阅读说明：本技术 一种偏心圆和正弦滚道组合驱动的双级活齿减速器 (Two-stage oscillating tooth speed reducer driven by combination of eccentric circle and sinusoidal roller path ) 是由 许立忠 杨林栋 于 2021-09-23 设计创作，主要内容包括：本发明涉及一种偏心圆和正弦滚道组合驱动的双级活齿减速器,包括左端盖、输入轴、一级激波器、一级活齿架、一级中心轮、一级传动钢球、一级支撑钢球、第一壳体、第二壳体、二级激波器、二级活齿架、二级中心轮、二级传动钢球、二级支撑钢球和交叉滚子轴承等。本发明一级激波器与对应输入轴通过第五轴承连接,一二级传动系统之间通过交叉滚子轴承连接,左端盖以及二级中心轮上安装有密排支撑钢球,无需等速传动机构,使得活齿减速器具有较高的传动效率、传动精度与承载力,且传动平稳,结构简单,便于安装,减速器的轴向尺寸与径向尺寸较小,而且通过齿数组合可以实现大传动比,可以进行参数化与系列化设计生产并应用于特定的应用场景。(The invention relates to a two-stage oscillating tooth speed reducer driven by an eccentric circle and sine roller path in a combined mode, which comprises a left end cover, an input shaft, a primary shock wave device, a primary oscillating tooth frame, a primary central wheel, a primary transmission steel ball, a primary supporting steel ball, a first shell, a second shell, a secondary shock wave device, a secondary oscillating tooth frame, a secondary central wheel, a secondary transmission steel ball, a secondary supporting steel ball, a cross roller bearing and the like. The first-stage shock wave device is connected with the corresponding input shaft through the fifth bearing, the second-stage transmission system is connected with the first-stage shock wave device through the crossed roller bearing, and the left end cover and the second-stage center wheel are provided with the densely arranged supporting steel balls, so that the constant-speed transmission mechanism is not needed, the oscillating tooth speed reducer has high transmission efficiency, transmission precision and bearing capacity, is stable in transmission, simple in structure and convenient to install, has small axial size and radial size, can realize large transmission ratio through tooth number combination, can be subjected to parameterization and serialized design production and is applied to specific application scenes.)

1. The utility model provides a doublestage oscillating tooth reduction gear of eccentric circle and sinusoidal raceway combination drive which characterized in that: the speed reducer comprises an input shaft, a left end cover, a primary supporting steel ball, a first bolt, a first shell, a primary shock wave device, a primary oscillating tooth rack, a second shell, a primary center wheel, a secondary shock wave device, a secondary oscillating tooth rack, a secondary center wheel, a second bolt, a secondary supporting steel ball, a fourth bearing, a third bolt, a secondary transmission steel ball, a crossed roller bearing, a second bearing, a shaft sleeve, a primary transmission steel ball, a fifth bearing and a first bearing;

the left end cover, the first shell, the primary movable rack and the second shell are sequentially connected through a first bolt from the head end to the tail end, and the axes are overlapped; the first-stage central wheel, the crossed roller bearing inner ring and the secondary shock wave device are sequentially connected through a second bolt from the head end to the tail end, the axes are overlapped, and the first-stage central wheel is positioned on the inner side of the circumference of the second shell; the second shell, the crossed roller bearing shell and the secondary central wheel are sequentially connected through a third bolt from the head end to the tail end, and the axes are overlapped;

the input shaft is connected with the left end cover to form a transmission cavity, and a first bearing is arranged in the transmission cavity; a circular ring groove is formed in the end face of the inner side of the left end cover and used for densely arranging first-stage supporting steel balls; the input shaft is provided with an eccentric shaft section which is connected with the primary shock wave device to form a transmission cavity, and a fifth bearing is arranged in the cavity; a primary oscillating tooth rack is arranged between the primary shock wave device and the primary central wheel, the primary shock wave device is arranged on the eccentric shaft section of the input shaft, an eccentric circular raceway matched with the primary transmission steel ball is formed on the end surface of the right side, oscillating tooth guide grooves which are uniformly distributed are circumferentially arranged on the end surface of the primary oscillating tooth rack, the primary transmission steel balls are uniformly distributed in the oscillating tooth guide grooves, and a sinusoidal raceway matched with the primary transmission steel balls is arranged on the left end surface of the primary central wheel; the crossed roller bearing is connected with the input shaft to form a transmission cavity, and a second bearing is arranged in the cavity; the shaft sleeve is arranged in the middle of the input shaft and is positioned between the second bearing and the fifth bearing; the secondary shock wave device is arranged between the crossed roller bearing and the secondary central wheel, and a secondary oscillating tooth frame is arranged between the secondary shock wave device and the secondary central wheel; a sinusoidal raceway matched with the secondary transmission steel ball is arranged on the end face of the right side of the secondary shock wave device; the end surface of the secondary movable rack is circumferentially provided with movable tooth guide grooves which are uniformly distributed, and the secondary transmission steel balls are uniformly distributed in the movable tooth guide grooves; the left shaft section of the secondary oscillating tooth rack is connected with a secondary shock wave device to form a transmission cavity, and a third bearing is arranged in the cavity; the right shaft section of the secondary movable rack is connected with the secondary central wheel to form a transmission cavity, and a fourth bearing is arranged in the cavity; a circular ring groove is formed in the end face of the inner side of the secondary central wheel and used for densely arranging secondary supporting steel balls; a sinusoidal raceway matched with the secondary transmission steel ball is arranged on the outer side of the circular ring groove;

the primary transmission steel ball, the primary shock wave device, the primary movable rack and the primary central wheel form a primary transmission system; the secondary transmission steel ball, the secondary shock wave device, the secondary movable rack and the secondary central wheel form a secondary transmission system;

the first-stage transmission system is driven by an eccentric circular roller way, and the first-stage movable rack is fixed and output by the first-stage central wheel; the second-stage transmission system is driven by a sinusoidal raceway, and the second-stage central wheel is fixed and output by the second-stage movable rack.

2. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 1, wherein: the primary central wheel, the secondary shock wave device and the crossed roller bearing are integrated into a whole.

3. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 1, wherein: the equation of the tooth profile of the primary shock wave device is

x²+y²＝b₁ ²

Wherein, b₁Is the theoretical tooth profile radius of the first-level central wheel in unit mm.

4. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 3, wherein: the parameter equation of the theoretical contour line of the sine raceway of the first-stage central wheel is

Wherein, a₁The amplitude of the oscillating tooth raceway of the first-stage central wheel is in unit mm; z₂The number of the fluctuation cycles of the theoretical tooth profile of the first-level central wheel is the number of the fluctuation cycles;is the first-level central wheel rotation angle in unit.

5. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 4, wherein: the parameter equation of the theoretical contour line of the sine roller path of the secondary shock wave device is

Wherein, a₂The wave amplitude of the oscillating tooth raceway of the secondary shock wave device is in unit mm; b₂The radius of the theoretical tooth profile of the secondary shock wave device is in unit mm; z₃The number of the theoretical tooth profile fluctuation cycles of the secondary shock wave device is set;is the rotation angle of the second-level movable rack in unit degree.

6. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 5, wherein: the parameter equation of the theoretical tooth profile of the two-stage center wheel sinusoidal raceway is

Wherein Z is₅The number of the fluctuation cycles of the theoretical tooth profile of the two-stage central wheel is shown.

7. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 6, wherein: the first-stage movable tooth rack and the second-stage movable tooth rack adopt a tooth drawing method, the actual number of the movable tooth guide grooves is one half or one fourth of the theoretical number of the movable tooth guide grooves, and

Z₁＝Z₂+1

Z₄＝Z₃+Z₅

wherein Z is₁Is the theoretical number of the oscillating tooth guide grooves, Z, of the first-level oscillating tooth rack₄Is the theoretical number of the oscillating tooth guide grooves of the second-stage oscillating tooth rack.

8. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 7, wherein: the transmission ratio of the first-stage transmission system is calculated by the formula

9. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 8, wherein: the transmission ratio of the second-stage transmission system is calculated by the formula

10. The two-stage oscillating tooth speed reducer driven by the combination of the eccentric circular raceway and the sinusoidal raceway according to claim 9, wherein: the calculation formula of the total transmission ratio of the two-stage series structure of the first-stage transmission system and the second-stage transmission system is

Technical Field

The invention relates to the technical field of speed reducers, in particular to a two-stage oscillating tooth speed reducer driven by an eccentric circle and a sinusoidal raceway in a combined mode.

Background

With the rapid development of science and technology, modern machines are gradually developed towards high speed, precision and the like, and the speed reducer serving as a key transmission part in the modern machines has higher requirements, such as miniaturization, light weight, high speed, low noise, high reliability and the like. The movable gear transmission is a novel transmission which is different from the traditional gear transmission type, has incomparable superior performance compared with the traditional gear transmission due to the unique structural characteristics, is a very representative movable gear transmission type, and is widely applied to the fields of national defense, petrochemical industry, automobiles, electronic instruments, aerospace, precision instruments and the like due to the characteristics of simple and compact structure, high transmission efficiency, small transmission error, stable transmission and the like.

The invention patent with application number 201910975881.1 discloses a microminiature steel ball speed reducer based on an integrated structure of a crossed roller bearing and a center wheel, wherein the crossed roller bearing adopts an integrated structure, the end surface of the inner ring of the bearing is provided with a sinusoidal raceway which is used as the center wheel of a second-stage transmission system for transmission and plays a supporting role, the two-stage crossed roller bearing has the same structure, has interchangeability and can prolong the service life, but the two crossed roller bearings are of non-standard structures, thereby causing certain difficulty in processing and production and being incapable of ensuring stable transmission between the first stage and the second stage. Through optimally designing a single-stage oscillating tooth transmission structure into a two-stage oscillating tooth transmission structure, the planar oscillating tooth transmission speed reducer can realize a large transmission ratio, but cannot simultaneously meet the requirements of stable transmission and high efficiency, so that the speed reducer with the large transmission ratio, the stable transmission, the small size and the high efficiency needs to be designed to meet more development requirements.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a two-stage oscillating tooth speed reducer driven by an eccentric circle and a sinusoidal raceway in a combined manner, such that the two-stage oscillating tooth speed reducer has the characteristics of large transmission ratio, stable transmission, small size, high efficiency, etc.

The technical scheme adopted by the invention is as follows:

the invention provides a two-stage oscillating tooth speed reducer driven by an eccentric circle and sinusoidal roller path in a combined mode, which comprises an input shaft, a left end cover, a first-stage supporting steel ball, a first bolt, a first shell, a first-stage shock wave device, a first-stage oscillating tooth frame, a second shell, a first-stage center wheel, a second-stage shock wave device, a second-stage oscillating tooth frame, a second-stage center wheel, a second bolt, a second-stage supporting steel ball, a fourth bearing, a third bolt, a second-stage transmission steel ball, a crossed roller bearing, a second bearing, a shaft sleeve, a first-stage transmission steel ball, a fifth bearing and a first bearing;

the left end cover, the first shell, the primary movable rack and the second shell are sequentially connected through a first bolt from the head end to the tail end, and the axes are overlapped; the first-stage central wheel, the crossed roller bearing inner ring and the secondary shock wave device are sequentially connected through a second bolt from the head end to the tail end, the axes are overlapped, and the first-stage central wheel is positioned on the inner side of the circumference of the second shell; the second shell, the crossed roller bearing shell and the secondary central wheel are sequentially connected through a third bolt from the head end to the tail end, and the axes are overlapped;

the input shaft is connected with the left end cover to form a transmission cavity, and a first bearing is arranged in the transmission cavity; a circular ring groove is formed in the end face of the inner side of the left end cover and used for densely arranging first-stage supporting steel balls; the input shaft is provided with an eccentric shaft section which is connected with the primary shock wave device to form a transmission cavity, and a fifth bearing is arranged in the cavity; a primary oscillating tooth rack is arranged between the primary shock wave device and the primary central wheel, the primary shock wave device is arranged on the eccentric shaft section of the input shaft, an eccentric circular raceway matched with the primary transmission steel ball is formed on the end surface of the right side, oscillating tooth guide grooves which are uniformly distributed are circumferentially arranged on the end surface of the primary oscillating tooth rack, the primary transmission steel balls are uniformly distributed in the oscillating tooth guide grooves, and a sinusoidal raceway matched with the primary transmission steel balls is arranged on the left end surface of the primary central wheel; the crossed roller bearing is connected with the input shaft to form a transmission cavity, and a second bearing is arranged in the cavity; the shaft sleeve is arranged in the middle of the input shaft and is positioned between the second bearing and the fifth bearing; the secondary shock wave device is arranged between the crossed roller bearing and the secondary central wheel, and a secondary oscillating tooth frame is arranged between the secondary shock wave device and the secondary central wheel; a sinusoidal raceway matched with the secondary transmission steel ball is arranged on the end face of the right side of the secondary shock wave device; the end surface of the secondary movable rack is circumferentially provided with movable tooth guide grooves which are uniformly distributed, and the secondary transmission steel balls are uniformly distributed in the movable tooth guide grooves; the left shaft section of the secondary oscillating tooth rack is connected with a secondary shock wave device to form a transmission cavity, and a third bearing is arranged in the cavity; the right shaft section of the secondary movable rack is connected with the secondary central wheel to form a transmission cavity, and a fourth bearing is arranged in the cavity; a circular ring groove is formed in the end face of the inner side of the secondary central wheel and used for densely arranging secondary supporting steel balls; a sinusoidal raceway matched with the secondary transmission steel ball is arranged on the outer side of the circular ring groove;

the primary transmission steel ball, the primary shock wave device, the primary movable rack and the primary central wheel form a primary transmission system; the secondary transmission steel ball, the secondary shock wave device, the secondary movable rack and the secondary central wheel form a secondary transmission system;

the first-stage transmission system is driven by an eccentric circular roller way, and the first-stage movable rack is fixed and output by the first-stage central wheel; the second-stage transmission system is driven by a sinusoidal raceway, and the second-stage central wheel is fixed and output by the second-stage movable rack.

Furthermore, the primary central wheel, the secondary shock wave device and the crossed roller bearing are integrated into a whole.

Further, the equation of the tooth profile of the primary shock wave device is

x²+y²＝b₁ ²

Wherein, b₁Is the theoretical tooth profile radius of the first-level central wheel in unit mm.

Further, the parameter equation of the theoretical contour line of the sine raceway of the primary central wheel is

Wherein, a₁The amplitude of the oscillating tooth raceway of the first-stage central wheel is in unit mm; z₂Is a first-level central wheel theoretical tooth profile fluctuation periodCounting;is the first-level central wheel rotation angle in unit.

Further, the parameter equation of the theoretical contour line of the sine roller path of the secondary shock wave device is

Wherein, a₂The wave amplitude of the oscillating tooth raceway of the secondary shock wave device is in unit mm; b₂The radius of the theoretical tooth profile of the secondary shock wave device is in unit mm; z₃The number of the theoretical tooth profile fluctuation cycles of the secondary shock wave device is set;is the rotation angle of the second-level movable rack in unit degree.

Furthermore, the parameter equation of the theoretical tooth profile of the sinusoidal raceway of the secondary center wheel is

Wherein Z is₅The number of the fluctuation cycles of the theoretical tooth profile of the two-stage central wheel is shown.

Furthermore, the first-stage movable tooth rack and the second-stage movable tooth rack adopt a tooth drawing method, the actual number of the movable tooth guide grooves is one half or one fourth of the theoretical number of the movable tooth guide grooves, and

Z₁＝Z₂+1

Z₄＝Z₃+Z₅

wherein Z is₁Is the theoretical number of the oscillating tooth guide grooves, Z, of the first-level oscillating tooth rack₄Is the theoretical number of the oscillating tooth guide grooves of the second-stage oscillating tooth rack.

Further, the transmission ratio of the first-stage transmission system is calculated by the formula

Further, the transmission ratio of the second-stage transmission system is calculated by the formula

Further, the total transmission ratio calculation formula of the two-stage series structure of the first-stage transmission system and the second-stage transmission system is as follows

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

1. the first-stage transmission system is driven by an eccentric circular raceway, the second-stage transmission system is driven by a sinusoidal raceway, three parts, namely a first-stage central wheel, a second-stage shock wave device and a crossed roller bearing, are integrated into a whole, a non-standard crossed roller bearing is not needed, a large transmission ratio can be realized through tooth number combination, and under the condition that the radial dimension is not changed, the axial dimension is obviously shortened and is smaller than that of a traditional speed reducer, a constant-speed output mechanism is not needed, the structure is simple, and the installation is convenient;

2. the first-stage shock wave device is connected with the eccentric shaft section of the input shaft through a fifth bearing, the first-stage shock wave device can rotate along the eccentric axis of the input shaft while revolving, and the first-stage transmission system and the second-stage transmission system are connected through crossed roller bearings, so that the transmission efficiency and the transmission precision of the speed reducer are greatly improved;

3. the left end cover is provided with the densely arranged first-stage supporting steel balls, and the second-stage center wheel is provided with the densely arranged second-stage supporting steel balls, so that the axial bearing capacity and the transmission stability of the system are improved, and the service life is longer;

4. related bearings and crossed roller bearings of the speed reducer structure are standard parts, and main transmission parts are easy to process and manufacture, so that parameterization and serialization design can be performed, and the speed reducer structure is suitable for large-range application;

in conclusion, the technical scheme of the invention can solve the problem that the speed reducer in the prior art cannot simultaneously ensure stable transmission, high efficiency, compact structure and high bearing capacity.

Drawings

FIG. 1 is a schematic view of the overall assembly structure of the present invention;

FIG. 2 is a schematic cross-sectional view of the whole device of the present invention;

FIG. 3 is a schematic view of the input shaft of the present invention;

FIG. 4 is a schematic diagram of a primary shock absorber according to the present invention;

FIG. 5 is a schematic view of a primary oscillating tooth carrier structure according to the present invention;

FIG. 6 is a schematic view of a primary center wheel configuration of the present invention;

FIG. 7 is a schematic structural diagram of a secondary shock absorber according to the present invention;

FIG. 8 is a schematic structural view of a secondary oscillating tooth carrier part of the present invention;

FIG. 9 is a schematic view of a two-stage center wheel according to the present invention.

Wherein, the reference numbers: 1-an input shaft; 2-left end cap; 3-first-stage supporting steel balls; 4-a first bolt; 5-a first housing; 6-a primary shock wave device; 7-first-stage movable tooth rack; 71-a movable tooth guide groove; 8-a second housing; 9-first-stage central wheel; 10-a secondary shock wave device; 11-a secondary movable rack; 111-oscillating tooth guide groove; 12-a secondary centre wheel; 121-circular ring groove; 13-a second bolt; 14-secondary supporting steel balls; 15-a fourth bearing; 16-a third bearing; 17-a third bolt; 18-two-stage transmission steel balls; 19-crossed roller bearings; 20-a second bearing; 21-shaft sleeve; 22-first-stage transmission steel ball; 23-a fifth bearing; 24-first bearing.

Detailed Description

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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not mean that a device or an element must have a specific orientation, be configured and operated in a specific orientation.

Referring to the accompanying drawings 1 to 9, a specific structure of an embodiment of a two-stage oscillating tooth speed reducer driven by an eccentric circle and a sinusoidal raceway in a combined manner is provided, and the embodiment designs a two-stage oscillating tooth speed reducer driven by an eccentric circle and a sinusoidal raceway in a combined manner aiming at a certain application occasion, wherein the overall size of the two-stage oscillating tooth speed reducer is phi 73mm in outer diameter and 54.8mm in total length; the cross section of the oscillating tooth roller path is semicircular; the models of the first bearing and the fourth bearing are 61801; the fifth bearing type is 63901; the second bearing model number is 619/9; the third bearing model is 618/9; the crossed roller bearing is CH 42; the theoretical parameters of the first and second stage transmission are shown in table 1.

TABLE 1 structural theory parameter table

The speed reducer comprises an input shaft (1), a left end cover (2), a first-stage supporting steel ball (3), a first bolt (4), a first shell (5), a first-stage shock wave device (6), a first-stage oscillating rack (7), a second shell (8), a first-stage center wheel (9), a second-stage shock wave device (10), a second-stage oscillating rack (11), a second-stage center wheel (12), a second bolt (13), a second-stage supporting steel ball (14), a fourth bearing (15), a third bearing (16), a third bolt (17), a second-stage transmission steel ball (18), a crossed roller bearing (19), a second bearing (20), a shaft sleeve (21), a first-stage transmission steel ball (22), a fifth bearing (23) and a first bearing (24).

The left end cover (2), the first shell (5), the primary movable rack (7) and the second shell (8) are sequentially connected through the first bolt (4) from the head end to the tail end, and the axes are overlapped; the primary central wheel (9), the inner ring of the crossed roller bearing (19) and the secondary shock wave device (10) are sequentially connected with each other through the second bolt (13) from the head end to the tail end, and the axes are overlapped; and the second shell (8), the shell of the crossed roller bearing (19) and the secondary central wheel (12) are sequentially connected through a third bolt (17) from the head end to the tail end, and the axes are overlapped.

The input shaft (1) is connected with the left end cover (2) to form a transmission cavity, and a first bearing (24) is arranged in the transmission cavity; a circular ring groove is formed in the end face of the inner side of the left end cover (2) and used for densely arranging the first-stage supporting steel balls (3); the input shaft (1) is provided with an eccentric shaft end and is connected with the primary shock wave device (6) to form a transmission cavity, and a fifth bearing (23) is arranged in the transmission cavity; a primary oscillating tooth rack (7) is arranged between the primary shock wave device (6) and the primary central wheel (9), the primary shock wave device (6) is arranged on the eccentric shaft section of the input shaft (1), the right end face of the primary shock wave device forms an eccentric circular raceway matched with the primary transmission steel ball (22), the end face of the primary oscillating tooth rack (7) is circumferentially provided with evenly distributed oscillating tooth guide grooves (71), the primary transmission steel balls (22) are evenly distributed in the oscillating tooth guide grooves (71), and the left end face of the primary central wheel is provided with a sinusoidal raceway matched with the primary transmission steel balls (22); the crossed roller bearing (19) is connected with the input shaft (1) to form a transmission cavity, and a second bearing (20) is arranged in the cavity; the shaft sleeve (21) is arranged in the middle of the input shaft and is positioned between the second bearing (20) and the fifth bearing (23); the secondary shock wave device (10) is arranged between the crossed roller bearing (19) and the secondary central wheel (12), and a secondary movable rack (11) is arranged between the secondary shock wave device (10) and the secondary central wheel (12); a sinusoidal raceway matched with a secondary transmission steel ball (18) is arranged on the end face of the right side of the secondary shock wave device (10); the end surface of the secondary oscillating tooth rack (11) is circumferentially provided with oscillating tooth guide grooves (111) which are uniformly distributed, and the secondary transmission steel balls (18) are uniformly distributed in the oscillating tooth guide grooves; the left shaft section of the secondary oscillating tooth rack (11) is connected with the secondary shock wave device (10) to form a transmission cavity, and a third bearing (16) is arranged in the cavity; the right shaft section of the secondary movable rack (11) is connected with a secondary central wheel to form a transmission cavity, and a fourth bearing (15) is arranged in the transmission cavity; and a circular ring groove (121) is formed in the end face of the inner side of the secondary central wheel (12) and used for densely arranging the secondary supporting steel balls (14), and a sinusoidal raceway matched with the secondary driving steel balls (18) is arranged on the outer side of the circumference of the circular ring groove (121) in the secondary central wheel (12).

The primary transmission steel ball (22), the primary shock wave device (6), the primary movable rack (7) and the primary central wheel (9) form a primary transmission system; the secondary transmission steel ball (18), the secondary shock wave device (10), the secondary oscillating tooth rack (11) and the secondary central wheel (12) form a secondary transmission system;

the first-stage transmission system is driven by an eccentric circular roller way, and the first-stage movable rack (7) is fixed and output by the first-stage central wheel (9); the second-stage transmission system is driven by a sinusoidal raceway, and the second-stage central wheel (12) is fixed and output by the second-stage movable rack (11).

The equation of the tooth profile of the primary shock wave device is

x²+y²＝22.5²

The parameter equation of the theoretical contour line of the sine raceway of the first-stage central wheel is

Wherein the content of the first and second substances,is the first-level central wheel rotation angle in unit.

The parameter equation of the theoretical contour line of the sine roller path of the secondary shock wave device is

Wherein the content of the first and second substances,is the rotation angle of the second-level movable rack in unit degree.

The parameter equation of the theoretical tooth profile of the two-stage center wheel sinusoidal raceway is

The first-stage movable rack adopts a tooth drawing method, and the theoretical number of the movable tooth guide grooves is

Z₁＝Z₂+1＝23+1＝24

Wherein Z is₁The number of the theoretical movable tooth guide grooves of the first-level movable tooth rack is 12, and the actual number of the movable tooth guide grooves is one half of the number of the theoretical movable tooth guide grooves.

The secondary movable tooth rack adopts a tooth drawing method, and the theoretical number of the movable tooth guide grooves is

Z₄＝Z₃+Z₅＝16+16＝32

Wherein Z is₄The number of the theoretical movable tooth guide grooves of the two-stage movable tooth rack is 8, and the actual number of the movable tooth guide grooves is one fourth of the number of the theoretical movable tooth guide grooves.

The transmission ratio of the first-stage transmission system is calculated by the formula

The transmission ratio of the second-stage transmission system is calculated by the formula

The calculation formula of the total transmission ratio of the two-stage series structure of the first-stage transmission system and the second-stage transmission system is

The working principle of the invention is as follows: when in use, taking the above embodiment as an example, the input shaft (1) is rotated, the eccentric shaft section on the input shaft (1) can drive the first-stage shock wave device (6) to revolve around the axis of the input shaft (1), so as to push the first-stage transmission steel ball (22) to move along the oscillating tooth guide groove of the first-stage oscillating tooth rack (7) and the sinusoidal raceway of the first-stage central wheel (9) at the same time, and as the first-stage oscillating tooth rack (7) is fixed, the first-stage central wheel (9) rotates around the axis, and the reduction ratio is-23; then, the first-stage central wheel (9) drives the inner ring of the crossed roller bearing (19) and the second-stage shock absorber (10) to rotate around the axis, so that the second-stage transmission steel ball (18) is pushed to move along the oscillating tooth guide groove of the second-stage oscillating tooth rack (11) and the sinusoidal raceway of the second-stage central wheel (12) simultaneously, the second-stage oscillating tooth rack (11) rotates around the axis because the second-stage central wheel (12) is fixed, and the total reduction ratio of the speed reducer is-23 x 2-46 because the reduction ratio is 2.

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 of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.