reduction gear

Abstract

The present invention discloses a deceleration device, which includes a fixed frame, a drive assembly, a first annular member, a second annular member, an elastic annular member, two output members, and a plurality of fixed pin assemblies. The first annular member includes a plurality of first external tooth structures. The second annular member includes a plurality of second external tooth structures. The elastic annular member includes a plurality of internal tooth structures. The plurality of internal tooth structures are used to engage with the plurality of first external tooth structures. The plurality of internal tooth structures are used to engage with the plurality of second external tooth structures. The drive assembly can drive the first annular member and the second annular member to rotate relative to the fixed frame, and the first annular member and the second annular member can drive the two output members to rotate via the plurality of fixed pin assemblies.

Description

Technical Field

[0001] The present invention relates to a speed reducing device, in particular to an eccentric speed reducing device. Background Art

[0002] The common existing eccentric reduction gear mainly includes two rigid rotating gears, a rigid fixed gear and a plurality of pins. The plurality of external tooth structures of each rigid rotating gear mesh with the plurality of internal tooth structures of the rigid fixed gear. The two rigid rotating gears are connected to each other by a plurality of pins. When the driving shaft drives the rigid rotating gears to actuate, each rigid rotating gear will rotate relative to the rigid fixed gear, and the rigid rotating gear will drive the plurality of pins to actuate, and the plurality of pins will link the related output components to rotate at a relatively low speed. In order for each rigid rotating gear to rotate smoothly relative to the rigid fixed gear, the backlash between the internal tooth structure and the external tooth structure must be precisely designed during the design and manufacturing process of this reduction gear. However, in actual production, this reduction gear often has a backlash between the internal tooth structure and the external tooth structure that is too large due to factors such as assembly and manufacturing, which leads to the problem of poor efficiency of the reduction gear as a whole. Summary of the Invention

[0003] The present invention discloses a reduction gear, which is mainly used to improve the conventional reduction gear comprising two rigid rotating gears and one rigid fixed gear. Due to factors such as assembly and manufacturing, the backlash between the inner tooth structure and the outer tooth structure is too large, which leads to the problem of poor overall efficiency of the reduction gear.

[0004] One embodiment of the present invention discloses a deceleration device, which includes: a fixed frame, which is an annular structure; a driving assembly, which includes two cam structures; a first annular component, which includes a first body and a plurality of first external tooth structures, the first body includes a plurality of first pin holes, each of which passes through the first body, and the plurality of first external tooth structures are formed on the periphery of the first body; the inner side of the first body is pivotally connected to the periphery of one of the cams of the driving assembly; a second annular component, which includes a second body and a plurality of second external tooth structures, the second body includes a plurality of second pin holes, each of which passes through the second body, and the plurality of second external tooth structures are formed on the periphery of the second body; the inner side of the second body is pivotally connected to the periphery of another cam of the driving assembly; an elastic annular component, a portion of which is fixed to the inner side of the fixed frame, the elastic annular component includes an elastic body and a plurality of internal tooth structures, and the inner side of the elastic body is formed with a plurality of internal tooth structures; the plurality of internal tooth structures are used to engage with the plurality of first external tooth structures The toothed structures are meshed with each other, and the multiple internal toothed structures are used to mesh with the multiple second external toothed structures; the elastic annular member can be squeezed by the multiple first external toothed structures or the second external toothed structures and elastically deformed; the number of first external toothed structures included in the first annular member is different from the number of internal toothed structures included in the elastic annular member; the number of second external toothed structures included in the second annular member is different from the number of internal toothed structures included in the elastic annular member; two output members are respectively pivotally connected to the periphery of the driving component, and the periphery of each output member is pivotally connected to the inner side of the fixed frame; wherein the first annular member and the second annular member are located between the two output members; multiple fixing pin assemblies, the two ends of each fixing pin assembly are fixed to the two output members, and each fixing pin assembly passes through one of the first pin holes and one of the second pin holes; each fixing pin assembly is eccentrically arranged in the corresponding first pin hole, and each fixing pin assembly is eccentrically arranged in the corresponding second pin hole.

[0005] Optionally, the first annular component and the second annular component are completely identical components, and the driving assembly has a main body and two cam structures, and the two cam structures are formed on the periphery of the main body; when the main body is driven to rotate around a central axis, the first annular component rotates around a first central axis, and the second annular component rotates around a second central axis, and the central axis, the first central axis and the second central axis do not overlap and are parallel to each other.

[0006] Optionally, the deceleration device further includes a plurality of fixing parts, the fixing frame includes an annular body and an annular fixing portion, the annular fixing portion is located on the inner side of the annular body, the annular fixing portion includes a plurality of first fixing holes, and each first fixing hole passes through the annular fixing portion; the elastic annular member includes an annular protrusion, the annular protrusion is formed on the periphery of the elastic body, the annular protrusion includes a plurality of through holes, and each through hole passes through the annular protrusion; the plurality of through holes, the plurality of first fixing holes and the plurality of fixing parts can cooperate with each other to fix the annular protrusion to one side of the annular fixing portion.

[0007] Optionally, the outer diameter of the elastic body gradually decreases from the side close to the annular protrusion to the side away from the annular protrusion; the inner diameter of the annular fixing portion gradually decreases from the side close to the annular protrusion to the side away from the annular protrusion; an inner annular surface of the annular fixing portion is arranged facing an outer annular surface of the elastic annular portion, and there is a gap between them.

[0008] Optionally, the drive assembly can be driven to rotate around a central axis, and an inner ring surface of the annular fixing portion forms an angle between 0 and 10 degrees with an axis parallel to the central axis in a cross section; the normal of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; an outer ring surface of the elastic annular portion forms an angle between 0 and 10 degrees with an axis parallel to the central axis in a cross section.

[0009] Optionally, the elastic body includes an elastic connecting portion and two elastic annular portions, both sides of the elastic connecting portion are connected to the two elastic annular portions, the annular protrusion is connected to the periphery of the elastic connecting portion, and the two elastic annular portions are located on both sides of the annular protrusion; the fixed frame includes two annular fixing portions, the two annular fixing portions are respectively defined as a first annular fixing portion and a second annular fixing portion, the first annular fixing portion is integrally formed with the annular body, the second annular fixing portion is an annular component independent of the annular body, the second annular fixing portion is detachably arranged on one side of the first annular fixing portion, and the annular protrusion is held between the first annular fixing portion and the second annular fixing portion.

[0010] Optionally, the inner diameter of the first annular fixing portion gradually decreases from a side close to the second annular fixing portion to a side away from the second annular fixing portion, and the inner diameter of the second annular fixing portion gradually decreases from a side close to the first annular fixing portion to a side away from the first annular fixing portion; the outer diameter of one of the elastic annular portions gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion, and the outer diameter of the other elastic annular portion gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion; an inner annular surface of the first annular fixing portion is arranged to face an outer annular surface of one of the elastic annular portions, and a gap is provided between them; an inner annular surface of the second annular fixing portion is arranged to face an outer annular surface of the other elastic annular portion, and a gap is provided between them.

[0011] Optionally, the drive assembly can be driven to rotate around a central axis, and an inner annular surface of the first annular fixing portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section; the normal of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; an inner annular surface of the second annular fixing portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section; an outer annular surface of each elastic annular portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section.

[0012] One embodiment of the present invention discloses a deceleration device, which includes: a fixed frame, which is an annular structure; a driving assembly, which includes two cam structures; a first annular component, which includes a first body and a plurality of first external tooth structures, the first body includes a plurality of first pin holes, each of which passes through the first body, and the plurality of first external tooth structures are formed on the periphery of the first body; the inner side of the first body is pivotally connected to the periphery of one of the cams of the driving assembly; a second annular component, which includes a second body and a plurality of second external tooth structures, the second body includes a plurality of second pin holes, each of which passes through the second body, and the plurality of second external tooth structures are formed on the periphery of the second body; the inner side of the second body is pivotally connected to the periphery of the other cam of the driving assembly; two elastic annular components, a portion of each elastic annular component is fixed to the inner side of the fixed frame, each elastic annular component includes an elastic body and a plurality of internal tooth structures, and the inner side of the elastic body is formed with a plurality of internal tooth structures; the plurality of internal tooth structures of one of the elastic annular components are used to engage with the plurality of first The outer tooth structures are meshed with each other, and the multiple inner tooth structures of another elastic ring-shaped component are used to mesh with the multiple second outer tooth structures; each elastic ring-shaped component can be squeezed and elastically deformed by the multiple first outer tooth structures or the second outer tooth structures; the number of first outer tooth structures included in the first ring-shaped component is different from the number of inner tooth structures included in any elastic ring-shaped component; the number of second outer tooth structures included in the second ring-shaped component is different from the number of inner tooth structures included in any elastic ring-shaped component; two output components are respectively pivotally connected to the periphery of the drive component, and the periphery of each output component is pivotally connected to the inner side of the fixed frame; wherein the first ring-shaped component and the second ring-shaped component are located between the two output components; multiple fixing pin assemblies, the two ends of each fixing pin assembly are fixed to the two output components, and each fixing pin assembly passes through one of the first pin holes and one of the second pin holes; each fixing pin assembly is eccentrically arranged in the corresponding first pin hole, and each fixing pin assembly is eccentrically arranged in the corresponding second pin hole.

[0013] Optionally, the first annular component and the second annular component are completely identical components, and the driving assembly has a main body and two cam structures, and the two cam structures are formed on the periphery of the main body; when the main body is driven to rotate around a central axis, the first annular component rotates around a first central axis, and the second annular component rotates around a second central axis, and the central axis, the first central axis and the second central axis do not overlap and are parallel to each other.

[0014] Optionally, the deceleration device further includes multiple fixing parts, the fixing frame includes an annular body and two annular fixing parts, each annular fixing part includes a plurality of first fixing holes, and each first fixing hole passes through the annular fixing part; the two annular fixing parts are respectively defined as a first annular fixing part and a second annular fixing part, the first annular fixing part is integrally formed with the annular body, the second annular fixing part is an annular component independent of the annular body, and the second annular fixing part is detachably arranged on one side of the first annular fixing part; each elastic annular component includes an elastic body and an annular protrusion, the annular protrusion is formed on the periphery of the elastic body, the annular protrusion includes a plurality of through holes, and each through hole passes through the annular protrusion; the multiple through holes of each elastic annular component, the multiple first fixing holes of each annular fixing part and the multiple fixing parts can cooperate with each other to fix the two annular protrusions between the first annular fixing part and the second annular fixing part.

[0015] Optionally, the inner diameter of the first annular fixing portion gradually decreases from a side close to the second annular fixing portion to a side away from the second annular fixing portion, and the inner diameter of the second annular fixing portion gradually decreases from a side close to the first annular fixing portion to a side away from the first annular fixing portion; the outer diameter of one of the elastic annular portions gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion, and the outer diameter of the other elastic annular portion gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion; an inner annular surface of the first annular fixing portion is arranged to face an outer annular surface of one of the elastic annular portions, and a gap is provided between them; an inner annular surface of the second annular fixing portion is arranged to face an outer annular surface of the other elastic annular portion, and a gap is provided between them.

[0016] Optionally, the drive assembly can be driven to rotate around a central axis, and an inner annular surface of the first annular fixing portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section; the normal of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; an inner annular surface of the second annular fixing portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section; an outer annular surface of each elastic annular portion has an angle of 0 to 10 degrees with an axis parallel to the central axis in a cross section.

[0017] In summary, the reduction gear of the present invention can significantly reduce the backlash of the reduction gear through the design of the elastic annular member, the first annular member and the second annular member, and can also allow assembly errors, eliminate tooth backlash and increase transmission accuracy.

[0018] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, such description and drawings are only used to illustrate the present invention and are not intended to limit the scope of protection of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 and Figure 2 Schematic diagrams of the first embodiment of the deceleration device of the present invention from different perspectives.

[0020] Figure 3 It is a cross-sectional schematic diagram of the first embodiment of the reduction gear of the present invention.

[0021] Figure 4 and Figure 5 It is a partially exploded schematic diagram of the first embodiment of the reduction gear of the present invention.

[0022] Figure 6 FIG. 1 is a partially enlarged schematic diagram of the elastic annular member of the first embodiment of the reduction gear of the present invention.

[0023] Figure 7 for Figure 3 A partial enlarged schematic diagram.

[0024] Figure 8 It is a partially enlarged cross-sectional schematic diagram of the first embodiment of the reduction gear of the present invention.

[0025] Figures 9 to 12 Schematic diagram of different components of the first embodiment of the reduction gear of the present invention.

[0026] Figure 13 It is a partial cross-sectional schematic diagram of the second embodiment of the reduction gear of the present invention.

[0027] Figure 14 FIG. 1 is a partial cross-sectional view of an elastic annular member of a second embodiment of a reduction gear device according to the present invention.

[0028] Figure 15 FIG. 1 is a partial cross-sectional schematic diagram of a third embodiment of a reduction gear device according to the present invention.

[0029] Figure 16 FIG. 1 is a partial cross-sectional view of an elastic annular member of a third embodiment of a reduction gear device according to the present invention.

[0030] Figure 17FIG. 1 is a partial cross-sectional schematic diagram of a fourth embodiment of a reduction gear device according to the present invention.

[0031] Figure 18 FIG. 1 is a cross-sectional schematic diagram of a fifth embodiment of a reduction gear device according to the present invention.

[0032] Figure 19 for Figure 18 A partial enlarged schematic diagram.

[0033] Figure 20 FIG. 1 is a partial cross-sectional schematic diagram of a fifth embodiment of a reduction gear device according to the present invention.

[0034] Figure 21 FIG1 is a schematic cross-sectional exploded view of partial components of a fifth embodiment of a reduction gear device according to the present invention.

[0035] Figure 22 FIG. 1 is a partial cross-sectional schematic diagram of a sixth embodiment of a reduction gear device according to the present invention. DETAILED DESCRIPTION

[0036] In the following description, if it is indicated to refer to a specific figure or as shown in a specific figure, it is only used to emphasize that most of the relevant content described in the subsequent description appears in the specific figure, but it does not limit the subsequent description to only referring to the specific figure.

[0037] Please also refer to Figure 1 、 Figure 2 and Figure 3 As shown, the deceleration device 100 of the present invention includes a fixed frame 1, an elastic annular member 2, a first annular member 3, a second annular member 4, a drive assembly 5, two output members 6 and 10 fixed pin assemblies 7. The fixed frame 1 is an annular structure, and a portion of the elastic annular member 2 is fixedly disposed in the fixed frame 1. The first annular member 3 and the second annular member 4 are pivotally connected to the two cam structures 512A and 512B of the drive assembly 5, respectively. The inner sides of the two output members 6 are pivotally connected to the drive assembly 5, and the outer peripheries of the two output members 6 are pivotally connected to the fixed frame 1, respectively. The two ends of each fixed pin assembly 7 are fixed to the two output members 6, and each fixed pin assembly 7 passes through the first pin hole 312 of the first annular member 3 and the second pin hole 412 of the second annular member 4, and the first annular member 3 and the second annular member 4 are correspondingly located between the two output members 6.

[0038] like Figures 3 to 6As shown, further, the reduction gear 100 further includes a plurality of locking members 8 and a plurality of fixing members 9. The fixing frame 1 includes an annular body 11 and two annular fixing portions. The two annular fixing portions are defined as a first annular fixing portion 12 and a second annular fixing portion 13, respectively. The first annular fixing portion 12 is arranged on the inner side of the annular body 11, and the first annular fixing portion 12 and the annular body 11 are integrally formed. The second annular fixing portion 13 is an annular component independent of the annular body 11, and the second annular fixing portion 13 can be detachably arranged on one side of the first annular fixing portion 12 through a plurality of locking members 8.

[0039] The first annular fixing portion 12 includes a plurality of first fixing holes 121 and a plurality of second fixing holes 122. Each first fixing hole 121 extends through the first annular fixing portion 12, and each second fixing hole 122 extends through the first annular fixing portion 12. The plurality of first fixing holes 121 and the plurality of second fixing holes 122 are alternately arranged in the first annular fixing portion 12, with each first fixing hole 121 located between two second fixing holes 122. The number of first fixing holes 121 and second fixing holes 122 included in the first annular fixing portion 12 is not limited to that shown in the figure.

[0040] The second annular fixing portion 13 includes a plurality of first fixing holes 131 and a plurality of second fixing holes 132. Each first fixing hole 131 extends through the second annular fixing portion 13, and each second fixing hole 132 extends through the second annular fixing portion 13. The plurality of first fixing holes 131 and the plurality of second fixing holes 132 are alternately arranged in the second annular fixing portion 13, with each first fixing hole 131 located between two second fixing holes 132. The number of first fixing holes 131 and second fixing holes 132 included in the second annular fixing portion 13 is not limited to that shown in the figure.

[0041] Each first fixing hole 121, 131 is used to provide a locking member 8 for locking. Each locking member 8 is, for example, a screw, and the second annular fixing portion 13 can be fixed to the first annular fixing portion 12 through multiple locking members 8. Each second fixing hole 122, 132 is used to provide a fixing member 9 for passing through. Each fixing member 9 is, for example, a cylindrical structure without any threads. It should be noted that, in different embodiments, the reduction gear 100 may also not include multiple fixing members 9, and the first annular fixing portion 12 and the second annular fixing portion 13 may also not include multiple second fixing holes 122, 132, respectively.

[0042] The elastic annular member 2 includes an elastic body 21, an annular protrusion 22, and a plurality of internal tooth structures 23. In practical applications, the elastic body 21, the annular protrusion 22, and the plurality of internal tooth structures 23 are integrally formed. The annular protrusion 22 is formed on the outer side of the elastic body 21, and the plurality of internal tooth structures 23 are formed on the inner side of the elastic body 21.

[0043] The annular protrusion 22 includes a plurality of through-holes 221 extending through the annular protrusion 22. Each through-hole 221 is configured to receive a locking member 8 or a fixing member 9. In practical applications, the diameter of each through-hole 221 is larger than the outer diameter of each locking member 8, and the diameter of each through-hole 221 is larger than the outer diameter of each fixing member 9. This allows the elastic annular member 2 to deform radially (i.e., along the length of each through-hole 221) when pushed against by either the first annular member 3 or the second annular member 4. In other words, by designing the diameter of each through-hole 221 in the radial direction to be larger than the outer diameter of each fixing member 9, the elastic annular member 2 can be deformed radially when pushed against.

[0044] The first fixing holes 121 and the second fixing holes 122 included in the first annular fixing portion 12, the first fixing holes 131 and the second fixing holes 132 included in the second annular fixing portion 13, the through-holes 221 included in the annular protrusion 22, the locking members 8, and the fixing members 9 cooperate with each other to secure the annular protrusion 22 to the first annular fixing portion 12 and the second annular fixing portion 13.

[0045] like Figure 5 、 Figure 6 and Figure 7 As shown, the elastic body 21 may include an elastic connecting portion 211 and two elastic annular portions 212. The two sides of the elastic connecting portion 211 are connected to the two elastic annular portions 212, and the annular protrusion 22 is connected to the periphery of the elastic connecting portion 211. An outer annular surface 2121 of one elastic annular portion 212 is disposed facing an inner annular surface 123 of the first annular fixing portion 12, while an outer annular surface 2121 of the other elastic annular portion 212 is disposed facing an inner annular surface 133 of the second annular fixing portion 13.

[0046] The outer diameter of any elastic annular portion 212 gradually decreases from the side close to the annular protrusion 22 to the side away from the annular protrusion 22. In contrast, the inner diameter of the first annular fixing portion 12 of the fixed frame 1 gradually decreases from the side close to the second annular fixing portion 13 to the side away from the second annular fixing portion 13, and the inner diameter of the second annular fixing portion 13 of the fixed frame 1 gradually decreases from the side close to the first annular fixing portion 12 to the side away from the first annular fixing portion 12.

[0047] like Figure 1 、 Figure 7 and Figure 8As shown, in a preferred embodiment, the angle θ1 between the inner annular surface 123 of the first annular fixing portion 12 and an axis parallel to the central axis CP in a cross section S satisfies the relationship: 0 < θ1 ≦ 10 degrees; the angle θ2 between the inner annular surface 133 of the second annular fixing portion 13 and an axis parallel to the central axis CP in the cross section S satisfies the relationship: 0 < θ2 ≦ 10 degrees. The angles θ3 and θ4 between the outer annular surface 2121 of each elastic annular portion 212 and an axis parallel to the central axis CP in the cross section S, respectively, satisfy the relationships: 0 < θ3 ≦ 10 degrees and 0 < θ4 ≦ 10 degrees. The normal to the cross section S is perpendicular to the central axis CP, and the central axis CP passes through the cross section S.

[0048] like Figure 7 、 Figures 9 to 11 As shown, the drive assembly 5 includes a rotating shaft 51, a plurality of first rollers 52, and a plurality of second rollers 53. The rotating shaft 51 may include a body 511 and two cam structures 512A and 512B. The body 511 may be, for example, a cylindrical structure. Each cam structure 512A and 512B is eccentrically disposed on the periphery of the body 511. Each cam structure 512A and 512B may include, for example, a receiving groove 512A1 and 512B1. The plurality of first rollers 52 are disposed in one of the receiving grooves 512A1, and the plurality of second rollers 53 are disposed in the other of the receiving grooves 512B1.

[0049] The first annular component 3 includes a first body 31 and a plurality of first external tooth structures 32. The first body 31 is a disc-shaped structure, and the first body 31 has a first pivot hole 311, and the first pivot hole 311 is set through the first body 31. The plurality of first external tooth structures 32 are formed on the periphery of the first body 31. The first body 31 and the plurality of first external tooth structures 32 are integrally formed. The inner side wall of the first body 31 forming the first pivot hole 311 is connected to the plurality of first rollers 52, and the first annular component 3 can rotate relative to the rotating shaft 51 of the drive assembly 5 through the plurality of first rollers 52. In different embodiments, each first roller 52 can also be replaced by a ball, or the plurality of first rollers 52 can be replaced by roller bearings or ball bearings.

[0050] The second annular component 4 includes a second body 41 and a plurality of second external tooth structures 42. The second body 41 is a disc-shaped structure, and the second body 41 has a second pivot hole 411, which is set through the second body 41. The plurality of second external tooth structures 42 are formed on the periphery of the second body 41. The second body 41 and the plurality of second external tooth structures 42 are integrally formed. The inner side wall of the second body 41 forming the second pivot hole 411 is connected to the plurality of second rollers 53, and the second annular component 4 can rotate relative to the rotating shaft 51 of the drive assembly 5 through the plurality of second rollers 53. In different embodiments, each second roller 53 can also be replaced by a ball, or the plurality of second rollers 53 can be replaced by roller bearings or ball bearings. In a preferred embodiment, the first annular component 3 and the second annular component 4 can be of exactly the same structure, so that the overall production cost of the reduction gear 100 can be reduced.

[0051] The first annular member 3 includes a plurality of first external tooth structures 32 for intermeshing with the plurality of internal tooth structures 23 included in the elastic annular member 2, and the second annular member 4 includes a plurality of second external tooth structures 42 for intermeshing with the plurality of internal tooth structures 23 included in the elastic annular member 2. The total number of the first external tooth structures 32 included in the first annular member 3 is different from the total number of the internal tooth structures 23 included in the elastic annular member 2, and the total number of the second external tooth structures 42 included in the second annular member 4 is different from the total number of the internal tooth structures 23 included in the elastic annular member 2. The elastic annular member 2 can be elastically deformed by being squeezed by the plurality of first external tooth structures 32, and the elastic annular member 2 can be elastically deformed by being squeezed by the plurality of second external tooth structures 42.

[0052] It should be particularly emphasized that since the elastic annular member 2 itself has the ability to elastically deform, in actual application, the first outer tooth structure 32 and the second outer tooth structure 42 can respectively engage with the inner tooth structure 23 almost without gap, thereby increasing the overall transmission accuracy of the reduction gear 100, 200.

[0053] Moreover, the elastic annular member 2 of the reduction gear 100, 200 of the present invention can further allow relatively large assembly and manufacturing tolerances due to its own elastic properties. The reduction gear 100, 200 of the present invention basically does not have the problem of the conventional eccentric reduction gear (including two rigid rotating gears and one rigid fixed gear), which is prone to excessive backlash between the internal tooth structure and the external tooth structure due to various factors such as assembly and manufacturing, thereby leading to poor overall operating efficiency of the eccentric reduction gear.

[0054] As above, Figure 7As shown, in actual application, gaps G1 and G2 may be formed between the outer annular surfaces 2121 of the two elastic annular portions 212 and the inner annular surfaces 123 and 133 of the first annular fixing portion 12 and the second annular fixing portion 13, respectively. The gaps G1 and G2 can be used to accommodate a portion of the elastic annular portion 212 that is deformed by the first annular member 3 or the second annular member 4. In addition, through the design of the gaps G1 and G2, when either elastic annular portion 212 is subjected to an external force exceeding a predetermined value (for example, when the reduction gear 100 is overloaded) and deforms, the deformed elastic annular portion 212 will abut against the first annular fixing portion 12 and the second annular fixing portion 13. The first annular fixing portion 12 and the second annular fixing portion 13 will effectively suppress excessive deformation of the elastic annular portion 212, thereby effectively preventing the elastic annular member 2 from undergoing destructive deformation due to external forces exceeding a predetermined value.

[0055] In addition, the reduction gear 100 of the present invention is designed with an elastic annular member 2, so that noise is less likely to be generated during the mutual engagement of the first outer tooth structure 32 and the second outer tooth structure 42 with the inner tooth structure 23. In contrast, in conventional eccentric reduction gears, since both the outer tooth structure and the inner tooth structure are rigid structures, noise is more likely to be generated during the mutual engagement of the outer tooth structure and the inner tooth structure.

[0056] like Figure 3 、 Figure 7 、 Figures 9 to 11 As shown, when the driving component 5 is driven to rotate around a central axis CP, the two cam structures 512A and 512B of the driving component 5 will link the first annular member 3 and the second annular member 4 to operate, and the first annular member 3 will rotate relative to the elastic annular member 2 around a first central axis CP1, and the second annular member 4 will rotate relative to the elastic annular member 2 around a second central axis CP2; wherein the central axis CP, the first central axis CP1 and the second central axis CP2 do not overlap and are parallel to each other.

[0057] like Figure 3 and Figure 12 As shown, the periphery of each output member 6 is pivotally connected to the inner side of the fixed frame 1. In actual applications, a plurality of rollers 6A may be disposed between the periphery of each output member 6 and the inner side of the fixed frame 1, and each output member 6 can rotate relative to the fixed frame 1 via the plurality of rollers 6A. In different embodiments, the periphery of each output member 6 may also be provided with a roller bearing or a ball bearing, and the output member 6 can rotate relative to the fixed frame 1 via the roller bearing or the ball bearing.

[0058] It should be noted that in the drawings of this embodiment, the multiple rollers 6A arranged between the periphery of each output component 6 and the inner side of the fixed frame 1 are arranged alternately in different postures (upright or lying horizontally). In this way, the output component 6 can have better radial and axial bearing capacity.

[0059] Each output member 6 is pivotally connected to the periphery of the drive assembly 5. In actual applications, each output member 6 may, for example, include a pivot hole 61, and the inner side wall forming the pivot hole 61 is connected to an outer ring structure 6B1 of a bearing 6B, and an inner ring structure 6B2 of the bearing 6B is connected to the body 511 of the drive assembly 5, thereby allowing the output member 6 to be pivotally connected to the periphery of the body 511 of the drive assembly 5 through the bearing 6B. It is worth mentioning that a sealing member 6C may be provided between each output member 6 and the fixed frame 1, and the sealing member 6C is an annular structure. The design of the sealing member 6C can prevent the relevant liquid (such as lubricating oil) inside the reduction gear 100 from flowing out.

[0060] Each fixing pin assembly 7 may include a locking member 71, a fixing pin 72, and a bushing 73. One end of each locking member 71 may have a threaded structure, and each fixing pin 72 is used to be sleeved on the periphery of a locking member 71. A bushing 73 is sleeved on the periphery of each fixing pin 72. One output component 6 may include 10 through-holes 62, each of which is set through the output component 6, while the other output component 6 may include 10 locking holes 63, each of which may be a blind hole. A portion of each locking member 71 is inserted into one of the through-holes 62 of the output component 6, and the threaded end of the locking member 71 is correspondingly locked to one of the locking holes 63 of the other output component 6.

[0061] It should be noted that by designing each fixing pin assembly 7 to include a locking member 71, a fixing pin 72, and a bushing 73, each fixing pin assembly 7 is less likely to deflect during operation of the reduction gear mechanism and less likely to wear against the first annular member 3 or the second annular member 4. The bushings 73 can be made of, for example, but not limited to, steel.

[0062] like Figure 3 、 Figure 10 and Figure 12As shown, the first annular member 3 includes ten first pin holes 312, and the second annular member 4 includes ten second pin holes 412. Each first pin hole 312 extends through the first annular member 3, and each second pin hole 412 extends through the second annular member 4. Each fixing pin 72 is inserted into one of the first pin holes 312 and one of the second pin holes 412. The ends of the locking member 71, which is inserted into the bushing 73, are respectively connected to the two output members 6. The first annular member 3 and the second annular member 4 are located between the two output members 6. Each fixing pin assembly 7 is eccentrically disposed in the first pin hole 312, and each fixing pin assembly 7 is eccentrically disposed in the second pin hole 412.

[0063] like Figures 1 to 3 、 Figure 10 and Figure 12 As shown, when the drive assembly 5 is driven, the first annular member 3 and the second annular member 4 are driven to rotate relative to the elastic annular member 2. The fixed pin assembly 7 located in the first pin hole 312 and the second pin hole 412 is pushed by the first annular member 3 and the second annular member 4, thereby driving the two output members 6 to rotate in a linked manner. In this way, the high-speed power input through the drive assembly 5 can be output at a relatively low speed by the two output members 6. It should be noted that the total number of fixed pin assemblies 7 included in the reduction gear 100 is not limited to 10. In different embodiments, the number of fixed pin assemblies 7 can be increased or decreased based on demand.

[0064] like Figure 1 、 Figure 3 and Figure 7 As shown, in actual application, the elastic annular member 2 and the rotating shaft 51 of the driving assembly 5 are concentric and coaxial. In this way, the reduction gear 100 can operate with a more balanced dynamic operation, thereby enabling the reduction gear 100 to withstand a larger load.

[0065] In summary, conventional eccentric reduction gears are prone to excessive backlash between the inner tooth structure and the outer tooth structure due to factors such as assembly and manufacturing, which in turn leads to poor overall efficiency of the reduction gear. However, the reduction gear 100 of the present invention, through the design of the elastic annular member 2, is relatively less likely to have the problems that are prone to occur in conventional eccentric reduction gears.

[0066] Please also refer to Figure 13 and Figure 14, which shows a partial cross-sectional schematic diagram of the second embodiment of the reduction gear of the present invention and a schematic diagram of the elastic annular member. The biggest difference between this embodiment and the previous embodiment is that the outer diameter of each elastic annular portion 212A of the elastic annular member 2A does not change from the side close to the annular protrusion 22 to the side away from the annular protrusion 22, and the thickness of any section of each elastic annular portion 212A is approximately the same. Moreover, the inner diameter of the first annular fixing portion 12A does not change from the side close to the second annular fixing portion 13A to the side away from the second annular fixing portion 13A, and the inner diameter of the second annular fixing portion 13A does not change from the side close to the first annular fixing portion 12A to the side away from the first annular fixing portion 12A.

[0067] In other words, the inner annular surface 123A of the first annular fixing portion 12A is Figure 1 As shown) and parallel to the central axis CP (as shown Figure 1 The angle between the axis of the second annular fixing portion 13A and the inner surface 133A of the second annular fixing portion 13A is 0 degrees; Figure 1 As shown) and parallel to the central axis CP (as shown Figure 1 The angle between the axis of the elastic ring portion 212A and the outer ring surface 2121A of each elastic ring portion 212A is 0 degrees. Figure 1 As shown) and parallel to the central axis CP (as shown) Figure 1 The included angles of the axes of the diagrams (shown) are all 0 degrees.

[0068] It is worth mentioning that in practice, Figure 6 and Figure 7 The design of the elastic body 21 shown (ie, the thickness of each elastic ring portion 212 of the elastic body 21 gradually becomes thinner from the direction close to the elastic connection portion 211 to the direction away from the elastic connection portion 211) is different from that of the elastic body 21 shown in FIG. Figure 13 and Figure 14 With the design of the elastic body 21 shown, the elastic body 21 can withstand relatively large forces.

[0069] Please also refer to Figure 15 and Figure 16 , which shows a partial cross-sectional schematic diagram of the third embodiment of the deceleration device of the present invention and a schematic diagram of the elastic annular component. The elastic annular component 2B of this embodiment includes an elastic body 21B and an annular protrusion 22B, and the biggest difference between this embodiment and the aforementioned first embodiment is that the elastic body 21B includes an elastic connecting portion 211B and a single elastic annular portion 212B. The outer diameter of the elastic annular portion 212B gradually decreases from the side close to the annular protrusion 22B to the side away from the annular protrusion 22B. Relatively speaking, the fixed frame 1 only includes the first annular fixing portion 12B, and the fixed frame 1 does not include the second annular fixing portion 13 (such as Figure 8), and the inner diameter of the first annular fixing portion 12B gradually decreases from one side of the first annular fixing portion 12B to the other side. The first annular fixing portion 12B referred to here has the same function as the first annular fixing portion 12 referred to in the first embodiment. For relevant descriptions, please refer to the aforementioned embodiment.

[0070] like Figure 1 and Figure 15 As shown, in a preferred embodiment, the angle θ5 between the inner annular surface 123B of the first annular fixing portion 12B and an axis parallel to the central axis CP in the cross section S conforms to the relationship: 0<θ5≦10 (degrees); the angle θ6 between the outer annular surface 2121B of the elastic annular portion 212B and an axis parallel to the central axis CP in the cross section S conforms to the relationship: 0<θ6≦10 (degrees).

[0071] Please also refer to Figure 1 and Figure 17 , Figure 17 The schematic partial cross-sectional view of the elastic annular member of the fourth embodiment of the reduction gear of the present invention is shown. The elastic annular member 2C of this embodiment includes an elastic body 21C and an annular protrusion 22C. The biggest difference between this embodiment and the aforementioned third embodiment is that the outer diameter of the elastic annular portion 212C does not change from the side close to the elastic connecting portion 211C to the side away from the elastic connecting portion 211C. In contrast, the inner diameter of the first annular fixing portion 12C does not change from one side of the first annular fixing portion 12C to the other side of the first annular fixing portion 12C. In other words, as Figure 1 and Figure 17 As shown, the angle between the inner annular surface 123C of the first annular fixing portion 12C and the axis parallel to the central axis CP in the cross section S is 0 degrees; the angle between the outer annular surface 2121C of the elastic annular portion 212C and the axis parallel to the central axis CP in the cross section S is also 0 degrees.

[0072] Please also refer to Figures 18 to 21 , which shows a schematic cross-sectional view, a partially enlarged schematic cross-sectional view, and a partially exploded view of some components of a fifth embodiment of the reduction gear of the present invention. The reduction gear 200 of this embodiment includes a fixed frame 1, two elastic annular members 2D and 2E, a first annular member 3, a second annular member 4, a drive assembly 5, two output members 6, and ten fixed pin assemblies 7. For a detailed description of the fixed frame 1, the first annular member 3, the second annular member 4, the drive assembly 5, the two output members 6, and the ten fixed pin assemblies 7, please refer to the first embodiment described above and will not be repeated here.

[0073] The elastic annular member 2D includes an elastic body 21D, an annular protrusion 22D, and a plurality of internal tooth-like structures 23D. The annular protrusion 22D is formed on the periphery of the elastic body 21D, and the plurality of internal tooth-like structures 23D are formed on the inner side of the elastic body 21D. The elastic body 21D includes an elastic connecting portion 211D and an elastic annular portion 212D. The periphery of the elastic connecting portion 211D is connected to the annular protrusion 22D, and one side of the elastic connecting portion 211D is connected to the elastic annular portion 212D. The elastic annular member 2E includes an elastic body 21E, an annular protrusion 22E, and a plurality of internal tooth-like structures 23E. The elastic body 21E includes an elastic connecting portion 211E and an elastic annular portion 212E. The periphery of the elastic connecting portion 211E is connected to the annular protrusion 22E, and one side of the elastic connecting portion 211E is connected to the elastic annular portion 212E.

[0074] The two annular protrusions 22D and 22E respectively have a plurality of through-holes 221D and 22E1. Each locking member 8 or fixing member 9 included in the reduction gear 200 passes through the corresponding two through-holes 221D and 22E1 respectively. The two annular protrusions 22D and 22E are fixed by the first annular fixing portion 12D and the second annular fixing portion 13E of the fixing frame 1.

[0075] The multiple internal tooth structures 23D included in the elastic annular member 2D are used to engage with the external tooth structures 31 of the first annular member 3, and the multiple internal tooth structures 23E included in the elastic annular member 2E are used to engage with the external tooth structures 41 of the second annular member 4. When the driving assembly 5 is actuated, the first annular member 3 will be driven to rotate relative to the elastic annular member 2D, and the second annular member 4 will be driven to rotate relative to the elastic annular member 2E.

[0076] In addition, the reduction gear 200 of this embodiment is designed with two elastic annular components 2D and 2E. When the reduction gear 200 is in operation, the elastic annular component 2D will be slightly deformed in response to the actuation of the first annular component 3, and the elastic annular component 2E will be slightly deformed in response to the actuation of the second annular component 4. In this way, the first annular component 3 and the second annular component 4 can respectively achieve relatively optimal meshing efficiency with the elastic annular components 2D and 2E, thereby further improving the overall operating efficiency of the reduction gear 200.

[0077] like Figure 1 、 Figure 19 and Figure 20As shown, in a preferred embodiment, the angle θ7 between the inner annular surface 123D of the first annular fixing portion 12D and an axis parallel to the central axis CP in the cross section S conforms to the relationship: 0<θ7≦10 (degrees); the angle θ8 between the inner annular surface 133E of the second annular fixing portion 13E and an axis parallel to the central axis CP in the cross section S conforms to the relationship: 0<θ8≦10 (degrees); the angles θ9 and θ10 between the outer annular surfaces 2121D and 212E of the two elastic annular portions 212D and 212E and an axis parallel to the central axis CP in the cross section S conform to the relationship: 0<θ9≦10 (degrees) and 0<θ10≦10 (degrees), respectively.

[0078] See also Figure 22 , which is a partial cross-sectional schematic diagram of a sixth embodiment of the reduction gear of the present invention. The connecting body 21F included in the elastic annular member 2F of this embodiment includes the connecting body 211F and the elastic annular portion 212F, and the connecting body 21G included in the elastic annular member 2G includes the connecting body 211G and the elastic annular portion 212G. The biggest difference between this embodiment and the aforementioned fifth embodiment is that the outer diameter of the elastic annular portion 212F does not change from the side close to the annular protrusion 22F to the side away from the annular protrusion 22F, and the outer diameter of the elastic annular portion 212G of the elastic annular member 2G does not change from the side close to the annular protrusion 22G to the side away from the annular protrusion 22G. Relatively speaking, the inner diameter of the first annular fixing portion 12F does not change from one side of the first annular fixing portion 12F to the other side of the first annular fixing portion 12F, and the inner diameter of the second annular fixing portion 13G does not change from one side of the second annular fixing portion 13G to the other side of the second annular fixing portion 13G.

[0079] In other words, if Figure 1 and Figure 22 As shown, the inner annular surface 123F of the first annular fixing portion 12F is in the cross section S (as shown Figure 1 The angle between the inner surface 133G of the second annular fixing portion 13G and the axis parallel to the central axis CP in the cross section S is 0 degrees. The outer surfaces 2121F and 2121G of the two elastic annular portions 212F and 212G also form an angle of 0 degrees with the axis parallel to the central axis CP in the cross section S.

[0080] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Therefore, all equivalent technical changes made using the description and drawings of the present invention are included in the protection scope of the present invention.

Claims

1. A deceleration device, characterized in that: The deceleration device comprises: a fixed frame having a ring-shaped structure; a drive assembly comprising two cam structures; a first annular member comprising a first body and a plurality of first external tooth structures, the first body comprising a plurality of first pin holes, each of the first pin holes penetrating the first body, the plurality of first external tooth structures being formed on an outer periphery of the first body; an inner side of the first body being pivotally connected to an outer periphery of one of the cam structures of the drive assembly; a second annular member comprising a second body and a plurality of second external tooth-like structures, the second body comprising a plurality of second pin holes, each of the second pin holes extending through the second body, the plurality of second external tooth-like structures being formed on an outer periphery of the second body; an inner side of the second body being pivotally connected to an outer periphery of the other cam structure of the driving assembly; an elastic ring-shaped member, a portion of which is fixed to the inner side of the fixed frame, the elastic ring-shaped member comprising an elastic body and a plurality of inner tooth structures, the inner side of the elastic body being formed with the plurality of inner tooth structures; the plurality of inner tooth structures being used to engage with the plurality of first outer tooth structures, and the plurality of inner tooth structures being used to engage with the plurality of second outer tooth structures; the elastic ring-shaped member can be elastically deformed by being squeezed by the plurality of first outer tooth structures or the second outer tooth structures; the number of the first outer tooth structures included in the first ring-shaped member is different from the number of the inner tooth structures included in the elastic ring-shaped member; the number of the second outer tooth structures included in the second ring-shaped member is different from the number of the inner tooth structures included in the elastic ring-shaped member; Two output members, each pivotally connected to the periphery of the drive assembly, and the periphery of each output member is pivotally connected to the inner side of the fixed frame; wherein the first annular member and the second annular member are located between the two output members; Multiple fixing pin assemblies, each of which has two ends fixed to the two output components, and each of which passes through one of the first pin holes and one of the second pin holes; each of the fixing pin assemblies is eccentrically arranged in the corresponding first pin hole, and each of the fixing pin assemblies is eccentrically arranged in the corresponding second pin hole.

2. The reduction gear according to claim 1, characterized in that: The first annular component and the second annular component are completely identical components, and the driving assembly has a main body and two cam structures, and the two cam structures are formed on the periphery of the main body; when the main body is driven to rotate around a central axis, the first annular component rotates around a first central axis, and the second annular component rotates around a second central axis, and the central axis, the first central axis and the second central axis do not overlap and are parallel to each other.

3. The reduction gear according to claim 1, wherein: The deceleration device also includes a plurality of fixing parts, the fixing frame includes an annular body and an annular fixing portion, the annular fixing portion is located on the inner side of the annular body, the annular fixing portion includes a plurality of first fixing holes, and each of the first fixing holes passes through the annular fixing portion; the elastic annular component includes an annular protrusion, the annular protrusion is formed on the periphery of the elastic body, the annular protrusion includes a plurality of through holes, and each of the through holes passes through the annular protrusion; the plurality of through holes, the plurality of first fixing holes and the plurality of fixing parts can cooperate with each other to fix the annular protrusion to one side of the annular fixing portion.

4. The deceleration device according to claim 3, characterized in that: The outer diameter of the elastic body gradually decreases from the side close to the annular protrusion to the side away from the annular protrusion; the inner diameter of the annular fixing portion gradually decreases from the side close to the annular protrusion to the side away from the annular protrusion; an inner annular surface of the annular fixing portion is arranged to face an outer annular surface of the elastic annular member, and there is a gap between them.

5. The reduction gear according to claim 3, characterized in that: The drive assembly can be driven to rotate around a central axis, and an inner annular surface of the annular fixing portion forms an angle between 0 and 10 degrees with an axis parallel to the central axis in a cross section; a normal line of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; an outer annular surface of the elastic annular member forms an angle between 0 and 10 degrees with an axis parallel to the central axis in the cross section.

6. The reduction gear according to claim 3, characterized in that: The elastic body includes an elastic connecting part and two elastic annular parts, the two sides of the elastic connecting part are connected to the two elastic annular parts, the annular protrusion is connected to the periphery of the elastic connecting part, and the two elastic annular parts are located on both sides of the annular protrusion; the fixed frame includes two annular fixing parts, and the two annular fixing parts are respectively defined as a first annular fixing part and a second annular fixing part, the first annular fixing part and the annular body are integrally formed, the second annular fixing part is an annular component independent of the annular body, the second annular fixing part is detachably arranged on one side of the first annular fixing part, and the annular protrusion is held between the first annular fixing part and the second annular fixing part.

7. The reduction gear according to claim 6, characterized in that: The inner diameter of the first annular fixing portion gradually decreases from a side close to the second annular fixing portion to a side away from the second annular fixing portion, and the inner diameter of the second annular fixing portion gradually decreases from a side close to the first annular fixing portion to a side away from the first annular fixing portion; the outer diameter of one of the elastic annular portions gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion, and the outer diameter of the other elastic annular portion gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion; an inner annular surface of the first annular fixing portion is arranged to face an outer annular surface of one of the elastic annular portions, and a gap is formed between them; an inner annular surface of the second annular fixing portion is arranged to face an outer annular surface of the other elastic annular portion, and a gap is formed between them.

8. The reduction gear according to claim 6, characterized in that: The driving assembly can be driven to rotate around a central axis, and the angle between an inner ring surface of the first annular fixing portion and an axis parallel to the central axis in a cross section is between 0 and 10 degrees; the normal of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; the angle between an inner ring surface of the second annular fixing portion and an axis parallel to the central axis in the cross section is between 0 and 10 degrees; the angle between an outer ring surface of each of the elastic annular portions and an axis parallel to the central axis in the cross section is between 0 and 10 degrees.

9. A deceleration device, characterized in that: The deceleration device comprises: a fixed frame having a ring-shaped structure; a drive assembly comprising two cam structures; a first annular member comprising a first body and a plurality of first external tooth structures, the first body comprising a plurality of first pin holes, each of the first pin holes penetrating the first body, the plurality of first external tooth structures being formed on an outer periphery of the first body; an inner side of the first body being pivotally connected to an outer periphery of one of the cam structures of the drive assembly; a second annular member comprising a second body and a plurality of second external tooth-like structures, the second body comprising a plurality of second pin holes, each of the second pin holes extending through the second body, the plurality of second external tooth-like structures being formed on an outer periphery of the second body; an inner side of the second body being pivotally connected to an outer periphery of the other cam structure of the driving assembly; Two elastic ring-shaped members, a portion of each of the elastic ring-shaped members is fixed to the inner side of the fixed frame, each of the elastic ring-shaped members comprises an elastic body and a plurality of inner tooth structures, the inner side of the elastic body is formed with a plurality of the inner tooth structures; the plurality of the inner tooth structures of one of the elastic ring-shaped members are used to engage with the plurality of the first outer tooth structures, and the plurality of the inner tooth structures of the other elastic ring-shaped member are used to engage with the plurality of the second outer tooth structures; each of the elastic ring-shaped members can be elastically deformed by being squeezed by the plurality of the first outer tooth structures or the second outer tooth structures; the number of the first outer tooth structures included in the first ring-shaped member is different from the number of the inner tooth structures included in any one of the elastic ring-shaped members; the number of the second outer tooth structures included in the second ring-shaped member is different from the number of the inner tooth structures included in any one of the elastic ring-shaped members; Two output members, each pivotally connected to the periphery of the drive assembly, and the periphery of each output member is pivotally connected to the inner side of the fixed frame; wherein the first annular member and the second annular member are located between the two output members; Multiple fixing pin assemblies, each of which has two ends fixed to the two output components, and each of which passes through one of the first pin holes and one of the second pin holes; each of the fixing pin assemblies is eccentrically arranged in the corresponding first pin hole, and each of the fixing pin assemblies is eccentrically arranged in the corresponding second pin hole.

10. The reduction gear according to claim 9, characterized in that: The first annular component and the second annular component are completely identical components, and the driving assembly has a main body and two cam structures, and the two cam structures are formed on the periphery of the main body; when the main body is driven to rotate around a central axis, the first annular component rotates around a first central axis, and the second annular component rotates around a second central axis, and the central axis, the first central axis and the second central axis do not overlap and are parallel to each other.

11. The reduction gear according to claim 9, characterized in that: The deceleration device further includes a plurality of fixing members, the fixing frame includes an annular body and two annular fixing parts, each of the annular fixing parts includes a plurality of first fixing holes, and each of the first fixing holes passes through the annular fixing part; the two annular fixing parts are respectively defined as a first annular fixing part and a second annular fixing part, the first annular fixing part is integrally formed with the annular body, the second annular fixing part is an annular component independent of the annular body, and the second annular fixing part is detachably provided on one side of the first annular fixing part; each of the elastic annular members includes an elastic body and an annular protrusion, the annular protrusion is formed on the periphery of the elastic body, the annular protrusion includes a plurality of through-holes, and each of the through-holes passes through the annular protrusion; the plurality of through-holes of each elastic annular member, the plurality of first fixing holes of each annular fixing part and the plurality of fixing members can cooperate with each other to fix the two annular protrusions between the first annular fixing part and the second annular fixing part.

12. The reduction gear according to claim 11, characterized in that: The inner diameter of the first annular fixing portion gradually decreases from a side close to the second annular fixing portion to a side away from the second annular fixing portion, and the inner diameter of the second annular fixing portion gradually decreases from a side close to the first annular fixing portion to a side away from the first annular fixing portion; the outer diameter of an elastic annular portion of one of the elastic annular members gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion, and the outer diameter of an elastic annular portion of the other elastic annular member gradually decreases from a side close to the annular protrusion to a side away from the annular protrusion; an inner annular surface of the first annular fixing portion is arranged facing an outer annular surface of one of the elastic annular portions, and a gap is formed between them; an inner annular surface of the second annular fixing portion is arranged facing an outer annular surface of the other elastic annular portion, and a gap is formed between them.

13. The reduction gear according to claim 11, characterized in that: The driving assembly can be driven to rotate around a central axis, and the angle between an inner ring surface of the first annular fixing portion and an axis parallel to the central axis in a cross section is between 0 and 10 degrees; the normal of the cross section is perpendicular to the central axis, and the central axis passes through the cross section; the angle between an inner ring surface of the second annular fixing portion and an axis parallel to the central axis in the cross section is between 0 and 10 degrees; the angle between an outer ring surface of each of the elastic annular components and an axis parallel to the central axis in the cross section is between 0 and 10 degrees.

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