Oscillating tooth speed reducer with biaxial thrust bearing eccentric shaft structure

Abstract

The invention discloses a movable tooth speed reducer with a biaxial thrust bearing eccentric shaft structure. The movable tooth speed reducer comprises a planetary speed reduction assembly and a movable tooth speed reduction assembly. The oscillating tooth speed reduction assembly comprises an eccentric shaft assembly, an oscillating tooth frame assembly, an inner gear ring assembly and an oscillating tooth assembly. An output shaft of the motor is connected with a sun gear in the planetary speed reduction assembly in the middle of the oscillating tooth speed reducer, power is transmitted to the eccentric shaft assembly through a planet gear, and the eccentric shaft assembly pushes the oscillating tooth assembly to move along the inner tooth slope of the inner gear ring assembly. The oscillating tooth assembly generates tangential sub-motion speed to push the oscillating tooth frame assembly to do low-speed rotary motion and realize speed reduction; first-stage speed reduction is formed by integrating the planetary speed reduction assembly and the oscillating tooth speed reduction assembly, and second-stage speed reduction is achieved by driving the oscillating tooth assembly through the eccentric shaft assembly. Radial force borne by the two eccentric wheels is completely balanced so as to ensure that the two rows of eccentric wheels can participate in work, load nonuniformity can be eliminated, and the requirement for manufacturing precision of the speed reducer is greatly lowered.

Description

Technical Field

[0001] The invention relates to the technical field of movable tooth reducers, and in particular to a movable tooth reducer with a double axial thrust bearing eccentric shaft structure. Background Art

[0002] Both RV reducers and movable tooth reducers use a double eccentric input mechanism. Each eccentric drives a cycloid wheel or shock wave generator to achieve the balance of the eccentric load and multiply the transmission capacity of the reducer. However, the two ends of the eccentric shaft are generally supported on two bearings at the same time. In this way, the loads on the multiple rows of shock waves or cycloid wheels and the support reaction force together constitute an over-static system. The actual force size of each eccentric circular section is closely related to the rigidity of each part of the system and its processing accuracy.

[0003] For the existing reducer, the forces acting on the double-row shock wave generators or cycloidal gears are the same when the processing errors of the respective dimension chains formed by the double-row shock wave generators or cycloidal gears are the same. When there are different processing errors, the forces acting on the multiple shock wave generators or cycloidal gears are different. Moreover, the higher the system rigidity and the greater the difference in processing errors, the greater the difference in loads borne by the multiple-row shock wave generators or cycloidal gears.

[0004] That is to say, when the processing accuracy of the reducer is not high enough, multiple rows of gears will not work at the same time, and the eccentric wheel that actually works will be subjected to a force greater than the design value. Therefore, the actual working life of the reducer will be much lower than its design life. This is one of the difficulties encountered in the current research and production of robot reducers in my country.

[0005] How to obtain a longer reducer service life with low machining precision has become a challenge in the development and production of reducers.

[0006] The conventional method is to ensure the uniformity of the load borne by two or more rows of shock wavers or cycloid wheels by improving the processing accuracy of each part of the reducer, but this solution will significantly increase the manufacturing difficulty and cost of the reducer. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention discloses a movable tooth reducer with a double axial thrust bearing eccentric shaft structure to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a movable tooth reducer with a double axial thrust bearing eccentric shaft structure, comprising a planetary reduction assembly and a movable tooth reduction assembly; the planetary reduction assembly is located in the middle of the movable tooth reducer; and the planetary reduction assembly includes a planetary centrally located and an externally located structure;

[0009] The movable tooth reduction assembly comprises an eccentric shaft assembly, a movable tooth carrier assembly, an inner gear ring assembly and a movable tooth assembly; the output shaft of the motor is connected to the sun gear in the planetary reduction assembly at the middle position of the movable tooth reducer, and the power is first reduced and transmitted to the eccentric shaft assembly through the planetary gears in the planetary reduction assembly, and the eccentric shaft assembly pushes the movable tooth assembly to move along the inner tooth inclined surface of the inner gear ring assembly, and the movable tooth assembly generates a tangential sub-motion speed to push the movable tooth carrier assembly to perform a low-speed rotary motion and achieve a second reduction;

[0010] The eccentric shaft assembly is composed of a front eccentric wheel, an eccentric shaft intermediate body, and a rear eccentric wheel, which are assembled as a whole through a first positioning pin and a first connecting screw. The front and rear eccentric wheels are located on both sides of the eccentric shaft intermediate body, and the front and rear eccentric wheels and the end surfaces on both sides of the middle part of the movable gear rack assembly form two axial thrust bearings.

[0011] The movable gear rack assembly is composed of a front movable gear rack, a middle movable gear rack, and a rear movable gear rack, which are sequentially arranged and assembled through a second positioning pin and a second connecting screw. The middle movable gear rack is located between the front movable gear rack and the rear movable gear rack. The end faces on both sides of the middle movable gear rack and the front and rear eccentric wheels, as well as the rolling element assembly provided between the corresponding surfaces on both sides, together constitute the axial thrust bearing, which is used to balance the bending moment formed by the radial force borne on the shock waver and the shock waver bearing member provided on the eccentric shaft assembly, and maintain the axial positioning of the shock waver;

[0012] The inner gear ring assembly is assembled by front and rear inner gear rings through a third connecting screw and a third positioning pin. The front inner gear ring and the rear inner gear ring are respectively provided with assembly pin holes with an angular difference of 180 degrees to ensure that the inner gear ring maintains a reasonable position accuracy relationship with the movable gear rack and the eccentric shaft, and realizes dynamic balance;

[0013] The movable tooth assembly includes an inner core shaft, an outer core shaft, a needle roller assembly and a movable tooth rolling sleeve, wherein the inner core shaft and the outer core shaft are in contact with the inner tooth curved surfaces on the shock wave generator and the inner gear ring assembly respectively, and rolling engagement is formed through the needle roller assembly; the planetary reduction assembly and the movable tooth reduction assembly are integrated to form the first stage reduction, and the movable tooth assembly is driven by the eccentric shaft assembly to realize the second stage reduction.

[0014] Preferably, the planetary reduction assembly is a mid-mounted planetary reduction structure, including a first sun gear, a first planetary shaft, a first planetary needle roller bearing and a first planetary gear. The first planetary gear is located on the outside of the first sun gear and meshes with each other. The first planetary gear is sleeved on the first planetary shaft, and the first planetary shaft and the first planetary gear are connected through a first planetary needle roller bearing. The planetary reduction assembly and the internal gear of the center movable gear rack constitute a first-stage planetary transmission.

[0015] Preferably, the planetary reduction assembly is an external planetary reduction structure, including an internal gear, an internal gear connecting pin, a planet carrier, a second sun gear, a second planetary gear, a second planetary shaft and a second planetary needle bearing. The internal gear is elastically connected to the rear movable gear carrier through the internal gear connecting pin, and the planet carrier is fixed to the eccentric shaft intermediate body by provided pins and screws.

[0016] Preferably, a cross roller bearing or a four-point contact ball rolling body is provided between the movable gear rack assembly and the inner gear ring assembly, and a skeleton-type rotary seal is configured.

[0017] Preferably, the assembly pin hole of the inner gear ring assembly is a post-reaming hole, and the torsional load and the radial load are transmitted through a plurality of third positioning pins.

[0018] Preferably, an elastic groove is provided on the rear movable gear rack to allow the internal gear to float radially to adapt to the radial adaptive movement of the eccentric shaft assembly.

[0019] Preferably, the upper movable tooth rolling sleeve of the movable tooth assembly rolls on the plane of the side surface of the square groove of the movable tooth rack assembly; and the side surface of the lower movable tooth rolling sleeve is in sliding contact with the side surface of the square groove of the movable tooth rack assembly, but the normal force at the contact point is very small, so the friction and wear generated is very small and will not seriously affect the working life of the reducer.

[0020] Preferably, a radial support bearing is installed between the eccentric shaft assembly and the movable gear rack assembly, and the inner hole clearance of the radial support bearing is larger than the cumulative difference of the manufacturing errors of the front and rear eccentric wheels.

[0021] Preferably, the total reduction ratio after the transmission ratio of the movable tooth reduction assembly is superimposed with the transmission ratio of the planetary reduction assembly is greater than 100, and the output end of the movable tooth rack assembly achieves high-precision rotation positioning through a cross roller bearing.

[0022] Preferably, the rolling element assembly of the axial thrust bearing adopts a cylindrical roller or a tapered roller structure, and the normal line of the contact surface is parallel to or forms an acute angle with the rotation axis of the eccentric shaft assembly.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. In the present invention, a double axial thrust bearing structure is adopted to replace the double radial bearing or double tapered roller bearing structure of the traditional eccentric shaft. This scheme can completely balance the radial forces on the two eccentric wheels to ensure that both rows of eccentric wheels can participate in the work, eliminate load unevenness, and greatly reduce the manufacturing precision requirements of the reducer.

[0025] 2. The use of dual axial thrust bearings in the present invention can significantly shorten the length of the eccentric shaft structure, which is beneficial to reducing the overall weight of the reducer.

[0026] 3. The present invention can be extended to other transmission devices using two rows of shock wavers or cycloid wheels or other gears to achieve radial force balance, improve load-bearing capacity and reduce processing accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0028] In the attached picture:

[0029] Figure 1 This is an axial cross-sectional view of the planetary-level center-mounted double thrust bearing movable tooth reducer of the present invention;

[0030] Figure 2 This is a right side view of the planetary-level center-mounted double thrust bearing movable tooth reducer shaft of the present invention;

[0031] Figure 3 This is an axial cross-sectional view of the planetary-level external double thrust bearing movable tooth reducer of the present invention;

[0032] Figure 4 This is a right view of the planetary-level external double thrust bearing movable tooth reducer of the present invention;

[0033] Figure 5 is a cross-sectional view of a movable tooth transmission stage of the present invention;

[0034] Numbers in the figure: 1, eccentric shaft assembly; 101, front eccentric wheel; 102, eccentric shaft intermediate body; 103, rear eccentric wheel; 104, first positioning pin; 105, first connecting screw; 2, movable tooth frame assembly; 201, front movable tooth frame; 202, middle movable tooth frame; 203, rear movable tooth frame; 204, second positioning pin; 3, inner gear ring assembly; 301, front inner gear ring; 302, rear inner gear ring; 303, third positioning pin; 304, third connecting screw; 4, movable tooth assembly; 401, inner core shaft; 402, outer core shaft; 403, needle roller assembly; 404, movable tooth roller sleeve; 5A / 5B, planetary reduction assembly; 501A, first sun gear; 502A, first planet shaft; 503A, first planet needle roller bearing; 504A, first planet gear; 501B, internal gear; 502B, internal gear connecting pin; 503B, planet carrier; 504B, pin; 505B, screw; 506B, second sun gear; 507B, second planet gear; 508B, second planet shaft; 509B, second planet needle roller bearing; 6, cross roller bearing; 7, seal; 8, radial support bearing; 9, rolling element assembly; 10, shock wave device bearing; 11, shock wave device. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] Example: Figure 1-Figure 5 As shown, the present invention provides a movable tooth reducer with a double axial thrust bearing eccentric shaft structure, including a planetary reduction assembly 5A / 5B and a movable tooth reduction assembly; the planetary reduction assembly is located in the middle of the movable tooth reducer, and the total reduction ratio after the transmission ratio of the movable tooth reduction assembly is superimposed on the transmission ratio of the planetary reduction assembly is greater than 100, and the output end of the movable tooth carrier assembly 2 is high-precision rotary positioning through a cross roller bearing 6. The planetary reduction assembly includes two structural forms: central and external, specifically including the following:

[0037] 1) The planetary reduction assembly 5A is a planetary reduction mid-mounted structure, including a first sun gear 501A, a first planetary shaft 502A, a first planetary needle bearing 503A and a first planetary gear 504A. The first planetary gear 504A is located on the outside of the first sun gear 501A and meshes with each other. The first planetary gear 504A is sleeved on the first planetary shaft 502A, and the first planetary shaft 502A and the first planetary gear 504A are connected through the first planetary needle bearing 503A. The planetary reduction assembly and the internal gear of the middle movable gear rack 202 constitute a first-stage planetary transmission.

[0038] 2) The planetary reduction assembly 5B is an external planetary reduction structure, including an internal gear 501B, an internal gear connecting pin 502B, a planet carrier 503B, a second sun gear 506B, a second planetary gear 507B, a second planetary shaft 508B and a second planetary needle bearing 509B. The internal gear 501B is elastically connected to the rear movable gear carrier 203 through the internal gear connecting pin 502B, and the planet carrier 503B is fixed to the eccentric shaft intermediate 102 by the provided pin 504B and screw 505B.

[0039] The movable tooth reduction assembly comprises an eccentric shaft assembly 1, a movable tooth carrier assembly 2, an inner gear ring assembly 3 and a movable tooth assembly 4; the output shaft of the motor is connected to the sun gear in the planetary reduction assembly 5A / 5B at the middle position of the movable tooth reducer, and the power is first reduced and transmitted to the eccentric shaft assembly 1 through the planetary gears in the planetary reduction assembly 5A / 5B, and the eccentric shaft assembly 1 pushes the movable tooth assembly 4 to move along the inner tooth inclined surface of the inner gear ring assembly 3, and the movable tooth assembly 4 generates a tangential sub-motion speed to push the movable tooth carrier assembly 2 to perform a low-speed rotational motion and achieve a second reduction;

[0040] The eccentric shaft assembly 1 is composed of a front eccentric wheel 101, an eccentric shaft intermediate body 102, and a rear eccentric wheel 103, which are assembled as a whole through a first positioning pin 104 and a first connecting screw 105. The front and rear eccentric wheels 101, 103 are located on both sides of the eccentric shaft intermediate body 102, and the front and rear eccentric wheels 101, 103 and the two side end faces of the middle of the movable gear rack assembly 2 form two axial thrust bearings; the rolling element assembly 9 of the axial thrust bearing adopts a cylindrical roller or a tapered roller structure, and the normal line of its contact surface is parallel to or forms an acute angle with the rotation axis of the eccentric shaft assembly 1. A radial support bearing 8 is installed between the eccentric shaft assembly 1 and the movable gear rack assembly 2, and its inner hole clearance is greater than the cumulative difference of the manufacturing errors of the front and rear eccentric wheels 101, 103.

[0041] The movable gear rack assembly 2 is composed of a front movable gear rack 201, a middle movable gear rack 202, and a rear movable gear rack 203, which are sequentially arranged and assembled through the second positioning pin 204 and the second connecting screw. The middle movable gear rack 202 is located between the front movable gear rack 201 and the rear movable gear rack 203. The end faces of the middle movable gear rack 202, the front and rear eccentric wheels 101, 103, and the rolling element assembly 9 provided between the corresponding surfaces on both sides together constitute the axial thrust bearing, which is used to balance the bending moment formed by the radial force on the shock wave generator 11 and the shock wave generator bearing member 10 provided on the eccentric shaft assembly 1, and maintain the axial positioning of the shock wave generator 11; a cross roller bearing 6 or a four-point contact ball rolling element is provided between the movable gear rack assembly 2 and the inner gear ring assembly 3, and a skeleton type rotary seal 7 is configured. The rear movable gear rack 203 is provided with an elastic groove to allow the inner gear 501B to float radially to adapt to the radial adaptive movement of the eccentric shaft assembly 1.

[0042] The inner gear ring assembly 3 is assembled by front and rear inner gear rings 301, 302 through a third connecting screw 304 and a third positioning pin 303. The front inner gear ring 301 and the rear inner gear ring 302 are respectively provided with assembly pin holes with an angular difference of 180 degrees to ensure that the inner gear ring and the movable gear rack and the eccentric shaft maintain a reasonable position accuracy relationship and achieve dynamic balance; the assembly pin holes of the inner gear ring assembly 3 are post-reaming holes, which transmit torsional loads and radial loads through multiple third positioning pins 303.

[0043] The movable tooth assembly 4 includes an inner core shaft 401, an outer core shaft 402, a needle roller assembly 403 and a movable tooth roller sleeve 404. The upper movable tooth roller sleeve 404 of the movable tooth assembly 4 rolls on the plane of the square groove side of the movable tooth rack assembly 2; and the side of the lower movable tooth roller sleeve 404 is in sliding contact with the square groove side of the movable tooth rack assembly 2, but the normal force at the contact point is very small, so the friction and wear generated is very small, and will not seriously affect the working life of the reducer; its inner core shaft 401 and the outer core shaft 402 are in contact with the inner tooth curved surface on the shock wave generator 11 and the inner gear ring assembly 3 respectively, and form rolling meshing through the needle roller assembly 403; the planetary reduction assembly 5A / 5B is integrated with the movable tooth reduction assembly to form the first stage reduction, and the eccentric shaft assembly 1 drives the movable tooth assembly 4 to achieve the second stage reduction.

[0044] During specific operation, the output shaft of the motor is connected to the sun gear 501A or 506B of the first planetary stage, and the motion and power are transmitted to the eccentric shaft assembly 1 through the planetary gear. The eccentric shaft assembly 1 pushes the movable tooth assembly 4 along the radial groove of the movable tooth rack assembly 2 through the shock wave generator 11, and pushes the outer core shaft 402 of the movable tooth assembly 4 along the inner tooth inclined surface of the inner gear ring assembly 3. The movable tooth assembly 4 therefore generates a tangential sub-motion speed to push the movable tooth rack assembly 2 to perform a low-speed rotational motion and realize a second deceleration. The transmission ratio of the two-stage reducer can reach more than 100, which is equivalent to the deceleration ratio that can be achieved by the RV reducer.

[0045] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A movable tooth reducer with a double axial thrust bearing eccentric shaft structure, characterized in that: It comprises a planetary reduction assembly (5A / 5B) and a movable tooth reduction assembly; the planetary reduction assembly (5A / 5B) is located in the middle of the movable tooth reducer; and the planetary reduction assembly (5A / 5B) comprises a planetary centrally located structure and an externally located structure; The movable tooth reduction assembly comprises an eccentric shaft assembly (1), a movable tooth carrier assembly (2), an inner gear ring assembly (3) and a movable tooth assembly (4); the output shaft of the motor is connected to the sun gear in the planetary reduction assembly (5A / 5B) at the middle position of the movable tooth reducer, and the power is first reduced and transmitted to the eccentric shaft assembly (1) through the planetary gears in the planetary reduction assembly (5A / 5B); the eccentric shaft assembly (1) pushes the movable tooth assembly (4) to move along the inner tooth inclined surface of the inner gear ring assembly (3), and the movable tooth assembly (4) generates a tangential sub-motion speed to push the movable tooth carrier assembly (2) to perform a low-speed rotational motion and achieve a second reduction; The eccentric shaft assembly (1) is composed of a front eccentric wheel (101), an eccentric shaft intermediate body (102), and a rear eccentric wheel (103) which are assembled as a whole through a first positioning pin (104) and a first connecting screw (105); the front and rear eccentric wheels (101, 103) are located on both sides of the eccentric shaft intermediate body (102), and the front and rear eccentric wheels (101, 103) and the end surfaces on both sides of the middle part of the movable gear rack assembly (2) form two axial thrust bearings; The movable gear rack assembly (2) is composed of a front movable gear rack (201), a middle movable gear rack (202), and a rear movable gear rack (203) which are arranged and assembled in sequence through a second positioning pin (204) and a second connecting screw. The middle movable gear rack (202) is located between the front movable gear rack (201) and the rear movable gear rack (203). The end faces on both sides of the middle movable gear rack (202) and the front and rear eccentric wheels (101, 103), as well as the rolling element assembly (9) provided between the corresponding faces on both sides, together constitute the axial thrust bearing, which is used to balance the bending moment formed by the radial force borne on the shock wave generator (11) and the shock wave generator bearing member (10) provided on the eccentric shaft assembly (1), and maintain the axial positioning of the shock wave generator (11); The inner gear ring assembly (3) is assembled by front and rear inner gear rings (301, 302) through a third connecting screw (304) and a third positioning pin (303), and the front inner gear ring (301) and the rear inner gear ring (302) are respectively provided with assembly pin holes with an angular difference of 180 degrees, so as to ensure that the inner gear ring, the movable gear rack and the eccentric shaft maintain a reasonable position accuracy relationship and achieve dynamic balance; The movable tooth assembly (4) comprises an inner core shaft (401), an outer core shaft (402), a needle roller assembly (403) and a movable tooth roller sleeve (404), wherein the inner core shaft (401) and the outer core shaft (402) are in contact with the inner tooth curved surfaces on the shock wave generator (11) and the inner gear ring assembly (3), respectively, and rolling engagement is formed through the needle roller assembly (403); the planetary reduction assembly (5A / 5B) is integrated with the movable tooth reduction assembly to form a first stage reduction, and the movable tooth assembly (4) is driven by the eccentric shaft assembly (1) to achieve a second stage reduction.

2. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The planetary reduction assembly (5A) is a planetary reduction center structure, comprising a first sun gear (501A), a first planetary shaft (502A), a first planetary needle roller bearing (503A) and a first planetary gear (504A); the first planetary gear (504A) is located outside the first sun gear (501A) and meshes with each other; the first planetary gear (504A) is sleeved on the first planetary shaft (502A); the first planetary shaft (502A) and the first planetary gear (504A) are connected via a first planetary needle roller bearing (503A); the planetary reduction assembly and the internal gear of the middle movable gear rack (202) constitute a first-stage planetary transmission.

3. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The planetary reduction assembly (5B) is an external planetary reduction structure, comprising an internal gear (501B), an internal gear connecting pin (502B), a planet carrier (503B), a second sun gear (506B), a second planetary gear (507B), a second planetary shaft (508B) and a second planetary needle roller bearing (509B); the internal gear (501B) is elastically connected to the rear movable gear carrier (203) via the internal gear connecting pin (502B); the planet carrier (503B) is fixed to the eccentric shaft intermediate body (102) via a provided pin (504B) and a screw (505B).

4. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: A cross roller bearing (6) or a four-point contact ball rolling body is arranged between the movable gear rack component (2) and the inner gear ring component (3), and a skeleton-type rotary seal (7) is configured.

5. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The assembly pin hole of the inner gear ring assembly (3) is a post-reaming hole, and the torsional load and the radial load are transmitted through a plurality of third positioning pins (303).

6. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 3, characterized in that: The rear movable gear rack (203) is provided with an elastic groove, allowing the internal gear (501B) to float radially to adapt to the radial adaptive movement of the eccentric shaft assembly (1).

7. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The upper movable tooth rolling sleeve 404 of the movable tooth assembly (4) rolls on the plane of the side surface of the square groove of the movable tooth rack assembly (2); and the side surface of the lower movable tooth rolling sleeve (404) is in sliding contact with the side surface of the square groove of the movable tooth rack assembly (2).

8. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: A radial support bearing (8) is installed between the eccentric shaft assembly (1) and the movable gear rack assembly (2), and the inner hole clearance of the radial support bearing (8) is greater than the cumulative difference of the manufacturing errors of the front and rear eccentric wheels (101, 103).

9. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The total reduction ratio after the transmission ratio of the movable tooth reduction assembly is superimposed on the transmission ratio of the planetary reduction assembly is greater than 100, and the output end of the movable tooth rack assembly (2) achieves high-precision rotation positioning through a cross roller bearing (6).

10. The movable tooth reducer with a double axial thrust bearing eccentric shaft structure according to claim 1, characterized in that: The rolling element assembly (9) of the axial thrust bearing adopts a cylindrical roller or a tapered roller structure, and the normal line of its contact surface is parallel to or forms an acute angle with the rotation axis of the eccentric shaft assembly (1).

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