Gear transmission system, reducer, mechanical arm and robot

Abstract

The present invention relates to the field of automation, and is a gear transmission system, which is arranged between a first target part and a second target part, and is used to drive the first target part to move relative to the second target part; it is characterized in that it includes: a control device, including a first component and a second component, the first component is coupled with the first target part to maintain synchronous movement; the second component is coupled with the second target part to maintain synchronous movement; when the first torque output by the motor is reduced to reduce the movement speed of the first target part relative to the second target part, the first component and the second component are controlled to act together to provide the first target part with a second torque that is opposite to or the same as the first torque, so that the first target is in a decelerated state or remains stationary relative to the second target part, and the gear pairs in the gear group remain in a meshing state, so as to reduce the technical problem of transmission error caused by gear tooth meshing clearance in gear transmission.

Description

Technical Field

[0001] The present invention relates to the field of automation, and in particular to a gear transmission system, a reducer, a mechanical arm and a robot. Background Art

[0002] The repeatability of industrial robots is an important indicator of robot performance. There are many factors that affect the repeatability of robots, including the transmission clearance of the transmission mechanism. When a reducer is used between the manipulator arms of the robot, the deceleration of the reducer is achieved through a gear set. The meshing clearance and backlash of the gears lead to inconsistent transmission at both ends of the manipulator arm. The final execution end is inconsistent with the effect to be achieved by the signal sent. The existing technology often solves this problem by detecting the terminal manipulator arm, ignoring the intermediate transmission and only considering whether the final output is correct. However, this method requires additional detection equipment for terminal detection, which makes the output end larger and is not suitable for smaller places. In some electromagnetic places, the detection device will be interfered with by electromagnetic and light interference, resulting in uncertain errors.

[0003] To address the above issues, no effective solutions have been proposed so far. Summary of the Invention

[0004] In order to reduce the technical problem of transmission error caused by gear tooth meshing clearance in gear transmission, the present invention proposes a gear transmission system, a reducer, a mechanical arm and a robot.

[0005] In a first aspect, the present invention provides a gear transmission system, disposed between a first target member and a second target member, for driving the first target member to move relative to the second target member; comprising:

[0006] a motor, the motor being disposed on the second target element, the motor including an output shaft, and the motor being capable of driving the output shaft to rotate around its own axis;

[0007] A gear set, wherein the input shaft of the gear set is connected to the output shaft of the motor, and the rotation of the output shaft of the motor can drive the input shaft of the gear set to rotate;

[0008] The output shaft of the gear set is connected to the first target part, and the rotation of the output shaft of the gear set can drive the first target part to move;

[0009] The control device includes a first component and a second component, wherein the first component is coupled to the first target part to maintain synchronous movement; the second component is coupled to the second target part to maintain synchronous movement;

[0010] When the first torque output by the motor is reduced to reduce the movement speed of the first target part relative to the second target part, the first component and the second component are controlled to work together to provide the first target part with a second torque that is opposite to or the same as the first torque, so that the first target is in a decelerated state or remains stationary relative to the second target part, and the gear pair in the gear set remains in meshing state.

[0011] Preferably, when the direction of the first torque output by the motor is the same as the rotation direction of the first target part, the direction of the second torque is opposite to the first torque direction; when the direction of the torque output by the motor is opposite to the rotation direction of the first target part, the direction of the second torque is the same as the first torque direction.

[0012] Preferably, the first component is fixedly connected to the first target part, and the second component is fixedly connected to the second target part.

[0013] Preferably, the first component includes a first friction part, and the second component includes a second friction part. The first friction part is arranged on the first target part, and the second friction part is arranged on the second target part. The second friction part and the first friction part are controlled to squeeze each other to generate friction force, and the friction force provides the first target part with the second torque that is the same as or opposite to the first torque.

[0014] Preferably, the first friction member and the second friction member are located between the first target member and the second target member, the first friction member is a friction ring, the center line of the friction ring is coaxially arranged on the first target member with the rotation center line of the first target member, and the second friction member is opposite to the first friction member and movably arranged on the second target member; when the speed of the first target member decreases or becomes stationary relative to the second target member, the second friction member moves toward the friction ring and squeezes the friction ring, and the maximum static friction force generated between the friction ring and the first friction member generates the second torque whose magnitude is not less than the magnitude of the first torque output by the output shaft of the motor.

[0015] Preferably, the first component includes a rotor component, and the second component includes a stator component. The rotor component is arranged on the first target part, the rotation centerline of the rotor component is coaxial with the rotation centerline of the first target part, and the stator component and the rotor component are coaxially arranged relative to each other; when current is input to the stator component, an electromagnetic force is generated between the stator component and the rotor component; the electromagnetic force provides the first target part with a second torque that is the same as or opposite to the first torque.

[0016] In a second aspect, the present invention further provides a reducer comprising the gear transmission system.

[0017] Preferably, the reducer is a harmonic reducer, and the rigid wheel of the harmonic reducer is fixed on the second target part; the harmonic reducer includes a rigid bearing, the rigid bearing sleeve is arranged outside the flexible wheel, the outer ring of the rigid bearing is fixedly connected to the output end of the flexible wheel, and the inner ring of the rigid bearing is fixedly connected to the rigid wheel;

[0018] The first component is fixedly arranged on the end face of the outer ring of the rigid bearing facing the second target part, and the second component is fixedly arranged on the second target part relative to the first component; the motor outputs positive torque and drives the first target part to rotate forward through the harmonic reducer, and the first component and the second component cooperate with each other to generate a reverse torque on the first target part.

[0019] Preferably, the reducer is an RV reducer, the RV reducer comprises a planetary gear carrier and a pinion housing, and the planetary gear carrier is fixedly arranged on the second target part;

[0020] The first component is fixedly arranged on the end face of the pin gear housing facing the second target part, and the second component is fixedly arranged on the second target part relative to the first component; the motor outputs positive torque and drives the first target part to rotate in the opposite direction through the harmonic reducer, and the first component and the second component cooperate with each other to generate positive torque on the first target part.

[0021] In a third aspect, the present invention provides a robotic arm, comprising an upstream robotic arm and a downstream robotic arm; the gear transmission system or the speed reducer is arranged between the upstream robotic arm and the downstream robotic arm;

[0022] The downstream robotic arm is the first target part, and the upstream robotic arm is the second target part.

[0023] In a fourth aspect, the present invention provides a robot comprising the aforementioned robotic arm. The present invention controls the gear transmission via a control device, so that when the first target member driven by the output shaft of the gear transmission system is stationary, all gears within the gear transmission system are controlled to be stationary relative to the second target member, thereby ensuring that the tooth surfaces of the gears in contact with each other within the gear set always maintain contact in the direction of the rotational trend of the first target member, thereby avoiding gaps caused by vibration and external torque. When the motor rotates in the same direction again, the gaps between the tooth surfaces are eliminated in the direction of the rotational trend, resulting in higher motor output accuracy, and higher operating accuracy of the harmonic reducer, RV reducer, and robotic arm using the gear transmission system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of a gear transmission system according to an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of a robotic arm equipped with a harmonic reducer according to an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of a robotic arm equipped with an RV reducer according to an embodiment of the present invention.

[0027] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0028] In the accompanying drawings: 1-second target part; 2-motor; 3-gear set; 4-first target part; 5-control device; 6-first component; 7-second component; 8-rigid bearing; 9-flexible wheel; 10-planetary gear carrier; 11-pin gear housing; 12-upstream robotic arm; 13-downstream robotic arm. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence; "positive torque" and "negative torque" are relative, and "positive rotation" and "reverse rotation" are relative. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0031] The present invention relates to the field of automation, and in particular to a gear transmission system, a reducer, and a robotic arm. The repeatability of an industrial robot is an important indicator of robot performance. Many factors affect the repeatability of a robot, including the transmission clearance of a transmission mechanism. When a reducer is used between the robotic arms of a robot, the reduction of the reducer is achieved through a gear set. The meshing clearance and backlash of the gears lead to inconsistent transmission at both ends of the robotic arm. The final execution end is inconsistent with the effect to be achieved by the signal sent. The existing technology often solves this problem by testing the terminal robotic arm, ignoring the intermediate transmission and only considering whether the final output is correct. However, this method requires an additional detection device for terminal detection, which makes the output end larger and unsuitable for smaller places. In some electromagnetic places, the detection device may be interfered with by electromagnetic interference, light, etc., resulting in uncertain errors.

[0032] In response to the above problems, the present invention proposes a gear transmission system, a reducer, a robotic arm and a robot.

[0033] First, as Figure 1-3 As shown, the present invention provides a gear transmission system arranged between a first target part 4 and a second target part 1, for driving the first target part 4 to move relative to the second target part 1; it is characterized in that it includes: a motor 2, the motor 2 is arranged on the second target part 1, the motor 2 includes an output shaft, and the motor 2 can drive the output shaft to rotate around its own axis; a gear set 3, the input shaft of the gear set 3 is connected to the output shaft of the motor 2, and the rotation of the output shaft of the motor 2 can drive the input shaft of the gear set 3 to rotate; the output shaft of the gear set 3 is connected to the first target part 4, and the rotation of the output shaft of the gear set 3 can drive the first target part 4 to move; a control device 5, including a first component 6 and a second component 7, the first component 6 is coupled to the first target part 4 to maintain synchronous movement; the second component 7 is coupled to the second target part 1 to maintain synchronous movement; when the first torque output by the motor 2 is reduced to reduce the movement speed of the first target part 4 relative to the second target part 1, the first component 6 and the second component 7 are controlled to work together to provide the first target part 4 with a second torque that is opposite to or the same as the first torque, so that the gear pairs in the gear set 3 remain in meshing state when the first target is in a decelerated state or remains stationary relative to the second target part 1.

[0034] By keeping the second torque acting on the second target part 1 the same as or opposite to the first torque output by the motor 2, when the rotation direction output by the gear transmission system is the same as the output direction of the motor 2, the second torque is opposite to the direction of the first torque, and when the rotation direction output by the gear transmission system is opposite to the output direction of the motor 2, the second torque is the same as the direction of the first torque; that is, the gears in the gear set 3 are controlled to rotate in the same direction, ensuring that the tooth surfaces of the two adjacent gears are always in contact, that is, the tooth gap in the rotation direction is eliminated, when the gear stops rotating, the gap between the gear teeth is eliminated in the original rotation direction, and when the gear set 3 rotates in the same direction again, the transmission accuracy of the gear set 3 is improved, and the vibration and noise caused by the collision of the gear rotation gap with the adjacent gears are avoided.

[0035] Preferably, when the direction of the first torque output by motor 2 is the same as the rotational direction of the first target component, the direction of the second torque is opposite to the first torque; when the direction of the torque output by motor 2 is opposite to the rotational direction of the first target component, the direction of the second torque is the same as the first torque. Whether the second torque and the first torque have the same rotational direction depends on the gear set; different gear sets can transmit different torque directions.

[0036] Preferably, the first component 6 is fixedly connected to the first target part 4 , and the second component 7 is fixedly connected to the second target part 1 .

[0037] By configuring the control device 5 as a first component 6 and a second component 7 that do not contact each other, the control device 5 does not affect the normal operation of the motor 2 and the gear set 3, and the subsequent maintainability is also improved.

[0038] Preferably, the first component 6 includes a first friction part, and the second component 7 includes a second friction part. The first friction part is arranged on the first target part 4, and the second friction part is arranged on the second target part 1. The second friction part and the first friction part are controlled to squeeze each other to generate friction force, and the friction force provides the first target part 4 with a second torque that is the same or opposite to the first torque.

[0039] Through the cooperation of the first friction member and the second friction member, when the first target member 4 stops rotating, the second friction member and the first friction member squeeze each other to give the first target member 4 a pre-force through friction. At the same time, the torque output by the motor 2 decreases rapidly, giving the output shaft of the motor 2 a smaller torque. Due to the action of the first friction member and the second friction member, the first friction member and the second friction member squeeze each other and also give the first target member 4 an opposite torque; the torque output by the motor 2 is less than the maximum torque that can be generated by the maximum static friction that can be generated by the mutual squeezing of the first friction member and the second friction member on the first target member 4; the smaller torque output by the motor 2 cannot drive the first target member 4 to rotate; the gap between the two adjacent gears in the gear set 3 is always smaller than that between the two adjacent gears in the gear set 3. It always remains engaged, and the meshing surface is the same as the meshing surface when the motor 2 is working; when the motor 2 rotates again and is consistent with the previous rotation direction, the consistent rotation direction here means that the rotation direction of the first target part 4 is consistent before and after it stops rotating; because there is no gear tooth gap in the same rotation direction, the gear set 3 can accurately expand or reduce the output torque of the motor 2 according to the design ratio and output it to the first target part 4; friction is used to give the first target part 4 an opposite torque, as long as the torque output by the motor 2 is not greater than the torque generated by friction, the requirements for the stability of the output current of the motor 2 are reduced, and the applicability of the motor 2 is improved; accordingly, the vibration and noise caused by eliminating the gear tooth gap are also avoided.

[0040] The first friction member and the second friction member are located between the first target member 4 and the second target member 1. The first friction member is a friction ring. The center line of the friction ring is coaxially arranged on the first target member 4 with the rotation center line of the first target member 4. The second friction member is opposite to the first friction member and is movably arranged on the second target member 1. When the speed of the first target member 4 decreases or becomes stationary relative to the second target member 1, the second friction member moves toward the friction ring and squeezes the friction ring. The maximum static friction force generated between the friction ring and the first friction member generates a second torque that is not less than the first torque output by the output shaft of the motor 2.

[0041] The first friction member is annular, and the second friction member is movably mounted on a fixed member. Whenever the first target member 4 needs to stop, the second friction member can move toward and squeeze the first friction member, improving practicality. The two friction members cooperate to generate friction, preventing damage to the first target member 4 and facilitating replacement of the friction members. When the second target member 1 is able to move, the second friction member and the first friction member remain in relative position, squeezing the first friction member to generate a squeezing force, thereby securing the first target member 4. Of course, the torque output by the motor 2 must be extremely low, so as not to cause the rotor and stator of the motor 2 to burn out due to the current being unable to drive the motor 2 to rotate.

[0042] Preferably, the first component 6 includes a rotor component, and the second component 7 includes a stator component. The rotor component is arranged on the first target part 4, and the rotation centerline of the rotor component is coaxial with the rotation centerline of the first target part 4, so the stator component and the rotor component are coaxially arranged relative to each other; when current is input to the stator component, an electromagnetic force is generated between the stator component and the rotor component; the electromagnetic force provides the first target part 4 with a second torque that is the same as or opposite to the first torque.

[0043] The torque is output to the first target part 4 by means of the stator assembly and the rotor assembly. The torque generated by the stator assembly and the rotor assembly on the first target part 4 is the same in magnitude as the torque generated by the motor 2, and the same or opposite in direction, thereby achieving the purpose of stopping the rotation of the first target part 4; after the first target part 4 stops rotating, there is a gap when it rotates again in the same direction as before. Of course, the torque output by the motor 2 needs to be extremely small so that the rotor and stator of the motor 2 cannot burn out because the current cannot drive the motor 2 to rotate.

[0044] In a second aspect, the present invention further provides a reducer including a gear transmission system.

[0045] Preferably, Figure 2 As shown, the reducer is a harmonic reducer, and the rigid wheel of the harmonic reducer is fixed on the second target part 1; the harmonic reducer includes a rigid bearing 8, and the rigid bearing 8 is set outside the flexible wheel 9. The outer ring of the rigid bearing 8 is fixedly connected to the output end of the flexible wheel 9, and the inner ring of the rigid bearing 8 is fixedly connected to the rigid wheel; the first component 6 is fixedly set on the end face of the outer ring of the rigid bearing 8 facing the second target part 1, and the second component 7 is fixedly set on the second target part 1 relative to the first component 6; the motor 2 outputs a positive torque and drives the first target part 4 to rotate forward through the harmonic reducer, and the first component 6 and the second component 7 cooperate with each other to generate a reverse torque on the first target part 4.

[0046] Preferably, Figure 3 As shown, the reducer is an RV reducer, which includes a planetary gear carrier 10 and a pinion housing 11. The planetary gear carrier 10 is fixedly mounted on the second target part 1; the first component 6 is fixedly mounted on the end face of the pinion housing 11 facing the second target part 1, and the second component 7 is fixedly mounted on the second target part 1 relative to the first component 6; the motor 2 outputs positive torque and drives the first target part 4 to rotate in the opposite direction through the RV reducer. The first component 6 and the second component 7 cooperate with each other to generate positive torque on the first target part 4. Using the gear transmission system of the present invention, the gap between the upper and lower transmission gears in the RV reducer can be eliminated when the gears are rotated again after stopping, thereby improving the transmission accuracy.

[0047] In a third aspect, the present invention further provides a robotic arm comprising a downstream robotic arm 12 and a reducer, and further comprising an upstream robotic arm 13 or a base. The downstream robotic arm 12 comprises a first target component 4, and the upstream robotic arm 13 or the base comprises a second target component 1. The robotic arm has higher operating accuracy, lower noise and vibration, and longer service life during operation.

[0048] In a fourth aspect, the present invention provides a robot comprising a robotic arm.

[0049] The working principle is explained using a gear transmission system. For ease of explanation, gear set 3 consists of two gears, which enable motor 2 to be fixed to the second target element and output forward rotation. One gear in gear set 3 is a driving gear that rotates coaxially with the output shaft of motor 2, while the other gear is a driven gear that drives first target element 4 to rotate synchronously with the driven gear. First component 6 is the first friction member, and second component 7 is the second friction member.

[0050] When the motor 2 rotates forward, the driving gear rotates forward, the driven gear rotates reversely, and the first target part 4 rotates reversely; the tooth surface of the driving gear teeth facing in the forward direction contacts the tooth surface of the driven gear teeth facing in the reverse direction, and the two tooth surfaces in the other direction are separated from each other, that is, there is a gap between them; when the speed of the motor 2 decreases, in order to prevent inertia or other external forces from causing the first target part 4 to rotate too fast, resulting in different linear velocities of the driven gear and the driving gear at the meshing circle, thereby causing the tooth surface of the driving gear teeth facing in the forward direction to separate from the tooth surface of the driven gear teeth facing in the reverse direction, a positive torque is given to the first target part 4 through the contact between the first friction member and the second friction member. This positive torque makes the rotation of the first target part 4 driven only by the gear set 3, that is, the tooth surface of the driving gear teeth facing in the forward direction and the tooth surface of the driven gear teeth facing in the reverse direction always keep in contact;

[0051] When the speed component of motor 2 slows down so that the torque generated by the maximum static friction force on first target 4 is greater than or equal to the torque generated by gear set 3 on first target 4, first target 4 stops rotating. At this point, motor 2 outputs a very small positive torque, which constantly applies a force to reverse rotation to first target 4 via gear set 3. At the same time, this torque cannot burn out the coil of motor 2. Because the positive torque generated by the maximum static friction force on first target 4 is greater than the reverse torque applied by motor 2 on first target 4 via gear set 3, the first target remains stationary. Since motor 2 constantly applies a positive torque to the driving gear, and since the driven gear remains stationary, the driving gear and the driven gear remain meshed and stationary. When motor 2 rotates forward again, the tooth surface of the driving gear facing forward contacts the tooth surface of the driven gear facing backward, leaving no gap. Motor 2 only needs to rotate in the forward direction to drive first target 4 to rotate. This improves the driving accuracy of motor 2.

[0052] The exemplary embodiments of the present disclosure are specifically shown and described above. It should be understood that the present disclosure is not limited to the detailed structures, configurations or implementations described herein; on the contrary, the present disclosure is intended to cover various modifications and equivalent configurations included within the spirit and scope of the appended claims.

Claims

1. A gear transmission system, arranged between a first target member and a second target member, for driving the first target member to move relative to the second target member; characterized in that: include: a motor, the motor being disposed on the second target element, the motor including an output shaft, and the motor being capable of driving the output shaft to rotate around its own axis; A gear set, wherein the input shaft of the gear set is connected to the output shaft of the motor, and the rotation of the output shaft of the motor can drive the input shaft of the gear set to rotate; The output shaft of the gear set is connected to the first target part, and the rotation of the output shaft of the gear set can drive the first target part to move; The control device includes a first component and a second component, wherein the first component is coupled to the first target part to maintain synchronous movement; the second component is coupled to the second target part to maintain synchronous movement; When the first torque output by the motor is reduced to reduce the speed of the first target member relative to the second target member, the first component and the second component are controlled to work together to provide the first target member with a second torque that is opposite to or the same as the first torque, so that the first target member is in a decelerated state or remains stationary relative to the second target member, and the gear pair in the gear set remains in meshing state; Among them, when the direction of the first torque output by the motor is the same as the rotation direction of the first target part, the direction of the second torque is opposite to the first torque direction; when the direction of the torque output by the motor is opposite to the rotation direction of the first target part, the direction of the second torque is the same as the first torque direction.

2. The gear transmission system according to claim 1, characterized in that: The first component is fixedly connected to the first target part, and the second component is fixedly connected to the second target part.

3. The gear transmission system according to claim 2, characterized in that: The first component includes a first friction part, and the second component includes a second friction part. The first friction part is arranged on the first target part, and the second friction part is arranged on the second target part. The second friction part and the first friction part are controlled to squeeze each other to generate friction force. The friction force provides the first target part with the second torque that is the same as or opposite to the first torque.

4. The gear transmission system according to claim 3, characterized in that: The first friction member and the second friction member are located between the first target member and the second target member, the first friction member is a friction ring, the center line of the friction ring is coaxially arranged on the first target member with the rotation center line of the first target member, and the second friction member is opposite to the first friction member and movably arranged on the second target member; when the speed of the first target member decreases or becomes stationary relative to the second target member, the second friction member moves toward the friction ring and squeezes the friction ring, and the maximum static friction force generated between the friction ring and the first friction member generates a second torque that is not less than the first torque output by the output shaft of the motor.

5. The gear transmission system according to claim 4, characterized in that: The first component includes a rotor component, and the second component includes a stator component. The rotor component is disposed on the first target component, a rotation centerline of the rotor component is coaxial with a rotation centerline of the first target component, and the stator component and the rotor component are coaxially disposed relative to each other. When current is input to the stator component, an electromagnetic force is generated between the stator component and the rotor component. The electromagnetic force provides the first target with a second torque that is the same as or opposite to the first torque.

6. A reducer, characterized in that: A gear transmission system comprising the gear transmission system according to any one of claims 1 to 5.

7. The reducer according to claim 6, characterized in that: The reducer is a harmonic reducer, and the rigid wheel of the harmonic reducer is fixed on the second target part; the harmonic reducer includes a rigid bearing, the rigid bearing sleeve is arranged outside the flexible wheel, the outer ring of the rigid bearing is fixedly connected to the output end of the flexible wheel, and the inner ring of the rigid bearing is fixedly connected to the rigid wheel; The first component is fixedly arranged on the end face of the outer ring of the rigid bearing facing the second target part, and the second component is fixedly arranged on the second target part relative to the first component; the motor outputs positive torque and drives the first target part to rotate forward through the harmonic reducer, and the first component and the second component cooperate with each other to generate a reverse torque on the first target part.

8. The reducer according to claim 6, characterized in that: The reducer is an RV reducer, and the RV reducer includes a planetary gear carrier and a pinion housing, and the planetary gear carrier is fixedly arranged on the second target part; The first component is fixedly arranged on the end face of the pinion housing facing the second target part, and the second component is fixedly arranged on the second target part relative to the first component; the motor outputs positive torque and drives the first target part to rotate in the opposite direction through the RV reducer, and the first component and the second component cooperate with each other to generate positive torque on the first target part.

9. A robotic arm, characterized in that: It comprises an upstream robotic arm and a downstream robotic arm, wherein a gear transmission system according to any one of claims 1 to 5 or a reducer according to any one of claims 6 to 8 is provided between the upstream robotic arm and the downstream robotic arm; The downstream robotic arm is the first target part, and the upstream robotic arm is the second target part.

10. A robot, characterized in that: Including the robotic arm described in claim 9.

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