A deceleration mechanism and a robotic effector having the same

Abstract

The speed reduction mechanism comprises a wave generator assembly, a driving assembly and a steel wheel, the driving assembly is sleeved on the wave generator assembly, the driving assembly comprises a first body part and a tooth-shaped part, the first body part has a first accommodating cavity, part of the tooth-shaped part is located in the first accommodating cavity, the tooth-shaped part is slidingly arranged in the first accommodating cavity, the tooth-shaped part comprises a first transmission part, the first transmission part is abutted against an outer peripheral wall of the wave generator assembly, the tooth-shaped part comprises a tooth part, the tooth part is engageable with inner teeth of the steel wheel, the first body part has a first stop part, the tooth-shaped part has a second stop part, the driving assembly comprises a first magnetic part and a second magnetic part, the first magnetic part is connected to a side of the first stop part facing the second stop part, the second magnetic part is connected to a side of the second stop part facing the first stop part, the first magnetic part exerts a force on the second magnetic part towards the wave generator assembly, and the reliability of the speed reduction mechanism is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a deceleration mechanism and a robot actuator having the same. Background Technology

[0002] In related technologies, harmonic reducers have a wave generator, a flexible wheel, and a steel wheel. The motor drives the wave generator to rotate, and its elliptical profile forces the flexible wheel to deform radially, forming a long-axis meshing zone and a short-axis disengagement zone. In the long-axis meshing zone, the outer teeth of the flexible wheel are fully meshed with the inner teeth of the steel wheel. In the short-axis disengagement zone, the teeth of the flexible wheel disengage from the teeth of the steel wheel. As the wave generator rotates, the meshing zone moves continuously in the circumferential direction. The flexible wheel has 2 fewer teeth than the steel wheel (typical value). For every revolution of the wave generator, the flexible wheel rotates 2 tooth intervals in the opposite direction relative to the steel wheel, thus achieving deceleration.

[0003] Because the motor rotates at high speed, the flexure deforms at high frequency. The flexure wall thickness is usually only 0.1-0.3mm. Long-term exposure to high-frequency elastic deformation (hundreds of times per second) can easily cause microcrack propagation, and its reliability needs to be further improved. Summary of the Invention

[0004] A deceleration mechanism is provided, comprising a wave generator assembly, a drive assembly, and a steel wheel. The drive assembly is sleeved on the wave generator assembly. The drive assembly includes a first main body portion and a toothed portion. The first main body portion has a first receiving cavity. A portion of the toothed portion is located in the first receiving cavity and is slidably disposed in the first receiving cavity. The toothed portion includes a first transmission portion that abuts against the outer peripheral wall of the wave generator assembly. The toothed portion includes teeth that can mesh with the internal teeth of the steel wheel. The first main body portion has a first stop portion, and the toothed portion has a second stop portion. The drive assembly includes a first magnetic element and a second magnetic element. The first magnetic element is connected to the side of the first stop portion facing the second stop portion, and the second magnetic element is connected to the side of the second stop portion facing the first stop portion. The first magnetic element applies a force toward the wave generator assembly to the second magnetic element.

[0005] The deceleration mechanism includes a wave generator assembly, a drive assembly, and a steel wheel. The drive assembly is sleeved on the wave generator assembly and includes a first main body and a toothed portion. The first main body has a first receiving cavity, and a portion of the toothed portion is located in the first receiving cavity and slidably disposed within the first receiving cavity. The toothed portion includes a first transmission portion that abuts against the outer peripheral wall of the wave generator assembly. The toothed portion includes teeth that can mesh with the internal teeth of the steel wheel. The first main body has a first stop portion, and the toothed portion has a second stop portion. The drive assembly includes a first magnetic element and a second magnetic element, with the first magnetic element and the first stop portion facing towards the second stop portion. One side of the stop is connected, and the second magnetic component is connected to the side of the second stop facing the first stop. The first magnetic component applies a force toward the wave generator assembly to the second magnetic component. When the wave generator rotates, it stops against the first transmission part, causing the toothed part to move away from the wave generator, thereby meshing with the internal teeth of the steel wheel. As the wave generator continues to rotate, the toothed part moves toward the wave generator under the interaction of the first and second magnetic components, thereby disengaging from the internal teeth of the steel wheel. The movement of the toothed part realizes the meshing and disengagement with the internal teeth of the steel wheel, improving the reliability of the reduction mechanism.

[0006] A robot actuator is provided, which includes a deceleration mechanism.

[0007] The robot actuator includes a reduction mechanism, which comprises a wave generator assembly, a drive assembly, and a steel wheel. The drive assembly is sleeved on the wave generator assembly and includes a first main body and a toothed portion. The first main body has a first receiving cavity, and a portion of the toothed portion is located within the first receiving cavity and slidably disposed therein. The toothed portion includes a first transmission portion that abuts against the outer peripheral wall of the wave generator assembly. The toothed portion includes teeth that can mesh with the internal teeth of the steel wheel. The first main body has a first stop portion, and the toothed portion has a second stop portion. The drive assembly includes a first magnetic element and a second magnetic element, the first magnetic element engaging with the first stop portion. The first magnetic component is connected to the side of the second magnetic component facing the second stop, and the second magnetic component is connected to the side of the second magnetic component facing the first stop. The first magnetic component applies a force toward the wave generator assembly to the second magnetic component. When the wave generator rotates, it stops against the first transmission part, causing the toothed part to move away from the wave generator, thereby engaging with the internal teeth of the steel wheel. As the wave generator continues to rotate, the toothed part moves toward the wave generator under the interaction of the first and second magnetic components, thereby disengaging from the internal teeth of the steel wheel. The movement of the toothed part realizes engagement and disengagement with the internal teeth of the steel wheel, improving the reliability of the reduction mechanism. Attached Figure Description

[0008] Figure 1 A three-dimensional structural diagram of the robot actuator provided by the present invention;

[0009] Figure 2 For the present invention Figure 1 A cross-sectional view of the robot actuator in the middle;

[0010] Figure 3 This is a partial structural diagram of the deceleration mechanism of the present invention, including a first sub-body portion and a second sub-body portion;

[0011] Figure 4 For the present invention Figure 3 A magnified view of part A in the middle;

[0012] Figure 5 for Figure 4 A schematic diagram of the structure after the toothed part moves away from the wave generator;

[0013] Figure 6 for Figure 3 A partial sectional view of the middle section;

[0014] Figure 7 for Figure 6 A magnified view of part B in the middle section;

[0015] Figure 8 This is a partial structural diagram of the deceleration mechanism of the present invention, which includes a first sub-body portion, a second sub-body portion, and a third sub-body portion.

[0016] Figure 9 for Figure 8 A partial cross-sectional view of the first sub-body section;

[0017] Figure 10 for Figure 8 A partial cross-sectional view of the second and third sub-body sections after assembly.

[0018] Figure label:

[0019] Wave generator assembly 11, wave generator 111, third main body 1112, fifth connecting part 1113, flexible bearing 112,

[0020] The drive assembly 12 includes: a first main body 121, a first receiving cavity 1211, a first sub-main body 1212, a second sub-main body 1213, a third sub-main body 1214, a first stop 1215, a second receiving cavity 1216, a toothed portion 122, a toothed portion 1221, a second stop 1222, a second main body 1223, a first transmission portion 1224, a second connecting portion 1225, a first stop portion 1226, a first connecting portion 1227, a first magnetic element 1231, a second magnetic element 1232, a third stop 124, a third receiving cavity 1241, a third connecting portion 125, and a fourth connecting portion 126.

[0021] Steel wheel 13, buffer component 14,

[0022] 2. Housing 2, fourth receiving cavity 21, first bearing 3, motor 4, controller 5. Detailed Implementation

[0023] It should be noted that although this specification has described the present invention with reference to the above embodiments, those skilled in the art should understand that they can still modify, combine or make equivalent substitutions to the present invention, and all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered within the scope of the present invention.

[0024] refer to Figures 1-5 A deceleration mechanism is provided, comprising a wave generator assembly 11, a drive assembly 12, and a steel wheel 13. The drive assembly 12 is sleeved on the wave generator assembly 11 and includes a first main body 121, a toothed portion 122, and an elastic member 123. The first main body 121 has a first receiving cavity 1211, and a portion of the toothed portion 122 is located in the first receiving cavity 1211. The toothed portion 122 is slidably disposed in the first receiving cavity 1211 and includes a first transmission portion 1224, which abuts against the outer peripheral wall of the wave generator assembly 11. The toothed portion 122 includes teeth. The first main body 121 has a first stop 1215 and a toothed part 122 has a second stop 1222. The drive assembly includes a first magnetic element 1231 and a second magnetic element 1232. The first magnetic element 1231 is connected to the side of the first stop 1215 facing the second stop (1222), and the second magnetic element 1232 is connected to the side of the second stop 1222 facing the first stop 1215. The first magnetic element 1231 applies a force toward the wave generator assembly 11 to the second magnetic element 1232.

[0025] The deceleration mechanism includes a wave generator assembly 11, a drive assembly 12, and a steel wheel 13. The drive assembly 12 is sleeved on the wave generator assembly 11 and includes a first main body 121, a toothed portion 122, and an elastic element 123. The first main body 121 has a first receiving cavity 1211, and a portion of the toothed portion 122 is located in the first receiving cavity 1211. The toothed portion 122 is slidably disposed in the first receiving cavity 1211. The toothed portion 122 includes a first transmission portion 1224, which abuts against the outer peripheral wall of the wave generator assembly 11. The toothed portion 122 includes teeth 1221, which can mesh with the internal teeth of the steel wheel 13. The first main body 121 has a first stop portion 1215, and the toothed portion 122 has a second stop portion 1222. The drive assembly includes a first magnetic element 1231 and a second magnetic element 1232. A magnetic component 1231 is connected to the side of the first stop 1215 facing the second stop 1222, and a second magnetic component 1232 is connected to the side of the second stop 1222 facing the first stop 1215. The first magnetic component 1231 applies a force toward the wave generator assembly 11 to the second magnetic component 1232. When the wave generator 111 rotates, it abuts against the first transmission part 1224, causing the toothed part 122 to move away from the wave generator 111, thereby engaging with the internal teeth of the steel wheel 13. As the wave generator 111 continues to rotate, the toothed part 122 moves toward the wave generator 111 under the action of the elastic component 123, thereby disengaging from the internal teeth of the steel wheel 13. The movement of the toothed part 122 achieves engagement and disengagement with the internal teeth of the steel wheel 13, improving the reliability of the deceleration mechanism.

[0026] refer to Figures 2-3 The wave generator assembly 11 includes a wave generator 111 and a flexible bearing 112. The flexible bearing 112 is sleeved on the wave generator 111. The first transmission part 1224 abuts against the outer ring of the flexible bearing 112, which can reduce the impact of the wave generator 111 on the toothed part 122, improve the smoothness of the movement of the toothed part 122, thereby improving the accuracy of the deceleration mechanism and the service life of the deceleration mechanism.

[0027] refer to Figures 2-3 The wave generator 111 includes a third main body 1112, which is generally elliptical and has a major axis and a minor axis. In the major axis region, the toothed part 122 is fully engaged with the internal teeth of the rigid wheel, and in the minor axis region, the toothed part 122 is disengaged from the internal teeth of the rigid wheel. As the wave generator 111 rotates, the engagement area moves continuously in the circumferential direction.

[0028] refer to Figures 4-5 , Figure 4With the toothed portion 122 in the short axis region, as the wave generator 111 moves, the toothed portion 122 moves relative to the wave generator 111, moving to the long axis region, where it is pushed outward. (Reference) Figure 5 This allows the toothed portion 122 to mesh with the internal teeth of the steel wheel 13.

[0029] refer to Figures 3-4 The toothed portion 122 includes a second main body portion 1223, which includes a second stop portion 1222. The second stop portion 1222 is located on the side of the second main body portion 1223 opposite to the first transmission portion 1224. The first stop portion 1215 is located on one side of the first receiving cavity 1211. The first stop portion 1215 is opposite to the second stop portion 1222. The first magnetic element 1231 is attracted to the second toothed element 1232. For example, the surfaces of the first magnetic element 1231 and the second magnetic element 1232 facing each other are S pole and N pole or N pole and S pole, respectively, to ensure the smoothness of the movement of the toothed portion 122.

[0030] refer to Figure 4 The second main body 1223 is cylindrical, and the wall of the first receiving cavity 1211 is adapted to the second main body 1223, which reduces the friction between the toothed part 122 and the first main body 121 and improves the accuracy of the fit between the toothed part 122 and the first receiving cavity 1211, thereby improving the control accuracy of the deceleration mechanism.

[0031] refer to Figure 4 The toothed portion 122 includes a first connecting portion 1227, which protrudes from the second main body portion 1223 away from the first transmission portion 1224. The toothed portion 1221 is located on the side of the first connecting portion 1227 away from the second main body portion 1223. The first magnetic element 1231 is square, for example, it can be a cuboid, cube, etc. The second magnetic element 1232 is square, for example, it can be a cube, cuboid, etc. The maximum distance between the first magnetic element 1231 and the second magnetic element 1232 is... Let L be the minimum distance between the first magnetic component 1231 and the first connecting portion 1227, and the minimum distance between the first magnetic component 1231 and the wall corresponding to the first receiving cavity 1211, where L ≤ L1 and L ≤ L2. Let L be the minimum distance between the second magnetic component 1232 and the first connecting portion 1227, and the minimum distance between the second magnetic component 1232 and the wall corresponding to the first receiving cavity 1211, where L ≤ L3 and L ≤ L4. This ensures the reliability and stability of the interaction between the first magnetic component 1231 and the second magnetic component 1232.

[0032] The number of first magnetic elements 1231 can be multiple, and the multiple first magnetic elements 1231 are distributed equidistantly along the circumference. The number of second magnetic elements can also be multiple, and the multiple second toothed elements 1232 are distributed equidistantly along the circumference. The first magnetic elements 1231 and the second magnetic elements 1232 have the same shape. Each first magnetic element 1231 is provided with a corresponding second magnetic element 1232, which improves the stability of the movement of the toothed part 122 and improves the control accuracy of the deceleration mechanism.

[0033] refer to Figure 4 The first connecting part 1227 has a non-circular shape, such as a square shape. The first main body 121 has a second receiving cavity 1216, which penetrates the first stop part 1215. The wall of the second receiving cavity 1216 is adapted to the first connecting part 1227 to prevent the toothed part 122 from rotating, thus ensuring the accuracy and life of the deceleration mechanism. The toothed part 1221 is at least partially located outside the first main body 121.

[0034] refer to Figure 4 The first transmission part 1224 includes a second connecting part 1225. The second connecting part 1225 protrudes from the second main body part 1223 away from the tooth part 1221. The second connecting part 1225 is cylindrical. The first main body part 121 has a third stop part 124. The third stop part 124 is opposite to the second main body part 1223. The third stop part 124 has a third receiving cavity 1241. The third receiving cavity 1241 passes through the third stop part 124. The second connecting part 1225 passes through the third receiving cavity 1241. The wall of the third receiving cavity 1241 is adapted to the second connecting part 1225 to ensure the smooth operation of the tooth part 122 and improve the control accuracy of the reduction mechanism.

[0035] refer to Figure 4 The first transmission part 1224 includes a first stop part 1226, which is located on the side of the second connecting part 1225 away from the second main body part 1223. The first stop part 1226 is hemispherical, which reduces the wear of the toothed part 122 and the flexible bearing 112.

[0036] refer to Figure 4 The deceleration mechanism includes a buffer 14, which may be a rubber component, etc. The buffer 14 is sleeved on the second connecting part 1225 and is located between the second main body part 1223 and the third stop part 124.

[0037] refer to Figures 6-7The first main body 121 includes a first sub-main body 1212 and a second sub-main body 1213. The first sub-main body 1212 and the second sub-main body 1213 are arranged opposite to each other. The first sub-main body 1212 and the second sub-main body 1213 are substantially the same. The first sub-main body 1212 is annular. Half of the first receiving cavity 1211 is located in the first sub-main body 1212, and the other half of the first receiving cavity 1211 is located in the second sub-main body 1213. After installation, the partial receiving cavity of the first sub-main body 1212 and the partial receiving cavity of the second sub-main body 1213 form the first receiving cavity 1211. The first sub-main body 1212 and the second sub-main body 1213 are welded together. During assembly, the toothed part 122, the elastic member 123 and the buffer member 14 are assembled to the first sub-main body 1212, and then the second sub-main body 1213 is covered to facilitate assembly.

[0038] refer to Figure 4 A portion of the first transmission part 1224 is sandwiched between the first sub-body part 1212 and the second sub-body part 1213, and a portion of the toothed part 122 is sandwiched between the first sub-body part 1212 and the second sub-body part 1213.

[0039] Another mounting method for the first magnetic element 1231 and the second magnetic element 1232 is also provided. The toothed portion 122 includes a second main body portion 1223, which includes a second stop portion 1222. The second stop portion 1222 is located on the side of the second main body portion 1223 opposite to the toothed portion 1221. The first stop portion 1215 is located on the other side of the first receiving cavity 1211. The first stop portion 1215 is opposite to the second stop portion 1222, and the first magnetic element 1231 and the second magnetic element 1232 repel each other.

[0040] For easier installation, another method is also provided, please refer to [link / reference]. Figures 8-10 The first main body 121 includes a first sub-main body 1212, a second sub-main body 1213 and a third sub-main body 1214. The first receiving cavity 1211 is at least partially located in the first sub-main body 1212. The first stop 1215 is located in the first sub-main body 1212. The second sub-main body 1213 is located in the inner periphery of the first sub-main body 1212. The third sub-main body 1214 is located in the inner periphery of the first sub-main body 1212. A portion of the first transmission part 1224 is sandwiched between the second sub-main body 1213 and the third sub-main body 1214.

[0041] refer to Figures 8-10A first receiving cavity 1211 is provided radially along the first sub-body portion 1212. The second sub-body portion 1213 is substantially the same as the third sub-body portion 1214. The toothed portion 122, the elastic member 123 and the buffer member 14 are installed into the first receiving cavity 1211. The second sub-body portion 1213 is placed in the inner ring of the first sub-body portion 1212. Then the third sub-body portion 1214 is covered by the second sub-body portion 1213. Then the first sub-body portion 1212, the second sub-body portion 1213 and the third sub-body portion 1214 are welded together.

[0042] refer to Figures 1-2 The present invention also provides a robot actuator, which includes the aforementioned deceleration mechanism. The robot actuator includes a housing 2 and a first bearing 3. The first bearing 3 may be a cross roller bearing. The drive assembly 12 includes a third connecting portion 125 and a fourth connecting portion 126. The third connecting portion 125 protrudes from the bottom wall of the first main body portion 121, and the fourth connecting portion 126 protrudes from the end of the third connecting portion 125 away from the first main body portion 121. A portion of the fourth connecting portion 126 is sandwiched between the housing 2 and the outer ring of the bearing of the first bearing 3.

[0043] refer to Figures 1-2 The robot actuator includes a motor 4 and a controller 5. The housing 2 has a fourth receiving cavity 21. The motor 4 is located in the fourth receiving cavity 21, and the controller 5 is located in the fourth receiving cavity 21. The motor 4 and the controller 5 are electrically connected. The wave generator 111 includes a third main body 1112 (the wave generating part of the wave generator 111) and a fifth connecting part 1113. The fifth connecting part 1113 protrudes from the third main body 1112 toward the motor 4 and is connected to the rotor of the motor 4. The motor 4 drives the third main body 1112 to rotate through the fifth connecting part 1113.

[0044] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A speed reduction mechanism, characterized in that, The deceleration mechanism includes a wave generator assembly (11), a drive assembly (12), and a steel wheel (13). The drive assembly (12) is sleeved on the wave generator assembly (11). The drive assembly (12) includes a first main body (121) and a toothed part (122). The first main body (121) has a first receiving cavity (1211). A portion of the toothed part (122) is located in the first receiving cavity (1211). The toothed part (122) is slidably disposed in the first receiving cavity (1211). The toothed part (122) includes a first transmission part (1224). The first transmission part (1224) abuts against the outer peripheral wall of the wave generator assembly (11). The toothed part (122) includes teeth (1221). The toothed portion (1221) can mesh with the internal teeth of the steel wheel (13). The first main body portion (121) has a first stop portion (1215), and the toothed portion (122) has a second stop portion (1222). The drive assembly includes a first magnetic element (1231) and a second magnetic element (1232). The first magnetic element (1231) is connected to the side of the first stop portion (1215) facing the second stop portion (1222), and the second magnetic element (1232) is connected to the side of the second stop portion (1222) facing the first stop portion (1215). The first magnetic element (1231) applies a force toward the wave generator assembly (11) to the second magnetic element (1232).

2. The speed reduction mechanism according to claim 1, characterized in that, The toothed portion (122) includes a second main body portion (1223), the second main body portion (1223) includes a second stop portion (1222), the second stop portion (1222) is located on the side of the second main body portion (1223) opposite to the first transmission portion (1224), the first stop portion (1215) is located on one side of the first receiving cavity (1211), the first stop portion (1215) is opposite to the second stop portion (1222), and the first magnetic element (1231) is attracted to the second toothed element (1232).

3. The speed reduction mechanism according to claim 1, characterized in that, The toothed portion (122) includes a second main body portion (1223), the second main body portion (1223) includes a second stop portion (1222), the second stop portion (1222) is located on the side of the second main body portion (1223) opposite to the toothed portion (1221), the first stop portion (1215) is located on the other side of the first receiving cavity (1211), and the first magnetic element (1231) and the second magnetic element (1232) repel each other.

4. The speed reduction mechanism according to claim 2, characterized in that, The second main body (1223) is cylindrical, and the wall portion corresponding to the first receiving cavity (1211) is adapted to the second main body (1223).

5. The speed reduction mechanism according to claim 2, characterized in that, The toothed portion (122) includes a first connecting portion (1227), which protrudes from the second main body portion (1223) away from the first transmission portion (1224). The toothed portion (1221) is located on the side of the first connecting portion (1227) away from the second main body portion (1223). The first magnetic element (1231) is square, and the second magnetic element (1232) is square. The maximum distance between the first magnetic element (1231) and the second magnetic element (1232) is... The minimum distance between the first magnetic element (1231) and the first connecting part (1227) is L1, the minimum distance between the first magnetic element (1231) and the wall corresponding to the first receiving cavity (1211) is L2, L≤L1, L≤L2, the minimum distance between the second magnetic element (1232) and the first connecting part (1227) is L3, the minimum distance between the second magnetic element (1232) and the wall corresponding to the first receiving cavity (1211) is L4, L≤L3, L≤L4.

6. The deceleration mechanism according to claim 5, characterized in that, The first connecting part (1227) has a non-circular shape. The first main body (121) has a second receiving cavity (1216). The second receiving cavity (1216) penetrates the first stop part (1215). The wall of the second receiving cavity (1216) is adapted to the first connecting part (1227). The tooth (1221) is at least partially located outside the first main body (121).

7. The speed reduction mechanism according to claim 2, characterized in that, The first transmission part (1224) includes a second connecting part (1225), which protrudes from the second main body part (1223) away from the toothed part (1221). The second connecting part (1225) is cylindrical. The first main body part (121) has a third stop part (124), which is opposite to the second main body part (1223). The third stop part (124) has a third receiving cavity (1241), which penetrates the third stop part (124). The second connecting part (1225) passes through the third receiving cavity (1241), and the wall portion corresponding to the third receiving cavity (1241) is adapted to the second connecting part (1225).

8. The speed reduction mechanism according to claim 7, characterized in that, The first transmission part (1224) includes a first stop part (1226), which is located on the side of the second connecting part (1225) away from the second main body part (1223), and the first stop part (1226) is hemispherical.

9. The speed reduction mechanism according to claim 7, characterized in that, The deceleration mechanism includes a buffer (14), which is sleeved on the second connecting part (1225) and located between the second main body part (1223) and the third stop part (124).

10. The speed reduction mechanism according to claim 1, characterized in that, The wave generator assembly (11) includes a wave generator (111) and a flexible bearing (112), the flexible bearing (112) being sleeved on the wave generator (111), and the first transmission part (1224) abutting against the outer ring of the flexible bearing (112).

11. The speed reduction mechanism according to any one of claims 1-10, characterized in that, The first main body (121) includes a first sub-main body (1212) and a second sub-main body (1213), which are disposed opposite to each other. Half of the first receiving cavity (1211) is located in the first sub-main body (1212), and the other half of the first receiving cavity (1211) is located in the second sub-main body (1213).

12. The speed reduction mechanism according to claim 11, characterized in that, A portion of the first transmission part (1224) is sandwiched between the first sub-body part (1212) and the second sub-body part (1213), and a portion of the toothed part (122) is sandwiched between the first sub-body part (1212) and the second sub-body part (1213).

13. The speed reduction mechanism according to any one of claims 1-10, characterized in that, The first main body (121) includes a first sub-main body (1212), a second sub-main body (1213), and a third sub-main body (1214). The first receiving cavity (1211) is at least partially located in the first sub-main body (1212). The first stop (1215) is located in the first sub-main body (1212). The second sub-main body (1213) is located on the inner periphery of the first sub-main body (1212). The third sub-main body (1214) is located on the inner periphery of the first sub-main body (1212). A portion of the first transmission part (1224) is sandwiched between the second sub-main body (1213) and the third sub-main body (1214).

14. A robot actuator comprising the deceleration mechanism as described in any one of claims 1-13.

15. The robot actuator according to claim 14, characterized in that, The robot actuator includes a housing (2) and a first bearing (3). The drive assembly (12) includes a third connecting part (125) and a fourth connecting part (126). The third connecting part (125) protrudes from the bottom wall of the first main body (121). The fourth connecting part (126) protrudes from the end of the third connecting part (125) away from the first main body (121). A portion of the fourth connecting part (126) is sandwiched between the housing (2) and the outer ring of the bearing of the first bearing (3).

16. The robot actuator according to claim 15, characterized in that, The robot actuator includes a motor (4) and a controller (5). The housing (2) has a fourth receiving cavity (21). The motor (4) is located in the fourth receiving cavity (21). The controller (5) is located in the fourth receiving cavity (21). The motor (4) is electrically connected to the controller (5). The wave generator (111) includes a third main body (1112) and a fifth connecting part (1113). The fifth connecting part (1113) protrudes from the third main body (1112) toward the motor (4) and is connected to the rotor of the motor (4).

Images