A robot and a speed reduction device applied to the robot

Abstract

A robot and a speed reduction device are disclosed. The speed reduction device includes: a primary transmission mechanism comprising a primary transmission shaft and a primary transmission wheel assembly, the primary transmission wheel assembly including an eccentrically arranged primary external gear transmission wheel and a primary internal gear transmission wheel, the primary external gear transmission wheel and the primary internal gear transmission wheel engaging in a small tooth difference meshing transmission; the primary transmission shaft is inserted into the primary internal gear transmission wheel and drives the primary internal gear transmission wheel to rotate; and a secondary transmission mechanism comprising a secondary transmission shaft and a secondary transmission wheel assembly, the secondary transmission wheel assembly including an eccentrically arranged secondary external gear transmission wheel and a secondary internal gear transmission wheel, the secondary external gear transmission wheel and the secondary internal gear transmission wheel engaging in a small tooth difference meshing transmission; the secondary transmission shaft is inserted into the secondary internal gear transmission wheel and drives the secondary internal gear transmission wheel to rotate; the secondary transmission shaft rotates synchronously with the primary transmission shaft, the primary external gear transmission wheel and the secondary internal gear transmission wheel are coaxially arranged, and the primary internal gear transmission wheel and the secondary external gear transmission wheel rotate synchronously and are coaxially arranged.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a robot and a deceleration device applied to the robot, wherein the robot can be an industrial robot or a humanoid robot, etc. Background Technology

[0002] The speed reduction device is a core component of a robot, primarily used to achieve deceleration and drive, thereby enabling relative movement between the robot's joints. Therefore, how to design the structure of this speed reduction device remains a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0003] The purpose of this invention is to provide a robot and a deceleration device for use in the robot. The deceleration device has a simple structure, strong load-bearing capacity, and high reliability.

[0004] To solve the above-mentioned technical problems, this utility model provides a speed reduction device for robots, comprising: a primary transmission mechanism, including a primary transmission shaft and a primary transmission wheel assembly, wherein the primary transmission wheel assembly includes an eccentrically arranged primary external gear transmission wheel and a primary internal gear transmission wheel, the primary external gear transmission wheel and the primary internal gear transmission wheel engaging with a small tooth difference, and the primary transmission shaft being inserted into the primary internal gear transmission wheel and capable of driving the primary internal gear transmission wheel to rotate; and a secondary transmission mechanism, including a secondary transmission shaft and a secondary transmission wheel assembly, wherein the secondary transmission wheel assembly includes an eccentrically arranged secondary external gear transmission wheel and a secondary internal gear transmission wheel, the secondary external gear transmission wheel and the secondary internal gear transmission wheel engaging with a small tooth difference, and the secondary transmission shaft being inserted into the secondary internal gear transmission wheel and capable of driving the secondary internal gear transmission wheel to rotate; the secondary transmission shaft and the primary transmission shaft rotate synchronously, the primary external gear transmission wheel and the secondary internal gear transmission wheel are coaxially arranged, and the primary internal gear transmission wheel and the secondary external gear transmission wheel rotate synchronously and are coaxially arranged.

[0005] In the above scheme, the deceleration device mainly includes a two-stage transmission mechanism, which mainly includes two-stage transmission shafts and two-stage transmission wheel sets. Each of the two-stage transmission wheel sets includes a meshing internal gear transmission wheel and an external gear transmission wheel. Compared with RV reducers and planetary gear reducers, the deceleration device in this embodiment has relatively fewer types and quantities of parts, a relatively simple structure, and a relatively small size.

[0006] Furthermore, the external and internal gear transmission wheels in each stage of the transmission wheel assembly employ a low-tooth-difference meshing transmission. Compared to planetary gear reducers or harmonic reducers, the transmission wheel assembly in this embodiment has more meshing teeth in each stage, enabling it to withstand greater impacts and extreme loads without damage. It also boasts a more reliable fatigue durability and is particularly suitable for use in humanoid robots or industrial robots with specific performance requirements. In other words, the reduction device provided in this embodiment also possesses 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, and the primary eccentric wheel and the primary transmission plate rotate synchronously. The primary transmission shaft drives the primary internal gear transmission wheel to rotate through 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, and the secondary eccentric wheel and the secondary transmission plate rotate synchronously. The secondary transmission shaft drives the secondary internal gear transmission wheel to rotate through the secondary eccentric wheel.

[0008] Optionally, the first-stage internal gear transmission wheel has a first-stage annular boss extending axially, and a first-stage bearing is provided between the first-stage 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 with a primary concave portion, wherein the primary protrusion can be inserted into the primary concave portion; one of the secondary transmission plate and the secondary eccentric wheel is provided with a secondary protrusion and the other with a secondary concave portion, wherein the secondary protrusion can be inserted into the secondary concave portion.

[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 disposed on the outer edge of the main body, and the elastic seal is disposed on the radial inner side of the flange portion.

[0012] Optionally, the primary transmission mechanism further includes a primary stop portion, which is mounted on the primary transmission shaft. The primary stop portion is located on the side of the primary internal gear transmission wheel away from the primary transmission plate, and the primary stop portion and the primary internal gear transmission wheel abut against each other axially. The secondary transmission mechanism further includes a secondary stop portion, which is mounted on the secondary transmission shaft. The secondary stop portion is located on the side of the secondary internal gear transmission wheel away from the secondary transmission plate, and the secondary stop portion and the secondary internal gear transmission wheel abut against each other axially.

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

[0014] Optionally, it further includes a support component and two bearing components. The support component and the first-stage external gear transmission wheel abut against each other axially. The two bearing components are respectively disposed on both sides of the second-stage internal gear transmission wheel axially. The second-stage internal gear transmission wheel abuts against the support component axially through one of the bearing components, and the second-stage internal gear transmission wheel abuts against the second end plate portion axially through the other bearing component.

[0015] Optionally, the primary internal gear drive wheel is provided with a primary second annular boss extending axially, and the secondary external gear drive wheel is provided with a secondary second annular boss extending axially, and the primary second annular boss and the secondary second annular boss are connected; or, the primary internal gear drive wheel and the secondary external gear drive wheel are integrally formed into a single structure.

[0016] Optionally, the first-stage external gear transmission wheel, the first-stage internal gear transmission wheel, the second-stage external gear transmission wheel, and the second-stage internal gear transmission wheel are all manufactured using a fine stamping process.

[0017] Optionally, the primary drive shaft is provided with a primary drive hole, the central axis of the primary drive hole and the geometric central axis of the primary drive shaft are eccentrically arranged, and the secondary drive shaft is provided with a secondary drive hole, the primary drive hole and the secondary drive hole are concentrically arranged; or, the primary drive shaft and the secondary drive shaft are connected.

[0018] This utility model also provides a robot, including a joint, the joint including a base and a reduction device, the base having a power generating component inside, the power generating component having a drive shaft, the reduction device being the aforementioned reduction device applied to a robot, the primary external gear transmission wheel being connected to the base, and the drive shaft being connected to at least the primary transmission shaft.

[0019] Optionally, the primary drive shaft is provided with a primary drive hole, the central axis of the primary drive hole and the geometric central axis of the primary drive shaft are eccentrically arranged, the secondary drive shaft is provided with a secondary drive hole, the primary drive hole and the secondary drive hole are concentrically arranged, and the drive shaft passes through the primary drive hole and the secondary drive hole, and the drive shaft can drive the primary drive shaft and the secondary drive shaft to rotate; or, the drive shaft passes through the primary drive shaft, and the drive shaft can drive the primary drive shaft to rotate, the primary drive shaft and the secondary drive shaft are directly or indirectly connected, and the primary drive shaft can drive the secondary drive shaft to rotate. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the robot provided by this utility model;

[0021] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0022] Figure 3 A cross-sectional view of a speed reduction device for a robot provided by this utility model;

[0023] Figure 4 This utility model provides a split structure diagram of a deceleration device applied to a robot.

[0024] Figure 5 for Figure 4 A structural diagram from another perspective;

[0025] Figure 6 This is a split structure diagram of the primary transmission mechanism;

[0026] Figure 7 for Figure 6 A structural diagram from another perspective;

[0027] Figure 8 This is a diagram showing the split structure of the first-stage transmission plate and the first-stage transmission shaft.

[0028] Figure 9 This is a split structure diagram of the two-stage transmission mechanism;

[0029] Figure 10 for Figure 9 A structural diagram from another perspective.

[0030] Figure label:

[0031] 100 - Joint; 110 - Body; 111 - Drive shaft; 120 - Reduction gear; 130 - Connecting flange; 140 - Output flange; 200 - Joint arm;

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

[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 part; 2300 - Secondary transmission plate; 2310 - Secondary recess; 2400 - Secondary eccentric wheel; 2410 - Secondary protrusion; 2500 - Secondary bearing; 2600 - Secondary stop part;

[0034] 3000 - Outer shell; 3100 - First outer shell; 3110 - First peripheral plate; 3120 - First end plate; 3200 - Second outer shell; 3210 - Second peripheral plate; 3220 - Second end plate;

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

[0036] 5000 - Bearing components. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] In the description of the embodiments of this utility model, 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 number of indicated technical features. Thus, a feature defined as "first," "second," "primary," or "secondary" may explicitly or implicitly include one or more of that feature.

[0039] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, "linking" 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 this utility model, such as "inner" and "outer", are only for reference to the direction of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0041] In the description of embodiments of this utility model, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0042] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of the robot provided by this utility model; Figure 2 for Figure 1 A magnified view of a portion of the image.

[0043] This utility model embodiment provides a robot, which can specifically 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 through the joint 100 and can rotate relative to the joint 100 in order to output corresponding actions.

[0044] Combination Figure 2The joint 100 includes a body 110 and a reduction gear 120. The body 110 includes an outer housing and a power generation component disposed within the outer housing. 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 by the reduction gear 120 to meet the driving requirements.

[0045] In the above scheme, the outer wall surface of the drive shaft 111 is provided with a power engagement feature (not shown in the figure). This power engagement feature can be, for example, a spline feature, a non-cylindrical surface feature, etc. In short, as long as the drive shaft 111 is inserted into the reduction device 120, the power generating component can transmit rotational driving force to the reduction device 120 through the drive shaft 111. It can be seen that when the drive shaft 111 is inserted into the reduction device 120 to transmit rotational power, the main body 110 and the reduction device 120 can share a portion of the axial dimension. This has a relatively positive significance for reducing the overall axial dimension of the joint 100, so as to achieve a 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 used to connect to the output of the reduction gear 120 to receive the rotational drive from the reduction gear 120. Simultaneously, the connecting flange 130 is also used to connect to the output flange 140 to output rotational displacement through the output flange 140.

[0047] As can be seen, in the above implementation, the connecting flange 130 is essentially a transition component between the output flange 140 and the reduction gear 120. It is mainly used to match the different connection interfaces of the reduction gear 120 and the output flange 140, thereby achieving an indirect connection between the output flange 140 and the output section of the reduction gear 120. However, in some other implementations of this utility model, the connecting flange 130 may not be provided. In this case, the output flange 140 can be directly connected to the output section of the reduction gear 120, which is also feasible.

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

[0049] Please refer to Figures 3-10 , Figure 3A cross-sectional view of a speed reduction device for a robot provided by this utility model; Figure 4 This utility model provides a split structure diagram of a deceleration device applied to a robot. Figure 5 for Figure 4 A structural diagram from another perspective; Figure 6 This is a split structure diagram of the primary transmission mechanism; Figure 7 for Figure 6 A structural diagram from another perspective; Figure 8 This is a diagram showing the split structure of the first-stage transmission plate and the first-stage transmission shaft. Figure 9 This is a split structure diagram of the two-stage transmission mechanism; Figure 10 for Figure 9 A structural diagram from another perspective.

[0050] like Figures 3-10 As shown, this utility model embodiment also provides a deceleration device 120, which can be 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 drive shaft 1100 and a primary drive wheel assembly 1200. The primary drive wheel assembly 1200 includes an eccentrically positioned primary external gear drive wheel 1210 and a primary internal gear drive wheel 1220, whose geometric center axes differ by an eccentricity e. The primary external gear drive wheel 1210 has primary external drive teeth, and the primary internal gear drive wheel 1220 has primary internal drive teeth. The number of teeth in the primary external drive teeth is less than the number of teeth in the primary internal drive teeth; generally, the difference in the number of teeth between them can be 1, allowing for low-tooth-difference meshing transmission between the primary external gear drive wheel 1210 and the primary internal gear drive wheel 1220. The primary drive shaft 1100 is inserted into the primary internal gear drive wheel 1220 and drives the primary internal gear drive wheel 1220 to rotate.

[0052] In the first-stage reduction mechanism 1000, the first-stage external gear transmission wheel 1210 is fixedly installed. Specifically, it 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 set 2200. The secondary transmission wheel set 2200 includes an eccentrically positioned secondary external gear transmission wheel 2210 and a secondary internal gear transmission wheel 2220, whose geometric center axes differ by an eccentricity e. The secondary external gear transmission wheel 2210 has secondary external transmission teeth, and the secondary internal gear transmission wheel 2220 has secondary internal transmission teeth. The number of teeth in the secondary external transmission teeth is less than the number of teeth in the secondary internal transmission teeth; generally, the difference in the number of teeth between them can be 1, allowing for low-tooth-difference meshing transmission between the secondary external gear transmission wheel 2210 and the secondary internal gear transmission wheel 2220. The secondary transmission shaft 2100 is inserted into the secondary internal gear transmission wheel 2220 and drives the secondary internal gear transmission wheel 2220 to rotate.

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

[0055] The primary external gear drive wheel 1210 and the secondary internal gear drive wheel 2220 are coaxially arranged, sharing a first central axis N to achieve concentric power output. The primary internal gear drive wheel 1220 and the secondary external gear drive wheel 2210 rotate synchronously and are coaxially arranged, sharing a second central axis M. An eccentricity e exists 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. Each of the two-stage transmission wheel sets includes a meshing internal gear transmission wheel and an external gear transmission wheel. Compared with RV reducers and planetary gear reducers, the reduction device 120 in this embodiment of the present invention has relatively fewer types and quantities of parts, a relatively simple structure, and a relatively small size.

[0057] Furthermore, the external and internal gear transmission wheels in each stage of the transmission wheel assembly employ a low-tooth-difference meshing transmission. Compared to planetary gear reducers or harmonic reducers, the transmission wheel assembly in this embodiment has more meshing teeth in each stage, enabling it to withstand greater impacts and extreme loads without damage. It also boasts a more reliable fatigue durability and is particularly suitable for use in humanoid robots or industrial robots with specific performance requirements. In other words, the reduction device 120 provided in this embodiment also possesses technical advantages such as high precision and high strength.

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

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

[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 axially. The primary external gear base 1211 may be provided with a connecting hole 1211A, which may be, for example, a threaded hole, for connection with the body portion 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 axially. 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 into the radially inner side of the primary internal gear 1222, allowing the primary internal transmission gear and the primary external transmission gear to mesh. This arrangement allows the primary external transmission gear 1210 and the primary internal transmission gear 1220 to share a portion of their axial dimensions, effectively reducing the axial dimension of the primary transmission mechanism 1000 and facilitating a lighter, smaller, and more compact design for the reduction gear 120.

[0063] Similarly, the secondary external gear transmission wheel 2210 may include a secondary external gear 2211, which is 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 axially, which is provided with secondary internal transmission teeth.

[0064] During installation, at least a portion of the secondary external gear 2211 can be inserted into the radially inner side of the secondary internal gear 2222, allowing the secondary external transmission gear and the secondary internal transmission gear to mesh. With this configuration, the secondary external transmission wheel 2210 and the secondary internal transmission wheel 2220 can also share a portion of their axial dimensions, thereby effectively reducing the axial dimension of the secondary transmission mechanism 2000. This facilitates a lighter, smaller, and more compact design for the reduction gear 120.

[0065] In some implementations, the primary transmission mechanism 1000 may also include a primary transmission plate 1300 and a primary eccentric wheel 1400, wherein the central axes of the inner and outer cylindrical surfaces of the primary eccentric wheel 1400 differ by an eccentricity e.

[0066] The primary drive plate 1300 and the primary drive shaft 1100 can be fixedly connected by welding processes, such as laser welding. Alternatively, the primary drive plate 1300 and the primary drive shaft 1100 can also be integrally formed by casting, powder metallurgy, or other processes, in which case the primary drive plate 1300 and the primary drive shaft 1100 are a single-piece structure. In summary, in this embodiment of the invention, the primary drive plate 1300 and the primary drive 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. Specifically, the primary transmission shaft 1100 can 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] Combination Figures 6-8 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 can be inserted into the primary recess 1311 to achieve synchronous rotation of the primary transmission plate 1300 and the primary eccentric wheel 1400. Alternatively, in some other implementations of this utility model, 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 also has a primary first annular boss 1223 extending axially. Specifically, the primary first annular boss 1223 may be located on the inner edge side of the primary internal gear base 1221, and the primary internal gear 1222 may be located on the outer edge side of the primary internal gear base 1221, and 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 this embodiment of the 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 wheel 1400, and between the primary eccentric wheel 1400 and the primary external gear transmission wheel 1210 (primary external gear 1212). This arrangement provides radial support to the primary external gear transmission wheel 1210, the primary eccentric wheel 1400, and the primary internal gear transmission wheel 1220, ensuring reliable installation of the components. Specifically, the primary eccentric wheel 1400 transmits rotational driving force to the primary internal gear transmission wheel 1220 via the primary bearing 1500. Furthermore, the primary bearing 1500 also serves a lubricating function, effectively reducing the coefficient of friction and improving transmission efficiency.

[0071] The aforementioned primary bearing 1500 can specifically be a rolling bearing, such as a needle roller bearing or a deep groove ball bearing, which has lower internal transmission losses due to rolling friction and higher transmission efficiency. Alternatively, the aforementioned primary bearing 1500 can also be a sliding bearing such as a self-lubricating bearing sleeve, which is also feasible.

[0072] In some implementations, the secondary transmission mechanism 2000 may also include a secondary transmission plate 2300 and a secondary eccentric wheel 2400, wherein the central axes of the inner and outer cylindrical surfaces of the secondary eccentric wheel 2400 are also different by an eccentricity e.

[0073] The secondary transmission plate 2300 and the secondary transmission shaft 2100 can be fixedly connected by welding processes, such as laser welding. Alternatively, the secondary transmission plate 2300 and the secondary transmission shaft 2100 can also be integrally formed by casting, powder metallurgy, or other processes, in which case the secondary transmission plate 2300 and the secondary transmission shaft 2100 are a single-piece structure. In summary, in this embodiment of the 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. Specifically, the secondary transmission shaft 2100 can 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] Combination Figure 9 and Figure 10The 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 can be inserted into the secondary recess 2310 to achieve synchronous rotation of the secondary transmission plate 2300 and the secondary eccentric wheel 2400. Alternatively, in some other implementations of this utility model, 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 also has a secondary first annular boss 2223 extending axially. Specifically, the secondary first annular boss 2223 may be located on the inner edge side of the secondary internal gear base 2221, and the secondary internal gear 2222 may be located on the outer edge side of the secondary internal gear base 2221, and 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 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 wheel 2400, and between the secondary eccentric wheel 2400 and the secondary external gear transmission wheel 2210 (secondary external gear 2211). This arrangement provides radial support to the secondary external gear transmission wheel 2210, the secondary eccentric wheel 2400, and the secondary internal gear transmission wheel 2220, ensuring reliable installation of the components. Specifically, the secondary eccentric wheel 2400 transmits rotational driving force to the secondary internal gear transmission wheel 2220 via the secondary bearing 2500. Furthermore, the secondary bearing 2500 also serves a lubricating function, effectively reducing the coefficient of friction and improving transmission efficiency.

[0078] The type of secondary bearing 2500 is the same as that of the aforementioned primary bearing 1500, so it will not be repeated here.

[0079] In practical applications, those skilled in the art can adjust the inner and outer diameters of the primary eccentric wheel 1400 and the secondary eccentric wheel 2400 according to specific needs to adapt them to the primary transmission wheel set 1200 and the secondary transmission wheel set 2200 with different machining precision, thereby achieving the effect of reducing product backlash.

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

[0081] Specifically, the primary transmission plate 1300 can abut against the primary external gear transmission wheel 1210 via the elastic seal 1600. In this configuration, the elastic seal 1600 can absorb tolerances and effectively limit the axial installation position of the primary transmission plate 1300 relative to the primary external gear transmission wheel 1210, thus reducing the possibility of internal component movement within the primary transmission mechanism 1000.

[0082] Here, the present invention does not limit the specific type of the elastic sealing element 1600. In practical applications, those skilled in the art can select according to specific needs, as long as it can meet the requirements of use. For example, the elastic sealing element 1600 can be a sealing ring made of materials such as rubber or silicone that have a certain elastic deformation capability.

[0083] Combination Figure 7 and Figure 8 In this 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. Specifically, the flange 1320 may be located on the side of the main body 1310 facing the primary external gear transmission wheel 1210. The aforementioned elastic seal 1600 may be disposed on the radially inner side of the flange 1320. The flange 1320 can radially limit the elastic seal 1600, specifically limiting the radially outer side of the elastic seal 1600, so as to ensure the installation position of the elastic seal 1600.

[0084] Combined Figure 3 In this embodiment of the utility model, the radial inner side of the elastic seal 1600 can also be limited by the first-stage bearing 1500 between the first-stage eccentric wheel 1400 and the first-stage external gear transmission wheel 1210, 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 also include a primary stop 1700, which may specifically be a snap ring, etc.

[0086] The first-stage stop 1700 can be installed on the first-stage drive shaft 1100, and the first-stage stop 1700 can be located on the side of the first-stage internal gear drive wheel 1220 away from the first-stage drive plate 1300. After installation, the first-stage stop 1700 can abut against the first-stage internal gear drive wheel 1220 axially, thereby connecting the first-stage transmission mechanism 1000 into a whole, reducing the possibility of the first-stage drive wheel assembly 1200 and the first-stage drive shaft 1100 disengaging, and improving the structural compactness and connection reliability of the first-stage transmission mechanism 1000.

[0087] Similarly, the secondary transmission mechanism 2000 may also include a secondary stop 2600, which may be a snap ring or the like. The secondary stop 2600 may be mounted on the secondary transmission shaft 2100, and may be located on the side of the secondary internal gear transmission wheel 2220 away from the secondary transmission plate 2300. After installation, the secondary stop 2600 and the secondary internal gear transmission wheel 2220 can abut axially, thereby connecting the secondary transmission mechanism 2000 into a whole, reducing the possibility of the secondary transmission wheel set 2200 and the secondary transmission shaft 2100 disengaging, and improving the structural compactness and connection reliability of the secondary transmission mechanism 2000.

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

[0089] The primary internal gear transmission wheel 1220 may also be provided with a primary second annular boss 1224 extending axially. The primary second annular boss 1224 and the primary first annular boss 1223 may be located on opposite sides 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 axially. Specifically, the secondary second annular boss 2212 may be located on one side of the axial direction 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 internal gear drive wheel 1220 and the second-stage external gear drive wheel 2210. The connection method 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, the goal is to ensure synchronous rotation of the first-stage internal gear drive wheel 1220 and the second-stage external gear drive wheel 2210. Taking interference fit as an example, there can be a certain amount of interference between the outer circular wall surface of the first-stage second annular boss 1224 and the inner circular wall surface of the second-stage second annular boss 2212. The first-stage second annular boss 1224 can be inserted into the second-stage second annular boss 2212 to achieve interference fit between the two. Furthermore, the axial end face of the second-stage second annular boss 2212 can also abut against the first-stage internal gear transmission wheel 1220 to limit the axial relative position of the second-stage external gear transmission wheel 2210 and the first-stage internal gear transmission wheel 1220.

[0091] In addition, in some other implementations of this utility model, the primary internal gear transmission wheel 1220 and the secondary external gear transmission wheel 2210 can also be integrally formed, in which case the 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 can specifically be powder metallurgy, etc.

[0092] In some implementations, it is still as follows Figure 3 As shown, the secondary internal gear transmission wheel 2220 may also be provided with an output section 2224. The output section 2224 may also be an annular boss structure. The output section 2224 may be provided on the side of the secondary internal gear base 2221 opposite to the secondary first annular boss 2223, so as to output rotational driving force externally.

[0093] In some implementations, such as Figure 7 and Figure 8 As shown, the primary drive shaft 1100 may be provided with a primary drive hole 1110. The central axis of the primary drive hole 1110 is the aforementioned first central axis N, while the geometric central axis of the primary drive shaft 1100 is the second central axis M. That is, the primary drive hole 1110 is an eccentric hole provided in the primary drive shaft 1100.

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

[0095] The drive shaft 111 can be inserted into the primary transmission hole 1110 and the secondary transmission hole 2110. The internal contours of the primary transmission hole 1110 and the secondary 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 primary transmission shaft 1100 and the secondary transmission shaft 2100 to rotate.

[0096] As can be seen, since 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 with a straight extension, rather than a crankshaft structure. This makes the transmission between the drive shaft 111 and the two-stage transmission shaft more stable, and it is better suited for high-speed transmission applications. At the same time, the drive shaft 111 is not easily damaged, and its service life can be relatively long.

[0097] In addition, in some other implementations of this utility model, the drive shaft 111 may simply pass through the primary transmission hole 1110 to directly drive the primary transmission shaft 1100 to rotate. Then, the primary transmission shaft 1100 and the secondary transmission shaft 2100 can 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 fitting, or other processes; or, the primary transmission shaft 1100 and the secondary transmission shaft 2100 can be indirectly connected, for example, the primary transmission shaft 1100 can be connected to the secondary transmission plate 2300, which can also drive the secondary transmission shaft 2100.

[0098] In some implementations, in this embodiment of the present invention, the speed reduction device 120 may further include a housing 3000, and the primary transmission mechanism 1000 and the secondary transmission mechanism 2000 may both be mounted on the housing 3000 for integrated assembly through the housing 3000.

[0099] Combination Figures 3-5 The outer shell 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 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 connection such as screws. 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 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 connection such as screws.

[0100] The primary external gear drive wheel 1210 can be connected to the first end plate 3120 to achieve the connection and fixation between the primary external gear drive wheel 1210 and the housing 3000. Specific connection methods include screw connection, snap-fit, riveting, etc. Taking screw connection as an example, the first end plate 3120 can be provided with a through hole corresponding to the connecting hole 1211A. The primary external gear drive wheel 1210 can be inserted into the first circumferential plate 3110 for coarse positioning. Then, the relative position of the primary external gear drive wheel 1210 and the first housing 3100 in the circumferential direction can be adjusted so that the through hole is aligned with the corresponding connecting hole 1211A. Then, a screw can be passed through the through hole and connected to the corresponding connecting hole 1211A. In this way, the connection and fixation between the first end plate 3120 and the primary external gear drive wheel 1210 can be achieved.

[0101] The second peripheral plate 3210 can be connected to the first peripheral plate 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 peripheral plate 3210 can be inserted into the first peripheral plate 3110, and the bolt can pass radially through the first peripheral plate 3110 and the second peripheral plate 3210 to realize the connection and fixation of the first housing 3100 and the second housing 3200.

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

[0103] The support component 4000 and the first-stage external gear transmission wheel 1210 can abut axially. Specifically, the support component 4000 can abut axially with the first-stage external gear base 1211. Two bearing components 5000 can be respectively disposed on both sides of the second-stage internal gear transmission wheel 2220, specifically on both sides of the second-stage internal gear 2222. The second-stage internal gear transmission wheel 2220 can abut axially with the support component 4000 through one bearing component 5000, and the second-stage internal gear transmission wheel 2220 can abut axially with the second end plate portion 3220 through the other bearing component 5000. With this arrangement, on the one hand, the bearing component 5000 and the support component 4000 cooperate to achieve the installation and positioning of the first-stage external gear transmission wheel 1210 and the second-stage internal gear transmission wheel 2220 within the housing 3000, thereby improving the stability of the installation and the compactness of the structure; on the other hand, the bearing component 5000 can also reduce axial compression under off-center load conditions, thereby reducing friction loss and improving the smoothness of transmission.

[0104] Specifically, the aforementioned bearing component 5000 can be a thrust bearing to improve transmission accuracy. Alternatively, the aforementioned bearing component 5000 can also be a sliding bearing plate, etc.

[0105] Combination Figure 3 The support member 4000 may include a support peripheral plate portion 4100 and a support end plate portion 4200. The support peripheral plate portion 4100 can abut against the first-stage external gear transmission wheel 1210 axially, and the support end plate portion 4200 can abut against the bearing member 5000 axially. The support end plate portion 4200 and the second peripheral plate portion 4210 may be spaced apart or in close contact; in short, installation interference between the second housing 3200 and the support member 4000 must be avoided.

[0106] Regarding the reduction gear 120 involved in the above-mentioned implementation methods, the transmission process of this utility model will be described below. It is assumed that the number of teeth of the first-stage external gear transmission wheel 1210 and the second-stage external gear transmission wheel 2210 is n1, and it is assumed that the number of teeth of the first-stage internal gear transmission wheel 1220 and the second-stage internal gear transmission wheel 2220 is n2.

[0107] The rotational driving force of the primary transmission mechanism 1000 is introduced by the primary transmission shaft 1100, assuming the rotation direction 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 every one rotation of the primary transmission shaft 1100, the primary internal gear transmission wheel 1220 can rotate 1 / n² revolution relative to the primary external gear transmission wheel 1210. Furthermore, the secondary external gear transmission wheel 2210, which is fixed to the primary internal gear transmission wheel 1220, can also rotate 1 / n² revolution relative to the primary external gear transmission wheel 1210.

[0108] The rotational driving force of the secondary transmission mechanism 2000 can be introduced by the secondary transmission shaft 2100, and the rotation direction is also clockwise. The secondary transmission shaft 2100 can drive the secondary eccentric wheel 2400 to rotate. Since the secondary external gear transmission wheel 2210 has already rotated 1 / n2 revolutions clockwise under the drive of the primary transmission mechanism 1000, under the same driving method, the secondary transmission shaft 2100 only rotates (1 - 1 / n2) revolutions relative to the secondary external gear transmission wheel 2210. Then, the secondary internal gear transmission wheel 2220 rotates (1 - 1 / n2) / n2 revolutions relative to the secondary external gear transmission wheel 2210, and the secondary internal gear transmission wheel 2220 rotates 1 / n2 + (1 - 1 / n2) / n2 revolutions relative to the primary external gear transmission wheel 1210. That is, the transmission ratio of the reduction device 120 is 1 / (1 / n2 + (1 - 1 / n2) / n2).

[0109] Thus, in practical applications, by adjusting the number of teeth on the first-stage external gear transmission wheel 1210, the first-stage internal gear transmission wheel 1220, the second-stage external gear transmission wheel 2210, and the second-stage internal gear transmission wheel 2220, the transmission ratio of the reduction device 120 provided in this embodiment can be effectively adjusted. Calculations show that the transmission ratio of the reduction device 120 provided in this embodiment can be set between 10 and 30, which is relatively low and well-suited for high-speed transmission scenarios.

[0110] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A speed reduction device for robots, characterized in that, include: A primary transmission mechanism (1000) includes a primary transmission shaft (1100) and a primary transmission wheel set (1200). The primary transmission wheel set (1200) includes an eccentrically arranged primary external gear transmission wheel (1210) and a primary internal gear transmission wheel (1220). The primary external gear transmission wheel (1210) and the primary internal gear transmission wheel (1220) perform small tooth difference meshing transmission. The primary transmission shaft (1100) is inserted into the primary internal gear transmission wheel (1220) and can drive the primary internal gear transmission wheel (1220) to rotate. The secondary transmission mechanism (2000) includes a secondary transmission shaft (2100) and a secondary transmission wheel set (2200). The secondary transmission wheel set (2200) includes an eccentrically arranged secondary external gear transmission wheel (2210) and a secondary internal gear transmission wheel (2220). The secondary external gear transmission wheel (2210) and the secondary internal gear transmission wheel (2220) perform small tooth difference meshing transmission. The secondary transmission shaft (2100) is inserted into the secondary internal gear transmission wheel (2220) and can drive 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. The primary internal gear transmission wheel (1220) and the secondary external gear transmission wheel (2210) rotate synchronously and are coaxially arranged.

2. The speed reduction device for robots according to claim 1, characterized in that, The primary transmission mechanism (1000) further includes a primary transmission plate (1300) and a primary eccentric wheel (1400). 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. The primary transmission shaft (1100) drives the primary internal gear transmission wheel (1220) to rotate through the primary eccentric wheel (1400). The secondary transmission mechanism (2000) further includes a secondary transmission plate (2300) and a secondary eccentric wheel (2400). 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. The secondary transmission shaft (2100) drives the secondary internal gear transmission wheel (2220) to rotate through the secondary eccentric wheel (2400).

3. The speed reduction device for robots according to claim 2, characterized in that, The first-stage internal gear transmission wheel (1220) has a first-stage first annular boss (1223) extending axially. A first-stage bearing (1500) is provided between the first-stage first annular boss (1223) and the first-stage eccentric wheel (1400), and between the first-stage eccentric wheel (1400) and the first-stage external gear transmission wheel (1210). The secondary internal gear transmission wheel (2220) has a secondary first annular boss (2223) extending axially. Secondary bearings (2500) are provided between the secondary first annular boss (2223) and the secondary eccentric wheel (2400), and between the secondary eccentric wheel (2400) and the secondary external gear transmission wheel (2210).

4. The speed reduction device for robots according to claim 2, characterized in that, In the first-stage transmission plate (1300) and the first-stage eccentric wheel (1400), one is provided with a first-stage protrusion (1410) and the other is provided with a first-stage recess (1311). The first-stage protrusion (1410) can be inserted into the first-stage recess (1311). The secondary transmission plate (2300) and the secondary eccentric wheel (2400) are provided with a secondary protrusion (2410) and a secondary recess (2310), respectively. The secondary protrusion (2410) can be inserted into the secondary recess (2310).

5. The speed reduction device for robots according to claim 4, characterized in that, An elastic seal (1600) is provided between the primary transmission plate (1300) and the primary external gear transmission wheel (1210).

6. The speed reduction device for a robot according to claim 5, characterized in that, The primary transmission plate (1300) includes a main body (1310) and a flange (1320) disposed on the outer edge of the main body (1310), and the elastic seal (1600) is disposed on the radial inner side of the flange (1320).

7. The speed reduction device for robots according to claim 2, characterized in that, The primary transmission mechanism (1000) further includes a primary stop (1700), which is mounted on the primary transmission shaft (1100). The primary stop (1700) is located on the side of the primary internal gear transmission wheel (1220) away from the primary transmission plate (1300), and the primary stop (1700) and the primary internal gear transmission wheel (1220) abut against each other axially. The secondary transmission mechanism (2000) further includes a secondary stop (2600), which is mounted on the secondary transmission shaft (2100). The secondary stop (2600) is located on the side of the secondary internal gear transmission wheel (2220) away from the secondary transmission plate (2300), and the secondary stop (2600) and the secondary internal gear transmission wheel (2220) abut against each other axially.

8. The speed reduction device for a robot according to any one of claims 1-7, characterized in that, It also includes a housing (3000), and both the primary transmission mechanism (1000) and the secondary transmission mechanism (2000) are mounted on the housing (3000). The outer casing (3000) includes a first casing (3100) and a second casing (3200). The first casing (3100) includes a first peripheral plate portion (3110) and a first end plate portion (3120). The second casing (3200) includes a second peripheral 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 peripheral plate portion (3210) is connected to the first peripheral plate portion (3110).

9. The speed reduction device for a robot according to claim 8, characterized in that, It also includes a support component (4000) and two bearing components (5000). The support component (4000) and the first-stage external gear transmission wheel (1210) abut against each other axially. The two bearing components (5000) are respectively disposed on both sides of the second-stage internal gear transmission wheel (2220). The second-stage internal gear transmission wheel (2220) abuts against the support component (4000) axially through one of the bearing components (5000) and the second end plate portion (3220) axially through the other bearing component (5000).

10. The speed reduction device for a robot according to any one of claims 1-7, characterized in that, The primary internal gear transmission wheel (1220) is provided with a primary second annular boss (1224) extending axially, and the secondary external gear transmission wheel (2210) is provided with a secondary second annular boss (2212) extending axially; the primary second annular boss (1224) and the secondary second annular boss (2212) are connected; or, The primary internal gear transmission wheel (1220) and the secondary external gear transmission wheel (2210) are integrally formed structures.

11. The speed reduction device for a robot according to any one of claims 1-7, characterized in that, The first-stage external gear transmission wheel (1210), the first-stage internal gear transmission wheel (1220), the second-stage external gear transmission wheel (2210), and the second-stage internal gear transmission wheel (2220) are all manufactured using a fine stamping process.

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

13. A robot, characterized in that, The device includes a joint (100), which includes a body (110) and a reduction gear (120). The body (110) has a power generation component inside, which has a drive shaft (111). The reduction gear (120) is a reduction gear applied to a robot as described in any one of claims 1-12. The first-stage external gear transmission wheel (1210) is connected to the body (110), and the drive shaft (111) is connected to at least the first-stage transmission shaft (1100).

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

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