CN215410000U

CN215410000U - Decelerator and smart machine

Info

Publication number: CN215410000U
Application number: CN202121595373.XU
Authority: CN
Inventors: 徐文才; 朱显宇
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2022-01-04
Anticipated expiration: 2031-07-14

Abstract

The utility model provides a speed reducing device and intelligent equipment. The input part is arranged on the first speed reducer. The second reduction gear cover is established on the input shaft, and the second reduction gear is located one side that first reduction gear deviates from the input part, and the second reduction gear includes the second output, and the second output setting is avoided on the second reduction gear to first output. The output portion is disposed on the second output terminal. The speed reducer comprises a first speed reducer and a second speed reducer which are arranged in series, the first speed reducer and the second speed reducer are arranged in an overlapping mode to form a double-input structure which is compact in structure and high in precision, the speed reducer further comprises two input ports and one output port, the input shaft and the input portion can be driven, the effect that the speed reduction ratio is variable is achieved, and more choices are provided for scenes with speed change requirements.

Description

Decelerator and smart machine

Technical Field

The utility model relates to the technical field of speed reducers, in particular to a speed reducer and intelligent equipment.

Background

At present, with the continuous development and progress of the technology in the field of industrial automation, the application of the speed reducer and the structure with the function of the speed reducer in industries, such as the automobile industry, the robot industry and the like, is more and more extensive. However, most of the speed reducers are of constant reduction ratio structure, and the reduction ratio structure is less applicable.

The existing variable reduction ratio structure has defects more or less, for example, the diameter of a driving belt pulley and a driven belt pulley is changed in a gearbox in the automobile industry, or a gear pair transmission structure is adopted, so that the problems of relatively poor precision level, large occupied space and the like exist.

Therefore, how to obtain a speed reducing structure with variable speed reducing ratio and small occupied space becomes a problem to be solved urgently.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, a first aspect of the utility model provides a reduction gear.

In a second aspect of the present invention, a smart device is provided.

In view of the above, according to a first aspect of the present invention, there is provided a speed reducer device, which includes an input shaft, a first speed reducer, an input portion, a second speed reducer, and an output portion, wherein the first speed reducer is sleeved on the input shaft, and the first speed reducer includes a first output end. The input part is arranged on the first speed reducer. The second reduction gear cover is established on the input shaft, and the second reduction gear is located one side that first reduction gear deviates from the input part, and the second reduction gear includes the second output, and the second output setting is avoided on the second reduction gear to first output. The output portion is disposed on the second output terminal.

The speed reducer comprises an input shaft, a first speed reducer, an input part, a second speed reducer and an output part, wherein the first speed reducer is sleeved on the input shaft, the first speed reducer is further provided with the input part, and the speed reducer comprises an input port formed by the input shaft and the input part. The second reduction gear cover is established on the input shaft, and second reduction gear and first reduction gear interval set up on the input shaft, and in short, first reduction gear and second reduction gear set up in series, and the two can not be at input shaft department mutual interference. Specifically, the second speed reducer is arranged on the side of the first speed reducer, which is far away from the input part. For example, the first speed reducer and the second speed reducer are arranged in the front-rear direction, that is, the first speed reducer is arranged near the front side and the second speed reducer is arranged near the rear side. The first speed reducer comprises a first output end, the first output end is connected with the second speed reducer, the second speed reducer comprises a second output end, and an output portion is arranged at the second output end, so that mechanical energy is transmitted to the outside. The first speed reducer and the second speed reducer have independent input, so that the speed changing function can be realized.

The reduction ratio is a transmission ratio of the reduction gear, and is a ratio of an instantaneous input speed to an output speed in the reduction gear.

The speed reducer comprises a first speed reducer and a second speed reducer which are arranged in series, the first speed reducer and the second speed reducer are arranged in an overlapping mode to form a double-input structure which is compact in structure and high in precision, the speed reducer further comprises two input ports and one output port, the input shaft and the input portion can be driven, the effect that the speed reduction ratio is variable is achieved, and more choices are provided for scenes with speed change requirements.

In one possible design, the first speed reducer further includes a first wave generator, a first steel wheel, and a first flexible wheel, wherein the first wave generator is sleeved on the input shaft, and the input part is provided on the first wave generator. The first steel wheel is sleeved on the outer side of the first wave generator. The first end of the first flexible gear is arranged between the first steel gear and the first wave generator, and the first output end comprises a second end of the first flexible gear.

In this design, the first retarder is a harmonic retarder. Specifically, the first speed reducer is specifically composed of the following structure: the first wave generator, the fixed first steel wheel and the first flexible wheel are sleeved on the input shaft, and the first flexible wheel and the first steel wheel are meshed at the meshing part. The first flexspline is radially deformable under the action of the first wave generator. The first reducer utilizes the first flexible gear to generate controllable elastic deformation waves to cause the relative staggered teeth between the first steel gear and the first flexible gear to transmit power and movement. The first wave generator is used as a driving part, one of the first flexible gear and the first steel gear is a driven part, and the other one of the first flexible gear and the first steel gear is a fixed part, namely, the first flexible gear and the first steel gear do not move.

In the first wave generator, the input received by the first wave generator is from two places, one place is an input shaft, and the other place is an input part arranged on the first wave generator. In the rotational speed transmission process, first steel wheel is the mounting, and it does not take place the motion, and first flexbile gear can receive first wave generator effect to take place deformation, can transmit input to second reduction gear department simultaneously. Specifically, the first output end of the first speed reducer is a second end of the first flexible gear, that is, an end of the first flexible gear facing away from the input portion. It is conceivable that the second end of the first flexible gear may be directly connected to the second speed reducer, or, in consideration of the structural layout, the second end of the first flexible gear may be indirectly connected through another transmission mechanism.

That is, for the first speed reducer, it includes two input ports and an output port, i.e. the input shaft and the input portion can both input to the first wave generator, the first steel wheel is fixed, the second end of the first flexible wheel constitutes the first output port, and the first output port is an output port.

In one possible design, further, the first wave generator includes a first cam and a first flexible bearing, the first cam is fitted over the input shaft, and the input portion is provided on the first cam. A first compliant bearing is disposed between the input shaft and the first cam.

In the design, when the first flexible gear is not installed on the first wave generator, the hole formed by the first end of the first flexible gear is circular, when the first cam is installed at the first end of the first flexible gear, because the length of the first cam is slightly larger than the inner diameter of the first flexible gear, the first flexible gear is supported into an oval shape by the first cam, the first flexible gear is forced to be completely meshed with the fixed first steel gear in the major axis direction of the oval shape, the first flexible gear is completely separated in the minor axis direction, and other teeth at all positions are in a 'meshing-in' state or a 'meshing-out' state according to different rotation positions of the first flexible gear. Because the first steel wheel is fixed, when the first cam rotates anticlockwise, the positions of the long shaft and the short shaft of the first flexible wheel, which are engaged and disengaged, are changed continuously, and the reciprocating circulation forces the first flexible wheel to rotate continuously.

In one possible design, further, the reduction gear unit further includes an end cover including an opening through which a portion of the input shaft and a portion of the input portion project away from the second reduction gear unit.

In this design, decelerator still includes the end cover, and the end cover is established in the front side of first reduction gear, specifically, is equipped with the opening on the end cover, and in the assembling process, partly of input shaft and partly of input part deviate from the second reduction gear and stretch out through the opening, that is to say, the equal protrusion of input shaft and input part sets up, and then can conveniently be connected with other structures.

In one possible design, further, the reduction gear unit further comprises a support bearing, which is arranged between the input and the first steel wheel.

In this design, the reduction gear further comprises a support bearing disposed between the input shaft and the first steel wheel, and during reduction, in order to ensure that the first reducer input can withstand a certain radial force when rotating, therefore, the support bearing is disposed between the input portion and the first steel wheel, and the support bearing and the first flexible bearing form a double support, thereby forming a reliable support for the input portion.

It should be noted that, the support bearing is located between the first steel wheel and the input portion in the radial direction, and the support bearing is also located between the end cover and the first cam in the axial direction, and for the support bearing, the support bearing has corresponding limit structures in the radial direction and the axial direction, so that the position stability of the support bearing can be ensured, and then a reliable double-support effect can be provided for the input portion.

In one possible design, the reduction gear further comprises a first bearing inner ring, a first bearing outer ring and a first roller, the first bearing inner ring being connected to the first steel wheel. The first bearing outer ring is sleeved outside the first bearing inner ring and is connected with the first flexible gear and the second speed reducer respectively. The first roller is arranged between the first bearing inner ring and the first bearing outer ring.

In this design, in view of the compact overall structure of the reduction gear unit, the first flexspline and the second reduction gear unit are indirectly connected by the cross roller bearing. Specifically, the first bearing inner race is connected with the first steel wheel, and the first bearing inner race and the first steel wheel are fixed and cannot move along with the input shaft. The first bearing outer ring is sleeved on the outer side of the first bearing inner ring, the first bearing outer ring is connected with the second end of the first flexible gear and the second speed reducer respectively, and the rotating speed can be transmitted to the second speed reducer through the first flexible gear and the first bearing outer ring. That is, for the second reducer, the first flexspline is one input port, and the input shaft is the other input port. The second speed reducer also comprises an output part as an output port, namely, the second speed reducer also has a double-input single-output structure. Furthermore, a first rolling groove is formed between the first bearing inner ring and the first bearing outer ring, the first roller moves in the first rolling groove, it can be understood that the first bearing inner ring and the first bearing outer ring on two sides of the first roller are different in movement mode, the first steel wheel is fixed, the first flexible wheel drives the first bearing outer ring to move, and the first roller can well balance the movement requirements of the first steel wheel and the first flexible wheel.

In one possible design, further, the reduction gear unit further includes a first positioning portion provided between the input shaft and the first flexible bearing.

In this design, in order to prevent the first reduction gear from shifting in the axial direction, therefore, a first positioning portion is provided at a contact position of the first reduction gear with the input shaft so that the movement of the first reduction gear in the axial direction is restricted. Specifically, the first positioning portion includes a snap spring. The specific structure of the circlip according to the embodiment of the present invention is well known to those skilled in the art, and will not be described in detail herein.

In one possible design, further, the reduction gear further includes a second positioning portion that is provided between the support bearing and the input portion.

In this design, the reduction gear device further includes a second positioning portion provided between the support bearing and the input portion, and in order to prevent the support bearing and the input portion from coming into play in the axial direction, the second positioning portion is provided at a contact position of the support bearing and the input portion so that the movement in the axial direction is restricted. Specifically, the second positioning portion includes a snap spring.

In one possible design, the reduction gear further comprises a first connecting piece, and the first connecting piece is respectively connected with the first steel wheel and the first bearing inner ring. The speed reducer also comprises a second connecting piece, and the second connecting piece is respectively connected with the first bearing outer ring and the second speed reducer.

In the design, the speed reducer further comprises a first connecting piece, and the first connecting piece is connected with the first steel wheel and the first bearing inner ring respectively, so that the first steel wheel and the first bearing inner ring are stably connected, and the first steel wheel and the first bearing inner ring cannot move along with the input shaft. Specifically, the first connector includes a connection screw.

Furthermore, the speed reduction device also comprises a second connecting piece, the second connecting piece is respectively connected with the outer ring of the first bearing and the second speed reducer, and in the process of movement of the input shaft and the input part, the rotating speed can be transmitted to the first end of the first flexible gear through the first cam and the first flexible bearing, and the first end of the first flexible gear is meshed with the first steel gear and the self deformation characteristic of the first flexible gear, so that the speed reduction effect is realized. The rotational speed can also be passed through the second end of first flexbile gear, first bearing outer lane and transmit to second reduction gear department, and the second steel wheel of first flexbile gear, first bearing outer lane and second reduction gear can the simultaneous movement promptly. In particular, the second connector comprises a connection screw.

In a possible design, further, the reduction gear further includes a first limit portion and a second limit portion, and the first limit portion is provided on the input shaft. The second limiting part is arranged on the input part.

In the design, the first limiting part is arranged on the input shaft, and the first limiting part is a limiting hole. The second limiting part is arranged on the input part and is a limiting groove. The first limiting part and the second limiting part can both facilitate the matching of an external structure and a speed reducer, so that the input of the rotating speed is realized.

In one possible design, further, the second reducer includes a second wave generator, a second steel wheel, and a second flexible wheel. The second wave generator is sleeved on the input shaft. The second steel wheel is sleeved on the outer side of the second wave generator and connected with the first speed reducer. The first end of the second flexible gear is arranged between the second steel gear and the second wave generator, and the second end of the second flexible gear is provided with an output part.

In this design, the second retarder is a harmonic retarder. Specifically, the second speed reducer is composed of the following structure: the second wave generator, the second steel wheel and the second flexible wheel are sleeved on the input shaft, and the second flexible wheel is meshed with the second steel wheel at the meshing part. The second flexspline is radially deformable by the action of a second wave generator. The second reducer utilizes the second flexible gear to generate controllable elastic deformation waves to cause the relative staggered teeth between the second steel gear and the second flexible gear to transmit power and movement. The second wave generator is used as a driving part, and the second flexible gear and the second steel gear are driven parts.

It should be noted that, for the second wave generator, the input received by the second wave generator comes from two places, one is the input shaft, and the other is the rotation speed transmitted from the first output end of the first wave generator. In the rotational speed transmission process, first flexbile gear can receive first wave generator effect to take place deformation, can transmit input to second steel wheel department simultaneously, and the second flexbile gear takes place deformation under the effect of second wave generator, receives the input. That is, for the first end of the second flexspline, it will receive the rotational speed input to the second steel spline during deceleration, as well as the rotational speed of the input shaft as transmitted by the second wave generator. After the second flexible gear receives the two inputs, the second flexible gear transmits the two inputs to the second end of the second flexible gear through the second flexible gear, and the rotating speed is transmitted to the outside through the output part arranged at the second end.

That is, in the case of the second speed reducer, which includes two input ports and one output port, i.e., the input shaft and the input of the first speed reducer, the second end of the second flexspline is provided with an output portion, i.e., one output port.

In one possible design, further, the second wave generator includes a second cam and a second flexible bearing, the second cam being fitted over the input shaft. The second flexible bearing is arranged between the second cam and the second flexible gear.

In the design, when the second flexible gear is not installed on the first wave generator, the hole formed by the first end of the second flexible gear is circular, when the second cam is installed at the first end of the second flexible gear, because the length of the second cam is slightly larger than the inner diameter of the second flexible gear, the second flexible gear is supported into an oval shape by the second cam, the second flexible gear is forced to be completely meshed with the second steel gear in the major axis direction of the oval shape, the second flexible gear is completely separated in the minor axis direction, and other teeth at each position are in a 'meshing-in' state or a 'meshing-out' state according to different rotation positions of the second flexible gear. Because the second steel wheel is fixed, when the second cam rotates anticlockwise, the positions of the long shaft and the short shaft of the second flexible wheel, which are engaged and disengaged, are changed continuously, and the reciprocating circulation forces the second flexible wheel to rotate continuously.

In one possible design, the reduction gear further comprises a second bearing outer ring, a second bearing inner ring and a second roller, and the second steel wheel is arranged on the second bearing outer ring. The second bearing inner ring is arranged on the inner side of the second bearing outer ring and connected with the second end of the second flexible gear. The second roller is arranged between the second bearing inner ring and the second bearing outer ring. Wherein the output portion includes a second bearing inner race.

In this design, the crisscross roller bearings are provided between the second steel wheel, the second meat wheel and the output part of the reduction gear, in view of the overall compactness and structural stability of the reduction gear. Specifically, the second steel wheel is connected between the first bearing outer race and the second bearing outer race. First flexible wheel can be through first bearing inner race with rotational speed transmission to second steel wheel department in the first reduction gear, and the second steel wheel can be with rotational speed transmission to the first flexible wheel department of meshing with it. Because the second steel wheel is fixedly connected with the outer ring of the second bearing, the first bearing outer ring, the second steel wheel and the second bearing outer ring move together in the process of speed reduction. The radial inner side of the first end of the second flexible gear receives the rotating speed input of the input shaft through the second wave generator, the radial outer side of the second flexible gear receives the rotating speed input of the first speed reducer through the second steel wheel, the second flexible gear receives the rotating speed input of the two sides and then can transmit the rotating speed input to the output part at the second end, and the output part is the second bearing inner ring. The axial inboard and the second end fixed connection of second flexbile gear of second bearing inner race, second bearing inner race cover are established in the second bearing outer race, and second bearing inner race and second bearing outer race all move, however, the rotational speed diverse of the two, and the second roller that is located between the two can well balanced motion mode different second bearing inner race and second bearing outer race.

In one possible design, the reduction gear further includes a first fastening member, and the first fastening member is connected to the second flexible gear and the second bearing inner race, respectively.

In this design, in order to transmit the rotational speed of the second flexspline to the output (second bearing inner race), a fixed connection between the second end of the second flexspline and the second bearing inner race is achieved by the first fastening member. Specifically, be equipped with location structure between second flexbile gear and the second bearing inner circle, for example, be equipped with protruding structure on one in second flexbile gear and the second bearing inner circle, be equipped with recessed structure on the other in second flexbile gear and the second bearing inner circle, when second flexbile gear and the second bearing inner circle is fixed, protruding structure and recessed structure match each other to realize the location installation. In particular, the first fastener is a connection screw.

In a possible design, the reduction gear further comprises a second fastening piece, and the second fastening piece is respectively connected with the second steel wheel and the second bearing outer ring.

In the design, the speed reducing device further comprises a second fastener, and the second fastener is fixedly connected with the second steel wheel and the second bearing outer ring respectively. In the process of speed reduction, the rotating speed of the first speed reducer is transmitted to the second steel wheel through the first flexible wheel and the first bearing outer ring, and the second steel wheel is transmitted to the second flexible wheel and finally transmitted to the output part (the second bearing inner ring). In view of structural stability, one axial side of the second steel wheel is fixed with the first bearing outer ring, and the other axial side of the second steel wheel is fixedly connected with the second bearing outer ring, that is, the first bearing outer ring, the second steel wheel and the second bearing outer ring can move together.

It can be thought that, in order to realize the fixed connection of the second fastener to the second steel wheel and the second bearing outer ring, corresponding structures such as mounting holes, counter bores and the like are necessarily arranged on the second steel wheel and the second bearing outer ring.

In one possible embodiment, the reduction gear unit further comprises a mounting opening, which is arranged on a side of the second bearing inner ring facing away from the first reduction gear unit.

In this design, decelerator still includes the installing port, and the installing port setting is in the one side that the second bearing inner race deviates from first reduction gear, and the installing port is established at the rear side of second bearing inner race promptly, has the screw hole in the installing port to can export the rotational speed to the outside.

According to a second aspect of the present invention, there is provided a smart device comprising a reduction gear as provided in any of the above designs.

The intelligent device provided by the utility model comprises the speed reducing device provided by any design, so that the intelligent device has all the beneficial effects of the speed reducing device, and the details are not repeated.

Note that the smart device includes a vehicle, a robot, and the like.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

figure 1 shows a schematic view of the construction of a reduction unit according to an embodiment of the utility model;

figure 2 shows one of the partial constructive schematics of the reduction unit according to one embodiment of the utility model;

figure 3 shows a second partial structural view of the reduction unit according to an embodiment of the utility model;

figure 4 shows a third schematic view of part of the construction of a reduction unit according to an embodiment of the utility model;

FIG. 5 is a schematic view showing the structure of an input shaft of the reduction gear transmission according to an embodiment of the present invention;

fig. 6 shows a schematic configuration of an input part of the reduction gear transmission according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 6 is:

1 second bearing inner race, 2 second roller, 3 second bearing outer race, 4 second steel wheel, 5 second flexible gear, 6 first roller, 7 first bearing outer race, 8, first oil seal, 9 first steel wheel, 10 end cap, 11 first seal ring, 12 input portion, 121 second limit portion, 13 input shaft, 131 first limit portion, 14 first positioning portion, 15, second oil seal, 16 first flexible bearing, 17 second positioning portion, 18 support bearing, 19 first connecting piece, 20 first flexible gear, 21 first sealing piece, 22 second connecting piece, 23 first bearing inner race, 24 second sealing piece, 25 third sealing piece, 26 second flexible bearing, 27 fourth sealing piece, 28 second seal ring, 29 mounting port, 30 first fastener, 31 set screw, 32 second wave generator, 33 third connecting piece, 34 second fastener, 72, 71 counter bore.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The deceleration device and the smart device provided according to some embodiments of the present invention are described below with reference to fig. 1 to 6.

As shown in fig. 1 and 2, according to a first aspect of the present invention, there is provided a reduction gear device including an input shaft 13, a first reduction gear, an input portion 12, a second reduction gear, and an output portion, wherein the first reduction gear is fitted over the input shaft 13, and the first reduction gear includes a first output end. The input portion 12 is provided on the first reduction gear. The second reduction gear is sleeved on the input shaft 13, the second reduction gear is positioned on one side of the first reduction gear, which deviates from the input part 12, the second reduction gear comprises a second output end, and the first output end avoids the second output end to be arranged on the second reduction gear. The output portion is disposed on the second output terminal.

The speed reducer provided by the utility model comprises an input shaft 13, a first speed reducer, an input part 12, a second speed reducer and an output part, wherein the first speed reducer is sleeved on the input shaft 13, the input part 12 is further arranged on the first speed reducer, namely, the speed reducer comprises an input port formed by the input shaft 13 and the input part 12. The second speed reducer is sleeved on the input shaft 13, and the second speed reducer and the first speed reducer are arranged on the input shaft 13 at intervals, in short, the first speed reducer and the second speed reducer are arranged in series, and the first speed reducer and the second speed reducer cannot interfere with each other at the input shaft 13. In particular, the second reduction gear is arranged on the side of the first reduction gear facing away from the input 12. For example, the first speed reducer and the second speed reducer are arranged in the front-rear direction, that is, the first speed reducer is arranged near the front side and the second speed reducer is arranged near the rear side. The first speed reducer comprises a first output end, the first output end is connected with the second speed reducer, the second speed reducer comprises a second output end, and an output portion is arranged at the second output end, so that mechanical energy is transmitted to the outside. The first speed reducer and the second speed reducer have independent input, so that the speed changing function can be realized.

The speed reducer provided by the utility model comprises a first speed reducer and a second speed reducer which are arranged in series, the first speed reducer and the second speed reducer are arranged in a superposed mode to form a double-input structure which is compact in structure and high in precision, the speed reducer further comprises two input ports and one output port, the input shaft 13 and the input part 12 can be driven, the effect that the speed reduction ratio is variable is achieved, and more choices are provided for scenes with speed change requirements.

Further, as shown in fig. 1 and 2, the first speed reducer includes a first wave generator, a first steel wheel 9, and a first flexible wheel 20, wherein the first wave generator is sleeved on the input shaft 13, and the input portion 12 is provided on the first wave generator. The first steel wheel 9 is sleeved on the outer side of the first wave generator. A first end of the first flexspline 20 is arranged between the first steel spline 9 and the first wave generator, wherein the first output comprises a second end of the first flexspline 20.

In this embodiment, the first retarder is a harmonic retarder. Specifically, the first speed reducer is specifically composed of the following structure: the first wave generator, the fixed first steel wheel 9 and the first flexible wheel 20 are sleeved on the input shaft 13, and the first flexible wheel 20 is meshed with the first steel wheel 9 at a meshing part. The first flexspline 20 is capable of radial deformation under the action of the first wave generator. The first reducer utilizes the first flexible gear 20 to generate controllable elastic deformation wave, and causes the relative staggered teeth between the teeth of the first steel gear 9 and the first flexible gear 20 to transmit power and movement. The first wave generator is used as a driving part, one of the first flexible gear 20 and the first steel gear 9 is a driven part, and the other one of the first flexible gear 20 and the first steel gear 9 is a fixed part, namely, no movement occurs.

Note that, as for the first wave generator, the input received by the first wave generator is from two places, one is the input shaft 13, and the other is the input portion 12 provided in the first wave generator. In the process of rotating speed transmission, the first steel wheel 9 is a fixed part and does not move, the first flexible wheel 20 is deformed under the action of the first wave generator, and meanwhile, the input can be transmitted to the second speed reducer. Specifically, the first output end of the first speed reducer is a second end of the first flexible gear 20, that is, an end of the first flexible gear 20 facing away from the input portion 12. It is conceivable that the second end of the first flexible gear 20 may be directly connected to the second reducer, or the second end of the first flexible gear 20 may be indirectly connected to the second reducer through another transmission mechanism in consideration of the structural layout.

That is, for the first reducer, which comprises two input ports and one output port, i.e. the input shaft 13 and the input portion 12, both can input to the first wave generator, the first steel wheel 9 is fixed, and the second end of the first flexible wheel 20 constitutes the first output port, which is one output port.

Further, as shown in fig. 1 and 2, the first wave generator includes a first cam fitted over the input shaft 13 and the input portion 12 provided on the first cam, and a first flexible bearing 16. A first compliant bearing 16 is provided between the input shaft 13 and the first cam.

In this embodiment, when the first flexible gear 20 is not installed on the first wave generator, the hole formed at the first end of the first flexible gear 20 is circular, and when the first cam is installed at the first end of the first flexible gear 20, because the length of the first cam is slightly greater than the inner diameter of the first flexible gear 20, the first flexible gear 20 is supported by the first cam to be elliptical, so that the first flexible gear 20 is forced to be completely meshed with the fixed first steel gear 9 in the major axis direction of the ellipse, and is completely separated in the minor axis direction, and the remaining teeth are in a "meshed-in" state or a "meshed-out" state depending on the rotation position of the first flexible gear 20. Because the first steel wheel 9 is fixed, when the first cam rotates anticlockwise, the positions of the long axis and the short axis of the first flexible wheel 20 for 'engagement' and 'engagement' are changed continuously, and the reciprocating circulation forces the first flexible wheel 20 to rotate continuously.

Further, the first flexible bearing 16 is sleeved on the input shaft 13, and in order to improve the sealing performance of the structure, a second oil seal 15 may be disposed on a side of the first flexible bearing 16 away from the second speed reducer.

Further, as shown in fig. 1 and 2, the reduction gear device further includes an end cover 10, the end cover 10 including an opening through which a portion of the input shaft 13 and a portion of the input portion 12 protrude away from the second reduction gear device.

In this embodiment, the reduction gear further includes an end cover 10, the end cover 10 is disposed at the front side of the first speed reducer, specifically, the end cover 10 is provided with an opening, during the assembling process, a part of the input shaft 13 and a part of the input portion 12 deviate from the second speed reducer and extend out through the opening, that is, the input shaft 13 and the input portion 12 are both disposed in a protruding manner, so as to be conveniently connected with other structures.

Further, as shown in fig. 1 and 2, the reduction gear further comprises a support bearing 18, the support bearing 18 being arranged between the input 12 and the first steel wheel 9.

In this embodiment the reduction unit further comprises a support bearing 18, the support bearing 18 being arranged between the input shaft 13 and the first steel wheel 9, whereby, in order to ensure that the first reducer input is able to withstand a certain radial force when it is rotating during reduction, the support bearing 18 is arranged between the input 12 and the first steel wheel 9, the support bearing 18 and the first flexible bearing 16 forming a double support, whereby a reliable support of the input 12 is possible.

It should be noted that the support bearing 18 is located between the first steel wheel 9 and the input portion 12 in the radial direction, the support bearing 18 is also located between the end cover 10 and the first cam in the axial direction, and the support bearing 18 has corresponding limit structures in both the radial direction and the axial direction, so that the position stability of the support bearing 18 can be ensured, and a reliable double support effect can be provided for the input portion 12.

Further, as shown in fig. 1 and 2, the speed reduction device further comprises a first bearing inner ring 23, a first bearing outer ring 7 and first rollers 6, wherein the first bearing inner ring 23 is connected with the first steel wheel 9. The first bearing outer ring 7 is sleeved outside the first bearing inner ring 23, and the first bearing outer ring 7 is connected with the first flexible gear 20 and the second speed reducer respectively. The first rollers 6 are arranged between the first bearing inner ring 23 and the first bearing outer ring 7.

In this embodiment, in consideration of the compact overall structure of the reduction gear, the first flexspline 20 and the second reduction gear in the reduction gear are indirectly connected through a cross roller bearing. In particular, the first inner bearing ring 23 is connected to the first steel wheel 9, which is fixed against movement with the input shaft 13. The first bearing outer ring 7 is sleeved on the outer side of the first bearing inner ring 23, the first bearing outer ring 7 is respectively connected with the second end of the first flexible gear 20 and the second speed reducer, and the rotating speed can be transmitted to the second speed reducer through the first flexible gear 20 and the first bearing outer ring 7. That is, for the second speed reducer, the first flexspline 20 is one input port, and the input shaft 13 is the other input port. The second speed reducer also comprises an output part as an output port, namely, the second speed reducer also has a double-input single-output structure. Further, a first rolling groove is formed between the first bearing inner ring 23 and the first bearing outer ring 7, the first roller 6 moves in the first rolling groove, it can be understood that the first bearing inner ring 23 and the first bearing outer ring 7 on two sides of the first roller 6 are different in movement mode, the first steel wheel 9 is fixed, the first flexible wheel 20 drives the first bearing outer ring 7 to move, and the first roller 6 can well balance the movement requirements of the first steel wheel 9 and the first flexible wheel 20.

Further, the first bearing outer ring 7, the first bearing inner ring 23 and the first roller 6 constitute a cross roller bearing, and a first oil seal 8 is arranged on one side of the cross roller bearing, which is far away from the second speed reducer, so that the structural sealing performance can be improved.

Further, as shown in fig. 1 and 2, the reduction gear device further includes a first positioning portion 14, and the first positioning portion 14 is provided between the input shaft 13 and the first flexible bearing 16.

In this embodiment, in order to prevent the first reduction gear from coming into play in the axial direction, therefore, the first positioning portion 14 is provided at the contact position of the first reduction gear with the input shaft 13 so that the movement of the first reduction gear in the axial direction is restricted. Specifically, the first positioning portion 14 includes a circlip. The specific structure of the circlip according to the embodiment of the present invention is well known to those skilled in the art, and will not be described in detail herein.

Further, as shown in fig. 1 and 2, the reduction gear transmission further includes a second positioning portion 17, and the second positioning portion 17 is provided between the support bearing 18 and the input portion 12.

In this embodiment, the reduction gear device further includes a second positioning portion 17, the second positioning portion 17 being provided between the support bearing 18 and the input portion 12, and in order to prevent the support bearing 18 and the input portion 12 from rattling in the axial direction, therefore, the second positioning portion 17 is provided at a contact position of the support bearing 18 and the input portion 12 so that the movement in the axial direction is restricted. Specifically, the second positioning portion 17 includes a snap spring.

Further, as shown in fig. 1 and 2, the speed reducer further comprises a first connecting piece 19, and the first connecting piece 19 is connected with the first steel wheel 9 and the first bearing inner ring 23 respectively. The reduction unit further comprises a second coupling member 22, the second coupling member 22 being connected to the first bearing outer race 7 and the second reduction gear, respectively.

In this embodiment, the reduction gear further comprises a first connecting member 19, and the first connecting member 19 is connected with the first steel wheel 9 and the first bearing inner ring 23 respectively, so that the first steel wheel 9 and the first bearing inner ring 23 are stably connected, and the first steel wheel 9 and the first bearing inner ring 23 cannot move along with the input shaft 13. Specifically, the first connecting member 19 includes a connecting screw.

Further, the speed reducer also comprises a second connecting piece 22, the second connecting piece 22 is respectively connected with the first bearing outer ring 7 and the second speed reducer, in the process that the input shaft 13 and the input part 12 move, the rotating speed can be transmitted to the first end of the first flexible gear 20 through the first cam and the first flexible bearing 16, and due to the meshing of the first end of the first flexible gear 20 and the first steel gear 9 and the self deformation characteristic of the first flexible gear 20, the speed reducing effect is achieved. The rotating speed can also be transmitted to the second speed reducer through the second end of the first flexible gear 20 and the first bearing outer ring 7, that is, the first flexible gear 20, the first bearing outer ring 7 and the second steel gear 4 of the second speed reducer can move synchronously. Specifically, the second connector 22 includes a connection screw.

Further, as shown in fig. 5 and 6, the reduction gear device further includes a first limiting portion 131 and a second limiting portion 121, and the first limiting portion 131 is provided on the input shaft 13. The second stopper 121 is provided on the input unit 12.

In this embodiment, the first position-limiting portion 131 is disposed on the input shaft 13, and the first position-limiting portion 131 is a position-limiting hole. The second position-limiting portion 121 is disposed on the input portion 12, and the second position-limiting portion 121 is a position-limiting groove. The first and second position-limiting

portions

131 and 121 can both facilitate the matching of an external structure with a reduction gear, thereby realizing the input of the rotation speed.

Further, as shown in fig. 1 and 2, the second decelerator includes a second wave generator 32, a second steel gear 4, and a second flexible gear 5. The second wave generator 32 is fitted over the input shaft 13. The second steel wheel 4 is sleeved on the outer side of the second wave generator 32, and the second steel wheel 4 is connected with the first speed reducer. The first end of the second flexible gear 5 is arranged between the second steel gear 4 and the second wave generator 32, and the second end of the second flexible gear 5 is provided with an output part.

In this embodiment, the second retarder is a harmonic retarder. Specifically, the second speed reducer is composed of the following structure: the second wave generator 32, the second steel wheel 4 and the second flexible wheel 5 are sleeved on the input shaft 13, and the second flexible wheel 5 is meshed with the second steel wheel 4 at a meshing part. The second flexspline 5 is capable of radial deformation under the action of the second wave generator 32. The second reducer utilizes the second flexible gear 5 to generate controllable elastic deformation waves to cause the relative staggered teeth between the teeth of the second steel gear 4 and the second flexible gear 5 to transmit power and movement. The second wave generator 32 is used as a driving part, and the second flexible gear 5 and the second steel gear 4 are used as driven parts.

It should be noted that, for the second wave generator 32, the input received by the second wave generator 32 comes from two places, one is the input shaft 13, and the other is the rotation speed transmitted from the first output end of the first wave generator. In the process of rotating speed transmission, the first flexible gear 20 can be deformed under the action of the first wave generator, meanwhile, the input can be transmitted to the second steel gear 4, and the second flexible gear 5 is deformed under the action of the second wave generator 32 to receive the input. That is, the first end of the second flexspline 5 receives the rotational speed input of the second steel spline 4 during deceleration, and also receives the rotational speed of the input shaft 13 transmitted through the second wave generator 32. After receiving the two inputs, the second flexible gear 5 transmits the two inputs to the second end of the second flexible gear, and transmits the rotating speed to the outside through the output part arranged at the second end.

That is, in the case of the second speed reducer, which includes two input ports and one output port, i.e., the input shaft 13 and the input of the first speed reducer, the second end of the second flexspline 5 is provided with an output portion, i.e., one output port.

Further, as shown in fig. 1 and 2, the second wave generator 32 includes a second cam fitted over the input shaft 13 and a second flexible bearing 26. A second compliant bearing 26 is provided between the second cam and the second compliant gear 5.

In this embodiment, when the second flexible gear 5 is not installed on the first wave generator, the hole formed at the first end of the second flexible gear 5 is circular, and when the second cam is installed at the first end of the second flexible gear 5, because the length of the second cam is slightly greater than the inner diameter of the second flexible gear 5, the second flexible gear 5 is held into an oval shape by the second cam, so that the second flexible gear 5 is forced to be completely meshed with the second steel gear 4 in the major axis direction of the oval shape, and is completely separated in the minor axis direction, and the other teeth are in a "meshed-in" state or a "meshed-out" state depending on the rotation position of the second flexible gear 5. Because the second steel wheel 4 is fixed, when the second cam rotates anticlockwise, the positions of the long shaft and the short shaft of the second flexible wheel 5 for 'engagement' and 'engagement' are changed continuously, and the reciprocating circulation forces the second flexible wheel 5 to rotate continuously.

Further, as shown in fig. 1 and 2, the speed reduction device further comprises a second bearing outer ring 3, a second bearing inner ring 1 and a second roller 2, and a second steel wheel 4 is arranged on the second bearing outer ring 3. The second bearing inner ring 1 is arranged on the inner side of the second bearing outer ring 3, and the second bearing inner ring 1 is connected with the second end of the second flexible gear 5. The second roller 2 is arranged between the second bearing inner ring 1 and the second bearing outer ring 3. Wherein the output part comprises a second bearing inner ring 1.

In this embodiment, the second steel wheel 4, the second meat wheel and the output of the reduction gear are provided with crossed roller bearings between them, taking into account the overall compactness and the structural stability of the reduction gear. In particular, the second steel wheel 4 is connected between the first bearing cup 7 and the second bearing cup 3. The first flexible gear 20 in the first speed reducer can transmit the rotating speed to the second steel gear 4 through the first bearing outer ring 7, and the second steel gear 4 can transmit the rotating speed to the first flexible gear 20 meshed with the second steel gear. Because the second steel wheel 4 is fixedly connected with the second bearing outer ring 3, the first bearing outer ring 7, the second steel wheel 4 and the second bearing outer ring 3 move together in the process of speed reduction. The radial inner side of the two sides of the first end of the second flexible gear 5 receives the rotational speed input of the input shaft 13 through the second wave generator 32, the radial outer side receives the rotational speed input of the first speed reducer through the second steel gear 4, and the second flexible gear 5 can transmit the rotational speed input of the two sides to an output part at the second end, wherein the output part is the second bearing inner ring 1. The axial inboard of second bearing inner race 1 and the second end fixed connection of second flexbile gear 5, second bearing inner race 1 cover is established in second bearing outer lane 3, and second bearing inner race 1 and second bearing outer lane 3 all move, however, the rotational speed diverse of the two, and second roller 2 that is located between the two can well balanced motion mode different second bearing inner race 1 and second bearing outer lane 3.

Further, as shown in fig. 1 and 2, the reduction gear device further includes a first fastening member 30, and the first fastening member 30 is connected to the second flexible gear 5 and the second bearing inner race 1, respectively.

In this embodiment, in order to transmit the rotational speed of the second flexspline 5 to the output portion (the second bearing cone 1), the fixed connection between the second end of the second flexspline 5 and the second bearing cone 1 is achieved by the first fastening member 30. Specifically, be equipped with location structure between second flexbile gear 5 and the second bearing inner circle 1, for example, be equipped with protruding structure on one in second flexbile gear 5 and the second bearing inner circle 1, be equipped with recessed structure on the other in second flexbile gear 5 and the second bearing inner circle 1, when second flexbile gear 5 and the second bearing inner circle 1 is fixed, protruding structure and recessed structure match each other to realize the location installation. Specifically, the first fastener 30 is a connection screw.

Further, the speed reducing device also comprises a second fastener 34, and the second fastener 34 is respectively connected with the second steel wheel 4 and the second bearing outer ring 3.

In this embodiment, as shown in fig. 1 and 2, the reduction gear further includes a second fastening member 34, and the second fastening member 34 is fixedly connected to the second steel wheel 4 and the second bearing outer ring 3, respectively. In the process of speed reduction, the rotating speed of the first speed reducer is transmitted to the second steel wheel 4 through the first flexible gear 20 and the first bearing outer ring 7, and the second steel wheel 4 is transmitted to the second flexible gear 5 and finally transmitted to the output part (the second bearing inner ring 1). In view of structural stability, one axial side of the second steel wheel 4 is fixed to the first bearing cup 7 and the other axial side of the second steel wheel 4 is fixedly connected to the second bearing cup 3, i.e. the first bearing cup 7, the second steel wheel 4 and the second bearing cup 3 can move together.

It can be considered that, in order to realize the fixed connection of the second fastener 34 to the second steel wheel 4 and the second bearing outer ring 3, corresponding mounting holes, counter bores and other structures are necessarily arranged on the second steel wheel 4 and the second bearing outer ring 3.

Further, as shown in fig. 1 and 2, the speed reducer device further comprises a mounting opening 29, and the mounting opening 29 is arranged on the side of the second bearing inner ring 1 facing away from the first speed reducer.

In this embodiment, the reduction gear device further comprises a mounting opening 29, the mounting opening 29 is arranged on the side of the second bearing inner ring 1 facing away from the first speed reducer, namely the mounting opening 29 is arranged on the rear side of the second bearing inner ring 1, and the mounting opening 29 is internally provided with a threaded hole so as to output the rotating speed to the outside.

In a specific embodiment, the utility model adopts two stages of harmonic reducers for combination, each harmonic reducer adopts a cam and flexible bearing combination as a wave generator as an input structurally, and utilizes the flexibility of a flexible gear, and the steel gear and the flexible gear are designed to have the difference of the number of teeth, so that the transmission characteristics of high speed ratio, high precision and compact structure are realized, and the input and output rotating directions are opposite. In order to realize the variable speed characteristic, the output end of the first flexible gear 20 of the first speed reducer is connected with the second steel gear 4 of the second speed reducer, and meanwhile, the input of the first speed reducer and the input of the second speed reducer are mutually independent so as to realize the variable speed function.

As shown in fig. 1 and 2, the first cam and the first flexible bearing 16 thereon form a first wave generator, the first steel wheel 9 is fixedly connected with the first bearing inner ring 23 through a certain number of first connecting pieces 19, and the first flexible wheel 20 is fixedly connected with the first bearing outer ring 7 through a certain number of third connecting pieces 33. Due to the structural characteristics of the first flexible gear 20, the first speed reducer can realize a speed reduction function, that is, when the input part 12 and the input shaft 13 drive the first wave generator to rotate, the first flexible gear 20 and the first steel gear 9 are meshed at a meshing part, so that a speed reduction effect can be generated.

As shown in fig. 3 and 4, the second speed reducer is implemented on the basis of the output of the first speed reducer, and the second steel wheel 4 of the second speed reducer is reliably and fixedly connected with the first bearing outer ring 7 through a certain number of second connecting pieces 22. Meanwhile, the second steel wheel 4 is fixedly connected with the second bearing outer ring 3 through a certain number of second fasteners 34. In order to realize the fixed connection of the second steel wheel 4 with the first bearing outer ring 7 and the second bearing outer ring 3, the second steel wheel 4 is provided with threaded holes 72 which are matched with the second connecting pieces 22 in number and a counter bore 71 which is used for avoiding the third connecting piece 33, so that the fixed connection of the output of the first speed reducer and the second steel wheel 4 of the second speed reducer is realized. The second flexible gear 5 of the second speed reducer is fixedly connected with the second bearing inner ring 1 through a certain number of first fasteners 30, and the positioning between the second flexible gear 5 and the second bearing inner ring 1 can be realized through matched convex-concave combination. It should be noted that the second wave generator 32 of the second reducer comprises a second cam and a second flexible bearing 26, and during the rotation of the second cam, the second flexible gear 5 and the second steel gear 4 are engaged at the engagement position, so as to achieve the speed reduction effect.

In order to realize the speed change, the movement of the first cam and the second cam are independent of each other, and it is also necessary to ensure that the movement of the second cam can be transmitted from the outside. By the input shaft 13 and other structures. The input shaft 13 is coupled to the input portion 12 and the first cam through a first flexible bearing 16 mounted thereon to rotate independently of each other. The other end of the input shaft 13 is engaged with the second cam by a concavo-convex structure. Furthermore, the end positioning and the fixed connection can be performed by a certain number of fixing screws 31, so that the movement of the input shaft 13 is transmitted to the second cam, and a supporting point is added for the first flexible bearing 16.

In order to ensure that the first reducer input can withstand a certain radial force when it is rotating, a support bearing 18 is mounted between the input 12 and the first steel wheel 9, thus forming a double support structure with the first flexible bearing 16.

Further, in order to ensure that the entire reduction gear is restricted in axial transmission, the outer race of the support bearing 18 is first fixed in the axial direction by the end cap 10, and the second positioning portion 17 is mounted on the first cam so that the movement of the inner race of the support bearing 18 in the axial direction is restricted. Meanwhile, the first positioning part 14 is arranged between the input shaft 13 and the first flexible bearing 16, so that the input shaft 13, the input part 12 and the first cam are limited in the axial direction, and the first damper can be prevented from moving in the axial direction by the cooperation of the first positioning part 14 and the second positioning part 17.

Further, for the first cam, the first flexible bearing 16, the first flexible gear 20, the first steel gear 9, the first bearing outer ring 7, the first bearing inner ring 23, the input shaft 13, the input portion 12, the support bearing 18, the end cover 10, the second flexible gear 5, the second steel gear 4, the second cam, the second flexible bearing 26, the second bearing outer ring 3, and the second bearing inner ring 1, in order to achieve good sealing performance, O-rings are added to all contact portions which are attached without moving, for example, (the first sealing member 21, the second sealing member 24, the third sealing member 25, and the fourth sealing member 27), and sealing ring seals (for example, the first sealing ring 11 and the second sealing ring 28) are added to the positions where rotation occurs.

In a specific embodiment, the reduction gear comprises an input shaft 13, a first reduction gear, an input part 12, a second reduction gear and an output part, wherein the first reduction gear is sleeved on the input shaft 13, and the first reduction gear comprises a first output end. The input portion 12 is provided on the first reduction gear. The second reduction gear is sleeved on the input shaft 13, the second reduction gear is positioned on one side of the first reduction gear, which deviates from the input part 12, the second reduction gear comprises a second output end, and the first output end avoids the second output end to be arranged on the second reduction gear. The output portion is disposed on the second output terminal.

Further, the first speed reducer comprises a first wave generator, a first steel wheel 9 and a first flexible wheel 20, wherein the first wave generator is sleeved on the input shaft 13, and the input part 12 is arranged on the first wave generator. The first steel wheel 9 is sleeved on the outer side of the first wave generator. A first end of the first flexspline 20 is arranged between the first steel spline 9 and the first wave generator, wherein the first output comprises a second end of the first flexspline 20. Further, the first wave generator includes a first cam fitted over the input shaft 13 and the input portion 12 provided on the first cam, and a first flexible bearing 16. A first compliant bearing 16 is provided between the input shaft 13 and the first cam.

Further, the second decelerator includes a second wave generator 32, a second steel gear 4, and a second flexible gear 5. The second wave generator 32 is fitted over the input shaft 13. The second steel wheel 4 is sleeved on the outer side of the first wave generator, and the second steel wheel 4 is connected with the first speed reducer. The first end of the second flexible gear 5 is arranged between the second steel gear 4 and the second wave generator 32, and the second end of the second flexible gear 5 is provided with an output part. Further, the second wave generator 32 includes a second cam and a second flexible bearing 26, the second cam being fitted over the input shaft 13. A second compliant bearing 26 is provided between the second cam and the second compliant gear 5.

Note that the smart device includes a vehicle, a robot, and the like.

In the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A reduction gear, comprising:

an input shaft;

the first speed reducer is sleeved on the input shaft and comprises a first output end;

an input portion provided on the first reduction gear;

the second speed reducer is sleeved on the input shaft and is positioned on one side of the first speed reducer, which is far away from the input part, the second speed reducer comprises a second output end, and the first output end is arranged on the second speed reducer in a way of avoiding the second output end;

an output portion disposed on the second output terminal.

2. The reduction apparatus according to claim 1, wherein the first reduction gear includes:

the first wave generator is sleeved on the input shaft, and the input part is arranged on the first wave generator;

the first steel wheel is sleeved on the outer side of the first wave generator;

a first flexible gear, a first end of the first flexible gear being disposed between the first steel gear and the first wave generator,

the first output end comprises a second end of the first flexible gear.

3. Deceleration device according to claim 2, characterized in that said first wave generator comprises:

the first cam is sleeved on the input shaft, and the input part is arranged on the first cam;

a first compliant bearing disposed between the input shaft and the first cam.

4. The reduction gear unit according to claim 3, characterized by further comprising:

an end cap including an opening through which a portion of the input shaft and a portion of the input portion protrude away from the second reducer.

5. The reduction gear unit according to claim 4, characterized by further comprising:

a support bearing disposed between the input and the first steel wheel.

6. The reduction gear unit according to claim 5, characterized by further comprising:

the first bearing inner ring is connected with the first steel wheel;

the first bearing outer ring is sleeved outside the first bearing inner ring and is respectively connected with the first flexible gear and the second speed reducer;

and the first roller is arranged between the first bearing inner ring and the first bearing outer ring.

7. The reduction gear unit according to claim 6, characterized by further comprising:

a first positioning portion provided between the input shaft and the first flexible bearing; and/or

A second positioning portion disposed between the support bearing and the input portion.

8. The reduction gear unit according to claim 6, characterized by further comprising:

the first connecting piece is respectively connected with the first steel wheel and the first bearing inner ring;

and the second connecting piece is respectively connected with the first bearing outer ring and the second speed reducer.

9. The reduction gear unit according to claim 1, characterized by further comprising:

the first limiting part is arranged on the input shaft;

and the second limiting part is arranged on the input part.

10. The reduction apparatus according to any one of claims 1 to 9, characterized in that the second reduction gear includes:

the second wave generator is sleeved on the input shaft;

the second steel wheel is sleeved on the outer side of the second wave generator and is connected with the first speed reducer;

the first end of the second flexible gear is arranged between the second steel gear and the second wave generator, and the second end of the second flexible gear is provided with the output part.

11. Deceleration device according to claim 10, wherein said second wave generator comprises:

the second cam is sleeved on the input shaft;

and the second flexible bearing is arranged between the second cam and the second flexible gear.

12. The reduction gear unit according to claim 10, characterized by further comprising:

the second steel wheel is arranged on the second bearing outer ring;

the second bearing inner ring is arranged on the inner side of the second bearing outer ring and connected with the second end of the second flexible gear;

the second roller is arranged between the second bearing inner ring and the second bearing outer ring;

wherein the output portion includes the second bearing inner race.

13. The reduction gear unit according to claim 12, characterized by further comprising:

the first fastener is respectively connected with the second flexible gear and the second bearing inner ring;

and the second fastener is respectively connected with the second steel wheel and the second bearing outer ring.

14. The reduction gear unit according to claim 12, characterized by further comprising:

and the mounting opening is formed in one side, deviating from the first speed reducer, of the second bearing inner ring.

15. A smart device, comprising: a decelerator fitting as claimed in any one of claims 1 to 14.