Full Roller Compound Wave Movable Tooth Reducer

Abstract

The present invention belongs to the field of movable tooth reducers in precision reducers, and relates to a full roller compound wave movable tooth reducer, including a shock wave generator, the shock wave generator includes a first shaft section, a shock wave section, and a second shaft section connected in sequence, the first shaft section is provided with an input end center wheel rotatably connected thereto through a bearing sleeve, the second shaft section is provided with an output end center wheel rotatably connected thereto through a bearing sleeve, the rolling element movable teeth are arranged without side clearance, the rolling element movable teeth are simultaneously in contact with the tooth profile section of the input end center wheel and the tooth profile section of the output end center wheel respectively, the shock wave generator, the rolling element movable teeth, and the input end center wheel form a first-stage movable tooth reduction transmission, and the shock wave generator, the rolling element movable teeth, and the output end center wheel form a second-stage movable tooth reduction transmission. The present invention adopts a rolling element movable tooth structure arranged without side clearance, replacing the movable tooth structure containing rolling elements in a traditional movable tooth frame, avoiding the sliding friction loss between the rolling element and the movable tooth frame, the cam, and the center wheel during the transmission process, improving the transmission efficiency, and having a compact structure.

Description

Technical Field

[0001] The present invention relates to the field of movable tooth reducers in precision reducers, and in particular to a full roller compound wave movable tooth reducer, which can be applied to industrial robots, humanoid robots, precision machining equipment, etc. Background Art

[0002] Precision reducers are core components of industrial robots and high-end manufacturing equipment. Harmonic reducers and RV reducers are currently the most widely used. Among them, since harmonic reducers achieve multi-tooth meshing through deformation of the flexible wheel, their rigidity is poor and the tooth surface is prone to wear. In addition, the processing technology of the flexible wheel is poor, and fatigue fracture is prone to occur when subjected to periodic variable stress during operation. RV reducers have high requirements for processing precision, a relatively complex structure, and a long assembly dimension chain that is not conducive to ensuring high precision.

[0003] The movable tooth reducer has the advantages of compact structure, wide transmission ratio, high load capacity, etc., and has broad development prospects. However, at present, the movable tooth transmission reducer still has the disadvantages of lower transmission efficiency than the above two reducers, which leads to less application. The reason is that during the transmission process, relative sliding will occur between the movable teeth and the cage and the center wheel, resulting in friction loss, and the machining accuracy of the movable tooth cage is difficult to guarantee. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a full roller compound wave movable tooth reducer, which adopts a rolling element movable tooth structure arranged without side clearance to replace the movable tooth structure containing rolling elements in the traditional movable tooth frame, so as to reduce the friction loss generated during the transmission process and improve the transmission efficiency. It has a compact structure and can avoid the problem of difficult to ensure the machining accuracy of the movable tooth frame in the traditional movable tooth transmission.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a full roller compound wave movable tooth reducer, including a shock wave generator, the shock wave generator includes a first shaft section, a shock wave section, and a second shaft section connected in sequence, the first shaft section is provided with an input end center wheel rotatably connected thereto through a bearing sleeve, the second shaft section is provided with an output end center wheel rotatably connected thereto through a bearing sleeve, and the shock wave section is circumferentially provided with rolling body movable teeth arranged without side clearance; the shock wave generator, the rolling body movable teeth, and the input end center wheel form a first-stage movable tooth reduction transmission, wherein the shock wave generator is the input and the rolling body movable teeth are the output; the shock wave generator, the rolling body movable teeth, and the output end center wheel form a second-stage movable tooth reduction transmission, wherein the shock wave generator and the rolling body movable teeth are the input and the output end center wheel is the output.

[0006] Optionally, the first shaft section is provided with an input end center wheel (1) rotatably connected to the input end angular contact ball bearing sleeve and one end of which extends toward the middle of the shock wave band, and the second shaft section is provided with an output end center wheel (8) rotatably connected to the output end angular contact ball bearing sleeve and one end of which extends toward the middle of the shock wave band; the shock wave band is provided with movable teeth I (5) arranged without side clearance in the circumference, and the movable teeth I (5) are conical rolling teeth, cylindrical rolling teeth, or steel ball rolling teeth, wherein the cylindrical rolling teeth can be installed at an angle, and the movable teeth I (5) are in contact with the tooth profile section of the input end center wheel (1) and the tooth profile section of the output end center wheel (8) respectively at the same time, and the movable teeth I (5) are limited in their axial position by axial limit members located at both ends thereof. The input end center wheel (1) is rotatably connected to the output end center wheel (8) through a cross roller bearing (7), and the cross roller bearing (7) is axially positioned through shoulders on the input end center wheel (1) and shoulders on the output end center wheel (8) respectively located on both sides thereof; the input end angular contact ball bearing is axially positioned through input end end covers and axial limiters respectively located on both sides thereof; the output end angular contact ball bearing is axially positioned through output end covers and axial limiters respectively located on both sides thereof; the input end cover and the output end cover are fixedly connected to the shock wave generator (9).

[0007] Optionally, an elastic hoop is provided on the inner side of the sleeve (11), and the elastic hoop (6) can be elastically deformed along with the movement of the roller (5) and the shock wave generator (9) to limit the radial deviation of the movable teeth of the rolling body.

[0008] Optionally, a surface of the axial limiter facing the movable teeth of the rolling element is processed by fine grinding to reduce surface roughness, thereby reducing friction loss between the axial limiter and the roller.

[0009] Optionally, the axial limit member includes a retaining ring (10) and a flange (2), wherein the retaining ring (10) is adjacent to the movable teeth of the rolling body, and a side of the retaining ring (10) facing the movable teeth of the rolling body is processed by a fine grinding process to reduce surface roughness, thereby reducing friction loss between the retaining ring (10) and the roller.

[0010] Optionally, the number of teeth of the movable teeth I and the number of teeth of the output end center wheel can have a tooth difference or no tooth difference, wherein: when there is a tooth number difference, the number of teeth of the rolling element movable teeth Z G 、Number of teeth on the input center gear Z K1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G -Z K1 =2, Z K2 -Z G =2, the transmission ratio of the reducer is When there is no tooth number difference, the number of movable teeth of the rolling element is Z G 、Number of teeth on the input center gear ZK1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G -Z K1 = ±2, Z K2 =Z G , the reducer transmission ratio is Among them, ω1 is the speed of the shock wave generator and ω2 is the speed of the central wheel at the output end.

[0011] Optionally, the roller radius r of the movable tooth I satisfies the following conditions:

[0012] The coordinates of the center of the i-th roller of movable tooth I are:

[0013] Where a is the radius of the short axis of the shock wave, b is the radius of the long axis of the shock wave, and x i is the horizontal coordinate of the ith roller of movable tooth I, y i is the ordinate of the i-th roller of movable tooth I, θ i is the phase angle of the ith roller of movable tooth I;

[0014] The center distance between two adjacent rollers of movable tooth I satisfies:

[0015] The distance between the last roller and the first roller of the movable tooth I satisfies:

[0016]

[0017] Among them, n is the number of rollers of movable tooth I, and ε is the allowable error value.

[0018] Optionally, the first shaft section is provided with an input end center wheel (1) rotatably connected to the input end center wheel (1) through an input bearing sleeve and one end of which extends toward the middle of the shock wave band, and the second shaft section is provided with an output end center wheel (8) rotatably connected to the output end center wheel (1) through an output bearing sleeve and one end of which extends toward the middle of the shock wave band, and the shock wave band is provided with movable teeth II (15) arranged without side clearance in the circumference, and the movable teeth II (15) include an eccentric shaft structure consisting of cylindrical sections at two ends and an eccentric section in the middle, wherein the eccentric section is a meshing section, and the eccentric section of the movable tooth II (15) is in contact with the tooth profile section of the input end center wheel (1) and the tooth profile section of the output end center wheel (8) at the same time, and the movable tooth II (15) is connected to the movable tooth retaining ring (1) in contact with the cylindrical sections at both ends. 3) The movable tooth retaining ring (14) limits its axial position and radial position, and the movable tooth retaining ring is axially positioned by a deep groove ball bearing (12) and a center wheel; the input end center wheel (1) is rotatably connected to the output end center wheel (8) through a cross roller bearing (7), and the cross roller bearing (7) is axially positioned by a retaining shoulder on the input end center wheel (1) and a retaining shoulder on the output end center wheel (8) respectively located on both sides thereof; the input end bearing is axially positioned by a retaining ring on the bearing end cover (3) and a retaining ring on the movable tooth retaining ring located on both sides; the output end bearing is axially positioned by a retaining ring on the bearing end cover (3) and a retaining ring on the movable tooth retaining ring located on both sides; the bearing end cover (3) and a shock wave generator (9) are fixedly connected by bolts.

[0019] Optionally, the movable teeth II can change the number of teeth meshing with the input section center wheel, the output end center wheel, and the number of teeth Z of the primary movable teeth meshing with the input end center wheel by adjusting the length of the eccentric section. G1 , the number of teeth of the secondary movable teeth meshing with the output center wheel Z G2 、Number of teeth on the input center gear Z K1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G1 -Z K1 = ±2, Z K2 -Z G2 = ±2, the transmission ratio of the reducer is

[0020] Optionally, the radius of the cylindrical segment of movable tooth II is r, and its center is arranged along a circle with a radius of R. The coordinates of the center of the cylindrical segment are Among them, x i is the horizontal coordinate of the ith roller of movable tooth II, y i is the ordinate of the ith roller of movable tooth II, θ i is the phase angle of the ith roller of movable tooth II; then R must satisfy ε is the allowable error value.

[0021] The present invention has the following beneficial effects: during the transmission process, the movable teeth of the rolling body are distributed without side clearance along the trajectory curve. Compared with the existing rolling body movable tooth reducer, this structure without movable tooth rack avoids the efficiency loss caused by the friction between the rollers and the movable tooth rack, reduces the friction loss of the rollers during the transmission process, thereby improving the transmission efficiency, and solves the friction loss problem between the movable teeth and the movable tooth rack of the existing movable tooth reducer. The structure is simple and compact, with few parts, and is easy to process, install and maintain.

[0022] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 It is a schematic diagram of the overall structure of a specific embodiment 1 of the present invention;

[0025] Figure 2 It is an axonometric schematic diagram of a specific embodiment 1 of the present invention;

[0026] Figure 3 It is an exploded view of a specific embodiment 1 of the present invention;

[0027] Figure 4 It is a schematic diagram of the overall structure of specific embodiment 2 of the present invention;

[0028] Figure 5 It is an axonometric view of specific embodiment 2 of the present invention;

[0029] Figure 6 is a schematic diagram of a movable tooth II according to a specific embodiment 2 of the present invention;

[0030] Figure numerals: input end center wheel 1, flange 2, end cover 3, angular contact ball bearing 4, movable tooth I5, elastic hoop 6, cross roller bearing 7, output end center wheel 8, shock wave generator 9, retaining ring 10, sleeve 11, deep groove ball bearing 12, movable tooth retaining ring upper 13, movable tooth retaining ring lower 14, movable tooth II15. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0032] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0033] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0034] Specific embodiment 1,

[0035] See also Figures 1 to 3 , which is a first scheme of a full roller compound wave movable tooth reducer, including an input end center wheel 1, a flange 2, an end cover 3, an angular contact ball bearing 4, a movable tooth I5, an elastic hoop 6, a cross roller bearing 7, an output end center wheel 8, a shock wave generator 9, a retaining ring 10, and a sleeve 11. Among them, the shock wave generator 9 includes a first shaft section, a shock wave section, and a second shaft section connected in sequence. The first shaft section is connected to the housing part of the input end center wheel 1 through an angular contact ball bearing 4, and the second shaft section is connected to the housing part of the output end center wheel 8 through an angular contact ball bearing 4. The first shaft section, the second shaft section, and the end cover 3 are connected by M3 screws respectively. The movable tooth I5 is in contact with the tooth profile section of the input end center wheel 1, the shock wave section of the shock wave generator 9, the tooth profile section of the output end center wheel 8, and the elastic hoop 2 respectively. The angular contact ball bearing 4 is axially restricted by the end cover 3, the flange 2, the retaining ring 10, and the sleeve 11.

[0036] The shock wave generator 9, the movable teeth I5 and the input end center wheel 1 form a first-stage movable tooth reduction transmission, with the shock wave generator 9 as the input, the movable teeth I5 arranged without side clearance on the roller trajectory curve, and the movable teeth I5 as the output; the shock wave generator 9, the movable teeth I5 and the output end center wheel 8 form a second-stage movable tooth reduction transmission, with the shock wave generator 9 and the movable teeth I5 as the input, and the output end center wheel 8 as the output. The shell part of the input center wheel 1 is provided with 8 M4 threaded holes for installation and fixation with external equipment, and the shell part of the output end center wheel 8 is provided with 8 M4 threaded holes for connecting the output with the external output shaft. Two elastic hoops 6 are respectively located between the tooth profile section and the retaining ring 10 of the input end center wheel 1 and between the tooth profile section and the retaining ring 10 of the output end center wheel 8, so as to limit the radial displacement of the movable teeth I5 during operation. The retaining ring 10 limits its axial position through the sleeve 11 and the flange 2 to limit the axial displacement of the movable teeth I5. The retaining ring 2 should be finely ground to reduce the surface roughness and reduce the friction loss with the movable tooth I5.

[0037] The input end center wheel 1 is coaxially matched with the first shaft section of the shock wave generator 9 through the angular contact ball bearing 4, and is coaxially matched with the output end center wheel 8 through the cross roller bearing 7. The output end center wheel 8 is coaxially matched with the second shaft section of the shock wave generator 9 through the angular contact ball bearing 4. The housing part of the input end center wheel 1 and the housing part of the output end center wheel 8 are both provided with shoulders to axially position the cross roller bearing 7.

[0038] In this embodiment, the movable tooth I5 adopts cylindrical gear rolling, but it can also apply conical gear rolling or steel ball gear rolling, and the cylindrical gear rolling can also be set at an angle.

[0039] In this example, there is a 2-tooth difference between the roller movable tooth 5 and the output end center wheel 8. During the transmission process, the shock wave generator 9 transmits the motion to the movable tooth I5 through the shock wave band. The movable tooth I5 moves along the internal tooth trajectory of the fixed input end center wheel 1, and its circumferential motion is input into the secondary movable tooth transmission. In the secondary movable tooth transmission, the shock wave generator 9 and the movable tooth I5 are used as inputs, wherein the movable tooth I5 and the internal teeth of the output end center wheel 8 are rollingly engaged, driving the output end center wheel 8 to move, thereby outputting the deceleration motion. The rotation speed of the input shock wave generator 9 is ω1, and the rotation speed of the output end center wheel 8 is ω2, then the speed ratio of the reducer is Among them, Z G is the number of movable teeth I5, Z K1 is the number of teeth of the input center wheel 1, Z K2 is the number of teeth of the output center wheel 8, and Z G -Z K1 =2, Z K2 -Z G =2.

[0040] Specific embodiment 2,

[0041] Please refer to 4 to 6, which is a second solution of a full roller compound wave movable tooth reducer, including: an input end center wheel 1, an end cover 3, a cross bearing 7, an output end center wheel 8, a shock wave generator 9, a deep groove ball bearing 12, an upper movable tooth retaining ring 13, a lower movable tooth retaining ring 14, and a movable tooth II 15. Among them, the shock wave generator 9 includes a first shaft section, a shock wave section, and a second shaft section. The first shaft section is connected to the housing portion of the input end center wheel 1 through a deep groove ball bearing 12, and the second shaft section is connected to the housing portion of the output end center wheel 8 through a deep groove ball bearing 12. The first shaft section, the second shaft section and the end cover 3 are connected by M2 screws respectively. The eccentric section of the movable tooth II 15 is meshed with the tooth profile section of the input end center wheel 1, the shock wave section of the shock wave generator 9, and the tooth profile section of the output end center wheel 8. The deep groove ball bearing 12 is axially restricted by the end cover 3, movable tooth retaining rings 13 and 14.

[0042] The shock wave generator 9, movable teeth II15 and the input end center wheel 1 form a first-stage swing movable tooth reduction transmission, with the shock wave generator 9 as the input, the movable teeth II15 arranged without side clearance along a circle with a radius of R, and the movable teeth II15 as the output; the shock wave generator 9, movable teeth II15 and the output end center wheel form a second-stage movable tooth reduction transmission, with the shock wave generator 9, movable teeth II15 as the input, and the output end center wheel 8 as the output. The shell part of the input center wheel 1 is provided with 8 M4 threaded holes for installation and fixation with external equipment, and the shell part of the output end center wheel 8 is provided with 8 M4 threaded holes for connecting the output with the external output shaft. The movable tooth retaining rings 13 and 14 limit the axial position through the deep groove ball bearing 12, the input end center wheel 1 or the output end center wheel 8 to limit the axial displacement of the movable teeth II15.

[0043] The input end center wheel 1 is coaxially matched with the first shaft section of the shock wave generator 9 through the deep groove ball bearing 12, and is coaxially matched with the output end center wheel 8 through the cross roller bearing 7. The output end center wheel 8 is coaxially matched with the second shaft section of the shock wave generator 9 through the deep groove ball bearing 12. The housing parts of the input end center wheel 1 and the output end center wheel 8 are both provided with shoulders to axially position the cross roller bearing 7.

[0044] The transmission process and reduction ratio calculation process of the movable tooth reducer of this embodiment are as follows:

[0045] In this embodiment: The waveform of the shock wave band of the first scheme shock wave generator 9 is an ellipse, with a major axis radius of 21.016 mm and a minor axis radius of 20 mm. The tooth profiles of the input end center wheel 1 and the output end center wheel 8 are the outer envelope curves of the shock wave band ellipse. The roller radius of the movable tooth I5 is 4.31 mm, the number is 18, the number of teeth of the input end center wheel 1 is 16, and the number of teeth of the output end center wheel 8 is 20. The spacing between the first roller and the last roller is Meet the error requirements.

[0046] The shock wave generator 9, the movable tooth I5, and the input end center wheel 1 form the first stage of the movable tooth transmission. The input initial angular velocity of the shock wave generator 9 is ω1. Since the input end center wheel 1 is fixed, the angular velocity of the movable tooth I5 is The shock wave generator 9, the movable teeth I5, and the output end center wheel 8 form the second stage movable tooth transmission. Since the output end center wheel is a movable output part, the movable teeth I5 and the shock wave generator 9 are used as inputs together. The output angular velocity of the output end center wheel 8 is ω2. So in this example, the transmission ratio is:

[0047] In this example, the shock wave waveform of the shock wave generator is elliptical, with a major axis radius of 22.17mm and a minor axis radius of 22.97mm. The tooth profile of the input end center wheel 1 and the output end center wheel 8 is obtained by swinging the movable tooth profile equation. The cylindrical section radius of the movable tooth II15 is 4mm, the eccentric section radius is 3mm, the eccentricity is 0.8mm, the number is 20, and the number of teeth of the input end center wheel 1 is 22. By adjusting the length of the eccentric section, Z G1 =20,Z G2 =10, the number of teeth on the output center wheel is 12. The radius of the center of the movable tooth cylindrical segment is R = 25.57 mm. The gap between two adjacent movable tooth cylindrical segments is

[0048] Meet the requirements.

[0049] The shock wave generator 9, the movable tooth II15, and the input end center wheel 1 form the first stage of the movable tooth transmission. The input initial angular velocity of the shock wave generator 9 is ω1. Since the input end center wheel 1 is fixed, the angular velocity of the movable tooth II15 is The shock wave generator 9, the movable tooth II15, and the output end center wheel 8 constitute the second section of movable tooth transmission. Since the output end center wheel is a movable output part, the movable tooth II15 and the shock wave generator 9 are used as inputs together. The output angular velocity of the output end center wheel 8 is ω2. Therefore, in this embodiment, the transmission ratio is:

[0050] Compared with the traditional rolling element movable tooth reducer, the reducer of the present invention omits the movable tooth rack, thereby avoiding the friction loss between the roller and the movable tooth rack, thereby reducing the friction loss of the roller during the transmission process, thereby improving the transmission efficiency. In addition, the present invention replaces the traditional movable tooth structure of the roller and the movable tooth rack with closely arranged rolling element movable teeth, making the structure simpler and more compact, and convenient for processing, installation and maintenance.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. Full roller compound wave movable tooth reducer, characterized in that: The shock wave device comprises a first shaft section, a shock wave section and a second shaft section connected in sequence, the first shaft section is provided with an input end center wheel rotatably connected thereto through a bearing sleeve, the second shaft section is provided with an output end center wheel rotatably connected thereto through a bearing sleeve, and the circumference of the shock wave section is provided with rolling element movable teeth arranged without side clearance; The shock wave generator, the rolling body movable teeth and the input end center wheel form the first stage movable tooth reduction transmission, in which the shock wave generator is the input and the rolling body movable teeth are the output; the shock wave generator, the rolling body movable teeth and the output end center wheel form the second stage movable tooth reduction transmission, in which the shock wave generator, the rolling body movable teeth are the input and the output end center wheel is the output.

2. The full complement compound wave movable tooth reducer according to claim 1, characterized in that: The first shaft section is provided with an input end center wheel (1) rotatably connected to the input end angular contact ball bearing sleeve and one end of which extends toward the middle of the shock wave band; the second shaft section is provided with an output end center wheel (8) rotatably connected to the output end angular contact ball bearing sleeve and one end of which extends toward the middle of the shock wave band; the shock wave band is provided with movable teeth I (5) arranged without side clearance in the circumference, and the movable teeth I (5) are conical rolling teeth, cylindrical rolling teeth or steel ball rolling teeth, wherein the cylindrical rolling teeth can be installed at an angle, and the movable teeth I (5) are respectively in contact with the tooth profile section of the input end center wheel (1) and the tooth profile section of the output end center wheel (8) at the same time, and the movable teeth I (5) are limited in their axial position by axial limit members located at both ends thereof. The axial position of the axial limiter is limited by the sleeve (11) and the angular contact ball bearing respectively located on both sides thereof; the input end center wheel (1) is rotationally connected to the output end center wheel (8) through the cross roller bearing (7), and the cross roller bearing (7) is axially positioned by the shoulders on the input end center wheel (1) and the shoulders on the output end center wheel (8) respectively located on both sides thereof; the input end angular contact ball bearing is axially positioned by the input end cover and the axial limiter respectively located on both sides thereof; the output end angular contact ball bearing is axially positioned by the output end cover and the axial limiter respectively located on both sides thereof; the input end cover and the output end cover are fixedly connected to the shock wave generator (9).

3. The full complement compound wave movable tooth reducer according to claim 1, characterized in that: The first shaft section is provided with an input end center wheel (1) rotatably connected to the input end center wheel (1) through an input bearing sleeve and one end of which extends toward the middle of the shock wave section. The second shaft section is provided with an output end center wheel (8) rotatably connected to the output end center wheel (1) through an output bearing sleeve and one end of which extends toward the middle of the shock wave section. The shock wave section is provided with movable teeth II (15) arranged without side clearance in the circumference. The movable teeth II (15) include an eccentric shaft structure consisting of cylindrical sections at two ends and an eccentric section in the middle, wherein the eccentric section is a meshing section. The eccentric section of the movable tooth II (15) is in contact with the tooth profile section of the input end center wheel (1) and the tooth profile section of the output end center wheel (8) at the same time. The movable tooth II (15) is connected to the movable tooth retaining ring (13) in contact with the cylindrical sections at both ends. , the movable tooth retaining ring (14) limits its axial position and radial position, and the movable tooth retaining ring is axially positioned by a deep groove ball bearing (12) and a center wheel; the input end center wheel (1) is rotatably connected to the output end center wheel (8) through a cross roller bearing (7), and the cross roller bearing (7) is axially positioned by a retaining shoulder on the input end center wheel (1) and a retaining shoulder on the output end center wheel (8) respectively located on both sides thereof; the input end bearing is axially positioned by a retaining ring on the bearing end cover (3) located on both sides and a retaining ring on the movable tooth retaining ring; the output end bearing is axially positioned by a retaining ring on the bearing end cover (3) located on both sides and a retaining ring on the movable tooth retaining ring; the bearing end cover (3) is fixedly connected to the shock wave generator (9) by bolts.

4. The full complement compound wave movable tooth reducer according to claim 2, characterized in that: An elastic hoop is arranged on the inner side of the sleeve (11), and the elastic hoop (6) can be elastically deformed along with the movement of the roller (5) and the shock wave device (9) to limit the radial deviation of the movable teeth of the rolling body.

5. The full complement compound wave movable tooth reducer according to claim 2, characterized in that: The side of the axial limiter facing the movable teeth of the rolling element is processed by fine grinding to reduce the surface roughness, thereby reducing the friction loss between the roller and the roller.

6. The full complement compound wave movable tooth reducer according to claim 5, characterized in that: The axial limiter comprises a retaining ring (10) and a flange (2), wherein the retaining ring (10) is adjacent to the movable teeth of the rolling body, and a surface of the retaining ring (10) facing the movable teeth of the rolling body is processed by fine grinding to reduce surface roughness, thereby reducing friction loss between the retaining ring (10) and the roller.

7. The full complement compound wave movable tooth reducer according to claim 2, characterized in that: The number of teeth of the movable teeth I and the number of teeth of the output end center wheel can have a tooth difference or no tooth difference, where: when there is a tooth number difference, the number of teeth of the rolling element movable teeth Z G 、Number of teeth on the input center gear Z K1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G -Z K1 =2, Z K2 -Z G =2, the transmission ratio of the reducer is When there is no tooth number difference, the number of movable teeth of the rolling element is Z G 、Number of teeth on the input center gear Z K1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G -Z K1 = ±2, Z K2 =Z G , the reducer transmission ratio is Among them, ω1 is the speed of the shock wave generator and ω2 is the speed of the central wheel at the output end.

8. The full complement compound wave movable tooth reducer according to claim 3, characterized in that: The movable teeth II can change the number of teeth meshing with the input section center wheel, the output end center wheel, and the number of teeth Z of the first movable teeth meshing with the input end center wheel by adjusting the length of the eccentric section. G1 , the number of teeth of the secondary movable teeth meshing with the output center wheel Z G2 、Number of teeth on the input center gear Z K1 、Number of teeth on the output center gear Z K2 The following conditions are met: Z G1 -Z K1 = ±2, Z K2 -Z G2 = ±2, the transmission ratio of the reducer is 9. The full complement compound wave movable tooth reducer according to claim 2, characterized in that: The roller radius r of the movable tooth I satisfies the following conditions: The coordinates of the center of the i-th roller of movable tooth I are: Where a is the radius of the short axis of the shock wave, b is the radius of the long axis of the shock wave, and x i is the horizontal coordinate of the ith roller of movable tooth I, y i is the ordinate of the i-th roller of movable tooth I, θ i is the phase angle of the ith roller of movable tooth I; The center distance between two adjacent rollers of movable tooth I satisfies: The distance between the last roller and the first roller of the movable tooth I satisfies: Among them, n is the number of rollers of movable tooth I, and ε is the allowable error value.

10. The compound wave movable tooth reducer according to claim 3, characterized in that: The radius of the cylindrical segment of movable tooth II is r, and its center is arranged along a circle with a radius of R. The coordinates of the center of the cylindrical segment are Among them, x i is the horizontal coordinate of the ith roller of movable tooth II, y i is the ordinate of the ith roller of movable tooth II, θ i is the phase angle of the ith roller of movable tooth II; then R needs to satisfy ε is the allowable error value.

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