reducer

Abstract

The invention discloses a reducer, belonging to the field of mechanical transmission technology. In the reducer of the invention, two gear transmission mechanisms are both arranged between an input shaft and an output shaft and are mutually redundant, a separation portion is arranged on the input shaft and located between the two input gears, or a separation portion is arranged on the output shaft and located between the two output gears, so as to prevent the transmission of torque between the two gear transmission mechanisms through the separation portion, which not only eliminates redundant constraints and is conducive to improving the operating stability of the reducer, but also can reduce the sensitivity of various components of the reducer to manufacturing tolerances, is easier to process, and is conducive to reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, in particular to a reducer. Background Art

[0002] In the existing reducers, in order to ensure transmission stability and have redundancy functions, two parallel gear transmission mechanisms are usually set between the input shaft and the output shaft. However, since the transmission chain of the reducer with this structure is closed, each component is highly sensitive to manufacturing tolerances. Not only is it difficult to match the tolerances of the components, but the manufacturing precision is also high and the cost is high. Once the tolerance is large, it is difficult to install smoothly, and the transmission ratio expansion and debugging are limited. At the same time, it is easy for the two gear transmission mechanisms to constrain each other, affecting the operating stability of the reducer. Summary of the invention

[0003] The object of the present invention is to provide a reducer which can not only reduce the sensitivity of various components to manufacturing tolerances, be easier to process and have low cost, but also eliminate redundant constraints and improve the operating stability of the reducer.

[0004] In order to achieve the above objectives, the following technical solutions are provided:

[0005] Reducer, including:

[0006] Two gear transmission mechanisms;

[0007] An input shaft, wherein the input shaft is provided with two input gears, and the two input gears are respectively meshed with the input ends of the two gear transmission mechanisms;

[0008] An output shaft, wherein the output shaft is provided with two output gears, and the two output gears are respectively meshed with the output ends of the two gear transmission mechanisms;

[0009] Also includes:

[0010] An isolating portion is provided on the input shaft and located between the two input gears, or the isolating portion is provided on the output shaft and located between the two output gears, and the isolating portion can prevent torque from being transmitted between the two gear transmission mechanisms.

[0011] As an optional solution for the speed reducer, the isolating part includes a differential, the input shaft includes two input half shafts, the two input half shafts are respectively connected to two output ends of the differential, and the two input gears are respectively arranged on the two input half shafts.

[0012] As an optional solution of the speed reducer, the speed reducer further includes an input main shaft, and the input main shaft is connected to the input end of the differential.

[0013] As an optional solution for the reducer, the output shaft includes two output half shafts, the two output half shafts are arranged in parallel, and the two output half shafts are spaced apart along their axial direction to form the isolation portion, and the two output gears are respectively arranged on the two output half shafts.

[0014] As an optional solution for the reducer, the gear transmission mechanism includes:

[0015] A rotating center wheel, the rotating center wheel is rotatably arranged on the output shaft, the rotating center wheel is meshed with the corresponding input gear, and an eccentric shaft is arranged on one side of the rotating center wheel;

[0016] A planetary gear is rotatably disposed on the eccentric shaft, and the planetary gear is meshed with the corresponding output gear.

[0017] As an optional solution for the reducer, the gear transmission mechanism further includes a fixed central wheel, and the planetary wheels include:

[0018] A planetary gear, the planetary gear is meshed with the fixed sun gear;

[0019] A double planetary gear is meshed with the corresponding output gear.

[0020] As an optional solution for the reducer, the planetary gear is an external gear;

[0021] The double planetary gear is an external gear;

[0022] The output gear is an internal gear;

[0023] The fixed central wheel is an internal gear.

[0024] As an optional solution for the reducer, the meshing position of the single-linked planetary gear and the fixed central gear and the meshing position of the double-linked planetary gear and the corresponding output gear are located on the same side of the planetary gear.

[0025] As an optional solution for the reducer, the eccentric shafts are provided on both sides of the rotating center wheel, the planetary gears are provided on the two eccentric shafts, the planetary gears are arranged in a one-to-one correspondence with the fixed center wheel and meshed with each other, and the planetary gears are arranged in a one-to-one correspondence with the corresponding output gears and meshed with each other.

[0026] As an optional solution for the reducer, the two eccentric shafts are symmetrically arranged with respect to the axis of the rotating central wheel.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] In the reducer of the present invention, the two gear transmission mechanisms are both arranged between the input shaft and the output shaft and are redundant with each other, and the isolating portion is arranged on the input shaft and located between the two input gears, or the isolating portion is arranged on the output shaft and located between the two output gears, so as to prevent the transmission of torque between the two gear transmission mechanisms through the isolating portion. This not only eliminates redundant constraints, which is beneficial to improving the operating stability of the reducer, but also can reduce the sensitivity of various components of the reducer to manufacturing tolerances, making it easier to process and beneficial to reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The structure of the reducer in the first embodiment of the present invention is shown in FIG. Figure 1 ;

[0030] Figure 2 The structure of the reducer (higher transmission ratio) in the first embodiment of the present invention is shown in FIG. Figure 2 ;

[0031] Figure 3 The structure of the reducer (differential + four eccentric shafts) in the second embodiment of the present invention is shown in FIG. Figure 1 ;

[0032] Figure 4 The structure of the reducer (differential + two eccentric shafts) in the second embodiment of the present invention is shown in FIG. Figure 2 ;

[0033] Figure 5 The structure of the reducer (differential + two eccentric shafts + higher transmission ratio) in the second embodiment of the present invention is shown in FIG. Figure 3 ;

[0034] Figure 6 The structure of the reducer (disconnected output shaft + four eccentric shafts) in the third embodiment of the present invention is shown in FIG. Figure 1 ;

[0035] Figure 7 The structure of the reducer (disconnected output shaft + four eccentric shafts + higher transmission ratio) in the third embodiment of the present invention is shown in FIG. Figure 2 ;

[0036] Figure 8 The structure of the reducer (disconnected output shaft + two eccentric shafts) in the third embodiment of the present invention is shown in FIG. Figure 3 ;

[0037] Fig. 9 The structure of the reducer (disconnected output shaft + two eccentric shafts + higher transmission ratio) in the third embodiment of the present invention is shown in FIG. Figure 4 .

[0038] Reference numerals:

[0039] 1. reduction gearbox; 11. first housing; 12. second housing; 13. first connecting housing; 14. second connecting housing; 2. input shaft; 2a. input half shaft; 2b. input main shaft; 21. input gear; 3. output shaft; 3a. output half shaft; 31. output gear; 4. gear transmission mechanism; 41. rotating center wheel; 411. eccentric shaft; 42. planetary gear; 421. single planetary gear; 422. double planetary gear; 43. fixed center wheel; 51. single rotating support; 52. double rotating support; 61. differential; 62. notch. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] Embodiment 1

[0048] like Figure 1-2 As shown, this embodiment provides a reduction device and a reducer, the reducer includes a reduction box 1 and a reduction device arranged in the reduction box 1, the reduction device includes an input shaft 2, an output shaft 3 and a gear transmission mechanism 4, the input shaft 2 and the output shaft 3 are respectively connected to the reduction box 1 through rotational support members such as bearings, the input shaft 2 is provided with an input gear 21, the output shaft 3 is provided with an output gear 31, the gear transmission mechanism 4 includes a rotating center wheel 41, a planetary gear 42 and a fixed center wheel 43, the fixed center wheel 43 is fixed in the reduction box 1, and the rotating center wheel 41 is rotatably provided on the output shaft through a rotating support member such as a bearing. 3. The rotating center wheel 41 is meshed with the input gear 21; an eccentric shaft 411 is provided on one side of the rotating center wheel 41; the planetary gear 42 includes a first-linked planetary gear 421 and a second-linked planetary gear 422, the first-linked planetary gear 421 and the second-linked planetary gear 422 are coaxially arranged and fixedly connected, the first-linked planetary gear 421 is rotatably arranged on the eccentric shaft 411 through a first-linked rotating support member 51, and the second-linked planetary gear 422 is rotatably arranged on the eccentric shaft 411 through a second-linked rotating support member 52; the first-linked planetary gear 421 is meshed with the fixed center wheel 43, and the second-linked planetary gear 422 is meshed with the output gear 31.

[0049] In the reduction device of this embodiment, the two planetary gears of the planetary wheel 42 are respectively rotatably connected to the eccentric shaft 411 via a rotating support. In other words, the planetary wheel 42 is supported by two rotating supports, so that the planetary wheel 42 is not easy to tilt, thereby improving the tooth surface meshing accuracy of the planetary wheel 42 and enhancing the transmission stability.

[0050] Optionally, the meshing position of the first planetary gear 421 and the fixed center wheel 43 is arranged corresponding to the first rotating support member 51. Further, the meshing position of the second planetary gear 422 and the output gear 31 is arranged corresponding to the second rotating support member 52.

[0051] With such an arrangement, the radial force generated by the meshing of the first planetary gear 421 and the fixed center wheel 43 can be borne by the first rotating support member 51, which is beneficial to improving the supporting stability of the first planetary gear 421 by the first rotating support member 51, and ensuring the meshing accuracy of the first planetary gear 421 and the fixed center wheel 43; the radial force generated by the meshing of the second planetary gear 422 and the output gear 31 can be borne by the second rotating support member 52, which is beneficial to improving the supporting stability of the second planetary gear 422 by the second rotating support member 52, and ensuring the meshing accuracy of the second planetary gear 422 and the output gear 31, thereby ensuring that the planetary gear 42 will not tilt.

[0052] Exemplarily, the first rotary support member 51 is a bearing; the second rotary support member 52 is a bearing.

[0053] Optionally, the first planetary gear 421 is an external gear; the second planetary gear 422 is an external gear; the fixed central gear 43 is an internal gear; and the output gear 31 is an internal gear. The structure is simple and easy to manufacture and install.

[0054] Optionally, the meshing position of the first planetary gear 421 and the fixed center wheel 43 and the meshing position of the second planetary gear 422 and the output gear 31 are located on the same side of the planetary gear 42. Such an arrangement can achieve a higher transmission ratio and facilitate manufacturing and installation.

[0055] Optionally, the eccentric shaft 411 is a hollow shaft, which reduces the weight of the eccentric shaft 411 and helps to improve transmission stability.

[0056] Optionally, the rotating central wheel 41 is provided with a balancing structure to maintain dynamic balance. Exemplarily, the balancing structure is a balancing block, and the number and arrangement of the balancing blocks can be selected according to requirements and are not limited here.

[0057] like Figure 1 As shown, in this embodiment, the number of teeth of the first planetary gear 421 is greater than the number of teeth of the second planetary gear 422 .

[0058] Furthermore, the number of teeth of the input gear 21 is recorded as Z 1, the speed is recorded as n 1 The number of teeth of the rotating center wheel 41 is recorded as Z 2 , the speed is recorded as n 2 ; The number of teeth of the planetary gear 421 is Z 3 , the radius is denoted as r 3 , the speed is recorded as n 3 ; The number of teeth of the double planetary gear 422 is denoted as Z ′ 3 , the radius is denoted as r ′ 3 ; The number of teeth of the output gear 31 is recorded as Z 4 , the radius is denoted as r 4 , the speed is recorded as n 4 The number of teeth of the fixed center wheel 43 is recorded as Z 5 , the radius is denoted as r 5 , the speed is recorded as n 5 ; and the meshing tooth relationship is recorded as: Z 5 -Z 3 =Z d , Z 4 -Z ′ 3 =Z e , Z 3 -Z ′ 3 =Z k , where Z d , Z e , Z k are greater than 1, because r 5 -r 3 + r ′ 3 = r 4 , and the module m of the first planetary gear 421, the second planetary gear 422, the rotating center wheel 41 and the fixed center wheel 43 are equal, so Z d =Z e .

[0059] The eccentric shaft 411 of the rotating center wheel 41 is used as the tie rod of the epicyclic gear train, and its absolute speed is recorded as n H , then the transmission ratio formula is:

[0060] ;

[0061] Substituting the difference tooth relationship, we can get: ;

[0062] Take Z 1 =28, Z 2 =150, Z 5 =100, m=5, then Z 3 =100-Zd ;

[0063] ;

[0064] Take Z d The value range of Z is 6-20; k The value range of is 10-20, and the transmission ratio under each parameter can be calculated as shown in the following table:

[0065] .

[0066] In summary, for Figure 1 In the reduction gear shown, the smaller the tooth difference, the greater the transmission ratio. Appropriate parameters can be selected according to design requirements and the load-bearing capacity of the gears, and are not limited here.

[0067] By limiting Z d The value range is 6-20, Z k The value range is 10-20, which enables the transmission ratio of the reduction device to have a larger adjustable range while ensuring the stability of the reduction device.

[0068] Of course, if Figure 2 As shown, in other embodiments, it can also be set as follows: the number of teeth of the first planetary gear 421 is less than the number of teeth of the second planetary gear 422, then Z 3 -Z ′ 3 =-Z k ,at this time,

[0069] The transmission ratio formula is: .

[0070] At this time, compared with Figure 1 The reduction gear device shown has an increased absolute value of the transmission ratio, which provides a wider range of design parameter selections. In other words, it expands the applicable scope of the reduction gear device.

[0071] Optionally, eccentric shafts 411 are provided on both sides of the rotating center wheel 41, planetary gears 42 are provided on the two eccentric shafts 411, and the output gear 31 and the fixed center wheel 43 are arranged one-to-one with and mesh with the planetary gears 42. Such an arrangement can make the forces on both sides of the rotating center wheel 41 more balanced, which is conducive to improving the transmission stability.

[0072] Optionally, the two eccentric shafts 411 are symmetrically arranged about the axis of the rotating center wheel 41 , which has the effect of further improving the balance and stability of the rotating center wheel 41 .

[0073] Embodiment 2

[0074] like Figure 3-5As shown, this embodiment provides a reducer, including an input shaft 2, an output shaft 3, two gear transmission mechanisms 4 and an isolation portion; the input shaft 2 is provided with two input gears 21, and the two input gears 21 are respectively meshed with the input ends of the two gear transmission mechanisms 4; the output shaft 3 is provided with two output gears 31, and the two output gears 31 are respectively meshed with the output ends of the two gear transmission mechanisms 4; the isolation portion is provided on the input shaft 2 and located between the two input gears 21, and the isolation portion can prevent torque from being transmitted between the two gear transmission mechanisms 4.

[0075] In the reducer of this embodiment, the two gear transmission mechanisms 4 are both arranged between the input shaft 2 and the output shaft 3 and are redundant with each other. The isolation part is arranged on the input shaft 2 and located between the two input gears 21, so as to prevent the torque from being transmitted between the two gear transmission mechanisms 4 through the isolation part. This not only eliminates the redundant constraints, which is beneficial to improving the operating stability of the reducer, but also can reduce the sensitivity of various components of the reducer to manufacturing tolerances, making it easier to process and beneficial to reducing costs.

[0076] In this embodiment, the isolating portion includes a differential 61, and the input shaft 2 includes two input half shafts 2a, which are respectively connected to the two output ends of the differential 61, and the two input gears 21 are respectively provided on the two input half shafts 2a. The two input half shafts 2a are separated by the differential 61, which is equivalent to opening a closed transmission link compared to the prior art, so as to prevent the transmission of torque between the two gear transmission mechanisms 4 and eliminate redundant constraints.

[0077] It should be noted that the difference between this embodiment and embodiment one is that the reducer of this embodiment includes two reduction devices as described in embodiment one, and the output shafts 3 of the two reduction devices are the same output shaft 3, and the input shafts 2 of the two reduction devices are connected by a differential 61. Therefore, regarding the setting form and parameters of the gear transmission mechanism 4, please refer to the above-mentioned embodiment one and will not be repeated here.

[0078] It is understandable that if Figure 3 As shown, the reducer eliminates redundant constraints by arranging a differential 61 on the input shaft 2, and eccentric shafts 411 are arranged on both sides of the rotating central wheel 41. In other words, the reducer is provided with four eccentric shafts 411 in total.

[0079] like Figure 4 As shown, the reducer eliminates redundant constraints by arranging a differential 61 on the input shaft 2, and only one side of the rotating central wheel 41 is provided with an eccentric shaft 411. In other words, the reducer is provided with two eccentric shafts 411 in total.

[0080] like Figure 5As shown, the reducer eliminates redundant constraints by setting a differential 61 on the input shaft 2, and the eccentric shaft 411 is only provided on one side of the rotating central wheel 41. In other words, the reducer is provided with two eccentric shafts 411 in total, and compared with Figure 4 In the shown reducer, the gear transmission mechanism 4 adopts a setting form with a larger transmission ratio.

[0081] Optionally, the reducer further includes an input main shaft 2b, which is connected to the input end of the differential 61. In this way, the input main shaft 2b and the output shaft 3 can be arranged vertically, so that the reducer can be suitable for different working scenarios.

[0082] Optionally, the reduction box 1 includes a first housing 11 and two second housings 12, the two second housings 12 are arranged in parallel along the first direction, the first housing 11 is located on one side of the two second housings 12 along the second direction, and the first direction is perpendicular to the second direction; the two gear transmission mechanisms 4 are respectively located in the two second housings 12, the two second housings 12 are connected through the first connecting housing 13, one end of the output shaft 3 is located in one of the two second housings 12, and the other end passes through the first connecting housing 13 and is located in the other of the two second housings 12; the first housing 11 is connected to the two second housings 12 through the two second connecting housings 14, and the meshing part of the rotating central wheel 41 and the corresponding input gear 21 is located in the corresponding second connecting housing 14. Such an arrangement can reduce the space occupied by the reduction box 1 and facilitate matching with other equipment.

[0083] It should be noted that, in the present embodiment, the planetary gear 42 is a double-coupled planetary gear. Of course, in other embodiments, the fixed center gear 43 may not be provided, and the planetary gear 42 may be provided as a single-coupled planetary gear to adapt to different application scenarios.

[0084] Embodiment 3

[0085] like Figure 6-9 As shown, the difference between this embodiment and the second embodiment is that the isolating portion is arranged on the output shaft 3 and is located between the two output gears 31. Such an arrangement can also achieve the purpose of preventing the torque from being transmitted between the two gear transmission mechanisms 4 through the isolating portion, which not only eliminates redundant constraints and is beneficial to improving the operating stability of the reducer, but also can reduce the sensitivity of various components of the reducer to manufacturing tolerances, making it easier to process and beneficial to reducing costs.

[0086] In this embodiment, the output shaft 3 includes two output half shafts 3a, the two output half shafts 3a are arranged in parallel, and the two output half shafts 3a are arranged at intervals along their axial direction to form a separation portion, and the two output gears 31 are respectively arranged on the two output half shafts 3a. In other words, the output shaft 3 is disconnected to form two output half shafts 3a that are parallel and arranged at intervals along the axial direction of the output shaft 3, and the separation portion is the notch 62 where the output shaft 3 is disconnected. Both output half shafts 3a can output torque outward, thereby forming a "one-input and two-output" reducer (that is, "one-input" is an input shaft 2, and "two-output" is two output half shafts 3a) to adapt to different application scenarios. Moreover, compared with the above-mentioned embodiment 2, the structure is simpler.

[0087] It is understandable that if Figure 6 As shown, the reducer eliminates redundant constraints by disconnecting the output shaft 3 , and eccentric shafts 411 are provided on both sides of the rotating central wheel 41 . In other words, the reducer is provided with four eccentric shafts 411 in total.

[0088] like Figure 7 As shown, the reducer eliminates redundant constraints by disconnecting the output shaft 3, and eccentric shafts 411 are provided on both sides of the rotating central wheel 41. In other words, the reducer is provided with four eccentric shafts 411 in total, and compared with Figure 6 In the shown reducer, the gear transmission mechanism 4 adopts a setting form with a larger transmission ratio.

[0089] like Figure 8 As shown, the reducer eliminates redundant constraints by disconnecting the output shaft 3 , and only one side of the rotating central wheel 41 is provided with an eccentric shaft 411 . In other words, the reducer is provided with two eccentric shafts 411 in total.

[0090] like Fig. 9 As shown, the reducer eliminates redundant constraints by disconnecting the output shaft 3, and only one side of the rotating central wheel 41 is provided with an eccentric shaft 411. In other words, the reducer is provided with two eccentric shafts 411 in total, and compared with Figure 8 In the shown reducer, the gear transmission mechanism 4 adopts a setting form with a larger transmission ratio.

[0091] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. Reducer, including: Two gear transmission mechanisms (4); An input shaft (2), wherein the input shaft (2) is provided with two input gears (21), and the two input gears (21) are respectively meshed with input ends of the two gear transmission mechanisms (4); An output shaft (3), wherein the output shaft (3) is provided with two output gears (31), and the two output gears (31) are respectively meshed with output ends of the two gear transmission mechanisms (4); It is characterized by further comprising: an isolating portion, the isolating portion being provided on the input shaft (2) and located between the two input gears (21), or the isolating portion being provided on the output shaft (3) and located between the two output gears (31), the isolating portion being capable of preventing torque from being transmitted between the two gear transmission mechanisms (4); The isolation part comprises a differential (61), the input shaft (2) comprises two input half shafts (2a), the two input half shafts (2a) are respectively connected to two output ends of the differential (61), and the two input gears (21) are respectively arranged on the two input half shafts (2a); The speed reducer further comprises an input main shaft (2b), wherein the input main shaft (2b) is connected to an input end of the differential (61); The output shaft (3) comprises two output half shafts (3a), the two output half shafts (3a) are arranged in parallel, and the two output half shafts (3a) are arranged at intervals along their axial direction to form the isolation portion, and the two output gears (31) are respectively arranged on the two output half shafts (3a).

2. The reducer according to claim 1, characterized in that: The gear transmission mechanism (4) comprises: a rotating center wheel (41), the rotating center wheel (41) being rotatably disposed on the output shaft (3), the rotating center wheel (41) being meshed with the corresponding input gear (21), and an eccentric shaft (411) being disposed on one side of the rotating center wheel (41); A planetary gear (42), the planetary gear (42) being rotatably disposed on the eccentric shaft (411), and the planetary gear (42) being meshed with the corresponding output gear (31).

3. The reducer according to claim 2, characterized in that: The gear transmission mechanism (4) further comprises a fixed central wheel (43), and the planetary wheel (42) comprises: A planetary gear (421), the planetary gear (421) meshing with the fixed center wheel (43); A double planetary gear (422), wherein the double planetary gear (422) is meshed with the corresponding output gear (31).

4. The reducer according to claim 3, characterized in that: The planetary gear (421) is an external gear; The double planetary gear (422) is an external gear; The output gear (31) is an internal gear; The fixed center wheel (43) is an internal gear.

5. The reducer according to claim 4, characterized in that: The meshing position of the first planetary gear (421) and the fixed center gear (43) and the meshing position of the second planetary gear (422) and the corresponding output gear (31) are located on the same side of the planetary gear (42).

6. The reducer according to claim 3, characterized in that: The eccentric shafts (411) are provided on both sides of the rotating central wheel (41), the planetary wheels (42) are provided on the two eccentric shafts (411), the planetary wheels (42) are arranged in a one-to-one correspondence with the fixed central wheel (43) and meshed with each other, and the planetary wheels (42) are arranged in a one-to-one correspondence with the corresponding output gears (31) and meshed with each other.

7. The reducer according to claim 6, characterized in that: The two eccentric shafts (411) are symmetrically arranged about the axis of the rotating central wheel (41).

Images