A worm gear reduction device

Abstract

The present invention provides a worm gear reduction device, belonging to the technical field of reducers, comprising a housing, a worm wheel, a worm ring, and a braking mechanism rotatably disposed within the housing; the braking mechanism comprises a first rotating portion, a plurality of first friction rings, a plurality of second friction rings, and an electromagnetic adsorption structure, wherein the electromagnetic adsorption structure includes a first elastic member suitable for resetting. When the worm drives the worm wheel to rotate, the adsorption end of the electromagnetic adsorption structure separates from the first and second friction rings; when the worm stops rotating, the adsorption end of the electromagnetic adsorption structure, under the elastic force of the first elastic member, presses against the first and second friction rings to brake the worm wheel. Through this arrangement, when the motor rotor stops rotating, the friction between the first and second friction rings can brake the worm wheel, thereby reducing the offset of the gripping position of the manipulator and improving the positioning accuracy of the manipulator.

Description

Technical Field

[0001] The present invention belongs to the technical field of speed reducers, and in particular relates to a worm gear speed reducer. Background Art

[0002] A worm gear reducer is a transmission mechanism that converts the high speed of a motor's output shaft into a lower output speed, thereby reducing speed. Prior art worm gear reducers have a self-locking feature: the worm can drive the worm wheel, but the worm wheel cannot drive the worm. When installing a worm gear reducer, the worm is connected to the motor's output shaft, and the worm wheel's rotating shaft is connected to the moving component. The rotation of the worm causes the worm wheel to rotate, thereby transmitting power to the moving component.

[0003] Although the worm gear has a self-locking function, due to the existence of worm gear clearance, the worm wheel can rotate within a certain angle range after the worm stops rotating. When using such a worm gear reducer to drive a high-precision robot, the rotation of the worm wheel can cause the robot's grasping position to shift, which can lead to operational errors and accidents. Summary of the Invention

[0004] An embodiment of the present invention provides a worm gear reduction device, which aims to solve the technical problem in the prior art that when a worm gear reducer is applied to a high-precision manipulator, the manipulator's grasping position may be offset.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A worm gear reduction device is provided, comprising a housing, and a worm gear and a worm rotatably disposed within the housing. One side of the housing is provided with an opening facing a side portion of the worm gear. The housing is provided with a braking mechanism at the position of the opening, adapted to brake the worm gear. The braking mechanism comprises a first rotating portion, a plurality of first friction rings, a plurality of second friction rings, and an electromagnetic adsorption structure. The electromagnetic adsorption structure comprises a first elastic member adapted to reset.

[0007] The first rotating part is connected to the worm gear and is used to rotate with the worm gear; one end of the first rotating part is located in the opening, and a braking cavity is formed between the outer peripheral wall of the first rotating part and the inner peripheral wall of the opening;

[0008] A plurality of first teeth are provided at intervals on the outer peripheral wall of the first rotating portion, and a plurality of second teeth are provided at intervals on the inner peripheral wall of the opening;

[0009] Each of the first friction rings and each of the second friction rings is located in the brake chamber; the inner peripheral wall of each of the first friction rings has a first mating tooth adapted to engage with the first tooth; the outer peripheral wall of each of the second friction rings has a second mating tooth adapted to engage with the second tooth;

[0010] The first friction rings and the second friction rings are alternately arranged, and both the first friction rings and the second friction rings have a degree of freedom suitable for sliding along the axial direction of the worm gear;

[0011] When the worm drives the worm wheel to rotate, the adsorption end of the electromagnetic adsorption structure separates from the first friction ring and the second friction ring; when the worm stops rotating, the adsorption end of the electromagnetic adsorption structure presses against the first friction ring and the second friction ring under the elastic force of the first elastic member to brake the worm wheel.

[0012] In a possible implementation, the electromagnetic adsorption structure further includes:

[0013] an electromagnet connected to the outer wall of the housing at the opening; and

[0014] a magnetic ring, located in the brake cavity;

[0015] The first elastic member is located between the magnetic ring and the electromagnet. When the electromagnet is energized, the electromagnet attracts the magnetic ring so that the magnetic ring compresses the first elastic member, and the first friction ring can rotate relative to the second friction ring. When the electromagnet is de-energized, the magnetic ring presses against the first friction ring and the second friction ring under the elastic force of the first elastic member to brake the worm gear.

[0016] In a possible implementation, the first elastic member is a disc spring, the large end of the disc spring abuts against the electromagnet, and the small end of the disc spring abuts against the second friction ring;

[0017] When the electromagnet is powered on and absorbs the magnetic ring, the magnetic ring compresses the disc spring to separate the disc spring from the second friction ring; when the electromagnet is powered off, the disc spring resets and causes the magnetic ring to press against the second friction ring.

[0018] In one possible implementation, the electromagnet has a through hole arranged along the axial direction of the worm gear; the outer peripheral wall of the magnetic ring is connected to a magnetic-isolating portion, the magnetic-isolating portion is located between the two second teeth, and one end of the magnetic-isolating portion is suitable for extending out of the through hole of the electromagnet;

[0019] The extending end of the magnetically insulating part has a second elastic part; when the electromagnet is energized, the electromagnet absorbs the magnetic ring and the magnetically insulating part stretches the second elastic part; when the electromagnet is de-energized, the magnetic ring presses against the second friction ring under the elastic force of the first elastic part and the second elastic part.

[0020] In one possible implementation, the electromagnet has a through hole arranged along the axial direction of the worm gear; the outer peripheral wall of the magnetic ring is connected to a magnetic-isolating portion, the magnetic-isolating portion is located between the two second teeth, and one end of the magnetic-isolating portion is suitable for extending out of the through hole of the electromagnet;

[0021] The outer side of the electromagnet is connected to a power piece, and the driving end of the power piece is suitable for pressing against the magnetic-isolating part so that the magnetic ring presses against the second friction ring.

[0022] In a possible implementation, the worm gear reduction device further includes a controller and a pressure sensor, wherein the pressure sensor is provided on a side of the magnetic ring facing the second friction ring; the controller is electrically connected to the pressure sensor and the power component respectively;

[0023] Wherein, when the electromagnet is powered off and the detection value of the pressure sensor is lower than a preset range, the driving end of the power member is adapted to press against the magnetically insulating part to keep the detection value of the pressure sensor within the preset range.

[0024] In a possible implementation, there are a plurality of magnetically insulating portions arranged along the axial direction of the magnetic attraction ring; and there are a plurality of through holes on the electromagnet, which correspond one-to-one to the magnetically insulating portions.

[0025] In a possible implementation, the side portion of the worm wheel has a plurality of connection holes spaced apart along its circumference, and the first rotating portion has a plurality of first plug-in portions corresponding to and pluggably engaging with the connection holes;

[0026] The first friction ring, the second friction ring and the electromagnetic adsorption structure are suitable for axially limiting the first rotating part.

[0027] In a possible implementation, the worm gear is provided with a second rotating portion on a side opposite to the first rotating portion, and the second rotating portion is rotationally engaged with the housing;

[0028] The connecting hole is a through hole, and the second rotating part has a plurality of second plug-in parts corresponding to and plug-fitting with the connecting hole; the first rotating part and the second rotating part cooperate to axially limit the worm gear;

[0029] The housing is provided with a limiting structure for axially limiting the second rotating part.

[0030] In a possible implementation, an annular groove is provided on the outer peripheral wall of the second rotating part, and the limiting structure includes:

[0031] A fixing sleeve is connected to the housing; the inner peripheral wall of the fixing sleeve has a limiting ring, and the limiting ring is located in the annular groove;

[0032] Wherein, two sides of the limiting ring are in contact with two sides of the annular groove respectively.

[0033] In the embodiment of the present application, when a worm gear transmission is used, the motor drives the worm, which in turn drives the worm wheel, which in turn drives the output shaft. During worm wheel rotation, the electromagnetic attraction structure separates from the second friction ring and the first friction ring. There is no axially limiting driving force between the first and second friction rings, allowing the first friction ring to rotate along with the first rotating component. When the worm stops rotating, the elastic force of the first elastic member causes the attraction end of the electromagnetic attraction structure to abut against the second friction ring and the first friction ring, restricting rotation of the first rotating component and, in turn, the worm gear. It should be noted that the first friction ring, through the meshing of the first teeth with the first teeth, circumferentially defines the position of the first friction ring and the first rotating component; the second friction ring, through the meshing of the second teeth with the second teeth, circumferentially defines the position of the second friction ring and the housing. When braking the worm gear, the second friction ring abuts against the first friction ring, providing a resistive torque to the worm gear, thereby facilitating braking.

[0034] Compared with the prior art, the worm gear reduction device provided by the present invention has the above-mentioned configuration. When the rotor of the motor stops rotating, the worm gear can be braked by the friction force between the first friction ring and the second friction ring, thereby reducing the deviation of the gripping position of the manipulator and facilitating the improvement of the positioning accuracy of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a worm gear reduction device provided by an embodiment of the present invention;

[0036] Figure 2 A schematic cross-sectional view of a worm gear reduction device provided by an embodiment of the present invention;

[0037] Figure 3 for Figure 2 A magnified schematic diagram of part A in the middle;

[0038] Figure 4 A schematic diagram of a first friction ring and a second friction ring of a worm gear reduction device provided by an embodiment of the present invention;

[0039] Figure 5 for Figure 4A magnified schematic diagram of part B in the middle;

[0040] Figure 6 for Figure 4 Enlarged schematic diagram of the middle C part;

[0041] Figure 7 for Figure 4 Enlarged schematic diagram of part D in the middle.

[0042] Explanation of the accompanying drawings: 1. Shell; 11. Opening; 111. Second tooth; 2. Worm gear; 21. Connecting hole; 3. Worm; 4. Braking mechanism; 41. First rotating part; 411. First tooth; 412. First plug-in part; 42. First friction ring; 421. First mating tooth; 43. Second friction ring; 431. Second mating tooth; 44. Electromagnetic adsorption structure; 441. First elastic member; 442. Electromagnet; 443. Magnetic ring; 444. Insulating magnetic part; 45. Braking chamber; 5. Second rotating part; 51. Second plug-in part; 52. Annular groove; 6. Fixing sleeve; 61. Limiting ring; 62. Retaining ring. DETAILED DESCRIPTION

[0043] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] Please also refer to Figures 1 to 7Now, a worm gear reduction device provided by the present invention is described. The worm gear reduction device comprises a housing 1 and a worm wheel 2 and a worm 3 rotatably arranged in the housing 1. One side of the housing 1 is provided with an opening 11 facing the side of the worm wheel 2. The housing 1 is provided with a braking mechanism 4 suitable for braking the worm wheel 2 at the position of the opening 11. The braking mechanism 4 comprises a first rotating part 41, a plurality of first friction rings 42, a plurality of second friction rings 43 and an electromagnetic adsorption structure 44. The electromagnetic adsorption structure 44 comprises a first elastic member 441 suitable for resetting; the first rotating part 41 is connected to the worm wheel 2 for rotating with the worm wheel 2; one end of the first rotating part 41 is located in the opening 11, and a braking chamber 45 is formed between the outer peripheral wall of the first rotating part 41 and the inner peripheral wall of the opening 11; a plurality of first teeth 411 are spaced apart on the outer peripheral wall of the first rotating part 41, and a plurality of second teeth 11 are spaced apart on the inner peripheral wall of the opening 11. 1; each first friction ring 42 and each second friction ring 43 are located in the brake chamber 45; the inner peripheral wall of each first friction ring 42 has a first mating tooth 421 suitable for engaging with the first tooth 411; the outer peripheral wall of each second friction ring 43 has a second mating tooth 431 suitable for engaging with the second tooth 111; the first friction rings 42 and the second friction rings 43 are arranged alternately, and the first friction rings 42 and the second friction rings 43 have a degree of freedom suitable for sliding along the axial direction of the worm gear 2; wherein, when the worm 3 drives the worm gear 2 to rotate, the adsorption end of the electromagnetic adsorption structure 44 is separated from the first friction ring 42 and the second friction ring 43; when the worm 3 stops rotating, the adsorption end of the electromagnetic adsorption structure 44 is pressed against the first friction ring 42 and the second friction ring 43 under the elastic force of the first elastic member 441 to brake the worm gear 2.

[0045] In the embodiment of the present application, when the worm gear 2 and worm 3 are driven, the motor drives the worm gear 3 to rotate, which in turn drives the worm gear 2, thereby causing the worm gear 2 to rotate the output shaft. During the rotation of the worm gear 2, the electromagnetic attraction structure 44 separates from the second friction ring 43 and the first friction ring 42. There is no axially limiting driving force between the first and second friction rings 42, allowing the first friction ring 42 to rotate along with the first rotating portion 41. When the worm gear 3 stops rotating, the elastic force of the first elastic member 441 causes the attraction end of the electromagnetic attraction structure 44 to press against the second friction ring 43 and the first friction ring 42, thereby limiting the rotation of the first rotating portion 41 and, in turn, the worm gear 2. It should be noted that the first friction ring 42, through the first mating teeth 421, meshes with the first teeth 411, circumferentially limiting the position of the first friction ring 42 relative to the first rotating portion 41. The second friction ring 43, through the second mating teeth 431, meshes with the second teeth 111, circumferentially limiting the position of the second friction ring 43 relative to the housing 1. When the worm gear 2 needs to be braked, the second friction ring 43 presses against the first friction ring 42 to provide a resistance torque to the worm gear 2 , thereby facilitating braking of the worm gear 2 .

[0046] Compared with the prior art, the worm gear reduction device provided by the present invention has the above-mentioned arrangement. When the rotor of the motor stops rotating, the friction between the first friction ring 42 and the second friction ring 43 can brake the worm wheel 2, thereby reducing the rotation of the worm wheel 2 within a certain range; therefore, the deviation of the gripping position of the manipulator can be reduced, thereby improving the positioning accuracy of the manipulator.

[0047] For example, this embodiment uses three first friction rings 42 and three second friction rings 43 as an example. The first friction rings 42 and second friction rings 43 are alternately arranged on the first rotating portion 41 in the direction from the worm gear 2 to the electromagnet. The lengths of the first teeth 411 and the second teeth 111 are both parallel to the axial direction of the worm gear 2, allowing the first and second friction rings 42 and 43 to slide along the axis of the first rotating portion 41.

[0048] In some embodiments, as Figures 1 to 7 As shown, the electromagnetic attraction structure 44 also includes an electromagnet 442 and a magnetic ring 443. The electromagnet 442 is connected to the outer wall of the housing 1 at the position of the opening 11. The magnetic ring 443 is located in the brake chamber 45. The first elastic member 441 is located between the magnetic ring 443 and the electromagnet 442. When the electromagnet 442 is energized, the electromagnet 442 attracts the magnetic ring 443, causing the magnetic ring 443 to compress the first elastic member 441, allowing the first friction ring 42 to rotate relative to the second friction ring 43. When the electromagnet 442 is de-energized, the magnetic ring 443, under the elastic force of the first elastic member 441, presses against the first and second friction rings 42 and 43, thereby braking the worm gear 2. When the motor driving the worm gear 2 is energized, the electromagnet 422 is simultaneously energized; when the motor driving the worm gear 2 is de-energized, the electromagnet 422 is simultaneously de-energized.

[0049] It should be understood that the electromagnet 442 is fixed to the housing 1. When the electromagnet 442 is energized, it exerts a magnetic force, attracting the magnetic ring 443. This causes the magnetic ring 443 to compress the first elastic member 441, thereby separating the first elastic member 441 and the magnetic ring 443 from the second friction ring 43. As a result, the first friction ring 42 can rotate relative to the second friction ring 43. When the electromagnet 442 is de-energized, the magnetic ring 443, under the elastic force of the first elastic member 441, presses against the second friction ring 43, thereby achieving the purpose of braking the first rotating portion 41 and the worm gear 2.

[0050] In some embodiments, as Figures 1 to 7As shown, the first elastic member 441 is a disc spring, the large end of the disc spring abuts against the electromagnet 442, and the small end of the disc spring abuts against the second friction ring 43; wherein, when the electromagnet 442 is energized and the electromagnet 442 attracts the magnetic ring 443, the magnetic ring 443 compresses the disc spring to separate the disc spring from the second friction ring 43; when the electromagnet 442 is de-energized, the disc spring resets and causes the magnetic ring 443 to press against the second friction ring 43.

[0051] It should be understood that when the worm gear 2 needs to be braked, the disc spring is reset and can drive the magnetic ring 443 to press against the second friction ring 43, thereby making the second friction ring 43 and the first friction ring 42 press against each other, thereby braking the worm gear 2. When the worm 3 stops rotating, the rotation of the worm gear 2 within a certain range can be reduced.

[0052] In some embodiments, as Figures 1 to 7 As shown, the electromagnet 442 has a through hole arranged along the axial direction of the worm gear 2; the outer peripheral wall of the magnetic ring 443 is connected to the magnetic-insulating portion 444, the magnetic-insulating portion 444 is located between the two second teeth 111, and one end of the magnetic-insulating portion 444 is suitable for extending out of the through hole of the electromagnet 442; wherein, the extended end of the magnetic-insulating portion 444 has a second elastic member (not shown in the figure); when the electromagnet 442 is energized, the electromagnet 442 attracts the magnetic ring 443, and the magnetic-insulating portion 444 stretches the second elastic member; when the electromagnet 442 is de-energized, the magnetic ring 443 is pressed against the second friction ring 43 under the elastic force of the first elastic member 441 and the second elastic member.

[0053] Exemplarily, the magnetically insulating portion 444 can be made of plastic or wood, so regardless of whether the electromagnet 442 is energized, the electromagnet 442 will not attract the magnetically insulating portion 444; this can prevent the magnetically insulating portion 444 from interfering with the magnetic ring 443. The magnetic ring 443 can be an iron ring, one side of which contacts the second friction ring 43, and the bottom of the other side of the iron ring contacts the disc spring. When the electromagnet 442 is energized, the electromagnet 442 can attract the iron ring, thereby causing the iron ring to compress the disc spring; after the electromagnet 442 is de-energized, the iron ring presses against the second friction ring 43 under the elastic force of the disc spring, thereby causing the second friction ring 43 and the first friction ring 42 to abut against each other, achieving the purpose of braking the worm gear 2.

[0054] In this embodiment, the second elastic member can be a spring, which is sleeved on the extended end of the magnetically insulating portion 444, with one end of the spring fixed to the electromagnet 442 and the other end of the spring fixed to the magnetically insulating portion 444. With this arrangement, when the worm gear 2 is braked, the disc spring and the spring work together to force the magnetic ring 443 against the second friction ring 43, thereby causing the first friction ring 42 and the second friction ring 43 to press against each other, thereby achieving the purpose of braking the worm gear 2.

[0055] In some embodiments, as Figures 1 to 7As shown, the electromagnet 442 has a through-hole arranged axially along the worm gear 2; the outer peripheral wall of the magnetic ring 443 is connected to an insulating portion 444, which is located between the two second teeth 111, and one end of the insulating portion 444 is adapted to extend out of the through-hole of the electromagnet 442. A power member is connected to the outside of the electromagnet 442, and the driving end of the power member is adapted to abut against the insulating portion 444, thereby forcing the magnetic ring 443 to abut against the second friction ring 43. There are multiple insulating portions 444 arranged axially along the magnetic ring 443; there are multiple through-holes in the electromagnet 442, each corresponding to one of the insulating portions 444.

[0056] Exemplarily, the worm gear reduction device further includes a controller and a pressure sensor. The pressure sensor is located on the side of the magnetic ring 443 facing the second friction ring 43. The controller is electrically connected to the pressure sensor and the power element. When the electromagnet 442 is de-energized and the pressure sensor's detection value falls below a preset range, the driving end of the power element is adapted to abut against the magnetically insulating portion 444 to maintain the pressure sensor's detection value within the preset range. The pressure sensor is conventional technology and will not be described in detail here.

[0057] It should be understood that when the electromagnet 442 is de-energized, the magnetic ring 443 presses against the second friction ring 43 under the elastic force of the disc spring. At this point, the first and second friction rings 42 and 43 press against each other, and the pressure sensor remains within a preset range. This represents normal braking. If the disc spring is damaged, the electromagnet 442 is de-energized, and the pressure sensor on the magnetic ring 443 falls below a preset range, the controller can control the power element to press against the magnetic-isolating portion 444, thereby pressing the magnetic ring 443 against the second friction ring 43. This arrangement allows the worm gear 2 to be braked even if the disc spring is damaged.

[0058] In some embodiments, as Figures 1 to 7 As shown, the side of the worm wheel 2 has a plurality of connection holes 21 arranged at intervals along its circumference, and the first rotating part 41 has a plurality of first plug-in parts 412 corresponding to and plug-fitting with the connection holes 21; wherein, the first friction ring 42, the second friction ring 43 and the electromagnetic adsorption structure 44 are suitable for axially limiting the first rotating part 41.

[0059] It should be understood that, through the above arrangement, the first rotating portion 41 is plugged into the connecting hole 21 via the first plug portion 412, enabling the first rotating portion 41 to rotate synchronously with the worm gear 2. When braking is required, the first friction ring 42 and the second friction ring 43 abut against each other, thereby braking the first rotating portion 41 and, in turn, the worm gear 2.

[0060] In some embodiments, as Figures 1 to 7As shown, the worm gear 2 is provided with a second rotating portion 5 on the side opposite the first rotating portion 41, and the second rotating portion 5 is rotatably engaged with the housing 1. The connecting hole 21 is a through hole, and the second rotating portion 5 has a plurality of second plug-in portions 51 corresponding to and pluggably engaged with the connecting hole 21. The first rotating portion 41 and the second rotating portion 5 cooperate to axially limit the worm gear 2. The housing 1 is provided with a limiting structure for axially limiting the second rotating portion 5. An annular groove 52 is provided on the outer peripheral wall of the second rotating portion 5. The limiting structure includes a fixing sleeve 6; the fixing sleeve 6 is connected to the housing 1; the inner peripheral wall of the fixing sleeve 6 has a limiting ring 61, which is located within the annular groove 52. The two sides of the limiting ring 61 respectively contact the two sides of the annular groove 52.

[0061] Exemplarily, a retaining ring 62 can be provided on both sides of the limiting ring 61, and the two retaining rings 62 are in contact with both sides of the annular groove 52, respectively, so as to facilitate the limiting of the second rotating part 5. The second rotating part 5 includes a first sleeve and a second sleeve, and the first sleeve and the second sleeve are connected by bolts; retaining plates are provided at the opposite ends of the first sleeve and the second sleeve, and an annular groove 52 is formed between the two retaining plates. Through the above arrangement, the worm wheel 2 can be limited in the housing 1, and the worm wheel 2 is rotationally connected to the housing 1. It should be noted that the second rotating part 5 can serve as the output shaft of the worm wheel 2 and worm 3 reducer.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A worm gear reduction device, comprising a housing and a worm wheel and a worm rotating in the housing, characterized in that: One side of the housing is provided with an opening facing the side of the worm gear. The housing is provided with a braking mechanism at the position of the opening suitable for braking the worm gear. The braking mechanism includes a first rotating part, a plurality of first friction rings, a plurality of second friction rings, and an electromagnetic adsorption structure. The electromagnetic adsorption structure includes a first elastic member suitable for resetting. The first rotating part is connected to the worm gear and is used to rotate with the worm gear; one end of the first rotating part is located in the opening, and a braking cavity is formed between the outer peripheral wall of the first rotating part and the inner peripheral wall of the opening; A plurality of first teeth are provided at intervals on the outer peripheral wall of the first rotating portion, and a plurality of second teeth are provided at intervals on the inner peripheral wall of the opening; Each of the first friction rings and each of the second friction rings is located in the brake chamber; the inner peripheral wall of each of the first friction rings has a first mating tooth adapted to engage with the first tooth; the outer peripheral wall of each of the second friction rings has a second mating tooth adapted to engage with the second tooth; The first friction rings and the second friction rings are alternately arranged, and both the first friction rings and the second friction rings have a degree of freedom suitable for sliding along the axial direction of the worm gear; When the worm drives the worm wheel to rotate, the adsorption end of the electromagnetic adsorption structure separates from the first friction ring and the second friction ring; when the worm stops rotating, the adsorption end of the electromagnetic adsorption structure presses against the first friction ring and the second friction ring under the elastic force of the first elastic member to brake the worm wheel.

2. A worm gear reduction device according to claim 1, characterized in that: The electromagnetic adsorption structure further includes: an electromagnet connected to the outer wall of the housing at the opening; and a magnetic ring, located in the brake cavity; The first elastic member is located between the magnetic ring and the electromagnet. When the electromagnet is energized, the electromagnet attracts the magnetic ring so that the magnetic ring compresses the first elastic member, and the first friction ring can rotate relative to the second friction ring. When the electromagnet is de-energized, the magnetic ring presses against the first friction ring and the second friction ring under the elastic force of the first elastic member to brake the worm gear.

3. A worm gear reduction device according to claim 2, characterized in that: The first elastic member is a disc spring, the large end of the disc spring abuts against the electromagnet, and the small end of the disc spring abuts against the second friction ring; When the electromagnet is powered on and absorbs the magnetic ring, the magnetic ring compresses the disc spring to separate the disc spring from the second friction ring; when the electromagnet is powered off, the disc spring resets and causes the magnetic ring to press against the second friction ring.

4. A worm gear reduction device according to claim 2, characterized in that: The electromagnet has a through hole arranged along the axial direction of the worm gear; the outer peripheral wall of the magnetic ring is connected to a magnetic-isolating portion, the magnetic-isolating portion is located between the two second teeth, and one end of the magnetic-isolating portion is suitable for extending out of the through hole of the electromagnet; The extending end of the magnetically insulating part has a second elastic part; when the electromagnet is energized, the electromagnet absorbs the magnetic ring and the magnetically insulating part stretches the second elastic part; when the electromagnet is de-energized, the magnetic ring presses against the second friction ring under the elastic force of the first elastic part and the second elastic part.

5. The worm gear reduction device according to claim 2, characterized in that: The electromagnet has a through hole arranged along the axial direction of the worm gear; the outer peripheral wall of the magnetic ring is connected to a magnetic-isolating portion, the magnetic-isolating portion is located between the two second teeth, and one end of the magnetic-isolating portion is suitable for extending out of the through hole of the electromagnet; The outer side of the electromagnet is connected to a power piece, and the driving end of the power piece is suitable for pressing against the magnetic-isolating part so that the magnetic ring presses against the second friction ring.

6. A worm gear reduction device according to claim 5, characterized in that: The worm gear reduction device further includes a controller and a pressure sensor, wherein the pressure sensor is arranged on a side of the magnetic ring facing the second friction ring; the controller is electrically connected to the pressure sensor and the power component respectively; Wherein, when the electromagnet is powered off and the detection value of the pressure sensor is lower than a preset range, the driving end of the power member is adapted to press against the magnetically insulating part to keep the detection value of the pressure sensor within the preset range.

7. A worm gear reduction device according to claim 4 or 5, characterized in that: There are a plurality of magnetically insulating parts arranged along the axial direction of the magnetic attraction ring; there are a plurality of through holes on the electromagnet, and they correspond one to one with the magnetically insulating parts.

8. The worm gear reduction device according to claim 1, characterized in that: The side portion of the worm wheel has a plurality of connection holes spaced apart along its circumference, and the first rotating portion has a plurality of first plug-in portions corresponding to and pluggably engaging with the connection holes; The first friction ring, the second friction ring and the electromagnetic adsorption structure are suitable for axially limiting the first rotating part.

9. The worm gear reduction device according to claim 8, characterized in that: The worm wheel is provided with a second rotating portion on a side opposite to the first rotating portion, and the second rotating portion is rotationally engaged with the housing; The connecting hole is a through hole, and the second rotating part has a plurality of second plug-in parts corresponding to and plug-fitting with the connecting hole; the first rotating part and the second rotating part cooperate to axially limit the worm gear; The housing is provided with a limiting structure for axially limiting the second rotating part.

10. The worm gear reduction device according to claim 9, characterized in that: An annular groove is provided on the outer peripheral wall of the second rotating part, and the limiting structure includes: A fixing sleeve is connected to the housing; the inner peripheral wall of the fixing sleeve has a limiting ring, and the limiting ring is located in the annular groove; Wherein, two sides of the limiting ring are in contact with two sides of the annular groove respectively.

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