阅读说明：本技术 一种摆线行星齿轮减速机构 (Cycloidal planetary gear speed reducing mechanism ) 是由 俞俊海 房卫东 于 2021-08-25 设计创作，主要内容包括：本发明涉及减速机技术领域,公开了一种摆线行星齿轮减速机构,包括壳体、联轴器和输出轴,联轴器和输出轴均与壳体转动连接,壳体内设有一级减速组件和二级减速组件,联轴器穿入壳体内后与一级减速组件连接,输出轴穿入壳体内后与二级减速组件连接,一级减速组件与二级减速组件连接。本申请中原动机工作即可带动联轴器转动,联轴器驱动一级减速组件工作,实现一级减速；一级减速组件与二级减速组件配合驱动二级减速组件工作,实现二级减速；通过两级减速作用的配合有效地提高了减速机构的传动比,其结构简单,具有减速比大、轴向尺寸小、输出扭矩大、低噪音的优点。(The invention relates to the technical field of speed reducers and discloses a cycloidal planetary gear speed reducing mechanism which comprises a shell, a coupler and an output shaft, wherein the coupler and the output shaft are rotatably connected with the shell, a primary speed reducing component and a secondary speed reducing component are arranged in the shell, the coupler penetrates into the shell and then is connected with the primary speed reducing component, the output shaft penetrates into the shell and then is connected with the secondary speed reducing component, and the primary speed reducing component is connected with the secondary speed reducing component. In the application, the motor can drive the coupler to rotate when working, and the coupler drives the first-stage speed reduction assembly to work to realize first-stage speed reduction; the primary speed reduction assembly and the secondary speed reduction assembly are matched to drive the secondary speed reduction assembly to work, so that secondary speed reduction is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the matching of two-stage speed reducing action, and the speed reducing mechanism has the advantages of simple structure, large speed reducing ratio, small axial size, large output torque and low noise.)

1. The utility model provides a cycloid planetary gear reduction gears, includes casing (1), shaft coupling (2) and output shaft (5), and shaft coupling (2) and output shaft (5) all rotate with casing (1) and are connected its characterized in that: be equipped with one-level speed reduction subassembly and second grade speed reduction subassembly in casing (1), shaft coupling (2) penetrate behind the casing (1) and are connected with one-level speed reduction subassembly, output shaft (5) penetrate behind the casing (1) and are connected with second grade speed reduction subassembly, one-level speed reduction subassembly is connected with second grade speed reduction subassembly.

2. The cycloidal planetary gear reduction mechanism of claim 1 further comprising: the one-level speed reduction assembly comprises a swing shaft (31) fixedly mounted on the shaft coupler (2), a movable rack (32) fixedly mounted in the shell (1) and a circular gear (34) rotatably sleeved on the movable rack (32), a plurality of ball holes (323) are formed in the movable rack (32), movable tooth steel balls (33) are movably arranged in the ball holes (323), a plurality of tooth profile grooves (341) are formed in the inner wall of the circular gear (34), and the movable tooth steel balls (33) are tangent to the outer peripheral surface of the swing shaft (31) and the inner wall of the tooth profile groove (341).

3. The cycloidal planetary gear reduction mechanism of claim 2 further comprising: one end of the swing shaft (31) far away from the coupler (2) is a transmission part (312) with an oval cross section.

4. The cycloidal planetary gear reduction mechanism of claim 3 further comprising: the movable rack (32) comprises a fixed disk (321) fixed in the shell (1) and a convex ring (322) fixedly connected with the fixed disk (321), the convex ring (322) is rotatably sleeved on the transmission part (312), and the ball hole (323) is formed in the convex ring (322).

5. The cycloidal planetary gear reduction mechanism of claim 4 further comprising: a fixing groove (12) is formed in the shell (1), and the fixing disc (321) is in interference fit with the fixing groove (12).

6. The cycloidal planetary gear reduction mechanism of claim 2 further comprising: pinhole (21) have all been seted up on pendulum line axle (31) and shaft coupling (2), it has elastic pin (22) to peg graft in pinhole (21), pendulum line axle (31) pass through elastic pin (22) fixed mounting on shaft coupling (2).

7. The cycloidal planetary gear reduction mechanism of claim 2 further comprising: the secondary speed reduction assembly comprises an inner gear ring (42) fixedly mounted in the shell (1) and a planet wheel (41) rotatably arranged on the end face of the output shaft (5), the output shaft (5) and the circular gear (34) are coaxially arranged, the planet wheel (41) is arranged around the periphery of the circular gear (34), and the planet wheel (41) is meshed with the circular gear (34) and the inner gear ring (42).

8. The cycloidal planetary gear reduction mechanism of claim 7 further comprising: at least three planet wheels (41) are uniformly distributed along the circumferential direction of the circular gear (34).

9. The cycloidal planetary gear reduction mechanism of claim 1 further comprising: the coupler (2) and the output shaft (5) are respectively connected with the shell (1) in a rotating mode through a first bearing (23) and a second bearing (51).

10. The cycloidal planetary gear reduction mechanism of claim 9 further comprising: the shell (1) is provided with a through hole (11) for the output shaft (5) to penetrate out, the number of the second bearings (51) is two, and the second bearings (51) are respectively located at two ends of the through hole (11).

Technical Field

The invention relates to the technical field of speed reducers, in particular to a cycloidal planetary gear speed reducing mechanism.

Background

The speed reducer is generally used for low-speed and large-torque transmission equipment, and a motor, an internal combustion engine or other high-speed running power achieves the purpose of speed reduction by meshing a gear with a small number of teeth on an input shaft of the speed reducer with a large gear on an output shaft, plays a role in matching the speed and transmitting torque between a prime mover and a working machine or an actuating mechanism, and is widely applied to modern machinery.

At present, the chinese patent publication No. CN111536208B discloses a planetary gear speed reducer, which comprises a housing, a planet carrier, an input shaft, and an output shaft, wherein a circular gear and three planet gears are rotatably arranged in the housing, and the circular gear is located at the center of the housing and connected with the input shaft; a gear ring is fixedly arranged in the shell, and the three planet wheels are uniformly arranged around the circumference of the circular gear and are meshed with the circular gear and the gear ring; one end of the planet carrier is connected with the three planet wheels, and the other end of the planet carrier is connected with the output shaft. When the planetary gear reducer works, the input shaft drives the circular gear to rotate, the circular gear is meshed with the planetary gear and drives the planetary gear to rotate, meanwhile, the planetary gear is meshed with the gear ring and revolves around the axis of the circular gear, and therefore the planetary carrier is driven to rotate, and the purpose of reducing the speed of the output shaft is achieved.

However, in the above scheme, only the circular gear rotates the planet wheel combined on the planet carrier, so that the planet wheel system automatically rotates around the gear ring to realize speed reduction, which is difficult to meet the requirement of a user on a large transmission ratio, and has the defects of poor speed reduction effect, small speed reduction ratio and small output torque.

Disclosure of Invention

In order to solve the technical problems existing in the background technology, the application provides a cycloidal planetary gear speed reducing mechanism.

The application provides a cycloid planetary gear reduction gears, including casing, shaft coupling and output shaft all rotate with the casing and be connected its characterized in that: be equipped with one-level speed reduction subassembly and second grade speed reduction subassembly in the casing, the shaft coupling penetrates and is connected with one-level speed reduction subassembly in the casing after, the output shaft penetrates and is connected with second grade speed reduction subassembly in the casing after, one-level speed reduction subassembly is connected with second grade speed reduction subassembly.

By adopting the technical scheme, when the speed reducing mechanism is used, the speed reducing mechanism is arranged on the prime motor, the coupler is connected with the output shaft of the prime motor, the prime motor can drive the coupler to rotate when working, and the coupler drives the first-stage speed reducing assembly to work, so that first-stage speed reduction is realized; the primary speed reduction assembly and the secondary speed reduction assembly are matched to drive the secondary speed reduction assembly to work, so that secondary speed reduction is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the matching of two-stage speed reducing action, and the speed reducing mechanism has the advantages of large speed reducing ratio and large output torque.

Preferably, the one-level speed reduction subassembly includes that fixed mounting is on the shaft coupling pendulum axle, the oscillating tooth frame of fixed mounting in the casing establish the circular gear on the oscillating tooth frame with rotating the cover, a plurality of bulb holes have been seted up on the oscillating tooth frame, the activity is provided with the oscillating tooth steel ball in the bulb hole, a plurality of flank profile grooves have been seted up on the inner wall of circular gear, the oscillating tooth steel ball is all tangent with the outer peripheral face of pendulum axle and the inner wall of flank profile groove.

Through adopting above-mentioned technical scheme, when the prime mover drove the shaft coupling, the shaft coupling drove the pendulum axle and rotates, because the outer peripheral face of oscillating steel ball and pendulum axle and the interior top surface of flank profile groove are all tangent, the cycloid axle promotes the rotation of oscillating steel ball in the bulb, and the oscillating steel ball supports tightly and promotes the circular gear rotation with the interior top surface of flank profile groove, realizes the one-level speed reduction, and the simple structure of one-level speed reduction subassembly makes this reduction gears have the advantage that axial dimensions is little, the low noise.

Preferably, one end of the cycloid shaft, which is far away from the coupler, is a transmission part with an oval cross section.

By adopting the technical scheme, because the cross section of the transmission part is oval, when the shaft coupling drives the swing shaft to rotate, the transmission part pushes the movable-tooth steel balls to rotate in the spherical hole while moving up and down, at the moment, the movable-tooth steel balls at the two ends of the transmission part are tightly abutted to the inner top surface of the tooth profile groove where the movable-tooth steel balls are located, so that the circular gear is pushed to rotate to realize one-stage speed reduction, the transmission of speed between the circular gear and the shaft coupling is further reduced by the cooperation of the movable-tooth steel balls and the oval surface of the transmission part, and the speed reduction efficiency of the one-stage speed reduction is effectively improved.

Preferably, the movable rack comprises a fixed disk fixed in the shell and a convex ring fixedly connected with the fixed disk, the convex ring is rotatably sleeved on the transmission part, and the ball hole is formed in the convex ring.

By adopting the technical scheme, the movable gear rack is fixed in the shell through the fixed disc, when the swing shaft rotates, the transmission part rotates in the convex ring, the movable gear steel ball moves up and down in the ball hole along the elliptical surface of the swing shaft at the moment, and the limit of the ball hole enables the movable gear steel ball to rotate at the same time, so that the purpose that the movable gear steel ball pushes the circular gear to rotate is achieved.

Preferably, a fixing groove is formed in the shell, and the fixing disc is in interference fit with the fixing groove.

Through adopting above-mentioned technical scheme, fixed disk interference fit is in the fixed slot, and the fixed slot has the restriction effect to the fixed disk, has prevented effectively that the oscillating tooth frame from taking place to rock, ensures the speed reduction effect of one-level speed reduction subassembly.

Preferably, the pendulum shaft and the coupler are both provided with pin holes, elastic pins are inserted in the pin holes, and the pendulum shaft is fixedly mounted on the coupler through the elastic pins.

Through adopting above-mentioned technical scheme, the elastic pin has good elasticity and anti-shear force, and pendulum axle and shaft coupling pass through the elastic pin and are connected, have good shock resistance and stability when making both connect.

Preferably, the secondary speed reduction assembly comprises an inner gear ring fixedly installed in the shell and a planet wheel rotatably arranged on the end face of the output shaft, the output shaft and the circular gear are coaxially arranged, the planet wheel is arranged around the periphery of the circular gear, and the planet wheel is meshed with the circular gear and the inner gear ring.

By adopting the technical scheme, when the circular gear rotates, the circular gear is meshed with the planet gear and drives the planet gear to rotate, meanwhile, the planet gear is meshed with the inner gear ring, the planet gear revolves around the axis of the circular gear under the limitation of the inner gear ring, the output shaft is driven to rotate, and secondary speed reduction is realized.

Preferably, at least three planet wheels are uniformly distributed along the circumferential direction of the circular gear.

Through adopting above-mentioned technical scheme, because the rotation of circular gear is caused by the extrusion of transmission portion and oscillating tooth steel ball, oval-shaped transmission portion rotates and easily leads to the circular gear to take place to rock, and even external force is applyed to it along the circumferencial direction of circular gear to at least three planet wheel this moment, makes the circular gear rotate steadily, ensures the stability of connecting between each parts of reduction gears inside.

Preferably, the coupling and the output shaft are respectively connected with the shell in a rotating manner through a first bearing and a second bearing.

By adopting the technical scheme, the coupling is connected with the input end cover through the first bearing, the output shaft is connected with the output end cover through the second bearing, the first bearing and the second bearing play a role in reducing the friction coefficient during rotation and ensuring the rotation precision, and the flexibility of the speed reducing mechanism is improved.

Preferably, the shell is provided with a through hole for the output shaft to penetrate through, the number of the second bearings is two, and the two second bearings are respectively located at two ends of the through hole.

Through adopting above-mentioned technical scheme, two second bearings form the stable support to the output shaft by the both ends of through-hole, have prevented effectively that the output shaft from taking place to rock at the pivoted in-process, play the effect that improves output shaft stability.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the prime motor can drive the coupler to rotate when working, and the coupler drives the first-stage speed reduction assembly to work to realize first-stage speed reduction; the primary speed reduction assembly and the secondary speed reduction assembly are matched to drive the secondary speed reduction assembly to work, so that secondary speed reduction is realized; the transmission ratio of the speed reducing mechanism is effectively improved through the cooperation of two-stage speed reducing action, and the speed reducing mechanism has the advantages of large speed reducing ratio and large output torque;

2. when the cycloid shaft rotates, the transmission part pushes the movable-tooth steel balls to rotate while moving up and down in the spherical hole, at the moment, the movable-tooth steel balls at two ends of the transmission part are abutted against the inner top surface of the tooth profile groove where the movable-tooth steel balls are located, so that the circular gear is pushed to rotate to realize primary speed reduction, the transmission of speed between the circular gear and the coupler is further reduced by the cooperation of the movable-tooth steel balls and the elliptical surface of the transmission part, and the speed reduction efficiency of the primary speed reduction is effectively improved; the structure is simple, and the axial size is small and the noise is low;

3. this application oscillating tooth frame passes through the fixed disk to be fixed in the casing, and when the pendulum axle rotated, transmission portion rotated in the bulge loop, and the oscillating tooth steel ball reciprocated in the sphere along the ellipsoid of pendulum axle this moment, and the restriction in sphere makes the oscillating tooth steel ball take place the rotation simultaneously, and then reaches the oscillating tooth steel ball and promotes circular gear pivoted purpose.

Drawings

Fig. 1 is a sectional view of the overall structure of an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a primary speed reduction assembly in the embodiment of the present application.

Fig. 3 is a schematic structural diagram of a cycloid shaft in the embodiment of the present application.

Fig. 4 is a schematic structural diagram of a movable rack in the embodiment of the present application.

Fig. 5 is a schematic structural diagram of a housing in an embodiment of the present application.

Fig. 6 is a schematic structural diagram of a circular gear in the embodiment of the present application.

Fig. 7 is a schematic structural diagram of a two-stage reduction assembly in an embodiment of the present application.

Fig. 8 is a schematic diagram illustrating a state of the first-stage reduction assembly and the second-stage reduction assembly according to the embodiment of the present application.

Description of reference numerals: 1. a housing; 11. a through hole; 12. fixing grooves;

2. a coupling; 21. a pin hole; 22. an elastic pin; 23. a first bearing;

31. a pendulum shaft; 311. a connecting portion; 312. a transmission section;

32. a movable rack; 321. fixing the disc; 322. a convex ring; 323. a ball hole;

33. a movable-tooth steel ball;

34. a circular gear; 341. a tooth profile groove;

41. a planet wheel; 42. an inner gear ring;

5. an output shaft; 51. a second bearing.

Detailed Description

The present application is described in further detail below with reference to figures 1-8.

The embodiment of the application discloses a cycloidal planetary gear speed reducing mechanism. Referring to fig. 1, the cycloid planetary gear reduction mechanism includes a housing 1, a coupling 2, a primary reduction assembly, a secondary reduction assembly, and an output shaft 5. The shaft coupling 2 and the output shaft 5 are respectively positioned at two ends of the shell 1 and are rotatably connected with the shell 1. In casing 1 was all located to one-level speed reduction subassembly and second grade speed reduction subassembly, shaft coupling 2 penetrated behind the casing 1 and was connected with one-level speed reduction subassembly, and output shaft 5 penetrates behind the casing 1 and is connected with second grade speed reduction subassembly, and one-level speed reduction subassembly is connected with second grade speed reduction subassembly.

Referring to fig. 1, a coupling 2 is a conventional device, and bolts are used to clamp the coupling 2. Through-hole 11 has all been seted up at the both ends of casing 1, and the one end of shaft coupling 2 is connected with the output shaft 5 of prime mover, and the other end passes through-hole 11 and first bearing 23 and is connected with casing 1 rotation. The output shaft 5 is cylindrical, one end of the output shaft, which is close to the coupler 2, is integrally formed into a disc shape, and the output shaft 5 and the coupler 2 are coaxially arranged. One end of the output shaft 5 is connected to the working machine, and the other end is rotatably connected to the housing 1 through the through hole 11 and the second bearing 51. The number of the second bearings 51 is two, and the two second bearings 51 are respectively fixed at two ends of the through hole 11 at the rear end of the housing 1, so that the output shaft 5 is stably supported, and the output shaft 5 is prevented from shaking.

Referring to fig. 2 and 3, the primary speed reduction assembly comprises a cycloid shaft 31, an oscillating rack 32, an oscillating steel ball 33 and a circular gear 34. The swing shaft 31 comprises a connecting part 311 and a transmission part 312 which are integrally formed, wherein the cross section of the connecting part 311 is circular, and the connecting part is in plug fit with the coupler 2. The cross section of the transmission part 312 is an ellipse, and it is located at one end of the connection part 311 far from the coupler 2. Pin holes 21 are formed in the cylindrical surface of the connecting portion 311 and the coupler 2, the pin holes 21 of the connecting portion 311 are aligned with the pin holes 21 of the coupler 2 during installation, then the elastic pins 22 are inserted, the fixed connection between the swing shaft 31 and the coupler 2 can be achieved, and the swing shaft 31 and the coupler 2 are coaxial at the moment. The elastic pin 22 has good elasticity and shearing resistance, so that the cycloid shaft 31 and the coupler 2 are stably connected, and the elastic pin has good impact resistance.

Referring to fig. 2 and 4, the oscillating tooth rack 32 includes a fixed disk 321 and a convex ring 322 which are integrally formed, the fixed disk 321 and the convex ring 322 are both circular, a central hole is formed in the center of the circular surface of the fixed disk 321, and the convex ring 322 is communicated with the central hole. Referring to fig. 5, the inner wall of the housing 1 is provided with a fixing groove 12, and the fixing plate 321 is in interference fit with the fixing groove 12, so as to fix the oscillating tooth rack 32 in the housing 1 and prevent the oscillating tooth rack 32 from shaking. The convex ring 322 is rotatably sleeved on the transmission part 312 and is coaxial with the cycloid shaft 31. The convex ring 322 is provided with a plurality of ball holes 323, and the plurality of ball holes 323 are uniformly distributed along the circumferential direction of the convex ring 322. The oscillating tooth steel ball 33 is movably arranged in the ball hole 323 and is tangent with the elliptical surface of the transmission part 312.

Referring to fig. 2 and 6, the circular gear 34 is rotatably sleeved on the convex ring 322, and is coaxially arranged with the movable rack 32. The outer wall of the circular gear 34 is integrally formed with a plurality of teeth, the inner wall of the circular gear is provided with a plurality of tooth profile grooves 341, the diameter of the tooth profile grooves 341 is larger than that of the movable tooth steel ball 33, and the movable tooth steel ball 33 is tangent to the inner wall of the tooth profile grooves 341. When the coupler 2 rotates, the coupler 2 drives the swing shaft 31 to rotate, the transmission part 312 of the swing shaft 31 pushes the movable-tooth steel ball 33 to move up and down in the ball hole 323, meanwhile, the movable-tooth steel ball 33 rotates, and at the moment, the movable-tooth steel balls 33 at two ends of the transmission part 312 abut against the inner top surface of the tooth profile groove 341 where the movable-tooth steel balls are located, so that the circular gear 34 is pushed to rotate, and primary speed reduction is realized.

Referring to fig. 1 and 7, the secondary reduction assembly includes a planet gear 41 and an inner gear 42. The planet wheels 41 are rotatably mounted on the disc surface of the output shaft 5 with their axes of rotation parallel to the axis of rotation of the output shaft 5. The planetary gears 41 are provided in three, and the three planetary gears 41 are uniformly arranged along the circumferential direction of the output shaft 5. The ring gear 42 is fixedly mounted on the inner wall of the housing 1, coaxially with the circular gear 34. As shown in fig. 8, three planetary gears 41 are uniformly arranged around the circumference of the circular gear 34 and are meshed with both the circular gear 34 and the inner gear 42, and the circular gear 34 is coaxial with the output shaft 5. When the circular gear 34 rotates, the circular gear 34 is engaged with the planetary gear 41 and drives the planetary gear 41 to rotate, and meanwhile, the planetary gear 41 is engaged with the inner gear ring 42 to revolve around the axis of the circular gear 34, so that the planetary carrier and the output shaft 5 are driven to rotate, and secondary speed reduction is realized.

When designing the reduction mechanism, the reduction ratio and the parameters related to the circular gear 34 and the cycloid shaft 31 are calculated as follows.

The calculation formula of the total reduction ratio is as follows:

wherein, the reduction ratio of the oscillating-tooth steel ball 33Z_kNumber of tooth grooves 341, Z, of circular gear 34_GNumber of oscillating-tooth balls 33, Z_BInner ring gear 42 tooth number, Z_AThe number of external teeth of the circular gear 34.

The tooth profile groove 341 surface theoretical tooth profile equation of the circular gear 34 is as follows:

in the formula: x₁Is the abscissa of the tooth profile groove 341 face; y is₁Is the ordinate of the tooth profile groove 341 face; the parameter t is an angle, and the value range of the parameter t is 0-360 degrees; a is a constant coefficient, and the formula is as follows: a ═ r²*(9+k²) (ii) a B is an amplitude coefficient, and the formula is as follows: b6 k r²(ii) a C is a frequency coefficient, and the formula is as follows: c ═ i + 1.

The theoretical tooth profile equation of the elliptical surface of the transmission part 312 of the cycloid shaft 31 is as follows:

in the formula: x₂The abscissa of the ellipsoid of the transmission part 312; y is₂Is the ordinate of the ellipsoid of the transmission 312; the parameter t is an angle, and the value range of the parameter t is 0-360 degrees; e and F are amplitude coefficients, and the calculation formula of E is as follows: e-3 × r, F is calculated as: f ═ r × k; wherein r is the radius of the generating circle; k is a short amplitude factor.

In order to embody the present invention, the present embodiment sets specific values of the following parameters in the positional relationship between the tooth profile groove 341 surface of the circular gear 34 and the elliptical surface of the transmission part 312 of the cycloid shaft 31, as shown in table 1:

TABLE 1 cycloid oscillating tooth speed reducer parameter table

Serial number	Item	(symbol)	Results
				1	Number of oscillating-tooth steel balls 33	ZG	12
2	Number of tooth profile grooves 341 of the circular gear 34	ZK	10
				3	33 radius of oscillating tooth steel ball	rZ	2mm
4	Radius of generating circle	r	4mm
				5	Short amplitude factor	k	0.15

It can be seen that the theoretical tooth profile equation of the tooth profile groove 341 surface of the circular gear 34 is:

the theoretical tooth profile equation of the elliptical surface of the transmission part 312 of the cycloid shaft 31 is as follows:

the tooth profile groove 341 surface of the circular gear 34 and the elliptical surface of the transmission portion 312 of the cycloid shaft 31 are set according to the above equation. For speed reducing equipment in different fields, according to the speed reducing ratio required by the rotating speed between a prime motor and a working machine, the tooth profile groove 341 surface of the circular gear 34 and the transmission part 312 elliptical surface of the cycloid shaft 31 are designed, and the output rotating speed of the oscillating rack 321 can be adjusted by changing the number of the oscillating steel balls 33, the tooth profile groove 341 surface of the circular gear 34 and the tooth profile of the transmission part 312 elliptical surface of the cycloid shaft 31.

The implementation principle of the application is as follows: when the speed reducing mechanism works, the speed reducing mechanism is arranged on a prime motor, so that a coupler 2 is connected with an output shaft 5 of the prime motor; the prime mover can drive the coupler 2 and the cycloid shaft 31 to rotate, the transmission part 312 of the cycloid shaft 31 pushes the movable-tooth steel ball 33 to move up and down in the spherical hole 323, meanwhile, the movable-tooth steel ball 33 rotates because the movable-tooth steel ball 33 is tangent to the elliptical surface of the transmission part 312, the movable-tooth steel ball 33 at two ends of the transmission part 312 is tightly abutted to the inner top surface of the tooth profile groove 341 where the movable-tooth steel ball 33 is located, the movable-tooth steel ball 33 can push the circular gear 34 to rotate while rotating, and the process realizes first-stage speed reduction; the circular gear 34 is meshed with the planetary gear 41 and drives the planetary gear 41 to rotate, and meanwhile, the planetary gear 41 is meshed with the inner gear ring 42 to revolve around the axis of the circular gear 34, so that the planetary carrier and the output shaft 5 are driven to rotate, and secondary speed reduction is realized; the cooperation of the cycloid shaft 31, the oscillating tooth rack 32, the circular gear 34 and the oscillating tooth steel ball 33 forms primary speed reduction, the cooperation of the circular gear 34, the planet gear 41 and the inner gear ring 42 forms secondary speed reduction, and the cooperation of the two-stage speed reduction effectively improves the transmission ratio of the speed reducing mechanism; the speed reduction ratio adjusting device is simple in structure, can select the corresponding oscillating tooth steel ball 33, the circular gear 34 and the swing shaft 31 to adjust the output speed according to the speed reduction ratio required by the rotating speed between the prime motor and the working machine, and has the advantages of being large in speed reduction ratio, small in axial size, large in output torque and low in noise.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.