Speed reducer for eccentric driving and double-stage planar oscillating tooth gear

The invention relates to a speed reducer for an eccentric driving and double-stage planar oscillating tooth gear. The speed reducer comprises a driving shaft, shock wave devices, oscillating tooth gear frames, central wheels and an output shaft. In a first-stage transmission system, a first-stage central wheel is fixed, the first-stage central wheel and a first-stage shock wave device are connected to the eccentric section of the driving shaft through a first-stage tapered roller bearing, a first-stage steel ball moves in guide grooves of a first-stage oscillating tooth gear frame through thecommon constraint of a rolling path of the first-stage shock wave device and a rolling path of the first-stage central wheel, and power is output by the first-stage oscillating tooth gear frame; and in a second-stage transmission system, a second-stage central wheel is fixed, the output of the first-stage oscillating tooth gear frame is used as the input of the second-stage transmission system, asecond-stage shock wave de