阅读说明：本技术 具有两种传动比且能自动消除间隙的活齿减速器 (Movable-tooth speed reducer with two transmission ratios and capable of automatically eliminating clearance ) 是由 金贺荣 刘力建 卫锐 张爽 宜亚丽 于 2019-11-07 设计创作，主要内容包括：本发明提供一种具有两种传动比且能自动消除间隙的活齿减速器。其具备：具有齿形段的输入激波器轴；与输入激波器轴的齿形段接触配合的多个移动收缩式推杆活齿组件和多个固定收缩式推杆活齿组件,与多个移动收缩式推杆活齿组件和多个固定收缩式推杆活齿组件配合安装的活齿架连接件、活齿架、活齿架固定件、第一轴承和第二轴承；与多个移动收缩式推杆活齿组件和多个固定收缩式推杆活齿组件连接的双齿形中心轮输出轴；以及起支撑和密封作用的密封支撑部分,移动收缩式推杆活齿组件和固定收缩式推杆活齿组件能够在传动中消除啮合齿间的间隙,并在体积和重量方面相比传统齿轮传动具有更大的优势。(The invention provides a movable-tooth speed reducer which has two transmission ratios and can automatically eliminate gaps. It is provided with: an input shock shaft having a toothed section; the movable rack connecting piece, the movable rack fixing piece, the first bearing and the second bearing are arranged in a matched manner with the movable retractable push rod movable tooth assemblies and the fixed retractable push rod movable tooth assemblies; the double-tooth-shaped central wheel output shaft is connected with the plurality of movable retractable push rod oscillating tooth assemblies and the plurality of fixed retractable push rod oscillating tooth assemblies; and the sealing support part plays a role of supporting and sealing, and the movable retractable push rod oscillating tooth assembly and the fixed retractable push rod oscillating tooth assembly can eliminate gaps between meshing teeth in transmission and have larger advantages in volume and weight compared with the traditional gear transmission.)

1. A movable-tooth speed reducer with two transmission ratios and capable of automatically eliminating gaps is characterized by comprising an input part, a speed-reducing execution part, an output part and a sealing support part,

the input part is an input shock wave device shaft, the first end of the input shock wave device shaft is a tooth-shaped section, the second end of the input shock wave device shaft is a shaft section, the tooth-shaped section is divided into two sections, the first end of the input shock wave device shaft is a cylindrical end, does not participate in tooth-shaped matching and is completely sleeved in a wheel-shaped structure of an output shaft of the double-tooth-shaped central wheel, the second end of the input shock wave device shaft is a same tooth-shaped contour line, the wave number of the input shock wave device shaft is 2, and the second end of the tooth-shaped section of the input shock wave device shaft is in contact matching with the first rollers of;

the deceleration executing part comprises a plurality of movable contraction type push rod oscillating tooth assemblies, a plurality of fixed contraction type push rod oscillating tooth assemblies, an oscillating tooth frame connecting piece, an oscillating tooth frame fixing piece, a first bearing and a second bearing, wherein the plurality of movable contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame and are connected with the first end surface of the oscillating tooth frame connecting piece through push rods, the plurality of fixed contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame and are fixedly connected with the first end surface of the oscillating tooth frame connecting piece through connecting rods, the movable contraction type push rod oscillating tooth assemblies and the fixed contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame in a staggered manner, the oscillating tooth frame is an annular fixing piece with a plurality of through grooves formed in the cylindrical surface, the first end surface of the oscillating tooth frame is fixedly connected with the oscillating tooth frame connecting piece, and the oscillating tooth frame connecting piece is installed in a matched manner with the oscillating tooth frame, said first bearing being mounted between said oscillating tooth connection and said input shock shaft, said second bearing being mounted between said oscillating tooth carrier and the toothed wheel of said dual-toothed sun gear output shaft;

the output part is a double-tooth-shaped central wheel output shaft, the first end of the double-tooth-shaped central wheel output shaft is of a shaft structure, the second end of the double-tooth-shaped central wheel output shaft is of a wheel-shaped structure with two tooth forms on the inner surface, the movable rack fixing part is sleeved in the second end of the double-tooth-shaped central wheel output shaft, and the tooth form surface of the double-tooth-shaped central wheel output shaft is in contact fit with the second roller of the movable retractable push rod movable tooth assembly and the fourth roller of the fixed retractable push rod movable tooth assembly; and

a seal support portion including an input end cap, a third bearing, an input seal device, an output end cap, a fourth bearing and an output seal device, wherein a first end face of the input end cap is connected to the third bearing end cap, and a second end face thereof is fixedly connected to the first end face of the oscillating rack fixing member, a first end of the third bearing end cap is in contact with the third bearing, the third bearing is installed between a second section of the input shock wave shaft and the input end cap, the input seal device is installed between the second section of the input shock wave shaft and the third bearing end cap, the first end face of the output end cap is connected to the fourth bearing end cap, and a second end face thereof is fixedly connected to the second end face of the oscillating rack fixing member, and a first end of the fourth bearing end cap is in contact with the fourth bearing, the fourth bearing is installed between the second section of the output shaft of the double-tooth-shaped center wheel and the output end cover, and the output sealing device is installed between the second section of the output shaft of the double-tooth-shaped center wheel and the fourth bearing end cover.

2. The oscillating tooth reducer with two transmission ratios and capable of automatically eliminating backlash as claimed in claim 1, wherein said movable retractable push rod oscillating tooth assembly comprises a tooth body, a first roller, a second roller, a first short pin, a second short pin, a first straight shaft fixing member, a second straight shaft fixing member, a first spring, a second spring, a first electromagnet, a second electromagnet, a push rod, a fifth spring and a fifth electromagnet, said first roller and said second roller are respectively mounted in a first groove and a second groove of the tooth body through said first short pin and said second short pin, said first short pin and said second short pin are respectively mounted in a first straight hole and a second straight hole of said tooth body, and first ends of said first short pin and said second short pin are respectively connected with said first straight shaft fixing member and said second straight shaft fixing member, said first straight shaft is mounted in a third straight hole of said tooth body, the first end of the first straight shaft fixing piece is matched and installed with the first straight shaft fixing piece, the second end of the first straight shaft fixing piece is matched and installed with the second straight shaft fixing piece, the first straight shaft fixing piece is matched and installed at the first end of a third straight hole of the tooth body, the second straight shaft fixing piece is matched and installed at the second end of the third straight hole of the tooth body, an annular bulge is processed in the middle of the first straight shaft, the first electromagnet and the second electromagnet are respectively installed in a first installation groove and a second installation groove of the first straight shaft, the first spring and the second spring are sleeved on the first straight shaft, the first ends of the first spring and the second spring are respectively connected with the first end and the second end of the annular bulge of the first straight shaft, the second ends of the first spring and the second spring are respectively connected with the first straight shaft fixing piece and the second straight shaft fixing piece, the first end head of the push rod is installed in a third groove of the tooth body, the second end of the push rod is connected with the movable rack connecting piece, the fifth spring is sleeved on the push rod, the first end of the fifth spring is connected with the tooth body, the second end of the fifth spring is connected with the movable rack connecting piece, and the fifth electromagnet is sleeved on the push rod and is arranged on the movable rack connecting piece.

3. The oscillating tooth reducer with two transmission ratios and capable of automatically eliminating backlash as claimed in claim 1, wherein said fixed retractable push rod oscillating tooth assembly comprises a tooth body, a third roller, a fourth roller, a third short pin, a fourth short pin, a second straight shaft, a third straight shaft fixing member, a fourth straight shaft fixing member, a third spring, a fourth spring, a third electromagnet, a fourth electromagnet and a connecting rod, said third roller and said fourth roller are respectively installed in the first groove and the second groove of the tooth body through said third short pin and said fourth short pin, said third short pin and said fourth short pin are respectively installed in the first straight hole and the second straight hole of said tooth body, and the first ends of said third short pin and said fourth short pin are respectively connected with said third straight shaft fixing member and said fourth straight shaft, said second straight shaft is installed in the third straight hole of said tooth body, and the first end thereof is installed in cooperation with the third straight shaft fixing member, the second end of the third straight shaft fixing piece is matched and installed with the fourth straight shaft fixing piece, the third straight shaft fixing piece is matched and installed at the first end of the third straight hole of the gear body, the fourth straight shaft fixing piece is matched and arranged at the second end of the third straight hole of the gear body, a circular ring-shaped bulge is processed in the middle of the second straight shaft, the third electromagnet and the fourth electromagnet are respectively arranged in the third mounting groove and the fourth mounting groove, the third spring and the fourth spring are sleeved on the second straight shaft, and the first ends of the third spring and the fourth spring are respectively connected with the first end and the second end of the circular ring-shaped bulge of the second straight shaft, the second ends of the third spring and the fourth spring are respectively connected with the third straight-shaft fixing part and the fourth straight-shaft fixing part, the first end head of the connecting rod is arranged in the third groove of the tooth body, and the second end of the connecting rod is fixedly connected with the movable rack connecting piece.

4. The oscillating tooth reducer with two transmission ratios and capable of automatically eliminating the clearance according to claim 1, wherein the two tooth forms on the inner surface of the wheel-shaped structure of the double-tooth-form central wheel output shaft have different numbers of teeth.

5. The oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating the gap according to claim 1, wherein the tooth body has a rectangular parallelepiped structure, the first end face is formed with a first straight hole and a second straight hole, a third groove is formed between the two straight holes, the first groove and the second groove are respectively formed on the opposite sides of the second end face and the second end face adjacent to the first end face, and a third straight hole is formed on the end of the second end face away from the first end face.

6. The oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating the clearance according to claim 1, wherein the oscillating tooth rack connecting piece is a disc-shaped structure with a groove formed on a cylindrical surface, the oscillating tooth rack fixing piece is a cylindrical structure with a convex structure formed on a first end, and the oscillating tooth rack fixing piece is installed in a matching manner through the convex structure on the first end and the groove of the oscillating tooth rack connecting piece.

7. The oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating the clearance according to claim 1, wherein a first mounting groove and a second mounting groove are respectively machined at a first end and a second end of the annular bulge of the first straight shaft.

8. The oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating the clearance according to claim 1, wherein a third mounting groove and a fourth mounting groove are respectively machined at a first end and a second end of the annular bulge of the second straight shaft.

Technical Field

The invention relates to a transmission conversion device, in particular to a movable-tooth speed reducer which has two transmission ratios and can automatically eliminate gaps.

Background

The oscillating tooth transmission has the characteristics of small volume, strong bearing capacity, stable transmission and long service life, so that the oscillating tooth transmission is widely applied to various industries, and common oscillating tooth reducers mainly comprise oscillating bar oscillating tooth reducers, push rod oscillating tooth reducers and the like. In actual mechanical products, the same mechanical product may need different rotating speeds under different working environments, and in order to meet the requirement, speed reducers with different transmission ratios are needed.

Patent CN 202203346U has multiple ring gears and planet gears, different meshing conditions and different transmission ratios, thereby realizing a multi-stage large-transmission-ratio planetary gear mechanism, patent CN 101595328 a selects three planetary gear sets, and designs a transmission device capable of switching transmission ratios without interrupting power transmission. The two patents are that a plurality of planetary gear mechanisms are connected in parallel, so that the economic cost is increased, the size of the speed reducer is increased, the requirements of economy and product miniaturization are not met, and therefore the speed reducer with multiple transmission ratios and a simple structure is designed to have certain economic value.

Disclosure of Invention

In view of the above technical problems, an object of the present invention is to provide an oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating backlash, so as to meet mechanical products with different operating speeds.

The invention relates to an oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating gaps, which is provided with an input part, a speed reduction execution part, an output part and a sealing support part,

the input part is an input shock wave device shaft, the first end of the input shock wave device shaft is a tooth-shaped section, the second end of the input shock wave device shaft is a shaft section, the tooth-shaped section is divided into two sections, the first end of the input shock wave device shaft is a cylindrical end, does not participate in tooth-shaped matching and is completely sleeved in a wheel-shaped structure of an output shaft of the double-tooth-shaped central wheel, the second end of the input shock wave device shaft is a same tooth-shaped contour line, the wave number of the input shock wave device shaft is 2, and the second end of the tooth-shaped section of the input shock wave device shaft is in contact matching with the first rollers of;

the deceleration executing part comprises a plurality of movable contraction type push rod oscillating tooth assemblies, a plurality of fixed contraction type push rod oscillating tooth assemblies, an oscillating tooth frame connecting piece, an oscillating tooth frame fixing piece, a first bearing and a second bearing, wherein the plurality of movable contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame and are connected with the first end surface of the oscillating tooth frame connecting piece through push rods, the plurality of fixed contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame and are fixedly connected with the first end surface of the oscillating tooth frame connecting piece through connecting rods, the movable contraction type push rod oscillating tooth assemblies and the fixed contraction type push rod oscillating tooth assemblies are arranged in the through groove of the oscillating tooth frame in a staggered manner, the oscillating tooth frame is an annular fixing piece with a plurality of through grooves formed in the cylindrical surface, the first end surface of the oscillating tooth frame is fixedly connected with the oscillating tooth frame connecting piece, and the oscillating tooth frame connecting piece is installed in a matched manner with the oscillating tooth frame, said first bearing being mounted between said oscillating tooth connection and said input shock shaft, said second bearing being mounted between said oscillating tooth carrier and the toothed wheel of said dual-toothed sun gear output shaft;

the output part is a double-tooth-shaped central wheel output shaft, the first end of the double-tooth-shaped central wheel output shaft is of a shaft structure, the second end of the double-tooth-shaped central wheel output shaft is of a wheel-shaped structure with two tooth forms on the inner surface, the movable rack fixing part is sleeved in the second end of the double-tooth-shaped central wheel output shaft, and the tooth form surface of the double-tooth-shaped central wheel output shaft is in contact fit with the second roller of the movable retractable push rod movable tooth assembly and the fourth roller of the fixed retractable push rod movable tooth assembly; and

a seal support portion including an input end cap, a third bearing, an input seal device, an output end cap, a fourth bearing and an output seal device, wherein a first end face of the input end cap is connected to the third bearing end cap, and a second end face thereof is fixedly connected to the first end face of the oscillating rack fixing member, a first end of the third bearing end cap is in contact with the third bearing, the third bearing is installed between a second section of the input shock wave shaft and the input end cap, the input seal device is installed between the second section of the input shock wave shaft and the third bearing end cap, the first end face of the output end cap is connected to the fourth bearing end cap, and a second end face thereof is fixedly connected to the second end face of the oscillating rack fixing member, and a first end of the fourth bearing end cap is in contact with the fourth bearing, the fourth bearing is installed between the second section of the output shaft of the double-tooth-shaped center wheel and the output end cover, and the output sealing device is installed between the second section of the output shaft of the double-tooth-shaped center wheel and the fourth bearing end cover.

Further, the movable retractable push rod oscillating tooth assembly comprises a tooth body, a first roller, a second roller, a first short pin, a second short pin, a first straight shaft fixing piece, a second straight shaft fixing piece, a first spring, a second spring, a first electromagnet, a second electromagnet, a push rod, a fifth spring and a fifth electromagnet, wherein the first roller and the second roller are respectively installed in a first groove and a second groove of the tooth body by penetrating through the first short pin and the second short pin, the first short pin and the second short pin are respectively installed in a first straight hole and a second straight hole of the tooth body, first ends of the first short pin and the second short pin are respectively connected with the first straight shaft fixing piece and the second straight shaft fixing piece, the first straight shaft is installed in a third straight hole of the tooth body, a first end of the first straight shaft is installed in a matching way with the first straight shaft fixing piece, and a second end of the first straight shaft is installed in a matching way with the second straight shaft fixing piece, the first straight shaft fixing piece is arranged at the first end of a third straight hole of the tooth body in a matching way, the second straight shaft fixing piece is arranged at the second end of the third straight hole of the tooth body in a matching way, a circular-ring-shaped bulge is processed in the middle of the first straight shaft, the first electromagnet and the second electromagnet are respectively arranged in a first mounting groove and a second mounting groove of the first straight shaft, the first spring and the second spring are sleeved on the first straight shaft, the first ends of the first spring and the second spring are respectively connected with the first end and the second end of the circular-ring-shaped bulge of the first straight shaft, the second ends of the first spring and the second spring are respectively connected with the first straight shaft fixing piece and the second straight shaft fixing piece, the head part of the first end of the push rod is arranged in a third groove of the tooth body, the second end of the push rod is connected with the movable rack connecting piece, and the fifth spring is sleeved on the push rod, and the first end of the first electromagnet is connected with the tooth body, the second end of the first electromagnet is connected with the movable tooth rack connecting piece, and the fifth electromagnet ring sleeve is sleeved on the push rod and is arranged on the movable tooth rack connecting piece.

Preferably, the fixed retractable type push rod oscillating tooth assembly comprises a tooth body, a third roller, a fourth roller, a third short pin, a fourth short pin, a second straight shaft, a third straight shaft fixing part, a fourth straight shaft fixing part, a third spring, a fourth spring, a third electromagnet, a fourth electromagnet and a connecting rod, wherein the third roller and the fourth roller are respectively installed in a first groove and a second groove of the tooth body by penetrating through the third short pin and the fourth short pin, the third short pin and the fourth short pin are respectively installed in a first straight hole and a second straight hole of the tooth body, first ends of the third short pin and the fourth short pin are respectively connected with the third straight shaft fixing part and the fourth straight shaft fixing part, the second straight shaft is installed in a third straight hole of the tooth body, a first end of the second straight shaft is installed in a matching way with the third straight shaft, and a second end of the second straight shaft is installed in a matching way with the fourth straight shaft fixing part, the third straight shaft fixing piece is installed at the first end of a third straight hole of the tooth body in a matched mode, the fourth straight shaft fixing piece is installed at the second end of the third straight hole of the tooth body in a matched mode, a circular-ring-shaped bulge is machined in the middle of the second straight shaft, the third electromagnet and the fourth electromagnet are installed in the third installation groove and the fourth installation groove respectively, the third spring and the fourth spring are sleeved on the second straight shaft, the first ends of the third spring and the fourth spring are connected to the first end and the second end of the circular-ring-shaped bulge of the second straight shaft respectively, the second ends of the third spring and the fourth spring are connected to the third straight shaft fixing piece and the fourth straight shaft fixing piece respectively, the head portion of the first end of the connecting rod is installed in the third groove of the tooth body, and the second end of the connecting rod is fixedly connected to the movable rack connecting piece.

Preferably, the two tooth forms on the inner surface of the wheel-shaped structure of the double-tooth-form central wheel output shaft have different tooth numbers.

Preferably, the tooth body is of a rectangular parallelepiped structure, the first end face is provided with a first straight hole and a second straight hole, a third groove is formed between the two straight holes, the second end face adjacent to the first end face and the opposite face of the second end face are provided with a first groove and a second groove respectively, and a third straight hole of a through hole is formed at the end of the second end face far away from the first end face.

Preferably, the movable rack connecting piece is a disc-shaped structure with a groove processed on a cylindrical surface, the movable rack fixing piece is a cylindrical structure with a first end processed with a convex structure, and the movable rack fixing piece is installed in a matching manner with the groove of the movable rack connecting piece through the convex of the first end.

Preferably, a first mounting groove and a second mounting groove are respectively machined at a first end and a second end of the annular protrusion of the first straight shaft.

Preferably, a third mounting groove and a fourth mounting groove are respectively machined at the first end and the second end of the annular protrusion of the second straight shaft.

Compared with the prior art, the invention has the following beneficial effects:

the first roller and the second roller in the movable retractable push rod oscillating tooth assembly respectively realize close contact with the input shock wave device shaft and the double-tooth central wheel output shaft under the action of the first spring and the second spring, so that the gear clearance of the traditional gear transmission is automatically eliminated; the movable retractable push rod oscillating tooth assembly and the fixed retractable push rod oscillating tooth assembly are used for replacing the traditional gear, so that the size and the weight of the gear are more advantageous.

Drawings

FIG. 1 is an exterior perspective view of one embodiment of the present invention;

FIG. 2 is a stepped cross-sectional view of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2;

FIG. 4 is a partial enlarged view of B in FIG. 2;

FIG. 5 is a partial cross-sectional view with the seal support portion removed;

FIG. 6 is a perspective view of an input shock shaft;

FIG. 7 is a partial cross-sectional view of the moving retracting push rod oscillating tooth assembly;

FIG. 8 is a partial cross-sectional view of the fixed retracting push rod oscillating tooth assembly;

FIG. 9 is a perspective view of the outer appearance of the tooth body part;

FIG. 10 is a perspective view of the external appearance of the oscillating rack parts;

FIG. 11 is a perspective view of the external appearance of a connecting piece of the oscillating rack;

FIG. 12 is a perspective view of the external appearance of the fixed parts of the oscillating rack;

FIG. 13 is a perspective view of the external appearance of the double-toothed sun gear output shaft component; and

FIG. 14 is a perspective view of the movable retractable push rod oscillating tooth assembly and the fixed retractable push rod oscillating tooth assembly assembled with the double-toothed central wheel output shaft.

In the figure:

1-input shock shaft, 2-deceleration executing part, 21-second bearing, 22-oscillating rack, 23-oscillating rack fixing part, 24-oscillating rack connecting part, 25-moving contracting push rod oscillating tooth component, 251-first roller, 252-first short pin, 253-first straight shaft fixing part, 254-first spring, 255-first electromagnet, 256-first straight shaft, 257-second electromagnet, 258-second spring, 259-second straight shaft fixing part, 2510-second short pin, 2511-second roller, 2512-fifth electromagnet, 2513-fifth spring, 2514-push rod, 26-first bearing, 27-fixing contracting push rod oscillating tooth component, 271-third roller, 272-third short pin, 273-third straight shaft, 274-third spring, 275-third electromagnet, 276-second straight shaft, 277-fourth electromagnet, 278-fourth spring, 279-fourth straight shaft fixing part, 2710-fourth stub, 2711-fourth roller, 2712-connecting rod, 28-gear body, 281-gear body first straight hole, 282-gear body second straight hole, 283-gear body third straight hole, 284-gear body first groove, 285-gear body second groove, 286-gear body third groove, 3-double-tooth centre wheel output shaft, 31-first tooth form, 32-second tooth form, 41-output sealing device, 42-fourth bearing end cover, 43-fourth bearing, 44-output end cover, 45-input end cover, 46-third bearing, 47-third bearing end cover, 48-input sealing device.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

The oscillating tooth speed reducer having two transmission ratios and capable of automatically eliminating the backlash shown in fig. 1 to 4 changes the transmission ratio by changing the number of the meshing movable contracting type push rod oscillating tooth assemblies 25, and eliminates the backlash of the conventional gear transmission by the action of the first spring 254 and the second spring 258 of the movable contracting type push rod oscillating tooth assembly 25 and the third spring 274 and the fourth spring 278 of the fixed contracting type push rod oscillating tooth assembly 27.

As shown in fig. 1 to 14, the oscillating tooth speed reducer having two gear ratios and capable of automatically eliminating backlash is provided with an input portion, a speed reduction execution portion, an output portion and a seal support portion,

as shown in fig. 6, the input portion is an input shock wave shaft 1, the first end of the input shock wave shaft 1 is a tooth-shaped section, the second end of the input shock wave shaft is a shaft section, the tooth-shaped section of the input shock wave shaft 1 is in contact fit with the first rollers 251 of the plurality of movable retractable push rod oscillating tooth assemblies 25 and the third rollers 271 of the plurality of fixed retractable push rod oscillating tooth assemblies 27, and the axial size of the tooth-shaped section of the input shock wave shaft 1 is larger than that of the double tooth-shaped central gear output shaft 3.

As shown in fig. 2 to 14, the deceleration executing portion comprises a plurality of movable retractable push rod oscillating tooth assemblies 25, a plurality of fixed retractable push rod oscillating tooth assemblies 27, an oscillating tooth frame 22, an oscillating tooth frame connecting member 24, an oscillating tooth frame fixing member 23, a first bearing 26 and a second bearing 21, wherein the plurality of movable retractable push rod oscillating tooth assemblies 25 are installed in the through grooves of the oscillating tooth frame 22 and are connected with the first end surface of the oscillating tooth frame connecting member 24 through a push rod 2514, the plurality of fixed retractable push rod oscillating tooth assemblies 27 are installed in the through grooves of the oscillating tooth frame 22 and are fixedly connected with the first end surface of the oscillating tooth frame connecting member 24 through a connecting rod 2712, the movable retractable push rod oscillating tooth assemblies 25 and the fixed retractable push rod oscillating tooth assemblies 27 are installed in the through grooves of the oscillating tooth frame 22 in a staggered manner, the oscillating tooth frame 22 is of an annular structure with a plurality of through grooves formed in the cylindrical surface, the first end surface of the oscillating tooth frame 22 is fixedly connected with the oscillating tooth, the groove of the oscillating rack connecting piece 24 is matched and arranged with the bulge of the oscillating rack fixing piece 23, the first bearing 26 is arranged between the oscillating rack connecting piece 24 and the input shock wave machine shaft 1, and the second bearing 21 is arranged between the oscillating rack 22 and the inner surface of the toothed wheel of the double-toothed central wheel output shaft 3.

As shown in fig. 9, the tooth body 28 is a rectangular parallelepiped, a first straight hole 281 and a second straight hole 282 are formed in a first end surface, a third groove 286 is formed in the middle of the two straight holes, a first groove 284 and a second groove 285 are respectively formed on the opposite surfaces of the second end surface and the second end surface adjacent to the first end surface, and a through hole 283 is formed in the second end surface far from the first end surface.

As shown in fig. 3 and 7, the movable retracting push rod oscillating tooth assembly 25 comprises a tooth body 28, a first roller 251, a second roller 2511, a first short pin 252, a second short pin 2510, a first straight shaft 256, a first straight shaft fixing piece 253, a second straight shaft fixing piece 259, a first spring 254, a second spring 258, a first electromagnet 255, a second electromagnet 257, a push rod 2514, a fifth spring 2513 and a fifth electromagnet 2512, wherein the first roller 251 and the second roller 2511 are respectively installed in a first groove 284 and a second groove 285 of the tooth body 2512 through the first short pin 252 and the second short pin 2510, the first roller 251 and the second roller 2511 can respectively rotate around the first short pin 252 and the second short pin 2510, the first short pin 252 and the second short pin 2510 are respectively installed in a first straight hole 281 and a second straight hole 282 of the tooth body 28, and first ends of the first short pin 252 and the second short pin 2510 are respectively connected with the first straight shaft fixing piece 253 and the second straight shaft fixing piece 253, the first short pin 252 and the second short pin 2510 can slide in the mutual direction, the first straight shaft 256 is installed in the third straight hole 283 of the gear body 28, the first end of the first straight shaft 256 is installed to be matched with the first straight shaft fixing piece 253, the second end of the first straight shaft 256 is installed to be matched with the second straight shaft fixing piece 259, the first straight shaft fixing piece 253 is installed to be matched with the first end of the third straight hole 283 of the gear body 28, the second straight shaft fixing piece 259 is installed to be matched with the second end of the third straight hole 283 of the gear body 28, an annular bulge is processed in the middle of the first straight shaft 256, the first electromagnet 255 and the second electromagnet 257 are respectively installed in the first installation groove and the second installation groove of the first straight shaft 256, the first spring 254 and the second spring 258 are sleeved on the first straight shaft 256, the first end of the first spring 254 and the first end of the second spring 258 are respectively connected to the first end and the second end of the annular bulge of the first straight shaft 256, the second end of the first spring 254 and the second spring 258 are respectively connected, under the action of the first and second springs 254 and 258 and the first and second electromagnets 255 and 257, the first and second straight- shaft fixing members 253 and 259 and the first and second short pins 252 and 2510 connected thereto can slide along the direction of the first straight shaft 256. The head of the first end of the push rod 2514 is mounted in the third groove 286 of the toothed body 28 and can slide along the groove direction at a certain distance, the second end of the push rod 2514 is connected to the movable rack connecting piece 24, the fifth spring 2513 is sleeved on the push rod 2514, the first end of the push rod is connected with the toothed body 28, the second end of the push rod 2514 is connected with the movable rack connecting piece 24, the fifth electromagnet 2512 penetrates through the push rod 2514 and is mounted on the movable rack connecting piece 24, and under the action of the fifth spring 2513 and the fifth electromagnet 2512, the push rod 2514 can push the toothed body 28 to slide in the through groove of the movable rack 22.

As shown in fig. 4 and 8, the fixed retractable push rod oscillating tooth assembly 27 includes a tooth body 28, a third roller 271, a fourth roller 2711, a third short pin 272, a fourth short pin 2710, a second straight shaft 276, a third straight shaft holder 273, a fourth straight shaft holder 279, a third spring 274, a fourth spring 278, a third electromagnet 275, a fourth electromagnet 277, and a connecting rod 2712, the third roller 271 and the fourth roller 2711 are respectively installed in the first groove 284 and the second groove 285 of the tooth body 28 through the third short pin 272 and the fourth short pin 2710, the third roller 271 and the fourth roller 2711 are respectively rotatable around the third short pin 272 and the fourth short pin 2710, the third short pin 272 and the fourth short pin 2710 are respectively installed in the first straight hole 281 and the second straight hole 282 of the tooth body 28, and the first ends of the third short pin 272 and the fourth short pin 2710 are respectively slidably connected with the third straight shaft holder 273 and the fourth straight shaft holder 279, the first short pin 272 and the second short pin 2710 are mutually connected in a direction of facing each other, the second straight shaft 276 is arranged in a third straight hole 283 of the gear body 28, the first end of the second straight shaft 276 is matched and arranged with a third straight shaft fixing piece 273, the second end of the second straight shaft is matched and arranged with a fourth straight shaft fixing piece 279, the third straight shaft fixing piece 273 is matched and arranged at the first end of the third straight hole 283 of the gear body 28, the fourth straight shaft fixing piece 279 is matched and arranged at the second end of the third straight hole 283 of the gear body 28, an annular bulge is processed in the middle of the second straight shaft 276, a third electromagnet 275 and a fourth electromagnet 277 are respectively arranged in a third mounting groove and a fourth mounting groove, the third spring 274 and the fourth spring 278 are sleeved on the second straight shaft 276, the first ends of the third spring 274 and the fourth spring 278 are respectively connected at the first end and the second end of the annular bulge of the second straight shaft 276, the second ends of the third spring 274 and the fourth spring 278 are respectively connected at the third straight shaft 273 and the fourth straight shaft 279 under the action of the third spring 274 and the fourth electromagnet 278 and the 275 and the fourth electromagnet 277, the third and fourth straight shaft holders 273 and 279 and the third and fourth short pins 272 and 2710 connected thereto can slide along the direction of the second straight shaft 276, the first end head of the connecting rod 2712 is mounted in the third groove 286 of the tooth body 28 and can slide along the groove direction at a certain distance, and the second end of the connecting rod 2712 is fixedly connected to the oscillating rack connector 24.

As shown in fig. 13, the output portion is a dual-tooth-shaped central gear output shaft 3, the dual-tooth-shaped central gear output shaft 3 has a first end with a shaft structure and a second end with a wheel-shaped structure, the second section of the dual-tooth-shaped central gear output shaft 3 is sleeved in the movable rack fixing member 23, the tooth-shaped surface of the dual-tooth-shaped central gear output shaft 3 is in contact fit with the second roller 2511 of the movable retractable push rod movable tooth assembly 25 and the fourth roller 2711 of the fixed retractable push rod movable tooth assembly 27, the fourth roller 2711 of the fixed retractable push rod movable tooth assembly 27 is in contact fit with one tooth-shaped surface of the dual-tooth-shaped central gear output shaft 3, and the second roller 2511 of the movable retractable push rod movable tooth assembly 25 can be in contact fit with two tooth-shaped surfaces of the dual-tooth-shaped central gear output shaft 3.

As shown in fig. 1 and 2, the seal support portion includes an input end cover 45, a third bearing end cover 47, a third bearing 46, an input sealing device 48, an output end cover 44, a fourth bearing end cover 42, a fourth bearing 43, and an output sealing device 41, a first end surface of the input end cover 45 is connected with the third bearing end cover 47, and a second end surface thereof is fixedly connected with a first end surface of the oscillating rack fixing member 23, a first end of the third bearing end cover 47 is in contact with the third bearing 46, the third bearing 46 is installed between a second section of the input shock wave shaft 1 and the input end cover 45, the input sealing device 48 is installed between the second section of the input shock wave shaft 1 and the third bearing end cover 47, a first end surface of the output end cover 44 is connected with the fourth bearing end cover 42, and a second end surface thereof is fixedly connected with a second end surface of the oscillating rack fixing member 23, a first end of the fourth bearing end cover 42 is in contact with the fourth bearing 43, the fourth bearing 43 is mounted between the second section of the double-toothed sun gear output shaft 3 and the output end cover 44, and the output sealing device 41 is mounted between the second section of the double-toothed sun gear output shaft 3 and the fourth bearing end cover 42.

The specific deceleration process of the invention is as follows:

during the deceleration process of the oscillating tooth speed reducer with two transmission ratios and capable of automatically eliminating the clearance, as shown in fig. 1-14, the oscillating tooth speed reducer comprises an input shock wave device shaft 1, a plurality of movable retractable push rod oscillating tooth assemblies 25, a plurality of fixed retractable push rod oscillating tooth assemblies 27, an oscillating tooth rack 22, an oscillating tooth rack connecting piece 24, an oscillating tooth rack fixing piece 23, a first bearing 26, a second bearing 21, a double-tooth-shaped central gear output shaft 3, an input end cover 45, a third bearing 46, a third bearing end cover 47, an input sealing device 48, an output end cover 44, a fourth bearing 43, an output sealing device 41 and a fourth bearing end cover 42, wherein the second end of the tooth-shaped section of the input shock wave device shaft 1 is in contact fit with the first roller 251 of the plurality of movable retractable push rod oscillating tooth assemblies 25 and the third roller 271 of the plurality of fixed retractable push rod oscillating tooth assemblies 27, the tooth-shaped surface of the double-tooth-shaped central gear output shaft 3 is in contact fit with the second roller 2511 of the movable retractable push rod oscillating tooth assemblies 25 and the fixed retractable groups of the The fourth roller 2711 of member 27 is in contact engagement and the fourth roller 2711 of the fixed retractable push rod oscillating cog assembly 27 is in contact engagement with a toothed surface of the dual toothed sun gear output shaft 3.

As shown in fig. 13 and 14, the double-toothed sun gear output shaft 3 has two tooth profilesThe number of the first tooth form 31 is 10, the number of the movable retractable push rod oscillating tooth assemblies 25 corresponding to the first tooth form is 4, the number of the fixed retractable push rod oscillating tooth assemblies 27 corresponding to the first tooth form is 4, and the transmission ratio is

Under the condition of the transmission ratio, the first rollers 251 of the 4 groups of movable retractable push rod oscillating tooth assemblies 25 and the third rollers 271 of the 4 groups of fixed retractable push rod oscillating tooth assemblies 27 are sequentially in rolling contact with the tooth-shaped section of the input shock wave device shaft 1, and the second rollers 2511 of the 4 groups of movable retractable push rod oscillating tooth assemblies 25 and the fourth rollers 2711 of the 4 groups of fixed retractable push rod oscillating tooth assemblies 27 are sequentially in rolling contact with the surface of the first tooth-shaped 31 of the double-tooth-shaped central wheel output shaft 3; the number of the second tooth profile 32 is 6, the number of the movable retractable push rod oscillating tooth assemblies 25 corresponding to the second tooth profile is 4, the fixed retractable push rod oscillating tooth assemblies 27 do not participate in transmission, and the transmission ratio is

Under the condition of the transmission ratio, the first rollers 251 of the 4 groups of movable and retractable push rod oscillating tooth assemblies 25 are in rolling contact with the surface of the tooth-shaped section of the input shock wave machine shaft 1, and the second rollers 2511 of the 4 groups of movable and retractable push rod oscillating tooth assemblies 25 are in rolling contact with the surface of the second tooth-shaped section 32 of the double-tooth-shaped central gear output shaft 3, so that two different transmission ratios are realized.

As shown in fig. 2, 3, 4, 7 and 8, when the transmission ratio is changed from 5 to 3, first, the first electromagnet 255, the second electromagnet 257, the third electromagnet 275 and the fourth electromagnet 277 are energized, the first roller 251 and the second roller 2511 of the movable retractable push rod oscillating tooth assembly 25 are retracted in the first groove 284 and the second groove 285 of the tooth body 28 under the action of the first electromagnet 255 and the second electromagnet 257 respectively, and the third roller 271 and the fourth roller 2711 of the fixed retractable push rod oscillating tooth assembly 27 are retracted in the first groove 284 and the second groove 285 of the tooth body 28 under the action of the third electromagnet 275 and the fourth electromagnet 277 respectively, so that the first roller 251, the second roller 2511, the third roller 271 and the fourth roller 2711 are not in contact with the first tooth profile 31 and the input shock absorber 1 tooth profile segment of the double-tooth central wheel output shaft 3; then, the fifth electromagnet 2512 is powered off, and the movable gear assembly 25 of the movable retractable push rod is pushed to the bottom end of the through groove of the movable gear rack 22 close to the second tooth form 32 end of the double-tooth-shaped central wheel output shaft 3 along the axial direction of the input shock wave device shaft 1 under the action of the fifth spring 2513; finally, the first electromagnet 255 and the second electromagnet 257 are de-energized, and the first roller 251 and the second roller 2511 are in rolling contact with the surface of the second tooth profile 32 of the double-tooth central wheel output shaft 3 and the surface of the tooth profile section of the input shock wave shaft 1 by virtue of the elastic forces of the first spring 254 and the second spring 258.

As shown in fig. 2, 3, 4, 7 and 8, when the transmission ratio is changed from 3 to 5, first, the first electromagnet 255 and the second electromagnet 257 are powered, the third electromagnet 275 and the fourth electromagnet 277 are powered, the first roller 251 and the second roller 2511 of the movable retractable push rod oscillating tooth assembly 25 are retracted in the first groove 284 and the second groove 285 of the tooth body 28 under the action of the first electromagnet 255 and the second electromagnet 257, respectively, the third roller 271 and the fourth roller 272 of the fixed retractable push rod oscillating tooth assembly 27 are retracted in the first groove 284 and the second groove 285 of the tooth body 28 under the action of the third electromagnet 275 and the fourth electromagnet 277, respectively, the first roller 251, the second roller 2511, the third roller 271 and the fourth roller 2711 are not in contact with the second tooth profile 32, the first tooth profile 31 and the tooth profile section of the input shock wave machine shaft 1 of the double-tooth central wheel output shaft 3; then, the fifth electromagnet 2512 is electrified, and the movable gear assembly 25 of the retractable push rod is moved to be pulled to the position, close to the first tooth form 31 of the double-tooth-shaped central wheel output shaft 3, at the top end of the through groove of the movable gear rack 22 along the axial direction of the input shock wave machine shaft 1 under the action of the fifth electromagnet 2512; finally, the first electromagnet 255, the second electromagnet 257, the third electromagnet 275 and the fourth electromagnet 277 are de-energized, and the first roller 251, the second roller 2511, the third roller 271 and the fourth roller 2711 are in rolling contact with the surface of the first tooth profile 31 of the double-tooth center wheel output shaft 3 and the surface of the tooth profile section of the input shock shaft 1 by virtue of the elastic forces of the first spring 254, the second spring 258, the third spring 274 and the fourth spring 278.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.