Movable tooth transmission device of combined gear ring

Abstract

The invention relates to the technical field of transmission devices, and discloses a movable tooth transmission device of a combined gear ring, and the gear ring in the device comprises a gear ring seat and a plurality of gears which are arranged in the gear ring seat in the circumferential direction of the gear ring seat. According to the gear ring machining method, slow gear ring machining processes such as slow wire feeding do not need to be adopted, a single gear can be machined in a forming and grinding mode, the gear ring machining time is shortened, special high-precision equipment does not need to be adopted for machining, the production and manufacturing cost of the gear ring is reduced, and in the prior art, when the gear ring is integrally machined, due to the influence of machining equipment and other factors, the machining efficiency is greatly improved. When the inner gear ring is machined, only a specific inner tooth curve can be formed, after the inner gear ring is divided into a plurality of gears to be machined, the single gear can be independently machined, the shape of the single gear is kept consistent, the single gear can be designed to be a straight line or an arc or a sine curve or a curve in a special shape, and therefore the production cycle of the gear ring can be shortened, and the production efficiency of the gear ring can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission devices, and more particularly, to a moving tooth transmission device with a combined gear ring. Background Art

[0002] Since any minor tooth profile error on the gear ring may affect the performance of the entire transmission system, the processing requirements for the gear ring are relatively high. Special high-precision equipment and complex processing techniques are often required for processing. Moreover, after the initial processing of the gear ring, multiple adjustments and calibrations are needed, which results in a long processing cycle for the gear ring and greatly reduces the production efficiency of the gear ring.

[0003] Therefore, it is necessary to design a moving tooth transmission device with a combined gear ring to shorten the processing cycle of the gear ring and improve the production efficiency of the gear ring. Summary of the Invention

[0004] In view of this, the present invention provides a moving tooth transmission device with a combined gear ring, aiming to shorten the processing cycle of the gear ring and improve the production efficiency of the gear ring.

[0005] The present invention provides a moving tooth transmission device with a combined gear ring, and the moving tooth transmission device includes:

[0006] An input shaft and an output disk;

[0007] A transmission assembly, which is respectively in transmission connection with the input shaft and the output disk to realize the transmission of power between the input shaft and the output disk; the transmission assembly includes a gear ring, and the gear ring includes a gear ring seat and a plurality of gears arranged on the inner side of the gear ring seat and along the circumferential direction of the gear ring seat.

[0008] Further, the transmission assembly further includes a plurality of groups of transmission units. Each transmission unit includes an excitator sleeved on the input shaft and a moving tooth gear disk. The axis of the excitator is eccentrically arranged with respect to the axis of the input shaft. The moving tooth gear disk includes a first gear disk and a second gear disk that are respectively located on both sides of the excitator and are connected. The first gear disk or the second gear disk is connected to the output disk. A plurality of first installation areas are arranged along the circumferential direction of the first gear disk, and a plurality of second installation areas are arranged along the circumferential direction of the second gear disk. An installation slot is formed by the cooperation of the first installation area and the corresponding second installation area. A moving tooth is arranged in the installation slot. The first installation area and the second installation area have openings on the side away from the input shaft; the moving tooth gear disk is sleeved with the gear ring, and the moving teeth are respectively meshed with the first installation area, the second installation area, and the gears.

[0009] Furthermore, a first bearing is provided between the shock wave generator and the input shaft, a second bearing is provided between the first gear plate and the input shaft, a third bearing is provided between the second gear plate and the input shaft, and the axis of the first bearing is eccentrically arranged with respect to the axis of the input shaft; a first retaining ring is provided between the first bearing and the second bearing, respectively abutting against the first bearing and the second bearing, and a second retaining ring is provided between the first bearing and the third bearing, respectively abutting against the first bearing and the third bearing.

[0010] Furthermore, a retaining ring sleeved on the input shaft is provided on a side of the third bearing away from the second retaining ring, and a third retaining ring and a first fastener are provided in sequence on a side of the second bearing away from the first retaining ring.

[0011] Furthermore, the first installation area has a first through hole opened along the axial direction of the first gear plate, and the second installation area has a second through hole opened along the axial direction of the second gear plate; a side of the first through hole away from the shock wave generator, and a side of the second through hole away from the shock wave generator are both provided with a limiting member, and the limiting member is used to prevent the movable tooth from falling out of the first through hole and the second through hole.

[0012] Furthermore, the limiting member is a limiting plate or a limiting bearing.

[0013] Furthermore, the movable tooth transmission device includes a first end cover and a second end cover, the transmission assembly is located between the first end cover and the second end cover, and one end of the input shaft is passed through the first end cover and the second end cover; the movable tooth transmission device also includes a sealing assembly, and the sealing assembly includes a first sealing member arranged between the first end cover and the limit member, and a second sealing member arranged between the second end cover and the input shaft.

[0014] Furthermore, the first gear plate has a first connection portion extending in a direction close to the second gear plate, the second gear plate has a second connection portion matching with the first connection portion, and the first connection portion is fixedly connected to the second connection portion.

[0015] Furthermore, the outer contour of the shock wave generator matches the movable tooth; and the shock wave generator is circular.

[0016] Furthermore, when the number of the transmission units is N, when N≥2, the movable tooth gear plates of adjacent transmission units are fixedly connected; when N=2, the two transmission units are centrally symmetrically arranged with the midpoint of the shock wave generator in the axial direction as the center of symmetry.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, the gear ring includes a gear ring seat and a plurality of gears disposed within the gear ring seat and arranged circumferentially along the gear ring seat. This means that the machining of the gear ring in the present invention is no longer restricted by the machining accuracy of the internal gear ring, and there is no need to adopt slow machining processes such as wire electrical discharge machining for the gear ring. Each individual gear can be machined by form grinding, which shortens the machining time of the gear ring. Moreover, there is no need to use specialized high-precision equipment for machining, thereby reducing the production and manufacturing costs of the gear ring. At the same time, when machining the gear ring integrally in the prior art, due to factors such as machining equipment, only a specific internal tooth curve can be formed. However, after dividing the internal gear ring into multiple gears for machining, each individual gear can be independently machined as long as the shapes are consistent. Each individual gear can be designed as a straight line, an arc, or a sine curve, or can also be set as a curve with a special shape. This is conducive to the standardized and batch production of individual gears, thereby shortening the production cycle of the gear ring and improving the production efficiency of the gear ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0019] Figure 1 is a schematic structural diagram of a harmonic drive device in the prior art;

[0020] Figure 2 is Figure 1 the A-A cross-sectional view of

[0021] Figure 3 is a schematic structural diagram of the harmonic drive device in the present invention;

[0022] Figure 4 is a schematic diagram of a tooling for grinding a straight line of an individual gear using a standard roller;

[0023] Figure 5 is a schematic diagram of a tooling for grinding an arc or a special curve of an individual gear using a standard roller;

[0024] Figure 6 is a schematic diagram of combining multiple machined gears into a complete gear ring.

[0025] Figure 7 is a schematic structural diagram of fixing an individual gear on the gear ring seat through a fixing device;

[0026] Figure 8 is a schematic structural diagram of a structure provided with an excitator and a harmonic gear disk;

[0027] Figure 9 isFigure 8 Cross-sectional view taken along line B-B;

[0028] Figure 10 Structural schematic diagram with two exciters and two oscillating gear discs;

[0029] Figure 11 is Figure 10 Cross-sectional view taken along line C-C;

[0030] Wherein, 1, input shaft; 2, output disc; 3, gear ring; 4, gear; 5, exciter; 6, first gear disc; 7, second gear disc; 8, oscillating tooth; 9, first bearing; 10, second bearing; 11, third bearing; 12, first retaining ring; 13, second retaining ring; 14, third retaining ring; 15, snap ring; 16, first fastener; 17, limit bearing; 18, first end cover; 19, second end cover; 20, first seal; 21, second seal; 22, first connecting portion; 23, second connecting portion; 24, bearing seat; 25, gear ring seat; 26, second fastener. Detailed implementation manners

[0031] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0032] As a transmission mechanism with excellent performance, oscillating tooth transmission has been widely used in the fields of general reducers and precision robot reducers, and has been proven by comparative tests and practical applications of professional companies at home and abroad. The typical structure of oscillating tooth transmission mainly consists of a fixed gear G, an oscillating gear H equipped with a set of oscillating teeth R, and an exciter J. As shown in Figure 1 , Figure 2 . The number of oscillating teeth is Zh, and the number of teeth of the fixed gear is Zg. When Zh = Zg ± 1, at this time, as long as the inner tooth profile curve C of the fixed gear is an envelope curve that is isochronous conjugate with the oscillating tooth R, a smooth speed reduction (or speed increase) transmission can be achieved. The inner tooth profile curve C is a special curve. To achieve a precision level, its processing is difficult, and it is basically impossible to process with a grinding process. Now, in order to machine the high-precision inner tooth profile curve C, a slow wire cutting process is generally used. This processing technology has low efficiency and high cost, and is not conducive to large-scale popularization and application. Moreover, the detection of the inner tooth profile curve C is difficult, and the detection equipment is complex, which restricts the large-scale popularization and application of oscillating tooth transmission.

[0033] The inner tooth profile curve C is not only difficult to process and inspect, but also inconvenient to design. The shape of the inner tooth profile curve C affects the pressure angle of the tooth profile, the number of meshing teeth and the transmission efficiency. The shape of the inner tooth profile curve C is determined by the speed ratio of the designed reducer, the radius of the shock wave generator, the diameter of the movable tooth and the eccentricity. It is difficult to adjust. In order to obtain a more ideal shape of the inner tooth profile curve C, it is often necessary to repeatedly iterate these parameters, and finally it is possible to obtain a more ideal shape of the inner tooth profile curve C. Invention patent CN108087498A (a movable tooth transmission device with multiple teeth meshing at the same time) analyzes and studies the pressure angle of the inner tooth profile and the number of teeth meshing at the same time, and proposes a design method for the inner tooth profile that is beneficial to the simultaneous meshing of multiple teeth, which is obtained by increasing the eccentricity. However, this method can improve the tooth profile, but it still cannot solve the problem that the inner tooth profile is difficult to process, inspect and design.

[0034] A movable tooth transmission device with a combined gear ring, the basic structure is as follows Figure 3 As shown, it includes a single gear G, a gear ring seat C, wherein Zg single gears are installed in the gear ring seat C to form a complete fixed gear (internal gear ring), a movable gear H equipped with a set of movable teeth R, and a shock wave generator J. The movable teeth have a number of teeth Zh, and the fixed gear has a number of teeth Zg. When Zh=Zg±1, the tooth shape on the single gear G can be a straight line, a circular arc, a sine and cosine curve, or a special curve. Here, a straight tooth profile is used as an example, and the shape of the shock wave generator K is a special curve. Here, the shape of K is an envelope curve of the movable teeth meshing on the gear G and being conjugated with the movable teeth R at the same speed, or it can be a simple circle. Figure 4 A tool showing the straight line of a single gear ground with standard rollers, Figure 5 A tool is shown for grinding arcs or special curves on individual gears using standard rollers. Figure 6 Shows the process of combining the machined individual gears into a complete ring gear.

[0035] To solve the above problems, the present invention discloses a movable tooth transmission device of a combined ring gear, the movable tooth transmission device comprising: an input shaft 1 and an output disc 2; a transmission assembly, the transmission assembly is respectively connected to the input shaft 1 and the output disc 2 to realize the transmission of power between the input shaft 1 and the output disc 2; the transmission assembly comprises a ring gear 3, the ring gear 3 comprises a ring gear seat 25, and a plurality of gears 4 arranged on the inner side of the ring gear seat 25 and along the circumference of the ring gear seat 25.

[0036] In the present invention, the gear ring 3 includes a gear ring seat 25 and a plurality of gears 4 disposed within the gear ring seat 25 and arranged circumferentially along the gear ring seat 25. This means that the machining of the gear ring 3 in the present invention is no longer restricted by the machining accuracy of the internal gear ring, and there is no need to adopt slow machining processes such as wire cut for machining the gear ring 3. Each individual gear 4 can be machined by form grinding, which shortens the machining time of the gear ring 3 and also eliminates the need for specialized high-precision equipment for machining, thereby reducing the production and manufacturing cost of the gear ring 3. At the same time, in the prior art, when machining the gear ring 3 as a whole, due to factors such as machining equipment, only a specific internal tooth curve can be formed. However, after dividing the internal gear ring 3 into multiple gears 4 for machining, each individual gear 4 can be independently machined as long as their shapes are consistent. Each individual gear 4 can be designed as a straight line, an arc, or a sine curve, or can also be set as a curve with a special shape. This is conducive to the standardized and batch production of each individual gear 4, thereby shortening the production cycle of the gear ring 3 and improving the production efficiency of the gear ring 3.

[0037] The connection between the gear 4 and the gear ring seat 25 can be a clamping connection or other connection methods. Control the dimensional tolerance of each individual gear 4 and install them one by one onto the gear ring seat 25. The last gear 4 cannot be installed, but by applying pressure to the last gear 4 using equipment such as a bench vice, a press, or a bow-type clamp, a very loud "click" sound can be heard, and the last gear 4 is squeezed into the gear ring seat 25. At this time, all the gears 4 are very firmly fixed to the gear ring seat 25. When the number of gears 4 is small and the diameter of the gear ring seat 25 is large, no other auxiliary equipment is required for fixing. When the number of gears 4 is large and small, or when the gear ring 3 is used for transmitting large torque, a fixing device is required, as shown in Figure 7 , make one (or two) of the rollers slightly longer and embed both ends into the grooves or holes reserved on the gear ring seat 25 to help transmit torque more reliably. For the gear ring 3 assembled in this way, the accuracy and hardness of the gears 4 are very high, and it can be used as a precision indexing plate or as an internal gear for transmission. It is obvious that the process is simple and the cost is low, making it very suitable for mass production.

[0038] Transmission connection means that power can be transmitted between the input shaft 1 and the transmission component, and can also be transmitted between the transmission component and the output disk 2. Based on this, power can be input from the input shaft 1, transmitted through the transmission component to the output disk 2, and output by the output disk 2; or, alternatively, it can also be input from the output disk 2, transmitted through the transmission component to the output shaft, and output by the input shaft 1. It should be understood that the input shaft 1 is not limited to a shaft, and the output disk 2 is not limited to a disk, as long as the settings of the input shaft 1, the transmission component, and the output disk 2 enable power to be transmitted between the input shaft 1 and the output disk 2.

[0039] Such as Figure 3 - Figure 11As shown in the figure, the transmission assembly further includes a plurality of groups of transmission units. Each transmission unit includes a vibration exciter 5 sleeved on the input shaft 1 and a movable tooth gear disk. The axis of the vibration exciter 5 is eccentrically arranged with respect to the axis of the input shaft 1. The movable tooth gear disk includes a first gear disk 6 and a second gear disk 7 which are respectively located on both sides of the vibration exciter 5 and are connected to each other. The first gear disk 6 or the second gear disk 7 is connected to the output disk 2. A plurality of first installation areas are provided along the circumferential direction of the first gear disk 6 on the first gear disk 6, and a plurality of second installation areas are provided along the circumferential direction of the second gear disk 7 on the second gear disk 7. The first installation area and the corresponding second installation area cooperate to form an installation groove, and a movable tooth 8 is arranged in the installation groove. The sides of the first installation area and the second installation area away from the input shaft 1 have openings; a gear ring 3 is sleeved outside the movable tooth gear disk, and the movable teeth 8 are respectively meshed with the first installation area, the second installation area, and the gear 4.

[0040] The input shaft 1 is in transmission connection with the vibration exciter 5. Specifically, the connection between the input shaft 1 and the vibration exciter 5 can be a key connection, an interference fit, a screw connection or other fixed connections. Or, the input shaft 1 and the vibration exciter 5 can also be integrally formed, or the connection between the input shaft 1 and the vibration exciter 5 can also be other connection methods, but it is necessary to ensure that when the power source drives the input shaft 1 to rotate, the input shaft 1 can drive the vibration exciter 5 to rotate. Conversely, when the power source drives the output disk 2 to rotate, the vibration exciter 5 also needs to be able to drive the input shaft 1 to rotate. The first gear disk 6 or the second gear disk 7 is in transmission connection with the output disk 2. Among them, the connection between the first gear disk 6 or the second gear disk 7 connected to the output disk 2 and the output disk 2 can be a key connection, an interference fit, a screw connection or other fixed connections. Or, the first gear disk 6 or the second gear disk 7 can also be integrally arranged with the output disk 2, or the connection between the first gear disk 6 or the second gear disk 7 and the output disk 2 can also be other connection methods, but it is necessary to ensure that when the power is input from the input shaft 1 and the first gear disk 6 or the second gear disk 7 rotates, it can drive the output disk 2 to rotate. The movable tooth 8 is a gear (this gear is not the internal tooth of the gear ring 3); conversely, when the power is input from the output disk 2, the output disk 2 needs to be able to drive the first gear disk 6 or the second gear disk 7 in transmission connection with the output disk 2 to rotate.

[0041] When an external power source such as a rotating motor and other driving devices drives the input shaft 1 to rotate, the input shaft 1 drives the vibration exciter 5 to rotate. Since the axis of the vibration exciter 5 is eccentrically arranged with respect to the axis of the input shaft 1, this causes the vibration exciter 5 to push the movable tooth 8 in a direction away from the input shaft 1 when it rotates, so that the movable tooth 8 meshes with the gear 4 in the gear ring 3, and then drives the movable tooth gear disk to rotate, making a deceleration movement, and is output by the output disk 2. Or, when an external power source drives the output disk 2 to rotate, the output disk 2 can drive the movable tooth gear disk to rotate, the movable tooth gear disk drives the movable tooth 8 to rotate, the movable tooth 8 drives the movable tooth gear disk to rotate, the movable tooth gear disk drives the vibration exciter 5 to rotate, the vibration exciter 5 drives the input shaft 1 to rotate, and is output by the input shaft 1 to achieve a speed increase rotation.

[0042] The outer contour of the excitator 5 matches the oscillating teeth 8: The tooth profile curve, i.e., the outer contour of the excitator 5, is a curve calculated according to the principle of equal-speed conjugate envelope by the tooth profiles of the oscillating teeth 8 and the gear 4. If the gear 4 is a special curve, the excitator 5 can also be circular. The first installation area and the second installation area can specifically be through holes provided on the first gear disk 6 and the second gear disk 7. The openings on the first installation area and the second installation area are large enough to enable the oscillating teeth 8 to mesh with the gear 4 of the tooth ring 3 when pushed by the excitator 5. The oscillating teeth 8 can move up and down within the first installation area and the second installation area.

[0043] As Figure 9 - Figure 11 shown, a first bearing 9 is provided between the excitator 5 and the input shaft 1, a second bearing 10 is provided between the first gear disk 6 and the input shaft 1, and a third bearing 11 is provided between the second gear disk 7 and the input shaft 1. The axis of the first bearing 9 is eccentrically arranged with respect to the axis of the input shaft 1; a first retaining ring 12 that abuts against the first bearing 9 and the second bearing 10 respectively is provided between the first bearing 9 and the second bearing 10, and a second retaining ring 13 that abuts against the first bearing 9 and the third bearing 11 respectively is provided between the first bearing 9 and the third bearing 11.

[0044] The connection between the input shaft 1 and the first bearing 9 can be an interference fit or a key connection or other connection methods that can enable the first bearing 9 and the input shaft 1 to rotate synchronously; the connection between the first bearing 9 and the excitator 5 can also be an interference fit or a key connection or other connection methods that can enable the first bearing 9 and the excitator 5 to rotate synchronously. The input shaft 1 is supported by the second bearing 10 and the third bearing 11. The first retaining ring 12 and the second retaining ring 13 play a limiting role to prevent axial movement of the first bearing 9, the second bearing 10, and the third bearing 11.

[0045] A snap ring 15 sleeved on the input shaft 1 is provided on the side of the third bearing 11 away from the second retaining ring 13, and a third retaining ring 14 and a first fastener 16 are successively provided on the side of the second bearing 10 away from the first retaining ring 12. The first bearing 9 is locked by the snap ring 15 and the fastener to prevent axial displacement of the first bearing 9, the second bearing 10, and the third bearing 11. The first fastener 16 can specifically be a structure such as a double nut that can play a fastening role.

[0046] The first installation area has a first through hole axially opened along the first gear disk 6, and the second installation area has a second through hole axially opened along the second gear disk 7; on the side of the first through hole away from the excitator 5, and on the side of the second through hole away from the excitator 5, limiting members are provided, and the limiting members are used to prevent the oscillating teeth 8 from disengaging from the first through hole and the second through hole. The limiting members can specifically be a limiting plate or a limiting bearing 17, and the limiting bearing 17 is installed on the bearing seat 24.

[0047] The oscillating tooth transmission device includes a first end cover 18 and a second end cover 19. The transmission assembly is located between the first end cover 18 and the second end cover 19. One end of the input shaft 1 passes through between the first end cover 18 and the second end cover 19. The oscillating tooth transmission device further includes a sealing assembly. The sealing assembly includes a first seal 20 provided between the first end cover 18 and the limiting member, and a second seal 21 provided between the second end cover 19 and the input shaft 1. The first seal 20 and the second seal 21 can specifically be structures such as sealing rings that can play a sealing role. The first end cover 18 can also be referred to as the front end cover, and the second end cover 19 can also be referred to as the rear end cover. The first end cover 18 is fixed to the gear ring seat 25 by a plurality of second fasteners 26 such as screws; the bearing seats 24 near the second gear disk 7 are connected by screws and other second fasteners 26, and the bearing seats 24 near the first gear disk 6 are connected by screws and other second fasteners 26.

[0048] The first gear disk 6 has a first connecting portion 22 extending in the direction approaching the second gear disk 7. The second gear disk 7 has a second connecting portion 23 that cooperates with the first connecting portion 22. The first connecting portion 22 and the second connecting portion 23 are fixedly connected; specifically, the first connecting portion 22 can be a protrusion extending from the first gear disk 6 in the direction approaching the second gear disk 7, and the second connecting portion 23 is the area corresponding to the first connecting portion 22 on the second gear disk 7; specifically, the first connecting portion 22 and the second connecting portion 23 can be connected by screws and the like, which eliminates the structures of positioning stop mouths, sector-shaped bumps, and connecting screw holes required for connecting the first gear disk 6 and the second gear disk 7 in the prior art, increases the number of teeth of the oscillating tooth 8, increases the diameter of the oscillating tooth 8, and enables a relatively large speed ratio of the oscillating tooth 8 transmission.

[0049] When the number of transmission units is N, when N≥2, the oscillating tooth gear disks of adjacent transmission units are fixedly connected to ensure the smooth transmission of power; as Figure 11 shown, when N = 2, the two transmission units are centrosymmetrically arranged with the midpoint of the excitator 5 in the axial direction as the center of symmetry; in other words, the transmission unit near the first end cover 18 can be obtained by rotating the transmission unit far from the first end cover 18 by 180°.

[0050] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0051] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0052] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0053] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent substitutions can still be made to the specific embodiments of the present invention. Any modification or equivalent substitution that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A movable tooth transmission device of a combined gear ring, characterized in that: The movable tooth transmission device comprises: Input shaft and output disc; A transmission assembly, wherein the transmission assembly is respectively connected to the input shaft and the output disc to achieve power transmission between the input shaft and the output disc; the transmission assembly includes a ring gear, and the ring gear includes a ring gear seat, and a plurality of gears arranged on the inner side of the ring gear seat and along the circumference of the ring gear seat.

2. The movable tooth transmission device of the combined gear ring according to claim 1, characterized in that: The transmission assembly also includes several groups of transmission units, which include a shock wave generator and a movable tooth gear plate mounted on the input shaft, the axis of the shock wave generator is eccentrically arranged with respect to the axis of the input shaft, the movable tooth gear plate includes a first gear plate and a second gear plate respectively located on both sides of the shock wave generator and connected, the first gear plate or the second gear plate is connected to the output plate, a plurality of first mounting areas are provided on the first gear plate along the circumference of the first gear plate, and a plurality of second mounting areas are provided on the second gear plate along the circumference of the second gear plate, the first mounting area cooperates with the corresponding second mounting area to form a mounting groove, movable teeth are provided in the mounting groove, and the first mounting area and the second mounting area have an opening on a side away from the input shaft; the movable tooth gear plate outer shell is provided with the gear ring, and the movable teeth are respectively meshed with the first mounting area, the second mounting area and the gear.

3. The movable tooth transmission device of the combined gear ring according to claim 2, characterized in that: A first bearing is provided between the shock wave generator and the input shaft, a second bearing is provided between the first gear plate and the input shaft, a third bearing is provided between the second gear plate and the input shaft, and the axis of the first bearing is eccentrically arranged with respect to the axis of the input shaft; a first retaining ring is provided between the first bearing and the second bearing, which is respectively abutted against the first bearing and the second bearing, and a second retaining ring is provided between the first bearing and the third bearing, which is respectively abutted against the first bearing and the third bearing.

4. The movable tooth transmission device of the combined gear ring according to claim 3, characterized in that: A retaining ring sleeved on the input shaft is provided on a side of the third bearing away from the second retaining ring, and a third retaining ring and a first fastener are provided in sequence on a side of the second bearing away from the first retaining ring.

5. The movable tooth transmission device of the combined gear ring according to claim 2, characterized in that: The first installation area has a first through hole opened along the axial direction of the first gear plate, and the second installation area has a second through hole opened along the axial direction of the second gear plate; a side of the first through hole away from the shock wave generator and a side of the second through hole away from the shock wave generator are both provided with a limiting member, and the limiting member is used to prevent the movable tooth from falling out of the first through hole and the second through hole.

6. The movable tooth transmission device of the combined gear ring according to claim 5, characterized in that: The limiting member is a limiting plate or a limiting bearing.

7. The movable tooth transmission device of the combined gear ring according to claim 5, characterized in that: The movable tooth transmission device includes a first end cover and a second end cover, the transmission assembly is located between the first end cover and the second end cover, and one end of the input shaft is passed through the first end cover and the second end cover; the movable tooth transmission device also includes a sealing assembly, and the sealing assembly includes a first sealing member arranged between the first end cover and the limit member, and a second sealing member arranged between the second end cover and the input shaft.

8. The movable tooth transmission device of the combined gear ring according to claim 2, characterized in that: The first gear plate has a first connection portion extending toward the direction approaching the second gear plate, the second gear plate has a second connection portion matching with the first connection portion, and the first connection portion is fixedly connected to the second connection portion.

9. The movable tooth transmission device of the combined gear ring according to claim 2, characterized in that: The outer contour of the shock wave generator matches the movable tooth; the shock wave generator is circular.

10. The movable tooth transmission device of the combined gear ring according to claim 2, characterized in that: When the number of the transmission units is N, when N≥2, the movable tooth gear plates of adjacent transmission units are fixedly connected; when N=2, the two transmission units are centrally symmetrically arranged with the midpoint of the shock wave generator in the axial direction as the center of symmetry.

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