Robot and speed reducer applied to robot

Abstract

The invention discloses a robot and a speed reduction device, the speed reduction device comprises a first-stage transmission mechanism (1000), the first-stage transmission mechanism (1000) comprises a first-stage transmission shaft (1100) and a first-stage transmission wheel set (1200), the first-stage transmission wheel set (1200) comprises a first-stage external tooth transmission wheel (1210) and a first-stage internal tooth transmission wheel (1220) which are eccentrically arranged, and the first-stage transmission shaft (1100) can drive the first-stage internal tooth transmission wheel (1220) to rotate; the second-stage transmission mechanism (2000) comprises a second-stage transmission shaft (2100) and a second-stage transmission wheel set (2200), the second-stage transmission wheel set (2200) comprises a second-stage external tooth transmission wheel (2210) and a second-stage internal tooth transmission wheel (2220) which are eccentrically arranged, and the second-stage transmission shaft (2100) can drive the second-stage internal tooth transmission wheel (2220) to rotate; the second-stage transmission shaft (2100) and the first-stage transmission shaft (1100) rotate synchronously, the first-stage external tooth transmission wheel (1210) and the second-stage internal tooth transmission wheel (2220) are coaxially arranged, and the first-stage internal tooth transmission wheel (1220) and the second-stage external tooth transmission wheel (2210) rotate synchronously and are coaxially arranged.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a robot and a deceleration device applied to the robot, wherein the robot may be an industrial robot or a humanoid robot. Background Art

[0002] The deceleration device is a core component in a robot, primarily used to achieve deceleration drive, thereby enabling relative motion between the robot's articulated arms. Therefore, how to design the structure of the deceleration device remains a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0003] The object of the present invention is to provide a robot and a reduction gear applied to the robot, wherein the reduction gear has a simple structure, a strong load-bearing capacity and high reliability.

[0004] To solve the above technical problems, the present invention provides a deceleration device applied to a robot, comprising: a primary transmission mechanism, comprising a primary transmission shaft and a primary transmission wheel set, the primary transmission wheel set comprising an eccentrically arranged primary external-tooth transmission wheel and a primary internal-tooth transmission wheel, the primary external-tooth transmission wheel and the primary internal-tooth transmission wheel performing meshing transmission with a small tooth difference, the primary transmission shaft being inserted into the primary internal-tooth transmission wheel and capable of driving the primary internal-tooth transmission wheel to rotate; a secondary transmission mechanism, comprising a secondary transmission shaft and a secondary transmission wheel set, the secondary transmission wheel set comprising an eccentrically arranged secondary external-tooth transmission wheel and a secondary internal-tooth transmission wheel, the secondary external-tooth transmission wheel and the secondary internal-tooth transmission wheel performing meshing transmission with a small tooth difference, the secondary transmission shaft being inserted into the secondary internal-tooth transmission wheel and capable of driving the secondary internal-tooth transmission wheel to rotate; the secondary transmission shaft rotates synchronously with the primary transmission shaft, the primary external-tooth transmission wheel and the secondary internal-tooth transmission wheel are coaxially arranged, and the primary internal-tooth transmission wheel and the secondary external-tooth transmission wheel rotate synchronously and are coaxially arranged.

[0005] In the above scheme, the reduction device mainly includes a two-stage transmission mechanism, which mainly includes two-stage transmission shafts and two-stage transmission wheel sets. The two-stage transmission wheel sets each include an internally toothed transmission wheel and an externally toothed transmission wheel that are meshed with each other. Compared with the RV reducer and the planetary gear reducer, the types and quantities of parts of the reduction device in the embodiment of the present invention are relatively small, the structural form is relatively simple, and the volume is relatively small.

[0006] Furthermore, the external and internal gears of each transmission wheel assembly utilize a small tooth difference meshing transmission. Compared to planetary gear reducers or harmonic reducers, the transmission wheels of the embodiments of the present invention have a greater number of meshing teeth at each level, which can withstand greater impacts and extreme loads without damage, and has a more reliable fatigue life. This makes it particularly suitable for use in humanoid robots or industrial robots with certain performance requirements. In other words, the reduction gear provided by the embodiments of the present invention also has technical advantages such as high precision and high strength.

[0007] Optionally, the primary transmission mechanism further includes a primary transmission plate and a primary eccentric wheel, the primary transmission plate and the primary transmission shaft rotate synchronously, the primary eccentric wheel and the primary transmission plate rotate synchronously, and the primary transmission shaft drives the primary internal gear transmission wheel to rotate via the primary eccentric wheel; the secondary transmission mechanism further includes a secondary transmission plate and a secondary eccentric wheel, the secondary transmission plate and the secondary transmission shaft rotate synchronously, the secondary eccentric wheel and the secondary transmission plate rotate synchronously, and the secondary transmission shaft drives the secondary internal gear transmission wheel to rotate via the secondary eccentric wheel.

[0008] Optionally, the first-stage internal gear transmission wheel has a first-stage first annular boss extending axially, and a first-stage bearing is provided between the first-stage first annular boss and the first-stage eccentric wheel, and between the first-stage eccentric wheel and the first-stage external gear transmission wheel; the second-stage internal gear transmission wheel has a second-stage first annular boss extending axially, and a second-stage bearing is provided between the second-stage first annular boss and the second-stage eccentric wheel, and between the second-stage eccentric wheel and the second-stage external gear transmission wheel.

[0009] Optionally, one of the primary transmission plate and the primary eccentric wheel is provided with a primary protrusion, and the other is provided with a primary recess, and the primary protrusion can be inserted into the primary recess; one of the secondary transmission plate and the secondary eccentric wheel is provided with a secondary protrusion, and the other is provided with a secondary recess, and the secondary protrusion can be inserted into the secondary recess.

[0010] Optionally, an elastic seal is provided between the primary transmission plate and the primary external gear transmission wheel.

[0011] Optionally, the primary transmission plate includes a main body and a flange portion arranged on the outer edge of the main body, and the elastic sealing member is arranged on the radial inner side of the flange portion.

[0012] Optionally, the first-stage transmission mechanism further includes a first-stage stop portion, which is mounted on the first-stage transmission shaft, the first-stage stop portion is located on a side of the first-stage internal-tooth transmission wheel away from the first-stage transmission plate, and the first-stage stop portion and the first-stage internal-tooth transmission wheel are axially opposed to each other; the second-stage transmission mechanism further includes a second-stage stop portion, which is mounted on the second-stage transmission shaft, the second-stage stop portion is located on a side of the second-stage internal-tooth transmission wheel away from the second-stage transmission plate, and the second-stage stop portion and the second-stage internal-tooth transmission wheel are axially opposed to each other.

[0013] Optionally, it also includes a shell, and the primary transmission mechanism and the secondary transmission mechanism are both installed on the shell; the shell includes a first shell and a second shell, the first shell includes a first peripheral plate portion and a first end plate portion, the second shell includes a second peripheral plate portion and a second end plate portion, the primary external gear transmission wheel is connected to the first end plate portion, and the second peripheral plate portion is connected to the first peripheral plate portion.

[0014] Optionally, it further includes a support component and two bearing components, the support component and the first-stage external gear transmission wheel are axially abutted, the two bearing components are respectively arranged on both axial sides of the second-stage internal gear transmission wheel, the second-stage internal gear transmission wheel is axially abutted against the support component through one bearing component, and the second-stage internal gear transmission wheel is axially abutted against the second end plate through the other bearing component.

[0015] Optionally, the first-level internal gear transmission wheel is provided with a first-level second annular boss extending axially, and the second-level external gear transmission wheel is provided with a second-level second annular boss extending axially, and the first-level second annular boss and the second-level second annular boss are connected; or, the first-level internal gear transmission wheel and the second-level external gear transmission wheel are an integrally formed one-piece structure.

[0016] Optionally, the primary external-tooth transmission wheel, the primary internal-tooth transmission wheel, the secondary external-tooth transmission wheel and the secondary internal-tooth transmission wheel are all prepared by a precision stamping process.

[0017] Optionally, the first-level transmission shaft is provided with a first-level transmission hole, the central axis of the first-level transmission hole and the geometric central axis of the first-level transmission shaft are eccentrically arranged, and the second-level transmission shaft is provided with a second-level transmission hole, and the first-level transmission hole and the second-level transmission hole are concentrically arranged; or, the first-level transmission shaft and the second-level transmission shaft are connected.

[0018] The present invention also provides a robot, comprising a joint, wherein the joint comprises a base and a reduction device, a power generating component is arranged inside the base, the power generating component has a drive shaft, the reduction device is the above-mentioned reduction device applied to the robot, the first-level external gear transmission wheel is connected to the base, and the drive shaft is connected to at least the first-level transmission shaft.

[0019] Optionally, the primary transmission shaft is provided with a primary transmission hole, the central axis of the primary transmission hole and the geometric central axis of the primary transmission shaft are eccentrically arranged, the secondary transmission shaft is provided with a secondary transmission hole, the primary transmission hole and the secondary transmission hole are concentrically arranged, the drive shaft is inserted into the primary transmission hole and the secondary transmission hole, and the drive shaft can drive the primary transmission shaft and the secondary transmission shaft to rotate; or, the drive shaft is inserted into the primary transmission shaft, the drive shaft can drive the primary transmission shaft to rotate, the primary transmission shaft and the secondary transmission shaft are directly or indirectly connected, and the primary transmission shaft can drive the secondary transmission shaft to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a robot provided by the present invention;

[0021] Figure 2 for Figure 1 A partial enlarged view of

[0022] Figure 3 A cross-sectional view of a deceleration device applied to a robot provided by the present invention;

[0023] Figure 4 This is a split structural diagram of a deceleration device applied to a robot provided by the present invention;

[0024] Figure 5 for Figure 4 Schematic diagram of the structure from another perspective;

[0025] Figure 6 This is the split structure diagram of the first-level transmission mechanism;

[0026] Figure 7 for Figure 6 Schematic diagram of the structure from another perspective;

[0027] Figure 8 This is a split structural diagram of the first-stage transmission plate and the first-stage transmission shaft;

[0028] Figure 9 This is a split structural diagram of the secondary transmission mechanism;

[0029] Figure 10 for Figure 9 Schematic diagram of the structure from another perspective.

[0030] Reference numerals:

[0031] 100-joint; 110-body; 111-drive shaft; 120-reduction gear; 130-connecting flange; 140-output flange; 200-jointed arm;

[0032] 1000 - Primary transmission mechanism; 1100 - Primary transmission shaft; 1110 - Primary transmission hole; 1200 - Primary transmission wheel assembly; 1210 - Primary external gear transmission wheel; 1211 - Primary external gear base; 1211A - Connecting hole; 1212 - Primary external gear; 1220 - Primary internal gear transmission wheel; 1221 - Primary internal gear base; 1222 - Primary internal gear; 1223 - Primary first annular boss; 1224 - Primary second annular boss; 1300 - Primary transmission plate; 1310 - Main body; 1311 - Primary recess; 1320 - Flanged portion; 1400 - Primary eccentric wheel; 1410 - Primary protrusion; 1500 - Primary bearing; 1600 - Elastic seal; 1700 - Primary stopper;

[0033] 2000 - Secondary transmission mechanism; 2100 - Secondary transmission shaft; 2110 - Secondary transmission hole; 2200 - Secondary transmission wheel set; 2210 - Secondary external gear transmission wheel; 2211 - Secondary external gear; 2212 - Secondary second annular boss; 2220 - Secondary internal gear transmission wheel; 2221 - Secondary internal gear base; 2222 - Secondary internal gear; 2223 - Secondary first annular boss; 2224 - Output unit; 2300 - Secondary transmission plate; 2310 - Secondary recess; 2400 - Secondary eccentric wheel; 2410 - Secondary projection; 2500 - Secondary bearing; 2600 - Secondary stopper;

[0034] 3000 - housing; 3100 - first housing; 3110 - first peripheral plate; 3120 - first end plate; 3200 - second housing; 3210 - second peripheral plate; 3220 - second end plate;

[0035] 4000-support component; 4100-support peripheral plate portion; 4200-support end plate portion;

[0036] 5000-Bearing parts. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] In the description of the embodiments of the present invention, the terms "first," "second," "primary," and "secondary" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features indicated. Therefore, a feature designated as "first," "second," "primary," or "secondary" may explicitly or implicitly include one or more of such features.

[0039] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect" and "connect" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0040] The directional terms mentioned in the embodiments of the present invention, such as "inside" and "outside", etc., are only used to refer to the directions in the drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, rather than indicating or implying that the devices or components referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present invention.

[0041] In the description of the embodiments of the present invention, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0042] Please refer to Figure 1 and Figure 2 , Figure 1 A schematic structural diagram of a robot provided by the present invention; Figure 2 for Figure 1 A partial enlarged view of .

[0043] The embodiment of the present invention provides a robot, which can be an industrial robot, a humanoid robot, etc. Figure 1 As shown, the robot includes a joint 100 and an articulated arm 200 . Two adjacent articulated arms 200 can be connected via the joint 100 and can rotate relative to the joint 100 to output corresponding actions.

[0044] Combine Figure 2 The joint 100 includes a main body 110 and a reduction gear 120. The main body 110 includes an outer shell and a power generation component disposed within the outer shell. The power generation component can be a motor, such as a servo motor or a brushless motor. The power generation component has a drive shaft 111, which can be connected to the reduction gear 120 so that the transmission ratio can be adjusted through the reduction gear 120 to meet the driving requirements.

[0045] In the above-described embodiment, the outer wall surface of the drive shaft 111 is provided with a power engagement feature (not labeled in the figure), which may be, for example, a spline feature, a non-cylindrical surface feature, or the like. In short, as long as the drive shaft 111 is inserted into the reduction gear 120, the power generation component can transmit the rotational driving force to the reduction gear 120 via the drive shaft 111. It can be seen that when the drive shaft 111 is inserted into the reduction gear 120 for rotational power transmission, the main body 110 and the reduction gear 120 can share a portion of the axial dimension. This has a relatively positive impact on reducing the overall axial dimension of the joint 100, thereby achieving a lighter, thinner, smaller, and more compact design of the joint 100.

[0046] In some implementations, the joint 100 may further include a connecting flange 130 and an output flange 140. The connecting flange 130 is configured to connect to the output portion of the reduction gear 120 to receive the rotational drive of the reduction gear 120. Furthermore, the connecting flange 130 is configured to connect to the output flange 140 to output the rotational displacement via the output flange 140.

[0047] It can be seen that in the above implementation, the connecting flange 130 is equivalent to the adapter component between the output flange 140 and the reduction gear 120, and is mainly used to match the different connection interfaces of the reduction gear 120 and the output flange 140, thereby realizing an indirect connection between the output flange 140 and the output portion of the reduction gear 120. In some other implementations of the embodiments of the present invention, the connecting flange 130 may also be omitted. In this case, the output flange 140 may be directly connected to the output portion of the reduction gear 120, which is also feasible.

[0048] The output flange 140 may be provided with interface features (not labeled in the figure) to meet the connection requirements of different usage scenarios. For example, when the robot provided in the embodiment of the present invention is used as a welding robot, the interface features enable the output flange 140 to be connected to welding tools such as welding guns. For another example, when the robot provided in the embodiment of the present invention is used as a bolt tightening robot, the interface features enable the output flange 140 to be connected to tightening tools such as wrenches.

[0049] Please refer to Figure 3-Figure 10 , Figure 3 A cross-sectional view of a deceleration device applied to a robot provided by the present invention; Figure 4 This is a split structural diagram of a deceleration device applied to a robot provided by the present invention; Figure 5 for Figure 4 Schematic diagram of the structure from another perspective; Figure 6 This is the split structure diagram of the first-level transmission mechanism; Figure 7 for Figure 6 Schematic diagram of the structure from another perspective; Figure 8 This is a split structural diagram of the first-stage transmission plate and the first-stage transmission shaft; Figure 9 This is a split structural diagram of the secondary transmission mechanism; Figure 10 for Figure 9 Schematic diagram of the structure from another perspective.

[0050] like Figure 3-Figure 10 As shown, an embodiment of the present invention further provides a deceleration device 120 , which can be specifically applied to the aforementioned industrial robots, humanoid robots and other robots. The deceleration device 120 includes a primary transmission mechanism 1000 and a secondary transmission mechanism 2000 .

[0051] The primary reduction mechanism 1000 includes a primary transmission shaft 1100 and a primary transmission wheel assembly 1200. The primary transmission wheel assembly 1200 comprises an eccentrically arranged primary external gear transmission wheel 1210 and a primary internal gear transmission wheel 1220. The geometric center axes of the primary external gear transmission wheel 1210 and the primary internal gear transmission wheel 1220 differ by an eccentricity e. The primary external gear transmission wheel 1210 is provided with primary external transmission teeth, while the primary internal gear transmission wheel 1220 is provided with primary internal transmission teeth. The primary external gear transmission wheel 1210 has fewer teeth than the primary internal gear transmission wheels. Generally, the difference in tooth count between the primary external gear transmission wheel 1210 and the primary internal gear transmission wheel 1220 can be 1, enabling a small tooth difference meshing transmission between the primary external gear transmission wheel 1210 and the primary internal gear transmission wheel 1220. The primary transmission shaft 1100 is inserted into the primary internal gear transmission wheel 1220, and the primary transmission shaft 1100 is capable of driving the primary internal gear transmission wheel 1220 to rotate.

[0052] In the first-stage reduction mechanism 1000 , the first-stage external gear transmission wheel 1210 is fixedly arranged, and specifically can be connected to the aforementioned main body 110 , and the connection method can be, for example, bolt connection.

[0053] The secondary transmission mechanism 2000 includes a secondary transmission shaft 2100 and a secondary transmission wheel assembly 2200. The secondary transmission wheel assembly 2200 comprises an eccentrically arranged secondary externally toothed transmission wheel 2210 and a secondary internally toothed transmission wheel 2220. The geometric center axes of the secondary externally toothed transmission wheel 2210 and the secondary internally toothed transmission wheel 2220 differ by an eccentricity e. The secondary externally toothed transmission wheel 2210 is provided with secondary external transmission teeth, while the secondary internally toothed transmission wheel 2220 is provided with secondary internal transmission teeth. The secondary externally toothed transmission wheel 2210 has fewer teeth than the secondary internally toothed transmission wheels. Generally, the difference in tooth count between the secondary externally toothed transmission wheel 2210 and the secondary internally toothed transmission wheel 2220 can be 1, enabling a small tooth difference meshing transmission between the secondary externally toothed transmission wheel 2210 and the secondary internally toothed transmission wheel 2220. The secondary transmission shaft 2100 is inserted into the secondary internally toothed transmission wheel 2220, and the secondary transmission shaft 2100 is capable of driving the secondary internally toothed transmission wheel 2220 to rotate.

[0054] The secondary transmission shaft 2100 and the primary transmission shaft 1100 can rotate synchronously.

[0055] The primary externally toothed transmission wheel 1210 and the secondary internally toothed transmission wheel 2220 are coaxially arranged, sharing a first central axis N to achieve concentric power output. The primary internally toothed transmission wheel 1220 and the secondary externally toothed transmission wheel 2210 rotate synchronously and are coaxially arranged, sharing a second central axis M. There is an eccentric distance e between the second central axis M and the first central axis N.

[0056] In the above scheme, the reduction device 120 mainly includes a two-stage transmission mechanism, which mainly includes two-stage transmission shafts and two-stage transmission wheel sets. The two-stage transmission wheel sets each include an internally toothed transmission wheel and an externally toothed transmission wheel that are meshed with each other. Compared with the RV reducer and the planetary gear reducer, the types and quantities of parts of the reduction device 120 in the embodiment of the present invention are relatively small, the structural form is relatively simple, and the volume is relatively small.

[0057] Furthermore, the external and internal gears of each transmission wheel assembly utilize a small tooth difference meshing transmission. Compared to planetary gear reducers or harmonic reducers, the transmission wheels of each stage in the embodiment of the present invention have a greater number of meshing teeth, which can withstand greater impacts and extreme loads without damage, and has a more reliable fatigue endurance life. This makes it particularly suitable for use in humanoid robots or industrial robots with certain performance requirements. In other words, the reduction gear 120 provided by the embodiment of the present invention also has technical advantages such as high precision and high strength.

[0058] In addition, each transmission wheel in the first-stage transmission wheel assembly 1200 and the second-stage transmission wheel assembly 2200 in the embodiment of the present invention is prepared by a precision stamping process, which has low cost, is suitable for mass production, and can improve processing efficiency and processing accuracy.

[0059] Here, the embodiment of the present invention does not limit the specific structures of the above-mentioned first-stage external gear transmission wheel 1210, first-stage internal gear transmission wheel 1220, second-stage external gear transmission wheel 2210 and second-stage internal gear transmission wheel 2220. In actual applications, those skilled in the art can make settings according to specific needs as long as they can meet the requirements of use.

[0060] In some implementations, such as Figure 3 As shown, the primary external gear transmission wheel 1210 may include a primary external gear base 1211 and a primary external gear 1212 arranged along the axial direction. The primary external gear base 1211 may be provided with a connection hole 1211A, which may be a threaded hole, for example, for connection to the main body 110. The primary external gear 1212 may be provided with the aforementioned primary external transmission teeth.

[0061] The primary internal gear transmission wheel 1220 may include a primary internal gear base 1221 and a primary internal gear 1222 arranged along the axial direction. The primary internal gear 1222 may be provided with the aforementioned primary internal transmission teeth.

[0062] During installation, at least a portion of the primary external gear 1212 can be inserted radially inwardly of the primary internal gear 1222, allowing the primary internal transmission teeth to mesh with the primary external transmission teeth. This arrangement allows the primary external gear 1210 and the primary internal gear 1220 to share a portion of their axial dimension, effectively reducing the axial dimension of the primary transmission mechanism 1000 and facilitating a lightweight, miniaturized, and compact design for the reduction gear 120.

[0063] Similarly, the secondary external gear transmission wheel 2210 may include a secondary external gear 2211 provided with secondary external transmission teeth. The secondary internal gear transmission wheel 2220 may include a secondary internal gear base 2221 and a secondary internal gear 2222 arranged along the axial direction. The secondary internal gear 2222 is provided with secondary internal transmission teeth.

[0064] During installation, at least a portion of the secondary external gear 2211 can be inserted radially inwardly of the secondary internal gear 2222, allowing the secondary external transmission teeth to mesh with the secondary internal transmission teeth. This arrangement allows the secondary external transmission gear 2210 and the secondary internal transmission gear 2220 to share a portion of their axial dimension, effectively reducing the axial dimension of the secondary transmission mechanism 2000 and facilitating a lightweight, miniaturized, and compact design for the reduction gear 120.

[0065] In some implementations, the primary transmission mechanism 1000 may further include a primary transmission plate 1300 and a primary eccentric wheel 1400 , and the center axes of the inner cylindrical surface and the outer cylindrical surface of the primary eccentric wheel 1400 differ by an eccentric distance e.

[0066] The primary transmission plate 1300 and the primary transmission shaft 1100 can be fixedly connected by welding, such as laser welding. Alternatively, the primary transmission plate 1300 and the primary transmission shaft 1100 can be integrally formed by casting, powder metallurgy, or the like. In this case, the primary transmission plate 1300 and the primary transmission shaft 1100 form a one-piece structure. In summary, in this embodiment of the present invention, the primary transmission plate 1300 and the primary transmission shaft 1100 are designed to rotate synchronously.

[0067] The primary eccentric wheel 1400 can be connected to the primary transmission plate 1300 so that the primary eccentric wheel 1400 and the primary transmission plate 1300 can rotate synchronously. The primary transmission shaft 1100 can specifically drive the primary internal gear transmission wheel 1220 to rotate relative to the primary external gear transmission wheel 1210 through the primary transmission plate 1300 and the primary eccentric wheel 1400.

[0068] Combine Figure 6-Figure 8 The primary transmission plate 1300 may be provided with a primary recess 1311, and the primary eccentric wheel 1400 may be provided with a primary protrusion 1410. During installation, the primary protrusion 1410 may be plugged into the primary recess 1311 to achieve synchronous rotation of the primary transmission plate 1300 and the primary eccentric wheel 1400. In addition, in some other implementations of the present invention, the primary recess 1311 may be provided on the primary eccentric wheel 1400, and correspondingly, the primary protrusion 1410 may be provided on the primary eccentric wheel 1400.

[0069] Still Figure 3 As shown, the primary internal gear transmission wheel 1220 further has a primary first annular boss 1223 extending in the axial direction. The primary first annular boss 1223 can be specifically located on the inner edge of the primary internal gear base 1221, and the primary internal gear 1222 can be specifically located on the outer edge of the primary internal gear base 1221. The primary first annular boss 1223 and the primary internal gear base 1221 are located on the same axial side of the primary internal gear base 1221.

[0070] In an embodiment of the present invention, the primary transmission mechanism 1000 may further include a primary bearing 1500. Specifically, the primary bearing 1500 may be disposed between the primary first annular boss 1223 and the primary eccentric 1400, and between the primary eccentric 1400 and the primary externally toothed transmission wheel 1210 (primary externally toothed gear 1212). This arrangement allows the primary bearing 1500 to provide radial support for the primary externally toothed transmission wheel 1210, the primary eccentric 1400, and the primary internally toothed transmission wheel 1220, thereby ensuring reliable assembly of these components. The primary eccentric 1400 may transmit rotational drive force to the primary internally toothed transmission wheel 1220 via the primary bearing 1500. Furthermore, the primary bearing 1500 may also serve as a lubricant, effectively reducing the coefficient of friction and thereby improving transmission efficiency.

[0071] The primary bearing 1500 can be a rolling bearing, such as a needle roller bearing or a deep groove ball bearing. Rolling friction reduces internal transmission losses and improves transmission efficiency. Alternatively, the primary bearing 1500 can be a sliding bearing, such as a self-lubricating bearing sleeve.

[0072] In some implementations, the secondary transmission mechanism 2000 may further include a secondary transmission plate 2300 and a secondary eccentric wheel 2400 , and the center axes of the inner cylindrical surface and the outer cylindrical surface of the secondary eccentric wheel 2400 also differ by an eccentric distance e.

[0073] The secondary transmission plate 2300 and the secondary transmission shaft 2100 can be fixedly connected by welding, such as laser welding. Alternatively, the secondary transmission plate 2300 and the secondary transmission shaft 2100 can be integrally formed by casting, powder metallurgy, or the like. In this case, the secondary transmission plate 2300 and the secondary transmission shaft 2100 form a one-piece structure. In summary, in this embodiment of the present invention, the secondary transmission plate 2300 and the secondary transmission shaft 2100 are designed to rotate synchronously.

[0074] The secondary eccentric wheel 2400 can be connected to the secondary transmission plate 2300 so that the secondary eccentric wheel 2400 and the secondary transmission plate 2300 can rotate synchronously. The secondary transmission shaft 2100 can specifically drive the secondary internal gear transmission wheel 2220 to rotate relative to the secondary external gear transmission wheel 2210 through the secondary transmission plate 2300 and the secondary eccentric wheel 2400.

[0075] Combine Figure 9 and Figure 10 The secondary transmission plate 2300 may be provided with a secondary recess 2310, and the secondary eccentric wheel 2400 may be provided with a secondary protrusion 2410. During installation, the secondary protrusion 2410 may be plugged into the secondary recess 2310 to achieve synchronous rotation of the secondary transmission plate 2300 and the secondary eccentric wheel 2400. In addition, in some other implementations of the embodiments of the present invention, the secondary recess 2310 may be provided on the secondary eccentric wheel 2400, and correspondingly, the secondary protrusion 2410 may be provided on the secondary eccentric wheel 2400.

[0076] Still Figure 3 As shown, the secondary internal gear transmission wheel 2220 further has a secondary first annular boss 2223 extending in the axial direction. The secondary first annular boss 2223 can be specifically located on the inner edge of the secondary internal gear base 2221, and the secondary internal gear 2222 can be specifically located on the outer edge of the secondary internal gear base 2221. The secondary first annular boss 2223 and the secondary internal gear base 2221 are located on the same axial side of the secondary internal gear base 2221.

[0077] In this embodiment of the present invention, the secondary transmission mechanism 2000 may further include a secondary bearing 2500. Specifically, the secondary bearing 2500 may be disposed between the secondary first annular boss 2223 and the secondary eccentric 2400, and between the secondary eccentric 2400 and the secondary externally toothed transmission wheel 2210 (secondary externally toothed gear 2211). This arrangement allows the secondary bearing 2500 to provide radial support for the secondary externally toothed transmission wheel 2210, the secondary eccentric 2400, and the secondary internally toothed transmission wheel 2220, thereby ensuring reliable assembly of these components. The secondary eccentric 2400 may transmit rotational drive force to the secondary internally toothed transmission wheel 2220 via the secondary bearing 2500. Furthermore, the secondary bearing 2500 may also serve as a lubricant, effectively reducing the coefficient of friction and thereby improving transmission efficiency.

[0078] The type of the secondary bearing 2500 can be the same as that of the aforementioned primary bearing 1500, and a repeated description will not be given here.

[0079] For the primary eccentric wheel 1400 and the secondary eccentric wheel 2400, in actual applications, technical personnel in this field can adjust the inner circle size and outer circle size of the two according to specific needs to adapt to the primary transmission wheel group 1200 and the secondary transmission wheel group 2200 with different processing precision, thereby achieving the effect of reducing the backlash of the product.

[0080] In some implementations, such as Figure 3-Figure 7 As shown, an elastic seal 1600 may be provided between the primary transmission plate 1300 and the primary external gear transmission wheel 1210 .

[0081] Specifically, the primary transmission plate 1300 can be abutted against the primary external-tooth transmission wheel 1210 via the elastic seal 1600. With this solution, the elastic seal 1600 can absorb tolerances, effectively defining the axial installation position of the primary transmission plate 1300 relative to the primary external-tooth transmission wheel 1210, and reducing the possibility of internal components of the primary transmission mechanism 1000 from shaking.

[0082] The embodiments of the present invention do not limit the specific type of elastic seal 1600. In practical applications, those skilled in the art may select a type that meets the specific needs. For example, the elastic seal 1600 may be a sealing ring made of a material with a certain elastic deformation capability, such as rubber or silicone.

[0083] Combine Figure 7 and Figure 8In an embodiment of the present invention, the primary transmission plate 1300 may include a main body 1310 and a flange 1320 disposed on the outer edge of the main body 1310. The flange 1320 may be located on the side of the main body 1310 facing the primary external gear transmission wheel 1210. The elastic seal 1600 may be disposed radially inwardly of the flange 1320. The flange 1320 may radially limit the elastic seal 1600, specifically, limit the radially outward position of the elastic seal 1600, to ensure the installation position of the elastic seal 1600.

[0084] Recombination Figure 3 In an embodiment of the present invention, the first-stage bearing 1500 between the first-stage eccentric wheel 1400 and the first-stage external gear transmission wheel 1210 can also be used to limit the radial inner side of the elastic seal 1600, so as to improve the installation reliability of the elastic seal 1600 to a greater extent.

[0085] In some implementations, the primary transmission mechanism 1000 may further include a primary stopper 1700 , which may specifically be a retaining spring or the like.

[0086] The primary stopper 1700 can be mounted on the primary transmission shaft 1100 and can be located on the side of the primary internally-toothed transmission wheel 1220 facing away from the primary transmission plate 1300. Once installed, the primary stopper 1700 can axially abut against the primary internally-toothed transmission wheel 1220, thereby connecting the primary transmission mechanism 1000 as a whole. This reduces the possibility of separation between the primary transmission wheel assembly 1200 and the primary transmission shaft 1100, and improves the structural compactness and connection reliability of the primary transmission mechanism 1000.

[0087] Similarly, the secondary transmission mechanism 2000 may further include a secondary stopper 2600, which may also be a retaining spring or the like. The secondary stopper 2600 may be mounted on the secondary transmission shaft 2100 and located on the side of the secondary internally-toothed transmission wheel 2220 facing away from the secondary transmission plate 2300. Once installed, the secondary stopper 2600 can axially abut against the secondary internally-toothed transmission wheel 2220, thereby connecting the secondary transmission mechanism 2000 as a whole. This reduces the possibility of separation between the secondary transmission wheel assembly 2200 and the secondary transmission shaft 2100, thereby improving the structural compactness and connection reliability of the secondary transmission mechanism 2000.

[0088] In some implementations, the primary internal gear transmission wheel 1220 and the secondary external gear transmission wheel 2210 may be two independent components, and the two may be manufactured separately, for example, by using a fine blanking process.

[0089] The primary internal gear transmission wheel 1220 may also be provided with a primary second annular boss 1224 extending in the axial direction. The primary second annular boss 1224 and the primary first annular boss 1223 may be respectively located on either axial side of the primary internal gear base 1221. The secondary external gear transmission wheel 2210 may be provided with a secondary second annular boss 2212 extending in the axial direction. The secondary second annular boss 2212 may specifically be located on one axial side of the secondary external gear 2211.

[0090] During installation, the first-stage second annular boss 1224 and the second-stage second annular boss 2212 can be connected to achieve synchronous rotation of the first-stage internally-toothed transmission wheel 1220 and the second-stage externally-toothed transmission wheel 2210. The connection between the first-stage second annular boss 1224 and the second-stage second annular boss 2212 can be welding, interference fit, key connection, etc. In short, as long as the first-stage internally-toothed transmission wheel 1220 and the second-stage externally-toothed transmission wheel 2210 can rotate synchronously, it will be sufficient. Taking interference fit as an example, there can be a certain amount of interference between the outer circular wall surface of the first-level second annular boss 1224 and the inner circular wall surface of the second-level second annular boss 2212. The first-level second annular boss 1224 can be inserted into the second-level second annular boss 2212 to achieve interference fit between the two; and the axial end face of the second-level second annular boss 2212 can also abut against the first-level internal gear transmission wheel 1220 so as to limit the axial relative position of the second-level external gear transmission wheel 2210 and the first-level internal gear transmission wheel 1220.

[0091] In addition, in some other implementations of the present invention, the primary internal gear transmission wheel 1220 and the secondary external gear transmission wheel 2210 may also be integrally formed into a one-piece structure, in which case transmission accuracy can be higher. The process for integrally forming the primary internal gear transmission wheel 1220 and the secondary external gear transmission wheel 2210 may specifically be a powder metallurgy process, for example.

[0092] In some implementations, Figure 3 As shown, the secondary internal gear transmission wheel 2220 may also be provided with an output portion 2224. The output portion 2224 may also be an annular boss structure, and the output portion 2224 may be provided on the side of the secondary internal gear base 2221 away from the secondary first annular boss 2223 for outputting the rotational driving force to the outside.

[0093] In some implementations, such as Figure 7 and Figure 8 As shown, the primary transmission shaft 1100 can be provided with a primary transmission hole 1110, the central axis of the primary transmission hole 1110 is the aforementioned first central axis N, and the geometric central axis of the primary transmission shaft 1100 is the second central axis M, that is, the primary transmission hole 1110 is an eccentric hole provided on the primary transmission shaft 1100.

[0094] like Figure 9 and Figure 10 As shown, the secondary transmission shaft 2100 may be provided with a secondary transmission hole 2110. Unlike the primary transmission hole 1110, in this embodiment of the present invention, the central axis of the secondary transmission hole 2110 coincides with the geometric central axis of the secondary transmission shaft 2100, which is also the aforementioned first central axis N. In other words, the primary transmission hole 1110 and the secondary transmission hole 2110 are coaxially arranged.

[0095] The drive shaft 111 can be inserted into the above-mentioned first-level transmission hole 1110 and the second-level transmission hole 2110. The internal contours of the first-level transmission hole 1110 and the second-level transmission hole 2110 can be adapted to the external contour of the drive shaft 111, so that the drive shaft 111 can simultaneously drive the first-level transmission shaft 1100 and the second-level transmission shaft 2100 to rotate.

[0096] As can be seen, because the primary transmission hole 1110 and the secondary transmission hole 2110 are coaxially arranged, the drive shaft 111 inserted between them can be a linear shaft structure extending straightly, rather than a crankshaft structure. This makes the transmission between the drive shaft 111 and the two-stage transmission shaft more stable, making it well suited for high-speed transmission applications. Furthermore, the drive shaft 111 is less susceptible to damage, and its service life can be relatively long.

[0097] In addition, in some other implementations of the embodiments of the present invention, the drive shaft 111 may also be simply inserted into the primary transmission hole 1110 to directly drive the primary transmission shaft 1100 to rotate, and then the primary transmission shaft 1100 and the secondary transmission shaft 2100 may be connected so that the primary transmission shaft 1100 drives the secondary transmission shaft 2100 to rotate; in this way, the transmission accuracy can be higher, and the axial dimension of the drive shaft 111 can be relatively small. In this implementation, the primary transmission shaft 1100 and the secondary transmission shaft 2100 can be directly connected, for example, by welding, interference fit, or other processes; or, the primary transmission shaft 1100 and the secondary transmission shaft 2100 can also be indirectly connected, for example, the primary transmission shaft 1100 can be connected to the secondary transmission plate 2300, which can also achieve the drive of the secondary transmission shaft 2100.

[0098] In some implementations, in an embodiment of the present invention, the reduction gear 120 may further include a housing 3000 , and both the primary transmission mechanism 1000 and the secondary transmission mechanism 2000 may be installed in the housing 3000 so as to be integrated and assembled through the housing 3000 .

[0099] Combine Figure 3-Figure 5The housing 3000 may include a first shell 3100 and a second shell 3200. The first shell 3100 may include a first peripheral plate portion 3110 and a first end plate portion 3120; the first peripheral plate portion 3110 and the first end plate portion 3120 may be an integrally formed one-piece structure, or the first peripheral plate portion 3110 and the first end plate portion 3120 may be prepared separately and then assembled by means of screw connection or other connection methods. The second shell 3200 may include a second peripheral plate portion 3210 and a second end plate portion 3220; the second peripheral plate portion 3210 and the second end plate portion 3220 may be an integrally formed one-piece structure, or the second peripheral plate portion 3210 and the second end plate portion 3220 may be prepared separately and then assembled by means of screw connection or other connection methods.

[0100] The primary external gear transmission wheel 1210 may be connected to the first end plate portion 3120 so as to achieve a fixed connection between the primary external gear transmission wheel 1210 and the housing 3000. The specific connection method may be, for example, screw connection, clamping, riveting, etc. Taking screw connection as an example, the first end plate portion 3120 may be provided with a through hole corresponding to the connection hole 1211A. The primary external gear transmission wheel 1210 may be inserted into the first circumferential plate portion 3110 for rough positioning. The relative position of the primary external gear transmission wheel 1210 and the first housing 3100 in the circumferential direction may then be adjusted so that the through hole can be aligned with the corresponding connection hole 1211A. Screws may then be passed through the through hole and connected to the corresponding connection hole 1211A. In this way, the first end plate portion 3120 and the primary external gear transmission wheel 1210 may be fixed.

[0101] The second circumferential plate portion 3210 can be connected to the first circumferential plate portion 3110. The specific connection method can be bolt connection, welding, interference fit, etc., which is not limited here, as long as the reliability requirements of the connection can be guaranteed. Taking bolt connection as an example, the second circumferential plate portion 3210 can be inserted into the first circumferential plate portion 3110, and the bolts can be radially passed through the first circumferential plate portion 3110 and the second circumferential plate portion 3210 to achieve the connection and fixation between the first shell 3100 and the second shell 3200.

[0102] In some implementations, the deceleration device 120 provided in the embodiment of the present invention may further include a support component 4000 and two bearing components 5000 .

[0103] The support component 4000 and the primary external gear transmission wheel 1210 can abut axially. Specifically, the support component 4000 can abut axially against the primary external gear base 1211. Two bearing members 5000 can be disposed on either axial side of the secondary internal gear transmission wheel 2220, specifically, on either axial side of the secondary internal gear 2222. The secondary internal gear transmission wheel 2220 can abut axially against the support component 4000 via one bearing member 5000, and against the second end plate 3220 via the other bearing member 5000. This arrangement not only ensures that the bearing members 5000 and the support component 4000 cooperate to securely position the primary external gear transmission wheel 1210 and the secondary internal gear transmission wheel 2220 within the housing 3000, but also improves installation stability and structural compactness. Furthermore, the bearing members 5000 can reduce axial extrusion under unbalanced load conditions, thereby reducing friction loss and improving transmission smoothness.

[0104] The bearing member 5000 may be a thrust bearing to improve the transmission accuracy. In addition, the bearing member 5000 may also be a sliding bearing sheet.

[0105] Combine Figure 3 The support member 4000 may include a supporting peripheral plate portion 4100 and a supporting end plate portion 4200. The supporting peripheral plate portion 4100 can axially abut against the primary external gear transmission wheel 1210, while the supporting end plate portion 4200 can axially abut against the bearing member 5000. A gap may be provided between the supporting end plate portion 4200 and the second peripheral plate portion 3210, or they may be in direct contact. In short, installation interference between the second housing 3200 and the support member 4000 should be avoided.

[0106] The transmission process of the reduction gear 120 involved in each of the above-mentioned implementations will be further described in the following embodiments of the present invention. It is assumed that the number of teeth of the primary external-tooth transmission wheel 1210 and the secondary external-tooth transmission wheel 2210 are both n1, and the number of teeth of the primary internal-tooth transmission wheel 1220 and the secondary internal-tooth transmission wheel 2220 are both n2.

[0107] The rotational driving force of the primary transmission mechanism 1000 is introduced by the primary transmission shaft 1100, assuming the direction of rotation is clockwise. The primary transmission shaft 1100 can drive the primary eccentric wheel 1400 to rotate synchronously. Since the primary external gear transmission wheel 1210 is fixed, the primary eccentric wheel 1400 can drive the primary internal gear transmission wheel 1220 to rotate, and the rotation direction is also clockwise. For each rotation of the primary transmission shaft 1100, the primary internal gear transmission wheel 1220 can rotate 1 / n2 of a revolution relative to the primary external gear transmission wheel 1210. In addition, the secondary external gear transmission wheel 2210, which is fixed to the primary internal gear transmission wheel 1220, can also rotate 1 / n2 of a revolution relative to the primary external gear transmission wheel 1210.

[0108] The rotational driving force of the secondary transmission mechanism 2000 is introduced by the secondary transmission shaft 2100, also rotating in a clockwise direction. The secondary transmission shaft 2100 drives the secondary eccentric 2400 to rotate. Since the secondary externally-toothed transmission wheel 2210 has already rotated 1 / n² clockwise under the drive of the primary transmission mechanism 1000, under the same driving mode, the secondary transmission shaft 2100 only rotates (1-1 / n²) revolutions relative to the secondary externally-toothed transmission wheel 2210. Consequently, the secondary internally-toothed transmission wheel 2220 rotates (1-1 / n²) / n² revolutions relative to the secondary externally-toothed transmission wheel 2210, and the secondary internally-toothed transmission wheel 2220 rotates 1 / n² + (1-1 / n²) / n² revolutions relative to the primary externally-toothed transmission wheel 1210. This means that the transmission ratio of the reduction gear 120 is 1 / (1 / n² + (1-1 / n²) / n²).

[0109] Thus, in actual applications, the transmission ratio of the reduction gear 120 provided by the embodiment of the present invention can be effectively adjusted by adjusting the number of teeth of the primary external-tooth transmission wheel 1210, the primary internal-tooth transmission wheel 1220, the secondary external-tooth transmission wheel 2210, and the secondary internal-tooth transmission wheel 2220. According to calculations, the transmission ratio of the reduction gear 120 provided by the embodiment of the present invention can be set between 10 and 30, which is a relatively low transmission ratio and is well suited for high-speed transmission scenarios.

[0110] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A deceleration device applied to a robot, characterized in that: include: A primary transmission mechanism (1000) comprises a primary transmission shaft (1100) and a primary transmission wheel set (1200), wherein the primary transmission wheel set (1200) comprises an eccentrically arranged primary external-tooth transmission wheel (1210) and a primary internal-tooth transmission wheel (1220), wherein the primary external-tooth transmission wheel (1210) and the primary internal-tooth transmission wheel (1220) perform a small-tooth-difference meshing transmission, and the primary transmission shaft (1100) is inserted into the primary internal-tooth transmission wheel (1220) and is capable of driving the primary internal-tooth transmission wheel (1220) to rotate; A secondary transmission mechanism (2000) comprises a secondary transmission shaft (2100) and a secondary transmission wheel set (2200), wherein the secondary transmission wheel set (2200) comprises an eccentrically arranged secondary external gear transmission wheel (2210) and a secondary internal gear transmission wheel (2220), wherein the secondary external gear transmission wheel (2210) and the secondary internal gear transmission wheel (2220) perform a small tooth difference meshing transmission, and the secondary transmission shaft (2100) is inserted into the secondary internal gear transmission wheel (2220) and is capable of driving the secondary internal gear transmission wheel (2220) to rotate; The secondary transmission shaft (2100) and the primary transmission shaft (1100) rotate synchronously, the primary external gear transmission wheel (1210) and the secondary internal gear transmission wheel (2220) are coaxially arranged, and the primary internal gear transmission wheel (1220) and the secondary external gear transmission wheel (2210) rotate synchronously and are coaxially arranged.

2. The deceleration device for a robot according to claim 1, characterized in that: The primary transmission mechanism (1000) further comprises a primary transmission plate (1300) and a primary eccentric wheel (1400), wherein the primary transmission plate (1300) and the primary transmission shaft (1100) rotate synchronously, the primary eccentric wheel (1400) and the primary transmission plate (1300) rotate synchronously, and the primary transmission shaft (1100) drives the primary internal gear transmission wheel (1220) to rotate via the primary eccentric wheel (1400); The secondary transmission mechanism (2000) further comprises a secondary transmission plate (2300) and a secondary eccentric wheel (2400), wherein the secondary transmission plate (2300) and the secondary transmission shaft (2100) rotate synchronously, the secondary eccentric wheel (2400) and the secondary transmission plate (2300) rotate synchronously, and the secondary transmission shaft (2100) drives the secondary internal gear transmission wheel (2220) to rotate via the secondary eccentric wheel (2400).

3. The deceleration device for a robot according to claim 2, characterized in that: The first-stage internal-tooth transmission wheel (1220) has a first-stage annular boss (1223) extending in the axial direction, and a first-stage bearing (1500) is provided between the first-stage annular boss (1223) and the first-stage eccentric wheel (1400), and between the first-stage eccentric wheel (1400) and the first-stage external-tooth transmission wheel (1210); The secondary internal gear transmission wheel (2220) has a secondary first annular boss (2300) extending in the axial direction, and secondary bearings (2500) are provided between the secondary first annular boss (2300) and the secondary eccentric wheel (2400), and between the secondary eccentric wheel (2400) and the secondary external gear transmission wheel (2210).

4. The deceleration device for a robot according to claim 2, characterized in that: One of the primary transmission plate (1300) and the primary eccentric wheel (1400) is provided with a primary convex portion (1410), and the other is provided with a primary concave portion (1311), and the primary convex portion (1410) can be plugged into the primary concave portion (1311); One of the secondary transmission plate (2300) and the secondary eccentric wheel (2400) is provided with a secondary convex portion (2410), and the other is provided with a secondary concave portion (2310), and the secondary convex portion (2410) can be plugged into the secondary concave portion (2310).

5. The deceleration device for a robot according to claim 4, characterized in that: An elastic sealing member (1600) is provided between the primary transmission plate (1300) and the primary external gear transmission wheel (1210).

6. The deceleration device for a robot according to claim 5, characterized in that: The primary transmission plate (1300) comprises a main body (1310) and a flange portion (1320) arranged on the outer edge of the main body (1310), and the elastic sealing member (1600) is arranged on the radial inner side of the flange portion (1320).

7. The deceleration device for a robot according to claim 2, characterized in that: The primary transmission mechanism (1000) further comprises a primary stopper (1700), the primary stopper (1700) being mounted on the primary transmission shaft (1100), the primary stopper (1700) being located on a side of the primary internal gear transmission wheel (1220) facing away from the primary transmission plate (1300), and the primary stopper (1700) and the primary internal gear transmission wheel (1220) being axially opposed to each other; The secondary transmission mechanism (2000) further comprises a secondary stop portion (2600), wherein the secondary stop portion (2600) is mounted on the secondary transmission shaft (2100), and the secondary stop portion (2600) is located on a side of the secondary internal gear transmission wheel (2220) that faces away from the secondary transmission plate (2300), and the secondary stop portion (2600) and the secondary internal gear transmission wheel (2220) are axially opposed to each other.

8. The deceleration device for a robot according to any one of claims 1 to 7, characterized in that: It also includes a housing (3000), and the primary transmission mechanism (1000) and the secondary transmission mechanism (2000) are both mounted on the housing (3000); The housing (3000) includes a first shell (3100) and a second shell (3200), wherein the first shell (3100) includes a first circumferential plate portion (3110) and a first end plate portion (3120), and the second shell (3200) includes a second circumferential plate portion (3210) and a second end plate portion (3220), the first-stage external gear transmission wheel (1210) is connected to the first end plate portion (3120), and the second circumferential plate portion (3210) is connected to the first circumferential plate portion (3110).

9. The deceleration device for a robot according to claim 8, characterized in that: The invention also includes a support component (4000) and two bearing components (5000), wherein the support component (4000) and the first-stage external-tooth transmission wheel (1210) are in axial contact with each other, and the two bearing components (5000) are respectively arranged on both axial sides of the second-stage internal-tooth transmission wheel (2220), and the second-stage internal-tooth transmission wheel (2220) is in axial contact with each other through one of the bearing components (5000), and the second-stage internal-tooth transmission wheel (2220) is in axial contact with each other through the other of the bearing components (5000).

10. The deceleration device for a robot according to any one of claims 1 to 7, characterized in that: The primary internal gear transmission wheel (1220) is provided with a primary second annular boss (1224) extending in the axial direction, and the secondary external gear transmission wheel (2210) is provided with a secondary second annular boss (2212) extending in the axial direction, and the primary second annular boss (1224) and the secondary second annular boss (2212) are connected; or, The first-stage internal-tooth transmission wheel (1220) and the second-stage external-tooth transmission wheel (2210) are an integrally formed one-piece structure.

11. The deceleration device for a robot according to any one of claims 1 to 7, characterized in that: The primary external gear transmission wheel (1210), the primary internal gear transmission wheel (1220), the secondary external gear transmission wheel (2210), and the secondary internal gear transmission wheel (2220) are all manufactured using a precision stamping process.

12. The deceleration device for a robot according to any one of claims 1 to 7, characterized in that: The primary transmission shaft (1100) is provided with a primary transmission hole (1110), the central axis of the primary transmission hole (1110) and the geometric central axis of the primary transmission shaft (1100) are eccentrically arranged, and the secondary transmission shaft (2100) is provided with a secondary transmission hole (2110), the primary transmission hole (1110) and the secondary transmission hole (2110) are concentrically arranged; or, The primary transmission shaft (1100) and the secondary transmission shaft (2100) are connected.

13. A robot, characterized in that: The invention comprises a joint (100), wherein the joint (100) comprises a main body (110) and a reduction gear (120), wherein a power generating component is provided inside the main body (110), wherein the power generating component has a drive shaft (111), and wherein the reduction gear (120) is a reduction gear applied to a robot as claimed in any one of claims 1 to 12, wherein the primary external gear transmission wheel (1210) is connected to the main body (110), and the drive shaft (111) is connected to at least the primary transmission shaft (1100).

14. The robot according to claim 13, characterized in that: The primary transmission shaft (1100) is provided with a primary transmission hole (1110), the central axis of the primary transmission hole (1110) and the geometric central axis of the primary transmission shaft (1100) are eccentrically arranged, the secondary transmission shaft (2100) is provided with a secondary transmission hole (2110), the primary transmission hole (1110) and the secondary transmission hole (2110) are concentrically arranged, the drive shaft (111) is inserted into the primary transmission hole (1110) and the secondary transmission hole (2110), and the drive shaft (111) can drive the primary transmission shaft (1100) and the secondary transmission shaft (2100) to rotate; or, The drive shaft (111) is inserted into the primary transmission shaft (1100), and the drive shaft (111) can drive the primary transmission shaft (1100) to rotate. The primary transmission shaft (1100) and the secondary transmission shaft (2100) are directly or indirectly connected, and the primary transmission shaft (1100) can drive the secondary transmission shaft (2100) to rotate.

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