A robot joint closed-loop braking device

Abstract

A robot joint closed-loop braking device relates to the technical field of robot joint braking, comprising a motor body and a coaxial reducer body, and also comprising a mounting seat, a worm wheel, a worm and a power transmission device; the motor body is correspondingly connected to the coaxial reducer body in a transmission manner; the output shaft of the coaxial reducer body is transmission-connected with a worm wheel; the mounting seat is correspondingly and tightly connected to one end of the motor body casing, the mounting seat is rotatably connected to a worm that meshes with the worm wheel, and the reduction ratio of the worm wheel and the worm is consistent with the reduction ratio of the coaxial reducer body, one end of the worm is correspondingly connected to the motor shaft of the motor body through a disconnectable power transmission device, and the transmission ratio between the motor shaft of the motor body, the power transmission device and the worm is 1:1; the present invention effectively solves the problems of poor reliability, high energy consumption and large size of the existing braking system.

Description

Technical Field

[0001] The invention relates to the technical field of robot joint braking, and in particular to a robot joint closed-loop braking device. Background Art

[0002] As is known, with the rapid development of robot technology and the acceleration of social industrialization, robots are gradually involved in human production activities; articulated robotic arms are also an important type of robot, and they play an irreplaceable and important role in multiple engineering and technical fields such as production line assembly, spraying, and cutting; when the robot performs an operation task, the positioning of the mechanical claw at its end is achieved through the joint action of multiple robot joints, so the robot arm joints often need to brake during operation to achieve a certain action, but the current robot joint braking system mostly uses electromagnetic brakes, and the electromagnetic brake system is large in size, resulting in a large load on the robot itself, and the existing electromagnetic brake is generally a braking input end, and electromagnetic force needs to be used in the braking state, resulting in serious heat generation and poor reliability. In the process of the robot arm descending, in order to ensure smooth operation, the motor needs to provide a reverse force, which greatly increases the consumption of electricity. This phenomenon is a problem that technicians in this field need to solve urgently;

[0003] A Chinese patent (publication number: CN210704822U) discloses a brake mechanism, a joint driver and a robot. The patent discloses a brake mechanism for a motor, including a friction member, a brake member, a thrust member and a locking mechanism. When braking is required, the locking mechanism cooperates with the brake member to prevent the brake member from rotating. Under the action of friction, the friction member and the rotor of the motor also gradually stop moving. However, the brake mechanism of the patent has poor reliability and high power consumption. Summary of the invention

[0004] In order to overcome the deficiencies in the background technology, the present invention discloses a robot joint closed-loop braking device.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0006] A robot joint closed-loop braking device comprises a motor body and a coaxial reducer body, and also comprises a mounting seat, a worm wheel, a worm and a power transmission device; the motor body is correspondingly transmission-connected with the coaxial reducer body; the output shaft of the coaxial reducer body is transmission-connected with the worm wheel; the mounting seat is correspondingly fastened to one end of the motor body casing, the mounting seat is rotationally connected with a worm correspondingly meshing with the worm wheel, and the reduction ratio of the worm wheel and the worm is consistent with the reduction ratio of the coaxial reducer body, one end of the worm is correspondingly transmission-connected with the motor shaft of the motor body through a disconnectable power transmission device, and the transmission ratio between the motor shaft, the power transmission device and the worm is 1:1.

[0007] Preferably, the power transmission device includes a gear, an intermediate wheel I, a bridge shaft I and an electromagnetic clutch, and a gear is coaxially provided on the motor shaft. The gear is connected to one end of the bridge shaft I through a corresponding transmission connection via the intermediate wheel I. The intermediate wheel I and the bridge shaft I are both connected to a mounting seat for corresponding rotation. The bridge shaft I is provided with an electromagnetic clutch, and the other end of the bridge shaft I is connected to a corresponding transmission connection with a worm gear.

[0008] Preferably, a bevel gear shaft I is provided between the intermediate wheel I and the bridge shaft I, the shaft body of the bevel gear shaft I is correspondingly rotatably connected to the mounting seat, and the two ends of the bevel gear shaft I are respectively connected to the intermediate wheel I and the bridge shaft I through corresponding meshing transmission connections with bevel teeth, or through corresponding transmission connections through a universal coupling.

[0009] Preferably, the power transmission device includes a pin wheel, an intermediate wheel II and a bridge shaft II, and a pin wheel is coaxially provided on the motor shaft body. The pin wheel is connected to one end of the bridge shaft II through a corresponding transmission connection via the intermediate wheel II, and the tooth groove width of the pin wheel is greater than the tooth thickness of the intermediate wheel II. The intermediate wheel II and the bridge shaft II are both connected to the mounting seat for corresponding rotation, and the other end of the bridge shaft II is connected to the worm for corresponding transmission.

[0010] Preferably, a bevel gear shaft II is provided between the intermediate wheel II and the bridge shaft II, the shaft body of the bevel gear shaft II is rotationally connected to the mounting seat, and the two ends of the bevel gear shaft II are respectively connected to the intermediate wheel II and the bridge shaft II through corresponding meshing transmission connections with bevel teeth, or through corresponding transmission connections through a universal coupling.

[0011] Preferably, the power transmission device includes an intermediate wheel III, a bridge shaft III and an elastic gear whose gear teeth are made of elastomeric plastic. The elastic gear is coaxially provided with the motor shaft body. The elastic gear and one end of the bridge shaft III are correspondingly connected through the intermediate wheel III. The intermediate wheel III and the bridge shaft III are both correspondingly connected to the mounting seat for rotation. The other end of the bridge shaft III is correspondingly connected to the worm for transmission.

[0012] Preferably, a bevel gear shaft III is provided between the intermediate wheel III and the bridge shaft III, the shaft body of the bevel gear shaft III is correspondingly rotatably connected with the mounting seat, and the two ends of the bevel gear shaft III are respectively connected with the intermediate wheel III and the bridge shaft III through corresponding meshing transmission connections with bevel teeth, or through corresponding transmission connections through a universal coupling.

[0013] Preferably, the elastic gear and the intermediate gear III are both made of TPU.

[0014] Preferably, the motor shaft and the input shaft and output shaft of the coaxial reducer body are all hollow shafts.

[0015] Preferably, the mounting seat is located at one end of the motor body away from the coaxial reducer body, and the end of the motor shaft of the motor body away from the coaxial reducer body movably passes through the mounting seat, a transmission shaft is movably inserted in the motor shaft, and both ends of the transmission shaft pass through the motor shaft, one end of the transmission shaft is correspondingly connected to the output end of the coaxial reducer body, and a worm gear is provided at the other end of the transmission shaft.

[0016] Due to the adoption of the above-mentioned technical solution, the present invention has the following beneficial effects:

[0017] The robot joint closed-loop brake device disclosed in the present invention has a simple structure, is easy to assemble, has a low production cost, and has a compact overall structural layout. Compared with traditional motor brakes, the space volume is greatly reduced and the gravity is reduced, thereby effectively improving the carrying capacity of the robot; at the same time, the robot joint closed-loop brake device described in the present invention is a purely mechanical structure, that is, it utilizes the self-locking principle of the worm gear, and does not need to consume electrical energy during braking, which effectively reduces the energy consumption of the robot;

[0018] During normal operation, the motor shaft can drive the coaxial reducer body, so that the power is output by the output shaft of the coaxial reducer body, and the output shaft of the coaxial reducer body can drive the worm wheel to rotate, and at the same time, the motor shaft can drive the worm through the power transmission device, so that the worm wheel and the worm wheel run synchronously. Since the reduction ratio of the worm wheel and the worm wheel corresponds to the reduction ratio of the coaxial reducer body, the worm wheel and the worm wheel do not need to bear loads and do not consume electrical energy. That is, the power of the motor shaft can be transmitted to the worm wheel through the power transmission device, the worm wheel is transmitted to the worm wheel, the worm wheel is transmitted to the coaxial reducer body, and the coaxial reducer body is transmitted to the motor body, thereby forming a closed-loop transmission;

[0019] When braking is needed, the motor body is disconnected from the power supply, the motor body stops driving the coaxial reducer body, and the power transmission device is disconnected at the same time. When the power transmission device is disconnected, the worm loses power and stops rotating, forcing the worm wheel to get stuck, thereby causing the output shaft of the coaxial reducer body to get stuck, thereby achieving the purpose of braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0022] Figure 3 It is a schematic diagram of the first structure of the present invention;

[0023] Figure 4 It is a second structural schematic diagram of the present invention;

[0024] Figure 5This is a schematic diagram of the third structure of the present invention.

[0025] In the figure: 1. Motor body; 2. Coaxial reducer body; 3. Mounting seat; 4. Worm wheel; 5. Worm; 6. Power transmission device; 6-1. Gear; 6-2. Intermediate wheel I; 6-3. Bridge shaft I; 6-4. Electromagnetic clutch; 6-5. Bevel gear shaft I; 6-6. Pin wheel; 6-7. Intermediate wheel II; 6-8. Bridge shaft II; 6-9. Bevel gear shaft II; 6-10. Intermediate wheel III; 6-11. Bridge shaft III; 6-12. Elastic gear; 6-13. Bevel gear shaft III; 7. Transmission shaft; 8. Motor shaft. DETAILED DESCRIPTION

[0026] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0027] Combined with Figure 1 and 2 , a robot joint closed-loop braking device, comprising a motor body 1 and a coaxial reducer body 2, and also comprising a mounting seat 3, a worm wheel 4, a worm 5 and a power transmission device 6; the motor body 1 is correspondingly connected to the coaxial reducer body 2 in a transmission manner, the motor body 1 is a servo motor or a stepping motor, and the coaxial reducer body 2 can be an RV reducer, a planetary reducer or a harmonic reducer; the output shaft of the coaxial reducer body 2 is connected in a transmission manner with a worm wheel 4; the mounting seat 3 is correspondingly and tightly connected to one end of the housing of the motor body 1, and the mounting seat 3 is rotatably connected to a worm 5 that meshes with the worm wheel 4, and the reduction ratio of the worm wheel 4 and the worm 5 is the same as that of the coaxial reducer body 2 The reduction ratios correspond to each other; as required, the motor shaft 8 of the motor body 1 and the input shaft and output shaft of the coaxial reducer body 2 are all hollow shafts, the mounting seat 3 is located at the end of the motor body 1 away from the coaxial reducer body 2, and the end of the motor shaft 8 of the motor body 1 away from the coaxial reducer body 2 movably penetrates the mounting seat 3, a transmission shaft 7 is movably inserted in the motor shaft 8, and both ends of the transmission shaft 7 pass through the motor shaft 8, one end of the transmission shaft 7 is correspondingly connected to the output end of the coaxial reducer body 2, and a worm gear 4 is provided at the other end of the transmission shaft 7, the structure is reasonably compact, can effectively reduce the space volume, reduce the loading amount, thereby effectively improving the carrying capacity of the robot;

[0028] One end of the worm 5 is connected to the motor shaft 8 of the motor body 1 through a disconnectable power transmission device 6, and the transmission ratio between the motor shaft 8, the power transmission device 6 and the worm 5 is 1:1, that is, in normal operation, the motor shaft 8 can drive the coaxial reducer body 2, so that the power is output by the output shaft of the coaxial reducer body 2, and the output shaft of the coaxial reducer body 2 can drive the worm wheel 4 to rotate, and at the same time, the motor shaft 8 can drive the worm 5 through the power transmission device 6, so that the worm wheel 4 and the worm 5 run synchronously. Since the reduction ratio of the worm wheel 4 and the worm 5 corresponds to the reduction ratio of the coaxial reducer body 2, The worm gear 4 and the worm 5 are consistent, so that the worm wheel 4 and the worm 5 do not need to bear load, that is, the power of the motor shaft 8 can be transmitted to the worm 5 through the power transmission device 6, the worm 5 is transmitted to the worm wheel 4, the worm wheel 4 is transmitted to the coaxial reducer body 2, and the coaxial reducer body 2 is transmitted to the motor body 1, thereby forming a closed-loop transmission; when braking is needed, the motor body 1 can be disconnected from the power supply, the motor body 1 stops driving the coaxial reducer body 2, and the power transmission device 6 is disconnected at the same time. When the power transmission device 6 is disconnected, the worm 5 loses power and stops rotating, thereby forcing the worm wheel 4 to get stuck, thereby making the output shaft of the coaxial reducer body 2 get stuck, so as to achieve the purpose of braking.

[0029] Embodiment 1: See attached Figures 1 to 3 ;

[0030] The power transmission device 6 includes a gear 6-1, an intermediate wheel Ⅰ6-2, a bridge shaft Ⅰ6-3 and an electromagnetic clutch 6-4. The motor shaft 8 is provided with a gear 6-1. The gear 6-1 is connected to one end of the bridge shaft Ⅰ6-3 through the intermediate wheel Ⅰ6-2. The intermediate wheel Ⅰ6-2 and the bridge shaft Ⅰ6-3 are both connected to the mounting seat 3 for rotation. The bridge shaft Ⅰ6-3 is provided with an electromagnetic clutch 6-4. The other end of the bridge shaft Ⅰ6-3 is connected to the worm 5 for transmission. That is, in normal operation, the electromagnetic clutch 6-4 is closed, so that the motor shaft 8 can drive the gear 6-1 to drive the intermediate wheel Ⅰ6-2, the intermediate wheel Ⅰ6-2 drives the bridge shaft Ⅰ6-3, and the bridge shaft Ⅰ6-3 drives the worm 5, so that the worm 5 and the worm wheel 4 run synchronously, thereby forming a closed-loop transmission structure. When braking is required, the motor body 1 disconnects the power supply, and the motor body 1 stops driving the coaxial reduction gear. The reducer body 2 is driven by the mechanical arm, and the electromagnetic clutch 6-4 is disconnected at the same time, the worm 5 loses power and stops running, so that the worm wheel 4 is stuck, thereby achieving the purpose of braking; when the output shaft of the coaxial reducer body 2 is affected by the mechanical arm and drives the input shaft of the coaxial reducer body 2 to rotate, and then drives the motor shaft 8 to rotate, since the electromagnetic clutch 6-4 is in a disconnected state, the worm 5 cannot obtain power, and the worm wheel 4 and the worm 5 remain stuck to maintain the purpose of braking; as needed, a bevel gear shaft I6-5 is provided between the intermediate wheel I6-2 and the bridge shaft I6-3, and the shaft body of the bevel gear shaft I6-5 is correspondingly connected to the mounting seat 3 for rotation, and the two ends of the bevel gear shaft I6-5 are respectively connected to the intermediate wheel I6-2 and the bridge shaft I6-3 through corresponding meshing transmission of bevel teeth, or through corresponding transmission connection through a universal coupling, with a compact structure and a reasonable layout.

[0031] Embodiment 2: See attached Figure 1 , 2 and 4;

[0032] The power transmission device 6 comprises a pin wheel 6-6, an intermediate wheel II 6-7 and a bridge shaft II 6-8. The motor shaft 8 is provided with a pin wheel 6-6. The pin wheel 6-6 is connected to one end of the bridge shaft II 6-8 through the intermediate wheel II 6-7. The tooth width of the pin wheel 6-6 is greater than the tooth thickness of the intermediate wheel II 6-7. The intermediate wheel II 6-7 and the bridge shaft II 6-8 are both connected to the mounting seat 3 for rotation. The other end of the bridge shaft II 6-8 is connected to the worm 5 for transmission. That is, During normal operation, the motor shaft 8 can drive the pinwheel 6-6 to drive the intermediate wheel II 6-7, the intermediate wheel II 6-7 drives the bridge shaft II 6-8, and the bridge shaft II 6-8 drives the worm 5, so that the worm 5 and the worm wheel 4 run synchronously, thereby forming a closed-loop transmission structure; when braking is required, the motor body 1 is disconnected from the power supply, the motor body 1 stops driving the coaxial reducer body 2, and stops driving the pinwheel 6-6, so that the worm 5 loses power, and then the worm wheel 4 and the worm 5 are stuck. dead, so as to achieve the purpose of braking; when the output shaft of the coaxial reducer body 2 is affected by the mechanical arm and drives the input shaft of the coaxial reducer body 2 to rotate, and then drives the motor shaft 8 to rotate, since the tooth width of the pinwheel 6-6 is greater than the tooth thickness of the intermediate wheel II 6-7, that is, there is a gap between the teeth of the pinwheel 6-6 and the teeth of the intermediate wheel II 6-7, the pinwheel 6-6 cannot immediately drive the intermediate wheel II 6-7, so that the intermediate wheel II 6-7 cannot immediately drive the worm 5, and then the worm wheel 4 and the worm 5 remain in a stuck state to maintain the purpose of braking; as needed, a bevel gear shaft II 6-9 is provided between the intermediate wheel II 6-7 and the bridge shaft II 6-8, and the shaft body of the bevel gear shaft II 6-9 is correspondingly connected to the mounting seat 3 for rotation, and the two ends of the bevel gear shaft II 6-9 are respectively connected to the intermediate wheel II 6-7 and the bridge shaft II 6-8 through corresponding meshing transmission of conical teeth, or through corresponding transmission connection through a universal coupling, with a compact structure and reasonable layout.

[0033] Embodiment 3: See attached Figure 1 , 2 and 5;

[0034] The power transmission device 6 includes an intermediate wheel III 6-10, a bridge shaft III 6-11 and an elastic gear 6-12 whose gear teeth are made of elastomeric plastic. The motor shaft 8 is provided with an elastic gear 6-12. The elastic gear 6-12 and one end of the bridge shaft III 6-11 are correspondingly connected through the intermediate wheel III 6-10. The intermediate wheel III 6-10 and the bridge shaft III 6-11 are both correspondingly connected to the mounting seat 3 for rotation. The other end of the bridge shaft III 6-11 is correspondingly connected to the worm 5 for transmission. That is, in normal operation, the motor shaft 8 can drive the elastic gear 6-12 to drive the intermediate wheel III 6-10, the intermediate wheel III 6-10 drives the bridge shaft III 6-11, and the bridge shaft III 6-11 drives The worm 5 is made to run synchronously with the worm wheel 4, thereby forming a closed-loop transmission structure; when braking is required, the motor body 1 is disconnected from the power supply, the motor body 1 stops driving the coaxial reducer body 2, and stops driving the elastic gear 6-12, so that the worm 5 loses power, and then the worm wheel 4 and the worm 5 are stuck, so as to achieve the purpose of braking; when the output shaft of the coaxial reducer body 2 is affected by the mechanical arm and drives the input shaft of the coaxial reducer body 2 to rotate, and then drives the motor shaft 8 to rotate, the elastic gear 6-12 will produce elastic deformation at the moment of driving the intermediate wheel III 6-10, so that the intermediate wheel III 6-10 cannot be driven immediately, and the intermediate wheel III 6-10 The worm 5 cannot be driven immediately, thereby keeping the worm wheel 4 and the worm 5 in a stuck state to maintain the purpose of braking; as needed, a bevel gear shaft III6-13 is provided between the intermediate wheel III6-10 and the bridge shaft III6-11, and the shaft body of the bevel gear shaft III6-13 is correspondingly connected to the mounting seat 3 for rotation, and the two ends of the bevel gear shaft III6-13 are respectively connected to the intermediate wheel III6-10 and the bridge shaft III6-11 through corresponding meshing transmission connections with conical teeth, or through corresponding transmission connections through universal joints, with compact structure and reasonable layout; the elastic gear 6-12 and the intermediate wheel III6-10 are both made of TPU, that is, the elasticity of the TPU material itself can be used to make the elastic gear 6-12 produce elastic deformation at the moment of driving the intermediate wheel III6-10, so that the power cannot be immediately transmitted to the intermediate wheel III6-10.

[0035] The parts not described in detail in this invention are prior art.

Claims

1. A robot joint closed-loop braking device, comprising a motor body (1) and a coaxial reducer body (2), characterized in that: The invention also comprises a mounting seat (3), a worm wheel (4), a worm (5) and a power transmission device (6); the motor body (1) is correspondingly connected to the coaxial reducer body (2); the output shaft of the coaxial reducer body (2) is connected to the worm wheel (4); the mounting seat (3) is correspondingly connected to one end of the housing of the motor body (1); the mounting seat (3) is connected to the worm (5) for corresponding meshing transmission with the worm wheel (4); the reduction ratio of the worm wheel (4) and the worm (5) is consistent with the reduction ratio of the coaxial reducer body (2); one end of the worm (5) is connected to the motor shaft (8) of the motor body (1) through the disconnectable power transmission device (6); and the transmission ratio between the motor shaft (8), the power transmission device (6) and the worm (5) is 1:1; The power transmission device (6) comprises a gear (6-1), an intermediate wheel I (6-2), a bridge shaft I (6-3) and an electromagnetic clutch (6-4); the gear (6-1) is coaxially arranged on the shaft body of the motor shaft (8); the gear (6-1) is correspondingly connected to one end of the bridge shaft I (6-3) through the intermediate wheel I (6-2); the intermediate wheel I (6-2) and the bridge shaft I (6-3) are both correspondingly connected to the mounting seat (3); the electromagnetic clutch (6-4) is arranged on the shaft body of the bridge shaft I (6-3); and the other end of the bridge shaft I (6-3) is correspondingly connected to the worm (5); Or the power transmission device (6) comprises a pin wheel (6-6), an intermediate wheel II (6-7) and a bridge shaft II (6-8), the pin wheel (6-6) is coaxially arranged on the shaft body of the motor shaft (8), the pin wheel (6-6) and one end of the bridge shaft II (6-8) are correspondingly connected through the intermediate wheel II (6-7), the tooth width of the pin wheel (6-6) is greater than the tooth thickness of the intermediate wheel II (6-7), the intermediate wheel II (6-7) and the bridge shaft II (6-8) are both correspondingly connected to the mounting seat (3), and the other end of the bridge shaft II (6-8) is correspondingly connected to the worm (5); Or the power transmission device (6) comprises an intermediate wheel III (6-10), a bridge shaft III (6-11) and an elastic gear (6-12) whose gear teeth are made of elastomeric plastic; the motor shaft (8) is coaxially provided with the elastic gear (6-12); one end of the elastic gear (6-12) and the bridge shaft III (6-11) are correspondingly connected in transmission via the intermediate wheel III (6-10); the intermediate wheel III (6-10) and the bridge shaft III (6-11) are both correspondingly connected in rotation with the mounting seat (3); and the other end of the bridge shaft III (6-11) is correspondingly connected in transmission with the worm (5).

2. The robot joint closed-loop braking device according to claim 1, characterized in that: A bevel gear shaft I (6-5) is provided between the intermediate wheel I (6-2) and the bridge shaft I (6-3); the shaft body of the bevel gear shaft I (6-5) is correspondingly rotatably connected to the mounting seat (3); and the two ends of the bevel gear shaft I (6-5) are respectively connected to the intermediate wheel I (6-2) and the bridge shaft I (6-3) by corresponding meshing transmission via bevel teeth, or by corresponding transmission connection via a universal coupling.

3. The robot joint closed-loop braking device according to claim 1, characterized in that: A bevel gear shaft II (6-9) is provided between the intermediate wheel II (6-7) and the bridge shaft II (6-8); the shaft body of the bevel gear shaft II (6-9) is correspondingly rotatably connected to the mounting seat (3); and the two ends of the bevel gear shaft II (6-9) are respectively connected to the intermediate wheel II (6-7) and the bridge shaft II (6-8) through corresponding meshing transmission via bevel teeth, or through corresponding transmission connections via a universal coupling.

4. The robot joint closed-loop braking device according to claim 1, characterized in that: A bevel gear shaft III (6-13) is provided between the intermediate wheel III (6-10) and the bridge shaft III (6-11); the shaft body of the bevel gear shaft III (6-13) is correspondingly rotatably connected to the mounting seat (3); and the two ends of the bevel gear shaft III (6-13) are respectively connected to the intermediate wheel III (6-10) and the bridge shaft III (6-11) by corresponding meshing transmission via bevel teeth, or by corresponding transmission connection via a universal coupling.

5. The robot joint closed-loop braking device according to claim 1, characterized in that: The elastic gear (6-12) and the intermediate wheel III (6-10) are both made of TPU.

6. The robot joint closed-loop braking device according to claim 1, characterized in that: The motor shaft (8) and the input shaft and output shaft of the coaxial reducer body (2) are all hollow shafts.

7. The robot joint closed-loop braking device according to claim 6, characterized in that: The mounting seat (3) is located at one end of the motor body (1) away from the coaxial reducer body (2), and one end of the motor shaft (8) of the motor body (1) away from the coaxial reducer body (2) movably passes through the mounting seat (3), a transmission shaft (7) is movably inserted in the motor shaft (8), and both ends of the transmission shaft (7) pass through the motor shaft (8), one end of the transmission shaft (7) is correspondingly connected to the output end of the coaxial reducer body (2), and the other end of the transmission shaft (7) is provided with a worm gear (4).

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