The invention discloses a closed type movable teeth speed
reducer. A high speed stage is a K-H type planetary
gear train composed of an
involute center wheel, three
involute planetary gears uniformlydistributed in the circumferential direction, three
crank shafts and a
planet carrier; a low-speed stage is a movable teeth transmission mechanism composed of the three
crank shafts, an movable teeth,the
planet carrier, an
hypocycloid machine shell and an eccentric disc
shock wave generator; the
crank shafts are fixedly connected with the planetary gears, the crank shafts and corresponding pin holes on the
shock wave generator form a revolute pair, the
spinning motion of the
shock wave generator is realized by the revolution motion of the planetary gear, so that radial shock
waves are generated; a sliding pair is arranged between the movable teeth and the
planet carrier, the sliding pair transmits the revolution speed of the movable teeth to the planet carrier and the revolution speed isoutput through the planet carrier, so that a closed type large-speed-ratio transmission mechanism is formed. The closed type movable teeth speed
reducer has the advantages of large speed ratio, zero back clearance, low error sensitivity, easy
processing and the like, compared with the speed
reducer for a general
robot, the closed type movable teeth speed reducer is convenient to manufacture and compact in structure, and can meet the requirements of the speed reducer for the general
robot.