CN108612810A - A kind of driving device and its deceleration mechanism - Google Patents

Abstract

The present invention relates to driving device and its deceleration mechanism, which includes shell, input gear, the first drive gear units, the second drive gear units, output gear and force component；Output gear includes several tooth sockets, and each tooth socket includes first side and the opposite second side of first side；First drive gear units include the first tooth engaged with input gear and the second tooth engaged with output gear, and the second drive gear units include the third tooth engaged with input gear and the 4th tooth engaged with output gear；Force component is connect with the first drive gear units and/or the second drive gear units, one pretightning force is provided between each gear, so that the second tooth is in contact with the holding of the first side for the tooth socket being engaged with, 4th tooth is in contact with the holding of the second side for the tooth socket being engaged with, so that the back clearance between each gear is zero, and then improve the transmission stability and transmission accuracy of the deceleration mechanism.

Description

A driving device and a reduction mechanism thereof

technical field

The present invention relates to the technical field of deceleration driving, and more specifically, relates to a driving device and a deceleration mechanism thereof.

Background technique

The reduction mechanism is generally used for low-speed and high-torque transmission equipment, which usually uses gear transmission, which can use the power of the electric motor, internal combustion engine or other high-speed operation through the small gear on the input shaft of the reduction mechanism to mesh with the large gear on the output shaft. For the purpose of deceleration, when there is a meshing gap due to the cooperation and wear between the gears and the gears, which will affect the stability and transmission accuracy of the gear transmission, it is difficult for the existing deceleration mechanism to achieve zero backlash. Backlash, time cost and production cost are relatively high. The driving device formed by connecting the reduction mechanism with a power mechanism such as an electric motor or an internal combustion engine has poor transmission stability, low transmission precision, and is prone to noise.

Contents of the invention

The technical problem to be solved by the present invention is to provide an improved speed reduction mechanism;

The technical problem to be solved by the present invention is to provide an improved driving device.

The technical solution adopted by the present invention to solve the technical problem is to construct a speed reduction mechanism, including a housing, and an input gear, a first transmission gear unit, a second transmission gear unit, an output gear and an input gear arranged in the housing. Force component;

The output gear includes a number of tooth slots, each tooth slot includes a first side and a second side opposite the first side;

The first transmission gear unit is disposed between the input gear and the output gear; the first transmission gear unit includes first teeth and second teeth; the first teeth mesh with the input gear, and the said second tooth meshes with said output gear;

The second transmission gear unit is disposed between the input gear and the output gear, the second transmission gear unit includes third teeth and fourth teeth; the third teeth mesh with the input gear, the The fourth tooth meshes with the output gear;

The force applying component provides a preload for the input gear, the first transmission gear unit, the second transmission gear unit, and the output gear, so that the second tooth engages with the first side surface of the tooth groove Maintaining contact, said fourth tooth remains in contact with said second side of the gullet with which it meshes.

Preferably, the first transmission gear unit includes a first transmission gear combination meshing with the input gear; the first transmission gear combination is axially movable and arranged in the housing; the first transmission gear combination It includes a first gear, the input gear includes a first helical gear, and the first gear meshes with a second helical gear; the force applying component is combined with the first transmission gear, and Apply an axial force to the first transmission gear combination, the first helical gear and the second helical gear convert the axial force into a rotational force, drive the input gear, the first transmission gear unit, the second transmission The pressure between the gear unit and the output gear after the output gear is rotated in place forms the pre-tightening force.

Preferably, the force application assembly includes an elastic member arranged on the first gear to apply pressure to drive the first transmission gear combination to move axially, and a bearing to fix the elastic member; one end of the elastic member It is in contact with the first gear, and the other end is set in the bearing to generate an axial force, and the helical teeth of the first gear convert the rotational force to drive the input gear to rotate, so that the second The tooth is in contact with the first side of the slot with which it engages, and the fourth tooth is in contact with the second side of the slot with which it engages.

Preferably, the first transmission gear combination further includes a second gear; the second gear is arranged at one end of the first gear and fixedly connected with the first gear;

The second transmission gear unit includes a second transmission gear combination meshing with the input gear; the second transmission gear combination includes a third gear and a fourth gear, and the fourth gear is arranged on the first One end of the three gears is fixedly connected to the first gear;

The third gear includes a third helical gear meshing with the first helical gear.

Preferably, the first gear meshes with the input gear, and the second gear meshes with the output gear; the teeth on the first gear are the first teeth, and the teeth on the second gear is the second tooth; the tooth on the third gear is the third tooth, and the tooth on the fourth gear is the fourth tooth.

Preferably, the first transmission gear unit further includes at least one other first transmission gear combination; the at least one other first transmission gear combination is arranged between the first transmission gear combination meshing with the input gear and the between the output gears;

The teeth on the first gear of the first transmission gear combination adjacent to the input gear are the first teeth; the second gear of the first transmission gear combination adjacent to the output gear The tooth on is said second tooth;

The second transmission gear unit further includes at least one other second transmission gear combination; the at least one other second transmission gear combination is arranged between the second transmission gear combination meshing with the input gear and the output gear The teeth on the third gear of the second transmission gear combination adjacent to the input gear are the third teeth; the fourth teeth of the second transmission gear combination adjacent to the output gear The tooth on the gear is said fourth tooth.

Preferably, said output gear comprises a first spur gear, said second gear and said third gear each comprise a second spur gear meshing with said output gear;

The diameter of the input gear is smaller than the diameter of the first gear and the third gear, the diameter of the second gear and the fourth gear is smaller than the diameter of the first gear and the third gear; the output gear The diameter is larger than the diameter of the second gear and the fourth gear.

Preferably, the housing includes a base and an end cover covering the base; there is a housing space between the base and the end cover; the motor is arranged at one end of the base and its output shaft is driven from the The base penetrates into the accommodating space; the other end of the elastic member is in contact with the end cover.

Preferably, the axes of the first transmission gear combination and the second transmission gear combination are respectively arranged parallel to the axis of the input gear; the axis of the input gear is arranged parallel to the axis of the output gear; the first transmission The gear combination and the second transmission gear combination are respectively arranged on two opposite sides of the line connecting the axis of the input gear and the axis of the output gear;

The base is provided with a first fixed shaft, a second fixed shaft and a third fixed shaft extending toward the accommodation space and arranged parallel to each other; the output gear is fixed on the first fixed shaft;

The output gear is sleeved on the first fixed shaft;

The first transmission gear assembly is sleeved on the second fixed shaft;

The second transmission gear assembly is sleeved on the third fixed shaft;

The end cover is provided with a through hole through which the first fixed shaft passes.

The present invention also provides a driving device, which includes a motor and the reduction mechanism described in the present invention, the motor is arranged at one end of the casing and its output shaft extends from the casing, and the input gear is sleeved on the the periphery of the output shaft.

Implementing the driving device of the present invention and its deceleration mechanism has the following beneficial effects: the deceleration mechanism meshes the first tooth of the first transmission gear unit with the input gear, and the second tooth meshes with the output gear; The third tooth of the transmission gear unit meshes with the input gear, and the fourth tooth meshes with the output gear; and by connecting the force applying component with the first transmission gear unit and/or the second transmission gear unit, the input The gear, the first transmission gear unit, the second transmission gear unit, and the output gear provide a preload, so that the second tooth keeps in contact with the first side of the tooth groove that is engaged with it, and the fourth tooth is in contact with the tooth groove that is engaged with it. The second side of the tooth groove is kept in contact, so that the backlash between the input gear, the first transmission gear unit, the second transmission gear unit and the output gear is zero, thereby improving the transmission stability and transmission accuracy of the reduction mechanism Spend.

The drive device can decelerate the motor by connecting the input gear of the reduction mechanism of the present invention with the motor, and has the advantages of strong transmission stability and high transmission precision.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is a schematic structural view of the first embodiment of the driving device and its deceleration mechanism of the present invention;

Fig. 2 is a partial structural schematic diagram of the first embodiment of the drive device and its deceleration mechanism of the present invention;

Fig. 3 is a structural schematic diagram of the deceleration mechanism of the first embodiment of the drive device and its deceleration mechanism of the present invention;

4 is a schematic view of the structure of the end cover of the first embodiment of the drive device and its deceleration mechanism of the present invention;

Fig. 5 is a structural schematic diagram of the deceleration mechanism of the second embodiment of the driving device and its deceleration mechanism of the present invention.

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

1 to 4 show the first preferred embodiment of the reduction mechanism of the present invention.

The deceleration mechanism can be used in low-speed high-torque transmission equipment, which can reduce the output of electric motors, internal combustion engines or other high-speed running power, and has the characteristics of simple structure, low manufacturing cost, strong transmission stability, and high transmission precision.

As shown in Figures 1 to 4, the reduction mechanism includes a housing 11, and an input gear 13, a first transmission gear unit, a second transmission gear unit, an output gear 14, and a force application assembly disposed in the housing 11; The housing 11 can be used to install the input gear 13, the first transmission gear unit, the second transmission gear unit, the output gear 14 and the force application assembly; the input gear 13 can be sleeved on the periphery of the output shaft of the motor 12, by the The rotation of the motor 12 drives the rotation. One end of the first transmission gear unit meshes with the input gear, and the other end meshes with the output gear 14, so that the input gear 13 drives the transmission, and then drives the output gear 14 to rotate; the first transmission gear unit and the second transmission gear unit The gear units are respectively arranged on both sides of the line connecting the input gear and the output gear; one end of the second transmission gear unit meshes with the input gear, and the other end meshes with the output gear 14, so that the input gear 13 drives the transmission, and then Drive this output gear 14 to rotate. The output gear 14 is driven to rotate by the first transmission gear unit or the second transmission gear unit, thereby realizing deceleration output. The axes of the first transmission gear combination 15a and the second transmission gear combination 16a are arranged parallel to the axis of the input gear 13, the axis of the input gear 13 is parallel to the axis of the output gear 14, and the first transmission gear combination Combinations with the second transmission gear are respectively arranged on two opposite sides of the line connecting the axis of the input gear 13 and the axis of the output gear 14 . The force applying component is connected with the first transmission gear unit and/or the second transmission gear unit, in this embodiment, it is connected with the first transmission gear unit; it can be the input gear 13, the first transmission gear The unit, the second transmission gear unit, and the output gear 14 provide a pretightening force, so that the backlash of the input gear 13, the first transmission gear unit, the second transmission gear unit, and the output gear 14 is zero.

As shown in FIGS. 2 and 4 , the housing 11 includes a base 111 and an end cover 112 ; a receiving space can be formed between the base 111 and the end 112 . The base 111 can be connected with the motor 12 , the motor 12 can be arranged at one end of the base 111 and its output shaft can pass from the base 11 into the receiving space formed between the base 11 and the end 112 . The end cover 112 can cover the base 111 and has a through hole thereon for the fixed shaft of the input gear to pass through.

Further, the base 111 is provided with a first fixed shaft 1111, a second fixed shaft 1112 and a third fixed shaft 1113; the first fixed shaft 1111, the second fixed shaft 1112 and the third fixed shaft 1113 extend toward the receiving space and parallel to each other, the first fixed shaft 1111 is detachably connected to the base 111, which can pass through the hole on the base 111, the output gear 14 is sleeved on the first fixed shaft 1111, the first fixed The shaft 1111 can be rotated by the output gear 14 . The second fixed shaft 1112 can be fixedly installed on the base 111, and can also be detachably connected with the base 111. The number of the second fixed shaft 1112 is not limited, and it can be one or multiple; the first The transmission gear assembly is sheathed on the second fixed shaft 1112 and can rotate on the second fixed shaft 1112 . The third fixed shaft 1113 can be fixedly installed on the base 111, and can also be detachably connected with the base 111, the number of the third fixed shaft 1113 is not limited, it can be one or multiple; the second The transmission gear assembly is sheathed on the third fixed shaft 1113 and can rotate on the third fixed shaft 1113 .

As shown in FIG. 2 and FIG. 3 , the input gear 13 is sheathed on the periphery of the output shaft of the motor 12 , and in this embodiment, it can be a first helical gear. It can be rotated by the motor 12 to drive the rotation, which is equivalent to the speed of the motor 12, so as to transmit the speed of the motor 12 to the first transmission gear unit and the second transmission gear unit.

The size of the output gear 14 is larger than the size of the input gear 13, so the output speed is less than the output speed of the motor 12, and it can be driven to rotate by the first transmission gear unit or the second transmission gear unit, and can also drive the output gear. The second transmission gear unit or the first transmission gear unit rotates. When the motor 12 rotates, the input gear 13 rotates, and then drives the first transmission gear unit to rotate, thereby driving the output gear 14 to rotate, and finally drives the second transmission gear unit. The transmission gear unit rotates. Or, when the motor 12 rotates, the input gear 13 rotates, and then drives the second transmission gear unit to rotate, thereby drives the output gear 14 to rotate, and finally drives the first transmission gear unit to rotate. In this embodiment, the output gear 14 is a first spur gear, which includes several tooth slots, each tooth slot includes a first side and a second side opposite to the first side.

In this embodiment, the first transmission gear unit is arranged between the input gear 13 and the output gear 14, it can be used for transmission, and it includes a first tooth and a second tooth; the first tooth can be connected with the input gear meshing, the second tooth can be meshed with the output gear, and it can keep in contact with the first side of the tooth groove meshed with it, so that the second tooth can stably drive the output gear to rotate.

This second transmission gear unit is arranged between this input gear 13 and this output gear 14, and it can be used for transmission, and it comprises the 3rd tooth and the 4th tooth, and this 3rd tooth meshes with this input gear 13, and this 4th tooth It is meshed with the output gear 14, and the fourth tooth is kept in contact with the second side of the tooth groove meshed with it, so that the fourth tooth can be stably rotated by the output gear.

Specifically, the first transmission gear unit includes a first transmission gear combination 15a meshing with the input gear 13; of course, it can be understood that in some other embodiments, it may also include a plurality of first transmission gear combinations. The first transmission gear assembly 15 a is located between the input gear 13 and the output gear 14 , and meshes with the input gear 13 and the output gear 14 respectively. The force applying component is connected with the first transmission gear combination 15a; it can provide a preload for the input gear 13, the first transmission gear unit, the second transmission gear unit, and the output gear 14, so that the second tooth and the The first side of the tooth groove meshed with it is kept in contact, and the fourth tooth is kept in contact with the fourth side of the tooth groove meshed with it, so that the input gear 13, the first transmission gear unit, the second transmission gear unit, The output gear 14 has zero backlash.

Further, the first transmission gear combination 15 a includes a first gear 151 and a second gear 152 . The size of the first gear 151 is larger than that of the input gear 13 . Specifically, its diameter is larger than that of the input gear 13, so as to achieve a first-stage reduction. The first gear may be a second helical gear meshing with the first helical gear. The size of the second gear 152 is smaller than the size of the first gear 151; specifically, its diameter is smaller than the diameter of the first gear 151, and smaller than the diameter of the output gear 14, which is arranged at one end of the first gear 151 and The first gear 151 is fixedly connected and meshed with the output gear 14 , which can be driven by the rotation of the first gear 151 , and then drive the output gear 14 to rotate, thereby realizing two-stage reduction. In this embodiment, the second gear 152 is a second spur gear meshing with the output gear 14 . In this embodiment, the teeth on the first gear 151 are first teeth, and the teeth on the second gear 152 are second teeth. The first force application component is connected with the first gear 151, of course, it can also be connected with the second gear 152, and it can apply an axial force to the first transmission gear combination 15a, and the axial force can be controlled by the second gear. A helical gear and the second helical gear are converted into rotational force, thereby driving the input gear 13, the first transmission gear unit, the second transmission gear unit, and the output gear 14 to rotate, the input gear 13, the first transmission gear unit, the second transmission gear unit After the two transmission gear units and the output gear 14 are rotated in place, the pressure between them forms a pre-tightening force, thereby keeping the second tooth in contact with the first side of the tooth groove meshed with it, and the fourth tooth meshed with it The second side of the alveolar is in contact.

In this embodiment, the second transmission gear unit includes a second transmission gear combination 16a meshing with the input gear 13; of course, it can be understood that in some other embodiments, it may also include a plurality of second transmission gears Gear combination 16a. The second transmission gear assembly 16 a is located between the input gear 13 and the output gear 14 , and meshes with the input gear 13 and the output gear 14 respectively. In some other embodiments, the force application component is connected with the second transmission gear assembly 16a; it can provide a preload for the input gear 13, the first transmission gear unit, the second transmission gear unit, and the output gear 14, The second tooth is kept in contact with the first side of the tooth groove meshed with it, and the fourth tooth is kept in contact with the fourth side of the tooth groove meshed with it, so that the input gear 13, the first transmission gear unit , The backlash of the second transmission gear unit and the output gear 14 is zero.

Further, the second transmission gear combination 16a includes a third gear 161 and a fourth gear 162 . The size of the third gear 161 is larger than that of the input gear 13 . Specifically, its diameter is larger than that of the input gear 13, so as to achieve a first-stage reduction. The first gear may be a third helical gear meshing with the first helical gear. The size of the fourth gear 162 is smaller than the size of the third gear 161; specifically, its diameter is smaller than the diameter of the third gear 161, and smaller than the diameter of the output gear 14, which is arranged at one end of the third gear 161 and The third gear 161 is fixedly connected and meshed with the output gear 14 , which can be driven by the rotation of the third gear 161 , and then drives the output gear 14 to rotate, thereby realizing two-stage reduction. In this embodiment, the fourth gear 162 is a second spur gear meshing with the output gear 14 . In this embodiment, the teeth on the third gear 161 are third teeth, and the teeth on the fourth gear 162 are fourth teeth. In some other embodiments, the first force application component is connected with the third gear 161, of course, it can also be connected with the fourth gear 162, which can apply an axial force to the second transmission gear combination 16a, the The axial force can be converted into rotational force by the first helical gear and the third helical gear, thereby driving the input gear 13, the first transmission gear unit, the second transmission gear unit, and the output gear 14 to rotate. After the first transmission gear unit, the second transmission gear unit, and the output gear 14 rotate in place, the pressure between them forms a pre-tightening force, thereby keeping the second tooth in contact with the first side of the tooth groove meshed with it. Four teeth are in contact with the second side of the tooth slot with which they mesh.

In this embodiment, the force application assembly includes an elastic member 17 and a bearing 18 for fixing the elastic member 17 . The elastic member 17 is disposed on the first gear 151, specifically, it is sleeved on the second fixed shaft 112, and is located at an end away from the second gear 152, and it can apply pressure to the first gear 151, To drive the first transmission gear assembly 15a to move axially. The bearing 18 is sleeved on the end of the second fixed shaft 112 away from the first gear 151, and is driven by the rotation of the first gear 151. It can be used to fix the elastic member 17 so that one end of the elastic member 17 is connected to the first gear 151. The gears 151 are in contact, and the other end is provided with the bearing 18, thereby generating an axial force, which is converted into a rotational force by the helical teeth of the first gear 151, and drives the input gear 13 to rotate, so that the second teeth mesh with the The first side of the tooth slot is in contact, and the fourth tooth is in contact with the second side of the tooth slot with which it meshes, so that the input gear 13, the first transmission gear combination, the second transmission gear combination and the output gear 14 The gap between them is zero. In addition, by driving the first transmission gear assembly 15a to move axially, the teeth of the first gear 151 move up and down in the tooth grooves on the input gear 13, thereby reducing the gap between the gears. wear; in this embodiment, preferably, the bearing 18 is a pusher bearing.

In some other embodiments, the force applying component is not limited to the elastic member, it can be a worm, which can rotate so that the first gear 151 can move up and down on the second fixed shaft 112, thereby driving the input gear 13 turns.

Fig. 5 shows the second preferred embodiment of the reduction mechanism of the present invention, which is different from the first embodiment in that the first transmission gear unit also includes at least one other first transmission gear combination 15, thereby realizing multiple Step speed transmission. In this embodiment, it also includes two first transfer gear combinations 15b, 15c. The two first transmission gear sets 15 b , 15 c are arranged between the first transmission gear set 15 a meshing with the input gear 13 and the output gear 14 . The second gear 152 of the first transmission gear combination 15a meshing with the input gear 13 is meshing with the first gear 152 of the first transmission gear combination 15b adjacent to it, and the first gear may be a spur gear. The first pinion arranged adjacent to the output gear 14 meshes with the output gear 14; the first gear positioned between the first gear 151 meshing with the input gear 13 and the second gear meshing with the output gear 14 The gears are respectively meshed with the adjacent second gears to form a multi-stage transmission. In this embodiment, the teeth on the first gear 151 of the first transmission gear combination 15a adjacent to the input gear 13 are the first teeth, and the teeth on the first transmission gear combination 15c adjacent to the output gear 14 are The teeth on the second gear are second teeth.

The second transmission gear unit also includes at least one other second transmission gear combination 16a, so as to realize multi-stage transmission. In this embodiment, it also includes two second transmission gear combinations 16b, 16c. The two second transmission gear sets 16 b , 16 c are arranged between the second transmission gear set 16 a meshing with the input gear 13 and the output gear 14 . The fourth gear 162 of the second transmission gear combination 16 a meshing with the input gear 13 meshes with the third gear of the second transmission gear combination adjacent to it, and the third gear may be a spur gear. The third gear located between the third gear 161 meshing with the input gear 13 and the fourth gear meshing with the output gear 14 respectively meshes with the adjacent fourth gear to form a multi-stage transmission. In this embodiment, the teeth on the third gear 161 of the second transmission gear combination 16a adjacent to the input gear 13 are the first teeth, and the teeth on the second transmission gear combination 16c adjacent to the output gear 14 are The tooth on the fourth gear is the second tooth.

1 to 4 show a preferred embodiment of the drive device according to the invention. The driving device can be used for deceleration driving, and its output speed is lower than that of the motor, and has the advantages of strong transmission stability and high transmission precision.

As shown in Figures 1 to 4, the drive device includes a motor 12 and a speed reduction mechanism of the present invention, the motor 12 is arranged at one end of the casing 11 and its output shaft extends from the casing 11, specifically, it is arranged at One end of the base 111 , and its output shaft penetrates into the receiving space from the base 111 , and the input gear 13 is sheathed on the periphery of the output shaft and is driven to rotate by it. The deceleration mechanism has been described above, and will not be repeated here.

It can be understood that the above examples only express the preferred implementation of the present invention, and its description is relatively specific and detailed, but it should not be interpreted as limiting the patent scope of the present invention; it should be pointed out that for those of ordinary skill in the art In other words, on the premise of not departing from the concept of the present invention, the above-mentioned technical features can be freely combined, and some modifications and improvements can also be made, all of which belong to the protection scope of the present invention; All equivalent transformations and modifications should fall within the scope of the claims of the present invention.

Claims (10)

1. a kind of deceleration mechanism, which is characterized in that including shell (11), and input gear of the setting in the shell (11) (13), the first drive gear units, the second drive gear units, output gear (14) and force component；

The output gear (14) includes several tooth sockets, each tooth socket include first side and the first side it is opposite second Side；

First drive gear units are arranged between the input gear (13) and the output gear (14)；Described first Drive gear units include the first tooth and the second tooth；First tooth is engaged with the input gear (13), second tooth with Output gear (14) engagement；

Second drive gear units are arranged between the input gear (13) and the output gear (14), and described second Drive gear units include third tooth and the 4th tooth；The third tooth is engaged with the input gear (13), the 4th tooth with Output gear (14) engagement；

The force component is the input gear (13), the first drive gear units, the second drive gear units, output gear (14) pretightning force is provided so that second tooth is in contact with the holding of the first side for the tooth socket being engaged with, institute The 4th tooth is stated to be in contact with the holding of the second side for the tooth socket being engaged with.

2. deceleration mechanism according to claim 1, which is characterized in that the first drive gear units include one with it is described defeated Enter the first transmission gear combination (15a) of gear (13) engagement；The first transmission gear combination (15a), which can axially move, to be set It sets in the shell (11)；The first transmission gear combination (15a) includes first gear (151), the input gear (13) include the first helical gear, the second helical gear that the first gear (151) is engaged with first helical gear；The force Component combines (15a) connection with first transmission gear, and applies axial force, institute to first transmission gear combination (15) It states the first helical gear and second helical gear and the axial force is converted into rotatory force, driving input gear (13), first pass Moving teeth wheel unit, the second drive gear units, output gear (14) rotate in place described in the pressure initiation between backgear and pre-tighten Power.

3. deceleration mechanism according to claim 2, which is characterized in that the force component includes being arranged in first tooth To apply the elastic component (17) that pressure drives the first transmission gear combination (15a) to be axially moveable, Yi Jigu on wheel (151) The bearing (18) of the fixed elastic component (17)；Described elastic component (17) one end is in contact with the first gear (151), the other end It is arranged in the bearing (18), to generate an axial force, rotatory force, band is converted by the helical teeth of the first gear (151) Dynamic input gear (13) rotation so that second tooth is in contact with the first side for the tooth socket being engaged with, institute The 4th tooth is stated to be in contact with the second side for the tooth socket being engaged with.

4. deceleration mechanism according to claim 3, which is characterized in that it further includes second that the first transmission gear, which combines (15a), Gear (152)；Second gear (152) setting is solid in one end of the first gear (151) and the first gear (151) Fixed connection；

Second drive gear units include one and are combined with second transmission gear of the input gear (13) engagement (16a)；The second transmission gear combination (16a) includes third gear (161) and the 4th gear (162), the 4th tooth Wheel (162) setting is fixedly connected in one end of the third gear (161) with the first gear (151)；

The third gear (161) includes the third helical gear engaged with first helical gear.

5. deceleration mechanism according to claim 4, which is characterized in that the first gear (151) and the input gear (13) it engages, the second gear (152) is engaged with the output gear (14)；Tooth on the first gear (151) is institute The first tooth is stated, the tooth on the second gear (152) is second tooth；Tooth on the third gear (161) is described the Three teeth, the tooth on the 4th gear (162) are the 4th tooth.

6. deceleration mechanism according to claim 4, which is characterized in that first drive gear units further include at least one A another first transmission gear combination (15b or 15c)；At least one another first transmission gear combination (15b or 15c) sets It sets and is combined between (15a) and the output gear (14) in the first transmission gear engaged with the input gear (13)；

It is combined in the first gear (151) of (15a) with the first transmission gear that the input gear (13) is disposed adjacent Tooth is first tooth；Second tooth of (15c) is combined with the first transmission gear that the output gear (14) is disposed adjacent Tooth on wheel is second tooth；

Second drive gear units further include at least one another second transmission gear combination (16b or 16c)；It is described at least One another second transmission gear combination (16b or 16c) is arranged in the second transmission gear engaged with the input gear (13) It combines between (16a) and the output gear (14)；The second transmission gear being disposed adjacent with the input gear (13) combines Tooth on the third gear (161) of (16a) is the third tooth；Second be disposed adjacent with the output gear (14) passes It is the 4th tooth that moving gear, which combines the tooth on the 4th gear of (16c),.

7. deceleration mechanism according to claim 4, which is characterized in that the output gear (14) includes the first spur gear, The second gear (152) and the third gear (161) include the second spur gear engaged with the output gear (14)；

Input gear (13) diameter is less than the diameter of the first gear (151) and the third gear (161), and described the Two gears (152) and the diameter of the 4th gear (162) are less than the first gear (151) and the third gear (161)； The diameter of the output gear (14) is more than the diameter of the second gear (152) and the 4th gear (162).

8. deceleration mechanism according to claim 4, which is characterized in that the shell (11) includes pedestal (111) and lid Close the end cap (112) of the pedestal (111)；Receiving space is formed between the pedestal (111) and the end cap (112)；It is described Motor (12) setting is penetrated from the pedestal (111) to the receiving space in one end of the pedestal (111) and its output shaft In；The other end of the elastic component (17) is in contact with the end cap (112).

9. deceleration mechanism according to claim 8, which is characterized in that the first transmission gear combination (15a) and institute Axis of the axis of the second transmission gear combination (16a) respectively with input gear (13) is stated to be arranged in parallel；The input gear (13) axis and the axis of the output gear (14) are arranged in parallel；First transmission gear combination (15a) and described the The axis for the axis and the output gear (14) that two transmission gears combination (16a) is separately positioned on the input gear (13) connects The two opposite sides of line；

The pedestal (111) is equipped with to be extended and the first fixing axle (1111) arranged in parallel, the towards the receiving space Two fixing axles (1112) and third fixing axle (1113)；The output gear (14) is fixed on first fixing axle (1111) On；

The output gear (14) is set on first fixing axle (1111)；

The first transmission gear combination (15) is set on second fixing axle (1112)；

The second transmission gear combination (16) is set in the third fixing axle；

The end cap (112) is equipped with the via being pierced by for first fixing axle (1111).

10. a kind of driving device, which is characterized in that including the deceleration described in motor (12) and claim 1 to 9 any one Mechanism, the motor (12) setting stretch into setting, the input in shell (11) one end and its output shaft from the shell (11) Gear (13) is set in the periphery of the output shaft.