CN113357319A - Symmetrical shock wave oscillating tooth speed reducer - Google Patents

Symmetrical shock wave oscillating tooth speed reducer Download PDF

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Publication number
CN113357319A
CN113357319A CN202110566720.4A CN202110566720A CN113357319A CN 113357319 A CN113357319 A CN 113357319A CN 202110566720 A CN202110566720 A CN 202110566720A CN 113357319 A CN113357319 A CN 113357319A
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Prior art keywords
teeth
flexible gear
tooth
cylindrical surface
output shaft
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CN202110566720.4A
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CN113357319B (en
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杨荣刚
王乃格
向家伟
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Wenzhou University
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Wenzhou University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C3/00—Shafts; Axles; Cranks; Eccentrics
    • F16C3/02—Shafts; Axles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/035—Gearboxes for gearing with endless flexible members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention discloses a symmetrical shock wave oscillating tooth speed reducer which comprises a shell, wherein an input flange and an output flange are respectively arranged at two ends of the shell, a bearing I is arranged in the input flange, an input shaft is arranged at the inner ring of the bearing I, one end part of the input shaft is exposed out of the input flange, the other end of the input shaft is eccentrically arranged and extends into the shell, a bearing II is sleeved on the periphery of the eccentric section of the input shaft, which is positioned in the shell, a planet wheel is sleeved on the periphery of the bearing II, a flexible wheel and a plurality of rolling bodies I are arranged between the periphery of the planet wheel and the shell, and the rolling bodies I are arranged around the flexible wheel in a gap between the; an output shaft and a plurality of rolling bodies II are arranged on one side, close to the input shaft, of the flexible gear, and the rolling bodies II are arranged around the output shaft in a gap between the output shaft and the flexible gear; the symmetrical shock wave oscillating tooth speed reducer has more tooth pairs engaged, strong bearing capacity and high transmission efficiency.

Description

Symmetrical shock wave oscillating tooth speed reducer
Technical Field
The invention relates to the technical field of mechanical transmission, in particular to a symmetrical shock wave oscillating tooth speed reducer.
Background
The reducer is an important component in the mechanical industry, and the transmission performance of the reducer directly influences the production efficiency, the working performance and the product quality of the machine. The modern high-precision transmission mechanism has limited bearing capacity, the transmission performance of the modern high-precision transmission mechanism is necessarily influenced, and the requirements on the transmission precision and the bearing capacity in industrial production cannot be met simultaneously.
Patent CN201610089149.0 discloses a roller oscillating tooth reduction gear, including input shaft, output shaft, casing, cylindrical roller and front end housing, the input shaft rotates with the front end housing to be connected, still includes slewing bearing, front end housing and slewing bearing's outer lane fixed connection, output shaft and slewing bearing's inner circle fixed connection, adopts the roller oscillating tooth reduction gear of this structure to chase after the solar energy azimuth, because roller oscillating tooth reduction gear is many tooth meshing transmission.
Patent CN201911417948.6 discloses a composite roller oscillating tooth speed reducer, which is composed of a shock wave device input shaft, an oscillating tooth rack output shaft, an input shaft end cover, a center wheel, an output shaft end cover, an impeller end cover, a roller sleeve, an aramid fiber elastomer and the like. When seawater permeates into the interior of the speed reducer from a gap between the rotating shaft and the end cover, the whole speed reducer device can realize the underwater dynamic sealing of the triple shaft ends, and core parts of the speed reducer are protected from the corrosion of the seawater as much as possible; the composite roller replaces the solid roller, so that the deformation of the roller under load is increased, the contact stress is reduced, the overall performance of the speed reducer is improved, and the service life of the speed reducer is prolonged.
The symmetrical shock wave oscillating tooth speed reducer can realize precise transmission, has more tooth number pairs participating in meshing, and has the advantages of compact structure, strong bearing capacity, high transmission efficiency, low wear rate of a meshing surface, low noise and very high market opening prospect.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a symmetrical shock wave oscillating tooth speed reducer, a plurality of teeth are processed on a planet wheel, a plurality of teeth are processed on the inner cylindrical surface and the outer cylindrical surface of a flexible gear, a plurality of inner teeth are processed on a shell, a plurality of outer teeth are processed on an output shaft, and a meshing pair can achieve a multi-tooth meshing state. The symmetrical shock wave oscillating tooth speed reducer has the advantages of simple and compact structure, strong bearing capacity and high efficiency, and can realize precise transmission.
In order to achieve the purpose, the invention provides the following technical scheme: a symmetrical shock wave oscillating tooth speed reducer comprises a shell, wherein an input flange and an output flange are respectively arranged at two ends of the shell, a bearing I is arranged in the input flange, an input shaft is arranged on the inner ring of the bearing I, one end part of the input shaft is exposed out of the input flange, the other end of the input shaft is eccentrically arranged and extends into the shell, a bearing II is sleeved on the periphery of the eccentric section of the input shaft, which is positioned in the shell, a planet wheel is sleeved on the periphery of the bearing II, a flexible wheel and a plurality of rolling bodies I are arranged between the periphery of the planet wheel and the shell, and the rolling bodies I are arranged around the flexible wheel in a gap between the flexible wheel and the shell; an output shaft and a plurality of rolling bodies II are arranged on one side, close to the input shaft, of the flexible gear, and the rolling bodies II are arranged in a gap between the output shaft and the flexible gear and surround the output shaft.
As a preferred technical scheme of the invention, the inner ring of the output flange is provided with a bearing IV, the periphery of one end of the output shaft is attached to the inner ring of the bearing IV, the other end of the output shaft is positioned on the input shaft, and the inner ring is attached to the outer ring of the bearing III positioned on the input shaft.
As a preferable technical scheme of the invention, the inner cylindrical surface of the flexible gear is processed withn 1Processing the outer cylindrical surface of each circular arc groove tooth and flexible gearn 2The teeth are evenly distributed on the surface of the outer cylinder, and the inner cylindrical surface of the shell is provided withn 2+1 arc groove teeth; the outer cylindrical surface of the output shaft is processed withn 11 tooth is evenly distributed on the output shaft, and the tooth form of the tooth on the output shaft is formed by an epicycloidThe equidistance offset line constitutes with the curve, the flexbile gear is fixed in on the planet wheel and the geometric centre line coincides with the geometric centre line of planet wheel.
As a preferable technical scheme of the invention, the inner cylindrical surface of the flexible gear is processed withn 1Has a diameter ofd 1The arc groove teeth are uniformly distributed on the inner cylindrical surface of the flexible gear and have the diameter ofd 1The arc groove teeth are internally provided with teeth with the diameters ofd r The rolling bodies II of (a) are provided,d r <d 1the tooth and diameter of the output shaft ared r The rolling body II is meshed, and the tooth with the curved tooth shape on the output shaft is not in contact with the gear with the diameter ofd r The motion track of the rolling body II in the circular arc groove teeth of the inner cylindrical surface of the flexible wheel is circular arc, and the diameter of the circular arc isd 1-d r The output shaft has an equal offset distance ofd r -d 1/2。
As a preferred technical scheme of the invention, the inner cylindrical surface of the shell is processed withn 2+1 diameters ofd 2The arc groove teeth are internally provided with arc groove teeth with the diameters ofd w The rolling bodies I of (2) are provided with a rolling body I,d w <d 2the tooth form on the flexible gear is epicycloid, and the tooth and the diameter of the equidistant offset line ared w The rolling body I is meshed, and the teeth with the curved tooth profile on the flexible gear are not in contact with the flexible gear with the diameter ofd w The rolling bodies I are meshed, the motion track of the rolling bodies I in the circular arc groove teeth on the inner cylindrical surface of the shell is circular arc, and the diameter of the circular arc isd 2-d w The equidistant offset distance of the flexible gear teeth isd w –d 2/2。
As a preferred technical scheme of the invention, the outer cylindrical surface of the output shaft is processed withn 3A circular arc groove tooth, the inner cylindrical surface of the flexible gear is processed withn 3+1 tooth, the tooth form of which consists of hypocycloid, equidistant offset line and curve.
As one of the present inventionIn the preferable technical scheme, the outer cylindrical surface of the output shaft is processed withn 3Has a diameter ofd 3The arc groove teeth are evenly distributed on the output shaft, and the arc groove teeth are internally provided with teeth with the diameter ofd t The rolling bodies II of (a) are provided,d t <d 3inner cylindrical surface of said flexible gearn 3+1 teeth are uniformly distributed on the flexible gear, and the part and the diameter of the teeth on the inner cylindrical surface of the flexible gear, the teeth of which are hypocycloids and have equidistant offset lines, ared t The rolling body II is meshed, and the teeth with the curved tooth form on the inner cylindrical surface teeth of the flexible wheel are not matched with the teeth with the curved diameterd t The rolling body II is meshed, the motion track of the rolling body II in the circular arc groove tooth of the inner cylindrical surface of the flexible gear is circular arc, and the diameter of the circular arc isd 3-d t The equidistant offset distance of the flexible gear teeth isd t –d 3/2。
Compared with the prior art, the invention has the beneficial effects that:
1. the speed reducer is of a single-input-shaft structure, does not need a constant-speed output mechanism, and is simple, compact and easy to miniaturize; according to the tooth profile generation principle, the rolling body is in real time contact with the tooth profile of the flexible gear in one period, and half of the teeth participate in meshing, so that the aim of strong bearing capacity is fulfilled; the theoretical tooth shape equidistant offset distance of the flexible gear is less thand r -d 1/2(d r The diameter of the rolling element is taken as the diameter,d 1the diameter of the semi-circular hole) to pre-tighten the meshing pair, eliminate the tooth side clearance and realize the purposes of precise transmission and long service life; the diameter of the arc groove tooth is larger than that of the rolling body, so that the diameter of the rolling body can rotate in the arc groove tooth, pure rolling contact between the rolling body and the upper teeth of the flexible gear is realized, and the purposes of high transmission efficiency, low wear rate of a meshing surface and low noise are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a symmetrical shock oscillating tooth speed reducer according to an embodiment of the invention;
FIG. 2 is a sectional view of a reduction gear meshing of a symmetrical shock oscillating tooth speed reducer according to an embodiment of the invention;
reference numerals of fig. 1 and 2: 1. a housing; 2. an input flange; 3. an output flange; 4. a bearing I; 5. an input shaft; 6. a bearing II; 7. a planet wheel; 8. a bearing III; 9. a flexible gear; 10. an output shaft; 11. a rolling body I; 12. a rolling body II; 13. and a bearing IV.
FIG. 3 is a schematic structural diagram of a symmetrical shock wave oscillating tooth speed reducer according to an embodiment of the invention;
FIG. 4 is a sectional view of the reduction gear engagement of the symmetrical shock wave oscillating tooth speed reducer according to the embodiment of the invention.
Reference numerals of fig. 3 and 4: 14. a housing; 15. an input flange; 16. an output flange; 17. a bearing I; 18. an input shaft; 19. a bearing II; 20. a planet wheel; 21. a bearing III; 22. a flexible gear; 23. an output shaft; 24. a rolling body I; 25. a rolling body II; 26. and a bearing IV.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood, the invention is further described below with reference to the specific embodiments and the attached drawings, but the following embodiments are only the preferred embodiments of the invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.
Specific embodiments of the present invention are described below with reference to the accompanying drawings.
Example one
As shown in fig. 1 and 2, the symmetrical shock wave oscillating tooth speed reducer comprises a housing 1, wherein an input flange 2 and an output flange 3 are respectively arranged at two ends of the housing 1, a bearing i 4 is arranged in the input flange 2, an input shaft 5 is arranged at an inner ring of the bearing i 4, one end part of the input shaft 5 is exposed out of the input flange 2, the other end of the input shaft 5 is eccentrically arranged and extends into the housing 1, a bearing ii 6 is sleeved on the periphery of an eccentric section of the input shaft 5, which is positioned in the housing 1, the eccentricity is 0.8mm, a planet wheel 7 is sleeved on the periphery of the bearing ii 6, a flexible wheel 9 and a plurality of rolling bodies i 11 are arranged between the periphery of the planet wheel 7 and the housing 1, and the rolling bodies i 11 are arranged around the flexible wheel 9 in a gap between the flexible wheel 9 and the housing 1; an output shaft 10 and a plurality of rolling bodies II 12 which are positioned on the input shaft 5 are arranged on one side, close to the input shaft 5, of the flexible gear 9, the rolling bodies II 12 are arranged in a gap between the output shaft 10 and the flexible gear 9 and surround the output shaft 10, a bearing IV 13 is arranged on an inner ring of the output flange 3, the periphery of one end of the output shaft 10 is attached to an inner ring of the bearing IV 13, the other end of the output shaft 10 is positioned on the input shaft 5, the inner ring of the output shaft is attached to an outer ring of a bearing III 8 which is positioned on the input shaft 5, the flexible gear 9 and the planet gear 7 are arranged in an integrated or separated mode, the flexible gear 9 and the planet gear 7 are arranged in a separated.
Processing internal teeth on the inner cylindrical surface of the flexible gear 9, wherein the geometric center line of the flexible gear 9 is overlapped with the geometric center line of the planet gear 7, processing 29 arc groove teeth on the inner cylindrical surface of the flexible gear 9, processing 29 teeth on the outer cylindrical surface of the flexible gear 9, forming the tooth form of the outer cylindrical surface tooth of the flexible gear 9 by an epicycloid, an equidistant offset line and a curve, processing 30 arc groove teeth on the inner cylindrical surface of the shell 1, processing 28 teeth on the outer cylindrical surface of the output shaft 10, forming the tooth form of the outer cylindrical surface tooth of the output shaft 10 by the epicycloid equidistant offset line and the curve, and forming the equidistant offset distance of 1.45 mm.
29 circular arc groove teeth with the diameter of 3.1mm are machined on the inner cylindrical surface of the flexible gear 9 and are uniformly distributed on a circle with the diameter of 51.9mm on the inner cylindrical surface of the flexible gear 9, a rolling body II 12 with the diameter of 3mm is installed in the circular arc groove, 28 teeth on the outer cylindrical surface of the output shaft 10 are uniformly distributed on the output shaft 10, teeth with the tooth form of epicycloid and equidistant offset lines on the output shaft 10 are meshed with the rolling body II 12 with the diameter of 3mm, the teeth with the tooth form of a curve on the output shaft 10 are not meshed with the rolling body II 12, the motion track of the rolling body II 12 in the circular arc groove teeth on the inner cylindrical surface of the flexible gear 9 is a circular arc, and the circular arc diameter is 0.1 mm.
29 teeth on the outer cylindrical surface of the flexible gear 9 are uniformly distributed on the surface of the outer cylinder, 30 circular arc groove teeth with the diameter of 3.06mm are processed on the inner cylindrical surface of the shell 1 and are uniformly distributed on a circle with the diameter of 61.94mm on the inner cylindrical surface of the shell 1, a rolling element I11 with the diameter of 3mm is installed in each circular arc groove, the teeth on the flexible gear 9 are epicycloids, teeth on equidistant offset lines are meshed with the rolling element I11 with the diameter of 3mm, the equidistant offset distance is 1.47mm, the teeth on the flexible gear 9, which are curved in tooth form, are not meshed with the rolling element I11, the motion track of the rolling element I11 in the circular arc groove teeth on the inner cylindrical surface of the flexible gear 9 is a circular arc, and the circular arc diameter is 0.06 mm.
The input shaft 5 rotates, and the planet wheel 7 is driven to move in a translation mode through the bearing II 6. The teeth on the outer cylindrical surface of the flexible gear 9 push the rolling bodies I11 to move, the rolling bodies I11 move in the arc groove teeth under the limitation of the arc groove teeth of the shell, the rolling bodies I11 push the planet gears 7 to rotate, and the rolling bodies I11 and the rolling bodies II 12 in the embodiment are rollers.
The flexible gear 9 drives the rolling element II 12 to move through the inner cylindrical surface arc groove, the rolling element II 12 is meshed with the outer cylindrical surface tooth of the output shaft 10, the rolling element II 12 pushes the output shaft 10 to rotate at a low speed, and the rolling element II 12 moves in the arc groove tooth under the limitation of the arc groove tooth of the flexible gear 9.
The gear ratio i = -14.
Example two
As shown in fig. 3 and 4, the symmetrical shock wave oscillating tooth speed reducer comprises a housing 14, an input flange 15 and an output flange 16 are respectively arranged at two ends of the housing 14, a bearing i 17 is arranged in the input flange 16, an input shaft 18 is arranged at an inner ring of the bearing i 17, one end part of the input shaft 18 is exposed out of the input flange 15, the other end of the input shaft is eccentrically arranged and extends into the housing 14, a bearing ii 19 is sleeved on the periphery of an eccentric section of the input shaft 18, the eccentricity is 0.8mm, a planet wheel 20 is sleeved on the periphery of the bearing ii 19, a flexible wheel 22 and a plurality of rolling bodies i 24 are arranged between the periphery of the planet wheel 20 and the housing 14, and the rolling bodies i 24 are arranged around the flexible wheel 22 in a gap between the flexible; an output shaft 23 and a plurality of rolling bodies II 25 are arranged on one side, close to the input shaft 18, of the flexible gear 22, the rolling bodies II 25 are arranged in a gap between the output shaft 23 and the flexible gear 22 and surround the output shaft 23, a bearing IV 26 is arranged on an inner ring of the output flange 16, the periphery of one end of the output shaft 23 is attached to an inner ring of the bearing IV 26, the other end of the output shaft 23 is arranged on the input shaft 18, the inner ring of the output shaft is attached to an outer ring of a bearing III 21 arranged on the input shaft 18, the flexible gear 22 and the planet gear 20 are arranged in an integrated or split mode, the flexible gear 22 and the planet gear 20 are arranged in a split mode, machining difficulty is reduced, and an inner cylindrical surface.
The inner cylindrical surface of the flexible gear 22 is provided with internal teeth, the geometric center line of the flexible gear 22 is superposed with the geometric center line of the planet gear 20, the inner cylindrical surface of the flexible gear 22 is provided with 29 teeth, the tooth form of the inner cylindrical surface teeth of the flexible gear 22 consists of a hypocycloid, an equidistant offset line and a curve, and the equidistant offset distance is 1.47 mm. 29 teeth are processed on the outer cylindrical surface of the flexible gear 22, the tooth shape of the outer cylindrical surface of the flexible gear 22 consists of an epicycloid, an equidistant offset line and a curve, and the equidistant offset distance is 1.47 mm.
30 circular arc groove teeth have been processed to 14 inner cylindrical surfaces of casing, and 14 inner cylindrical surfaces of casing circular arc groove diameter is 3.06mm, and output shaft 23 outer cylindrical surface processing has 28 circular arc groove teeth, and output shaft 23 outer cylindrical surface circular arc groove diameter is 3.06 mm.
28 circular arc groove teeth with the diameter of 3.06mm are machined on the outer cylindrical surface of the output shaft 23 and are uniformly distributed on a circle with the diameter of 52.06mm, a rolling body II 25 with the diameter of 3mm is installed in the circular arc groove, 29 teeth on the inner cylindrical surface of the flexible gear 22 are uniformly distributed, teeth with the tooth form of a hypocycloid and equidistant offset lines on the flexible gear 22 are meshed with the rolling body II 25 with the diameter of 3mm, and teeth with the tooth form of a curve on the flexible gear 22 are not meshed with the rolling body II 25. The motion track of the rolling body II 25 in the arc groove teeth on the outer cylindrical surface of the output shaft 23 is an arc, and the diameter of the arc is 0.06 mm.
29 teeth on the outer cylindrical surface of the flexible gear 22 are uniformly distributed on the outer cylindrical surface, 30 arc groove teeth with the diameter of 3.06mm are uniformly distributed on a circle with the diameter of 61.94mm on the inner cylindrical surface of the shell 14, a rolling element I24 with the diameter of 3mm is installed in each arc groove tooth, the teeth on the flexible gear 22 are hypocycloids, the teeth on the equidistant offset line are meshed with the rolling element I24 with the diameter of 3mm, the equidistant offset distance is 1.47mm, the teeth on the flexible gear 22 with the tooth shape of a curve are not meshed with the rolling element I24, the motion track of the rolling element I24 in the arc groove teeth on the inner cylindrical surface of the flexible gear 22 is an arc, and the diameter of the arc is 0.06 mm.
The input shaft 18 rotates, and the planet wheel 20 is driven to translate through the bearing II 19. The outer cylindrical surface teeth of the flexible gear 22 push the rolling bodies I24 to move, the rolling bodies I24 move in the arc groove teeth under the limitation of the arc groove teeth of the shell 14, and the rolling bodies I24 push the planet gears 20 to rotate.
The flexible gear 22 pushes the rolling element II 25 to move through the inner cylindrical teeth, the rolling element II 25 pushes the output shaft 23 to rotate at a low speed through the arc groove teeth, the rolling element II 25 moves in the arc groove teeth under the limitation of the arc groove teeth of the output shaft 23, and in the embodiment, the rolling element I24 and the rolling element II 25 both adopt rollers.

Claims (7)

1. The utility model provides a symmetrical shock wave oscillating tooth reduction gear, includes the casing, the casing both ends are provided with input flange, output flange respectively, be provided with bearing I in the input flange, and I inner circle of bearing is provided with the input shaft, a tip of input shaft expose outside input flange, inside other end eccentric settings and extend to the casing, the eccentric section periphery cover that the input shaft is located the casing is equipped with bearing II, II periphery covers of bearing are equipped with planet wheel, its characterized in that: a flexible gear and a plurality of rolling bodies I are arranged between the periphery of the planet gear and the shell, and the rolling bodies I are arranged around the flexible gear in a gap between the flexible gear and the shell; an output shaft and a plurality of rolling bodies II are arranged on one side, close to the input shaft, of the flexible gear, and the rolling bodies II are arranged in a gap between the output shaft and the flexible gear and surround the output shaft.
2. The symmetrical shock oscillating tooth reducer according to claim 1, wherein: the output flange inner ring is provided with a bearing IV, the periphery of one end of the output shaft is attached to the bearing IV inner ring, the other end of the output shaft is located on the input shaft, and the inner ring is attached to the bearing III outer ring located on the input shaft.
3. The symmetrical shock oscillating tooth reducer according to claim 1 or 2, wherein: the inner cylindrical surface of the flexible gear is processed withn 1Processing the outer cylindrical surface of each circular arc groove tooth and flexible gearn 2The teeth are evenly distributed on the surface of the outer cylinder, and the inner cylindrical surface of the shell is provided withn 2+1 arc groove teeth; the outer cylindrical surface of the output shaft is processed withn 11 tooth is uniformly distributed on the output shaft, the tooth form of the tooth on the output shaft consists of an epicycloid equidistant offset line and a curve, the flexible gear is fixed on the planet gear, and the geometric center line of the flexible gear is superposed with that of the planet gear.
4. The symmetrical shock oscillating tooth reducer according to claim 3, wherein: the inner cylindrical surface of the flexible gear is processed withn 1Has a diameter ofd 1The arc groove teeth are uniformly distributed on the inner cylindrical surface of the flexible gear and have the diameter ofd 1The arc groove teeth are internally provided with teeth with the diameters ofd r The rolling bodies II of (a) are provided,d r <d 1the tooth and diameter of the output shaft ared r The rolling body II is meshed, and the tooth with the curved tooth shape on the output shaft is not in contact with the gear with the diameter ofd r The motion track of the rolling body II in the circular arc groove teeth of the inner cylindrical surface of the flexible wheel is circular arc, and the diameter of the circular arc isd 1-d r The output shaft has an equal offset distance ofd r -d 1/2。
5. The symmetrical shock oscillating tooth reducer according to claim 3, wherein: the inner cylindrical surface of the shell is provided withn 2+1 diameters ofd 2The arc groove teeth are internally provided with arc groove teeth with the diameters ofd w The rolling bodies I of (2) are provided with a rolling body I,d w <d 2the tooth form on the flexible gear is epicycloid, and the tooth and the diameter of the equidistant offset line ared w The rolling body I is meshed, and the teeth with the curved tooth profile on the flexible gear are not in contact with the flexible gear with the diameter ofd w The rolling bodies I are meshed, the motion track of the rolling bodies I in the arc groove teeth on the cylindrical surface in the shell is an arc,arc diameter ofd 2-d w The equidistant offset distance of the flexible gear teeth isd w –d 2/2。
6. The symmetrical shock oscillating tooth reducer according to claim 1, wherein: the outer cylindrical surface of the output shaft is processed withn 3A circular arc groove tooth, the inner cylindrical surface of the flexible gear is processed withn 3+1 tooth, the tooth form of which consists of hypocycloid, equidistant offset line and curve.
7. The symmetrical shock oscillating tooth reducer according to claim 6, wherein: the outer cylindrical surface of the output shaft is processed withn 3Has a diameter ofd 3The arc groove teeth are evenly distributed on the output shaft, and the arc groove teeth are internally provided with teeth with the diameter ofd t The rolling bodies II of (a) are provided,d t <d 3inner cylindrical surface of said flexible gearn 3+1 teeth are uniformly distributed on the flexible gear, and the part and the diameter of the teeth on the inner cylindrical surface of the flexible gear, the teeth of which are hypocycloids and have equidistant offset lines, ared t The rolling body II is meshed, and the teeth with the curved tooth form on the inner cylindrical surface teeth of the flexible wheel are not matched with the teeth with the curved diameterd t The rolling body II is meshed, the motion track of the rolling body II in the circular arc groove tooth of the inner cylindrical surface of the flexible gear is circular arc, and the diameter of the circular arc isd 3-d t The equidistant offset distance of the flexible gear teeth isd t –d 3/2。
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