane is the wave angle, and the arc segment between the two straight segments of the V-shaped segments serves as the transition portion. This structure helps improve the contact stability and reliability between the live tooth assembly and the waveform structure, and further eliminates interference between the lower end of the live tooth assembly and the teeth.

[0038] The reducer of the present invention also includes an upper end cover, which is fastened to the top of the input plane impeller and locked to the top of the base. The upper end cover has an opening in the center for the power mechanism to connect with the input plane impeller. The input plane impeller is rotatably connected to the inner wall of the upper end cover through a third bearing assembly.

[0039] In this invention, the number of waveform structures is N, the number of live gear components is Z1, and the number of teeth on the output plane gear is Z2. Then N = (Z1 - Z2), and the reduction ratio is Z2:(Z1 - Z2).

[0040] Compared with the prior art, the advantages of the present invention are as follows: The present invention utilizes an input planar impeller to drive a movable tooth assembly to oscillate up and down, thereby driving an output planar gear to perform a deceleration motion. The input planar impeller is provided with a waveform structure arranged circumferentially. The lower surface of the waveform structure rolls into contact with the upper end of the movable tooth assembly. When the input planar impeller rotates, the lower surface of the waveform structure pushes the movable tooth assembly to form a continuous oscillation in the circumferential direction. The lower end of the movable tooth assembly rolls into contact with the teeth of the output planar gear, eliminating the interference problem of rigid meshing between existing teeth, improving the stability of force transmission, and achieving a balanced output of torque and power. At the same time, since the interference problem of tooth meshing is eliminated, the difficulty of tooth shaping is also reduced. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0042] Figure 2 for Figure 1 A structural diagram from another angle;

[0043] Figure 3 This is a cross-sectional view of an embodiment of the present invention;

[0044] Figure 4 This is an exploded view of an embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram of the waveform structure in an embodiment of the present invention;

[0046] Figure 6 for Figure 5A schematic view of the expanded wave shape corresponding to the wave shape structure;

[0047] Figure 7 A structure diagram of the cooperation between the tooth groove and the lower end of the movable tooth assembly in the embodiment of the application;

[0048] Figure 8 A structure diagram of the movable tooth assembly in the embodiment of the application;

[0049] Figure 9 A Figure 8 sectional view;

[0050] Figure 10 A cooperation diagram between the upper end of the movable tooth assembly and the wave shape structure in the embodiment of the application;

[0051] Figure 11 A force transmission diagram of the movable tooth assembly in the embodiment of the application. DETAILED DESCRIPTION

[0052] The application will be further described in detail below with reference to the drawings.

[0053] As Figures 1-11 shown, the combined speed reducer of the embodiment comprises a base body 1, an input plane wave wheel 2, an output plane gear 3, a movable tooth assembly 4 and a compression spring 5.

[0054] The input plane wave wheel 2 is rotatably arranged at the top of the base body 1, the central part of the top of the input plane wave wheel 2 is a power output part and is connected with a driving source, the lower surface of the input plane wave wheel 2 is provided with a wave shape structure 21 which is arranged in a circumferential direction and has ups and downs, the wave shape structure 21 comprises three downward protruding parts 211. The output plane gear 3 is rotatably arranged at the bottom of the base body 1, the lower end of the output plane gear 3 is connected with a device body which needs to be reduced in speed, and the upper surface of the output plane gear 3 is provided with a plurality of teeth 31 arranged in a circumferential direction. The movable tooth assembly 4 is movably constrained in the base body 1, the upper end of the movable tooth assembly 4 is in rolling cooperation with the lower surface of the wave shape structure 21, and the lower end of the movable tooth assembly 4 is in rolling engagement with the teeth 31 of the output plane gear 3, the number of the movable tooth assembly 4 is greater than the number of the teeth 31 of the output plane gear 3. The compression spring 5 is arranged in the base body 1, so that the movable tooth assembly 4 always tends to be in contact with the wave shape structure 21.

[0055] The design of the speed reduction ratio of the speed reducer of the embodiment is based on the number of waves on the input plane wave wheel 2, that is, there are several waves designed on the input plane wave wheel 2, and the difference between the number of the movable tooth assembly 4 and the number of the teeth 31 on the output plane gear 3 is how many. In the embodiment, the number of the wave shape structure 21 is N, the number of the movable tooth assembly 4 is Z1, and the number of the teeth 31 on the output plane gear 3 is Z2, so N=(Z1-Z2), and the speed reduction ratio is Z2:(Z1-Z2).

[0056] The expanded waveform line corresponding to the waveform structure 21 of the embodiment comprises three mutually connected V-shaped wave segments, namely one convex portion 211 corresponds to one V-shaped wave segment, and the tip of the V-shaped wave segment is smoothly connected by a circular arc segment 212. With such a structure, the angle between the straight line segment of the V-shaped wave segment and the original creation plane is the fluctuation angle, and the circular arc segment 212 between the two straight line segments of the V-shaped wave segment is the transition portion, which is beneficial to improve the contact stability and reliability between the movable tooth assembly 4 and the waveform structure 21, and further eliminates the interference between the lower end of the movable tooth assembly 4 and the teeth 31.

[0057] In the embodiment, the middle portion of the base 1 is provided with a transversely arranged assembly block 11, the central portion of the bottom of the input flat wave wheel 2 is rotatably connected to the top of the assembly block 11 through a first bearing assembly 100, the central portion of the top of the output flat gear 3 is rotatably connected to the bottom of the assembly block 11 through a second bearing assembly 200, and a plurality of assembly holes 111 for the movable tooth assembly 4 to pass through are formed in the assembly block 11 and are arranged in a circumferential direction and vertically through. The outer edge of the input flat wave wheel 2 extends downward to form a waveform structure 21, and the edge of the upper surface of the output flat gear 3 protrudes upward to form teeth 31, and the lower surface of the waveform structure 21 corresponds to the assembly holes 111 and the teeth 31 from top to bottom.

[0058] As shown in Figure 8 , 9 The movable tooth assembly 4 of the embodiment comprises a top seat 41, a movable tooth connecting column 42, a tooth seat 43, a roller 44, and a column pin 45. The top seat 41 is arranged above the assembly block 11 and is in rolling cooperation with the lower surface of the waveform structure 21. The movable tooth connecting column 42 is arranged through the assembly hole 111 and is movable up and down, and the upper end of the movable tooth connecting column 42 is connected to the top seat 41. The upper end of the movable tooth connecting column 42 is fixedly connected to the bottom of the top seat 41 in an interference static cooperation manner. The tooth seat 43 is connected to the lower end of the movable tooth connecting column 42, and the lower end of the movable tooth connecting column 42 is fixedly connected to the top of the tooth seat 43 in an interference static cooperation manner. The roller 44 is rotatably arranged at the bottom of the tooth seat 43 and is in tooth surface rolling cooperation with the adjacent two teeth 31. The column pin 45 is used to constrain the roller 44 at the bottom of the tooth seat 43. With such a structure, the movable tooth can be in rolling engagement with the teeth 31 while maintaining a rigid structure, thereby eliminating the existing tooth-tooth engagement interference problem, improving the carrying capacity, and achieving balanced output of the torque and power of the speed reducer.

[0059] The lower end of the tooth seat 43 is provided with a first connecting arm 431 and a second connecting arm 432 which extend downward and are arranged at intervals. The first connecting arm 431 is arranged corresponding to the outer side of the tooth 31, and the second connecting arm 432 is arranged corresponding to the inner side of the tooth 31. The column pin 45 passes through the first connecting arm 431 and the second connecting arm 432 to rotatably constrain the roller 44 between the first connecting arm 431 and the second connecting arm 432. Such a structure facilitates the connection of the roller 44 to the lower end of the movable tooth to facilitate rolling cooperation with the teeth.

[0060] In the embodiment, as shown in Figure 3 、 4 , the upper surface of the assembling block 11 is provided with a mounting groove 112 extending downward and used for accommodating the compression spring 5, the lower part of the compression spring 5 is accommodated in the mounting groove 112 and the upper end abuts against the top base 41. The above structure facilitates the installation of the compression spring 5 and makes the upper end of the oscillating tooth assembly 4 always in contact with the lower surface of the wave structure 21 through the compression spring 5. The oscillating tooth connecting column 42 in the embodiment is two, the assembling hole 111 corresponding to one oscillating tooth assembly 4 is two and is arranged along the radial direction of the assembling block 11, and the mounting groove 112 and the corresponding compression spring 5 are arranged between the two assembling holes 111. By using such structure, the stability and reliability of the oscillating tooth assembly 4 are improved, and the compression spring 5 is arranged between the two oscillating tooth connecting columns 42, which can further improve the stability of the contact and cooperation between the oscillating tooth assembly 4 and the wave structure 21.

[0061] As shown in Figure 4 、 7 , 9, the embodiment forms a U-shaped tooth groove 32 gradually increasing from the bottom to the top and penetrating along the radial direction between the adjacent two teeth 31 of the output spur gear 3, and correspondingly, the roller 44 is in the shape of a cylinder and the outer surface is formed with an inner concave modification surface 441 gradually decreasing from both ends to the middle outer diameter, which can form a planar cooperation with the U-shaped tooth groove 32. On the basis of the rolling engagement between the lower end of the oscillating tooth assembly 4 and the tooth 31, the above structure converts the cooperation between the two from the existing space engagement to planar engagement, completely eliminates the engagement interference problem, and is beneficial to the balanced output of torque and power.

[0062] In the embodiment, as shown in Figure 3 、 4 , 10, a cylindrical roller cage 6 capable of forming rolling cooperation between the oscillating tooth assembly 4 and the wave structure 21 is arranged between the oscillating tooth assembly 4 and the wave structure 21, the bottom of the cylindrical roller cage 6 is arranged on the upper end of each oscillating tooth assembly 4 and encloses an annular track, and the top of the cylindrical roller cage 6 is in rolling cooperation with the lower surface of the wave structure 21. The above cylindrical roller cage 6 is arranged to form a stable rolling cooperation structure between the upper end of the oscillating tooth assembly 4 and the lower surface of the wave structure 21.

[0063] Specifically, as shown in Figure 10As shown, the cylindrical roller cage 6 includes connecting blocks 61, needle rollers 62, needle roller cages 63, the top seat 41 of the movable tooth assembly 4 is provided with an upwardly protruding limiting block 411, the connecting blocks 61 are arranged between the limiting blocks 411 on the top of the adjacent two movable tooth assemblies 4, and a plurality of connecting blocks 61 are arranged along an annular track to form a stepped annular track; the needle rollers 62 are arranged on the connecting blocks 61, the bottom of the needle roller 62 is in rolling cooperation with the upper surface of the connecting block 61, and the top of the needle roller 62 is in rolling cooperation with the lower surface of the wave-shaped structure 21; the needle roller cages 63 are a plurality of and arranged in sequence along the annular track on the upper surface of the connecting block 61, and the needle roller cage 63 is provided with a mounting opening 631 for mounting the needle roller 62, and the mounting opening 631 is through from top to bottom to expose the top and bottom of the needle roller 62. Since the upper ends of the adjacent two movable tooth assemblies 4 have a spacing and are not of the same height, it is difficult to form stable rolling cooperation between the movable tooth assembly 4 itself and the wave-shaped structure 21, after the cylindrical roller cage 6 with the above structure is used, the connecting block 61 is used to form a stepped annular track, and the needle roller 62 can form stable rolling cooperation between the top and the lower surface of the wave-shaped structure 21 and between the bottom and the upper surface of the connecting block 61 after being constrained by the needle roller cage 63, so that stable rolling cooperation on the ups and downs surface is realized.

[0064] The limiting block 411 has an upwardly arched arc surface structure 4111 in the circumferential section of the assembly block 11, correspondingly, the first side edge of the bottom of the connecting block 61 is recessed upward to form a first arc-shaped notch 611 matched with the arc surface structure 4111 of one movable tooth assembly 4, and the second side edge is recessed upward to form a second arc-shaped notch 612 matched with the arc surface structure 4111 of another movable tooth assembly 4. The above structure facilitates the limiting installation of the connecting block 61, and on the other hand, allows a certain movable cooperation between the connecting block 61 and the limiting block 411 to better adapt to the rolling cooperation between the upper end of the movable tooth assembly 4 and the wave-shaped structure.

[0065] The top of the connecting block 61 is provided with a first limiting edge 613 arranged corresponding to the inner edge of the needle roller cage 63 and a second limiting edge 614 arranged corresponding to the outer edge of the needle roller cage 63, and the needle roller cage 63 is constrained between the first limiting edge 613 and the second limiting edge 614. Such a structure is adopted to improve the constraint reliability of the needle roller 62.

[0066] As shown in Figs. Figure 1 , 2 , 3, 4, the speed reducer further includes an upper end cover 7, the upper end cover 7 is buckled on the top of the input plane wave wheel 2 and is connected with the top of the base body 1 through bolt locking, the central part of the upper end cover 7 is provided with an opening for connecting the power mechanism with the input plane wave wheel 2, and the input plane wave wheel 2 is rotationally connected with the inner wall of the upper end cover 7 through the third bearing assembly 300.

[0067] The embodiment utilizes the input plane wave wheel 2 to drive the up-and-down fluctuation of the movable tooth assembly 4, so as to push the output plane gear 3 to make a deceleration movement. The input plane wave wheel 2 is provided with a wave structure 21 arranged in the circumferential direction. The lower surface of the wave structure 21 is in rolling fit with the upper end of the movable tooth assembly 4. When the input plane wave wheel 2 rotates, the lower surface of the wave structure 21 pushes the movable tooth assembly 4 to make continuous fluctuation in the circumferential direction. The lower end of the movable tooth assembly 4 is in rolling engagement with the teeth 31 of the output plane gear 3, which eliminates the interference problem of the rigid engagement between the existing teeth and teeth, improves the stability of force transmission, and realizes the balanced output of torque and power. Meanwhile, as can be seen from the force transmission diagram of the movable tooth assembly 4, under the condition that the fluctuation angle is designed reasonably, a smaller force applied by the wave structure 21 on the top of the movable tooth assembly 4 can be converted into a larger vertical component force F1 to drive the movable tooth assembly 4 to fluctuate, and the force applied by the lower end of the movable tooth assembly 4 on the side wall of the tooth groove 32 in the circumferential direction is converted into F2 with very small loss, thereby effectively reducing the loss of force in the deceleration process.

[0068] In addition, since the interference problem of the tooth engagement is eliminated, the modification difficulty of the tooth is also reduced in the embodiment. The movable tooth mechanism of the embodiment is installed on the deceleration device body, and thus can bear the reverse load of the output shaft and has the self-locking function.

[0069] In order to facilitate the output power, the bottom of the output plane gear 3 of the embodiment is connected with the mounting member 8 which rotates synchronously.

[0070] In use, the decelerator of the embodiment can adopt the mounting member 8 as the power output member, or can adopt the base body 1 as the power output member. When the power is output through the mounting member 8, the base body 1 is used as a fixed member, i.e. the base body 1 is connected with the part fixed in the device to which the decelerator is applied, and the mounting member 8 constitutes the power output part of the decelerator. When the power is output through the base body 1, the mounting member 8 is used as a fixed member, i.e. the mounting member 8 is connected with the part fixed in the device to which the decelerator is applied, and the base body 1 constitutes the power output part of the decelerator.

[0071] In the specification and claims of the present application, terms indicating directions, such as "front", "back", "upper", "lower", "left", "right", "side", "top", "bottom", etc. are used to describe various example structural parts and elements of the present application, but these terms are used herein only for the purpose of convenience of description and are determined based on the example orientation shown in the drawings. Since the disclosed embodiments of the present application can be arranged in different directions, these terms indicating directions are only for illustration and should not be considered as limitation, for example, "upper" and "lower" are not necessarily limited to the direction opposite or consistent with the direction of gravity.

Claims

1. A combined speed reducer, comprising: a base body (1); characterized in further comprising: an input flat wave wheel (2) rotatably arranged on the top of the base body (1), the lower surface of the input flat wave wheel (2) is provided with a wave structure (21) arranged circumferentially and undulating in height, the wave structure (21) comprises at least two downward convex portions (211); an output flat gear (3) rotatably arranged on the bottom of the base body (1), the upper surface of the output flat gear (3) is provided with a plurality of teeth (31) arranged circumferentially; a plurality of live tooth assemblies (4) movably constrained in the base body (1) and the upper end of each live tooth assembly (4) is in rolling engagement with the lower surface of the wave structure (21) and the lower end is in rolling engagement with the teeth (31) of the output flat gear (3), the number of the live tooth assemblies (4) is greater than the number of the teeth (31) of the output flat gear (3); and a compression spring (5) arranged in the base body (1) to keep the upper end of each live tooth assembly (4) in contact with the wave structure (21); a cylindrical roller cage (6) is arranged between the live tooth assemblies (4) and the wave structure (21) to form rolling engagement therebetween, the bottom of the cylindrical roller cage (6) is arranged on the upper end of each live tooth assembly (4) and encloses an annular track, and the top of the cylindrical roller cage (6) is in rolling engagement with the lower surface of the wave structure (21), the cylindrical roller cage (6) comprises a connecting block (61), the upper end of each live tooth assembly (4) is provided with a limiting block (411) protruding upward, the connecting block (61) is arranged between the limiting blocks (411) on the top of two adjacent live tooth assemblies (4), and a plurality of connecting blocks (61) are arranged along the annular track to form a stepped annular track; a roller pin (62) arranged above the connecting block (61), the bottom of the roller pin (62) is in rolling engagement with the upper surface of the connecting block (61), and the top of the roller pin (62) is in rolling engagement with the lower surface of the wave structure (21); and a plurality of roller pin cages (63) arranged in sequence along the annular track on the upper surface of the connecting block (61), each roller pin cage (63) is provided with a mounting port (631) for mounting the roller pin (62), and the mounting port (631) is through from top to bottom to expose the top and bottom of the roller pin (62); the unfolded wave line corresponding to the wave structure (21) comprises at least two V-shaped wave segments connected to each other, and the tip of each V-shaped wave segment is smoothly connected by an arc segment (212).

2. The combination speed reducer of claim 1, wherein: the base body (1) is provided with an assembly block (11) arranged transversely, the central part of the bottom of the input flat wave wheel (2) is rotatably connected to the top of the assembly block (11) by a first bearing assembly (100), the central part of the top of the output flat gear (3) is rotatably connected to the bottom of the assembly block (11) by a second bearing assembly (200), and the assembly block (11) is provided with a plurality of assembly holes (111) arranged circumferentially and spaced apart and through from top to bottom for the live tooth assemblies (4).

3. The combination speed reducer of claim 2, wherein: The outer edge of the input flat wave wheel (2) extends downward to form the wave structure (21), the edge of the upper surface of the output flat gear (3) protrudes upward to form the tooth (31), the lower surface of the wave structure (21) corresponds to the assembly hole (111) and the tooth (31) from top to bottom.

4. The combination speed reducer of claim 2, wherein: The live tooth assembly (4) comprises A top seat (41) is arranged on the assembly block (11) and is in rolling contact with the lower surface of the wave structure (21); A live tooth connecting column (42) is arranged through the assembly hole (111) and is connected to the top seat (41) at the upper end; A tooth seat (43) is connected to the lower end of the live tooth connecting column (42); A roller (44) is rotatably arranged at the bottom of the tooth seat (43) and is in tooth surface rolling contact with the adjacent two teeth (31); and A column pin (45) is used to constrain the roller (44) at the bottom of the tooth seat (43).

5. The combination speed reducer of claim 4, wherein: The lower end of the tooth seat (43) is provided with a first connecting arm (431) and a second connecting arm (432) extending downward and arranged at intervals, the first connecting arm (431) is arranged corresponding to the outer side of the tooth (31), the second connecting arm (432) is arranged corresponding to the inner side of the tooth (31), and the column pin (45) passes through the first connecting arm (431) and the second connecting arm (432) to rotatably constrain the roller (44) between the first connecting arm (431) and the second connecting arm (432).

6. The combination speed reducer of claim 4, wherein: The upper surface of the assembly block (11) is provided with a mounting groove (112) extending downward and used for accommodating the compression spring (5), the lower part of the compression spring (5) is accommodated in the mounting groove (112), and the upper end is abutted with the top seat (41).

7. The combination speed reducer of claim 6, wherein: The live tooth connecting column (42) is two, the assembly hole (111) of one live tooth assembly (4) is two and is arranged at intervals along the radial direction of the assembly block (11), and the mounting groove (112) and the corresponding compression spring (5) are arranged between the two assembly holes (111).

8. The combination speed reducer of claim 4, wherein: The adjacent two teeth (31) of the output flat gear (3) form a U-shaped tooth groove (32) which is gradually increased from bottom to top and penetrates along the radial direction, and correspondingly, the roller (44) is in the shape of a cylinder and the outer surface forms an inner concave modification surface (441) which is gradually reduced from both ends to the middle and can form a flat surface with the U-shaped tooth groove (32).

9. The combination reducer of any one of claims 1-7, wherein: The cross section of the limiting block (411) in the circumferential direction of the assembly block (11) is in the shape of an arc surface structure (4111) which is arched upward, and correspondingly, the first side edge of the bottom of the connecting block (61) is recessed upward to form a first arc-shaped notch (611) matched with the arc surface structure (4111) of one live tooth assembly (4), and the second side edge is recessed upward to form a second arc-shaped notch (612) matched with the arc surface structure of another live tooth assembly (4).

10. The combination reducer of claim 9, wherein: The top of the connecting block (61) is provided with a first limiting edge (613) arranged corresponding to the inner edge of the needle cage (63), and a second limiting edge (614) arranged corresponding to the outer edge of the needle cage (63), and the needle cage (63) is constrained between the first limiting edge (613) and the second limiting edge (614).

11. The combination speed reducer of any one of claims 1-7, wherein: Further comprising an upper end cover (7) buckled on the top of the input flat wave wheel (2) and locked and connected with the top of the base body (1), the central part of the upper end cover (7) is provided with an opening for connecting the power mechanism with the input flat wave wheel (2), and the input flat wave wheel (2) is rotationally connected with the inner wall of the upper end cover (7) through a third bearing assembly.

12. The combination speed reducer of any one of claims 1-7, wherein: The number of the wave structures (21) is N, the number of the oscillating tooth assembly (4) is Z1, and the number of the teeth (31) on the output flat gear (3) is Z2, then N=(Z1-Z2), and the reduction ratio is Z2:(Z1-Z2).

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