Combined reduction structure, joint drive mechanism and robot

Abstract

A joint drive mechanism for a combined reduction structure, characterized in that the joint drive mechanism comprises a motor unit (1), as well as a first and second reduction unit which successively transmit a drive force, wherein the first reduction unit comprises a group of circular cylindrical gears and / or a group of bevel gears, wherein the second reduction unit comprises a transmission shaft (31), a double-sided toothed ring gear (32) which is provided with a toothed surface on both an inner and an outer side, an internally toothed ring gear (33) and an externally toothed ring gear (34), wherein the transmission shaft (31) is provided with an eccentric disk (35) whose geometric center differs from the center of rotation of the same.wherein the number of teeth on the outer side of the double-sided toothed ring gear (32) and the number of teeth on the inner side of the internally toothed ring gear (33) differ by 1 tooth, and wherein the number of teeth on the inner side of the double-sided toothed ring gear (32) and the number of teeth on the outer side of the externally toothed ring gear (34) differ by 1 tooth, wherein the eccentric disc (35) can cause the double-sided toothed ring gear (32) to rotate eccentrically, and wherein the double-sided toothed ring gear (32) can always be partially engaged in the gearing with the internally toothed ring gear (33) and the externally toothed ring gear (34) and can transmit the driving force through the internally toothed ring gear (33) or the externally toothed ring gear (34).