Micro steel-ball reducer based on crossed roller bearing and center gear integrated structure

The invention provides a micro steel-ball reducer based on a crossed roller bearing and center gear integrated structure. The micro steel-ball reducer comprises a primary flange, a driving shaft, a primary crossed roller bearing, a housing, a first elastic rubber gasket, a first needle roller bearing, an eccentric shaft sleeve, a set screw, a primary wave generator, a primary steel ball, a primaryoscillating tooth carrier, a second needle roller bearing, a primary center gear, a second elastic rubber gasket, a third needle roller bearing, a secondary wave generator, a secondary steel ball, asecondary oscillating tooth carrier, a secondary crossed roller bearing and a secondary flange. The crossed roller bearings adopt integrated structures with sine tracks arranged on the end surfaces ofinner rings to serve as center gears of a secondary transmission system for transmission and to play a supporting role, such that the structural composition of the reducer is simplified; and meanwhile, axial dimensions and rad