Robot joint speed reducer and joint device

Abstract

The invention relates to the technical field of robot human joints, in particular to a robot joint reducer and a joint device which are high in reduction ratio, compact in design and quick in response. Comprising a shell which is independently and fixedly arranged; the planetary gear train is arranged in the shell and comprises an inner gear ring, a sun gear, a planet gear and a planet carrier, the inner gear ring is rotationally connected with the shell, the sun gear is coaxially arranged on the inner side of the inner gear ring, the planet gear is meshed with the inner gear ring and the sun gear, the planet carrier is rotationally connected with the planet gear, and the sun gear drives the planet carrier through the planet gear; the input shaft is arranged on the side, away from the planet carrier, of the sun gear, one end is coaxially and fixedly connected with the sun gear, and the other end penetrates through the shell and extends to the outside; the output shaft is arranged on the side, away from the planet wheel, of the planet carrier, one end is fixedly connected with the planet carrier, and the other end penetrates through the shell and extends to the outside; the transmission mechanism is in transmission connection with the input shaft and the inner gear ring, and the input shaft drives the inner gear ring through the transmission mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a robot joint reducer and a joint device. Background Art

[0002] A robot is an automated machine that can receive instructions from humans or perform tasks autonomously according to a preset program. Robots can be fixed in one place (such as a robotic arm in a factory) or mobile (such as a rover exploring the surface of Mars). Joints are movable parts that connect different parts of a robot, allowing the robot to move in a specific direction. For example, in an industrial robot, different parts of the robot arm are connected by joints that can rotate, bend or extend, allowing the robot arm to mimic the movements of a human arm and complete tasks such as grasping and assembly. The flexibility and maneuverability of a robot depends largely on the design of its joints.

[0003] The reducer is a key component of the robot joint. Its main function is to convert the high speed and low torque provided by the motor into low speed and high torque to meet the needs of robot joint movement. Its transmission performance has an important impact on the overall performance of the robot. Existing robot joint reducers are often complex in structure and occupy a large space, which is not conducive to the miniaturization design of robot joints. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a robot joint reducer and joint device with high reduction ratio, compact design and fast response.

[0005] The robot joint reducer of the present invention comprises:

[0006] Shell, independently fixed;

[0007] The planetary gear train is arranged inside the housing, and includes an inner gear ring, a sun gear, planetary gears and a planet carrier. The inner gear ring is rotatably connected to the housing, the sun gear is coaxially arranged inside the inner gear ring, the planetary gears are meshed with the inner gear ring and the sun gear, the planet carrier is rotatably connected to the planetary gears, and the sun gear drives the planet carrier through the planetary gears;

[0008] An input shaft is arranged on a side of the sun gear away from the planet carrier, one end of which is coaxially fixedly connected to the sun gear, and the other end of which passes through the housing and extends to the outside;

[0009] The output shaft is arranged on the side of the planet carrier away from the planetary gear, one end of which is fixedly connected to the planet carrier, and the other end of which passes through the housing and extends to the outside;

[0010] The transmission mechanism is connected with the input shaft and the inner gear ring, and the input shaft drives the inner gear ring through the transmission mechanism.

[0011] Furthermore, the transmission mechanism comprises:

[0012] The first transmission wheel is sleeved on the outside of the input shaft and is coaxially fixedly connected to the input shaft; the outer gear ring is coaxially arranged with the inner gear ring and is fixedly connected to the inner gear ring through the first support frame;

[0013] A second transmission wheel is fixedly connected to the housing through a second support frame, and a gear is provided at one end of the second transmission wheel, and the gear is meshed with the outer gear ring;

[0014] The third transmission wheel is in contact with the first transmission wheel and the second transmission wheel to transmit the movement of the first transmission wheel to the second transmission wheel;

[0015] The adjusting structure is connected with the third transmission wheel and changes the transmission ratio between the inner gear ring and the sun gear by adjusting the position of the third transmission wheel.

[0016] Further, the regulatory structure comprises:

[0017] An adjusting ring is installed on the outer side of the shell and is rotatably connected to the shell;

[0018] A fourth transmission wheel is installed on the outer side of the housing through a third support frame, the fourth transmission wheel abuts against the outer wall of the adjustment ring, a through hole is formed through the fourth transmission wheel and the housing, and an internal thread is formed on the inner wall of the through hole;

[0019] The adjusting rod has an outer wall provided with an external thread which is matched and connected with the internal thread, and two ends are respectively located at the inner and outer sides of the shell, and one end of the fourth transmission wheel located in the shell is rotatably connected with the third transmission wheel.

[0020] Furthermore, a locking ring is arranged outside the adjusting ring, a locking rod is rotatably connected to the locking ring, and the end of the locking rod abuts against the adjusting ring.

[0021] Furthermore, a protective cover is provided on the outer cover of the adjustment structure, and the protective cover is fixedly connected to the shell.

[0022] Furthermore, a supporting wheel assembly for supporting the inner gear ring is provided in the housing, and the supporting wheel assembly comprises:

[0023] A circular ring, fixedly mounted on the inner wall of the shell;

[0024] A plurality of supporting wheels, each of which is mounted on a circular ring through a supporting wheel frame, and the outer periphery of the supporting wheel is in contact with the outer periphery of the inner gear ring for transmission.

[0025] Furthermore, each supporting wheel is provided with a protrusion, and the outer side of the inner gear ring is provided with a groove matching with the protrusion.

[0026] Furthermore, the housing comprises a main body and a cover body which are matched and connected to each other, the main body is provided with a first slot hole for the input shaft to pass through, and the cover body is provided with a second slot hole for the output shaft to pass through.

[0027] Furthermore, it also includes an outer cover, the shell is installed in the outer cover through mounting ears, and both sides of the outer cover are respectively provided with through holes and rotatably connected output disks, and the output disk is fixedly connected to the output shaft.

[0028] A robot joint device comprises a joint, a driving motor and any one of the above-mentioned joint reducers, wherein the joint and the driving motor are connected to the joint reducer.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. A large reduction ratio is achieved through the planetary gear train, which enables the output shaft to maintain a low speed even if the input shaft 300 rotates at a very high speed, while outputting a greater torque;

[0031] 2. The transmission mechanism transmits the rotation of the input shaft to the inner gear ring. Through the participation of the inner gear ring, a larger reduction ratio is further achieved, the internal structure of the reducer is simplified, the overall design is more compact, space is saved, and it is conducive to the miniaturization design of the robot joint;

[0032] 3. Since the inner ring gear is directly involved in the power transmission process, it can respond to changes in the input shaft more quickly and improve the dynamic performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the joint reducer of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure explosion of the joint reducer of the present invention;

[0035] Figure 3 It is a schematic diagram of the internal structure of the joint reducer of the present invention;

[0036] Figure 4 is a schematic structural diagram of a joint device of the present invention;

[0037] Figure 5 is a schematic diagram of the internal structure of the joint device of the present invention;

[0038] Markings in the accompanying drawings: 100, shell; 110, main body; 120, cover; 130, mounting ear; 200, planetary gear train; 210, inner ring gear; 220, sun gear; 230, planetary gear; 240, planetary carrier; 300, input shaft; 400, output shaft; 500, transmission mechanism; 510, first transmission wheel; 520, outer ring gear; 530, first support frame; 540, second transmission wheel; 541, gear; 550, second support frame; 560, third transmission wheel; 570, adjustment structure; 571, adjustment ring; 572, fourth transmission wheel; 573, third support frame; 574, adjustment rod; 575, locking ring; 576, locking rod; 580, protective cover; 600, support wheel assembly; 610, ring; 620, support wheel; 700, outer cover; 800, joint; 900, drive motor. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside”, etc., are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. This embodiment is written in a progressive manner.

[0042] like Figures 1 to 3 As shown, the robot joint reducer of the present invention comprises:

[0043] The housing 100 is independently fixed;

[0044] The planetary gear train 200 is disposed inside the housing 100, and includes an inner gear ring 210, a sun gear 220, planetary gears 230 and a planet carrier 240. The inner gear ring 210 is rotatably connected to the housing 100, the sun gear 220 is coaxially disposed inside the inner gear ring 210, the planetary gear 230 is meshed with the inner gear ring 210 and the sun gear 220, the planet carrier 240 is rotatably connected to the planetary gear 230, and the sun gear 220 drives the planetary gear 230 through the planetary gear 230;

[0045] The input shaft 300 is disposed on a side of the sun gear 220 away from the planet carrier 240, one end of which is coaxially fixedly connected to the sun gear 220, and the other end of which passes through the housing 100 and extends to the outside;

[0046] The output shaft 400 is disposed on a side of the planet carrier 240 away from the planetary gear 230, one end of which is fixedly connected to the planet carrier 240, and the other end of which passes through the housing 100 and extends to the outside;

[0047] The transmission mechanism 500 is transmission-connected with the input shaft 300 and the inner gear ring 210. The input shaft 300 drives the inner gear ring 210 through the transmission mechanism 500.

[0048] The working process and principle of the robot joint reducer of the present invention are as follows: the housing 100 is the basic frame of the entire reducer, which is used to fix and support all internal components; the power is transmitted from the external power source through the input shaft 300, and the input shaft 300 is coaxially fixedly connected with the sun gear 220, so the rotation of the input shaft 300 causes the rotation of the sun gear 220; the transmission mechanism 500 simultaneously transmits the rotation of the input shaft 300 to the inner gear ring 210, and the inner gear ring 210 and the sun gear 220 rotate in the opposite direction at the same time; the planetary gear 230 is meshed with the sun gear 220 and the inner gear ring 210 at the same time, which will drive the planetary gear 230 to rotate. The planetary gear 230 performs two kinds of motions simultaneously: one is rotation around its own axis, and the other is revolution around the center of the sun gear 220; the revolution motion of the planetary gear 230 is transmitted through the planetary carrier 240, and the planetary carrier is fixedly connected to the output shaft 400; since the planetary gear 230 both rotates and revolves, each rotation of the sun gear 220 will cause the planetary carrier 240 to rotate less than one circle, which depends on the ratio of the number of teeth of the sun gear 220, the planetary gear 230 and the inner ring gear 210. This design allows the high-speed rotation of the input shaft 300 to be converted into the low-speed rotation of the output shaft 400, while increasing the torque of the output shaft 400.

[0049] Specifically, Figures 2 to 3 As shown, the transmission mechanism 500 includes:

[0050] The first transmission wheel 510 is sleeved on the outer side of the input shaft 300 and is coaxially fixedly connected to the input shaft 300; the outer gear ring 520 is coaxially arranged with the inner gear ring 210 and is fixedly connected to the inner gear ring 210 through the first support frame 530;

[0051] The second transmission wheel 540 is fixedly connected to the housing 100 via the second support frame 550. A gear 541 is disposed at one end of the second transmission wheel 540, and the gear 541 is meshed with the outer gear ring 520;

[0052] The third transmission wheel 560 abuts against the first transmission wheel 510 and the second transmission wheel 540 to transmit the movement of the first transmission wheel 510 to the second transmission wheel 540;

[0053] The adjusting structure 570 is connected to the third transmission wheel 560 and changes the transmission ratio between the inner gear ring 210 and the sun gear 220 by adjusting the position of the third transmission wheel 560;

[0054] The working process and principle of the transmission mechanism 500 are as follows: power is transmitted from an external power source through the input shaft 300, and the input shaft 300 is coaxially fixedly connected with the first transmission wheel 510, so the first transmission wheel 510 rotates with the rotation of the input shaft 300, and the rotation of the first transmission wheel 510 is the starting point of the entire transmission chain; when the first transmission wheel 510 rotates, the third transmission wheel 560 also rotates and transmits the motion to the second transmission wheel 540; the second support frame 550 ensures that the second transmission wheel 540 remains stable when transmitting power; when the second transmission wheel 540 When rotating, the gear 541 thereon will also rotate, and drive the outer gear ring 520 to rotate together, thereby driving the inner gear ring 210 to rotate; the rotation of the inner gear ring 210 will affect the movement of the planetary gear 230, thereby affecting the movement of the planetary carrier 240 and the output shaft 400, thereby changing the rotation speed of the output shaft 400; the adjustment structure 570 can change the contact point between the first transmission wheel 510 and the second transmission wheel 540 by adjusting the position of the third transmission wheel, thereby changing the transmission ratio between them, thereby optimizing the performance of the reducer and adapting to different working conditions.

[0055] Among them, the adjustment structure 570 includes:

[0056] An adjusting ring 571 is mounted on the outer side of the housing 100 and is rotatably connected to the housing 100;

[0057] The fourth transmission wheel 572 is installed on the outer side of the housing 100 through the third support frame 573. The fourth transmission wheel 572 abuts against the outer wall of the adjustment ring 571. A through hole is formed between the fourth transmission wheel 572 and the housing 100, and an internal thread is formed on the inner wall of the through hole.

[0058] The adjusting rod 574 has an outer thread on its outer wall, which is connected with the inner thread. Both ends are located at the inner and outer sides of the housing 100 respectively. One end of the fourth transmission wheel 572 located inside the housing 100 is rotatably connected with the third transmission wheel 560.

[0059] The position of the third transmission wheel 560 is precisely controlled by the operation of the adjustment structure 570; the adjustment ring 571 is rotated, and the rotation method includes but is not limited to manual or motor drive; the contact surface between the fourth transmission wheel 572 and the adjustment ring 571 can be a roller or other forms of friction contact to ensure that the rotation of the adjustment ring 571 can drive the rotation of the fourth transmission wheel 572; when the fourth transmission wheel 572 rotates, the adjustment rod 574 will move axially under the action of the thread, and the adjustment rod 574 is connected to the third transmission wheel 560, so the axial movement of the adjustment rod 574 will drive the position of the third transmission wheel 560 to change, thereby changing the contact point between the first transmission wheel 510 and the second transmission wheel 540.

[0060] In order to ensure that the adjustment ring 571 can be firmly fixed after the adjustment is completed, a locking ring 575 is provided outside the adjustment ring 571, and a locking rod 576 is rotatably connected to the locking ring 575, and the end of the locking rod 576 abuts against the adjustment ring 571;

[0061] The function of the locking ring 575 is to provide a fixed fulcrum for installing and operating the locking rod 576; the locking rod 576 is installed on the locking ring 575 through a pin or other rotating connecting piece, and can rotate freely within a certain range. The end of the locking rod is designed with a protrusion or hook, which can abut against the outer edge of the adjusting ring 571 or be stuck in a specific groove; when it is necessary to adjust the transmission ratio, first lift the locking rod 576 to separate it from the adjusting ring 571, and then rotate the adjusting ring 571, and the fourth transmission wheel 572 is driven to rotate by the rotation of the adjusting ring 571, so as to change the position of the adjusting rod 574, and finally adjust the position of the third transmission wheel 560. After the adjustment is completed, put down the locking rod 576, so that its end abuts against the adjusting ring 571 or is stuck in the groove on the adjusting ring, so as to fix the position of the adjusting ring 571; the adjusting ring 571 is firmly fixed by the locking ring 575 and the locking rod 576 when it is not to be moved, so as to prevent loosening caused by vibration or external force, which helps to keep the transmission ratio of the reducer stable and avoid unexpected changes affecting performance.

[0062] In order to protect the adjustment structure 570 from the influence of the external environment, a protective cover 580 is provided on the outer side of the adjustment structure 570, and the protective cover 580 is fixedly connected to the housing 100;

[0063] The protective cover 580 is usually made of metal or high-strength plastic, and has sufficient strength and durability to protect the adjustment ring 571, the locking ring 575, the locking rod 576 and other components; a window is left on the protective cover 580 to operate the adjustment ring 571 and the locking rod 576 to complete the adjustment and locking actions.

[0064] A supporting wheel assembly 600 for supporting the inner gear ring 210 is disposed in the housing 100. The supporting wheel assembly 600 includes:

[0065] The ring 610 is fixedly mounted on the inner wall of the housing 100;

[0066] A plurality of support wheels 620, each support wheel 620 is mounted on the ring 610 through a support wheel frame, and the outer periphery of the support wheel 620 is in contact with the outer periphery of the inner gear ring 210 for transmission;

[0067] The ring 610 serves as the base of the support wheel assembly 600. The shape and size of the ring match the inner gear ring 210 to ensure that the support wheels 620 can be distributed around the entire inner gear ring 210; each support wheel 620 can rotate freely to form a rolling contact with the outer periphery of the inner gear ring 210; the number and distribution of the support wheels 620 can be optimized according to the size and working requirements of the inner gear ring 210 to ensure that the inner gear ring 210 is evenly supported in all directions; when the inner gear ring 210 rotates, the support wheels 620 will roll with the movement of the inner gear ring 210; the rolling of the support wheels 620 ensures that the movement of the inner gear ring 210 is smoother and more precise, which helps to improve the operating stability of the entire reducer.

[0068] In particular, each support wheel 620 is provided with a protrusion, and the outer side of the inner gear ring 210 is provided with a slot that matches the protrusion;

[0069] When the inner gear ring 210 rotates, the protrusion on the support wheel 620 will be embedded in the groove on the outside of the inner gear ring 210. The cooperation between the protrusion and the groove ensures that the inner gear ring 210 always maintains precise contact with the support wheel 620 during rotation, reducing the possibility of deviation and further ensuring that the movement of the inner gear ring 210 is smoother and more precise.

[0070] As a preferred embodiment of the above technical solution, Figures 1 to 3 As shown, the housing 100 includes a main body 110 and a cover 120 which are connected to each other in cooperation, the main body 110 is provided with a first slot hole for the input shaft 300 to pass through, and the cover 120 is provided with a second slot hole for the output shaft 400 to pass through;

[0071] The main body 110 and the cover body 120 are tightly connected by fixings to ensure the structural stability of the shell 100; the split design makes the assembly and disassembly of the shell 100 more convenient, and facilitates the installation and replacement of internal parts. During maintenance, it can be easily opened and disassembled to inspect and repair internal components, thereby improving maintenance efficiency.

[0072] like Figures 4 to 5 As shown, it also includes an outer cover 700, the housing 100 is installed in the outer cover 700 through the mounting ears 130, and the outer cover 700 is respectively provided with through holes and rotatably connected output disks on both sides, and the output disk is fixedly connected to the output shaft 400;

[0073] The outer cover 700 is an integral shell used to protect the shell 100 and its internal components. It is usually made of metal or high-strength plastic and has good strength and durability. The design of the mounting ear 130 ensures the stability and positioning accuracy of the shell 100 in the outer cover 700. The output disk increases the contact area with the external load, thereby reducing stress concentration, providing more stable support, and improving the performance and reliability of the joint reducer.

[0074] Based on the above robot joint reducer, such as Figures 4 to 5 As shown, the robot joint device includes a joint 800, a drive motor 900 and the above-mentioned joint reducer, and the joint 800 and the drive motor 900 are connected to the joint reducer;

[0075] In this embodiment, the joint includes at least two limbs, and two adjacent limbs are connected by a joint reducer; the drive motor 900 is the source of power, and the drive motor 900 is connected to the input shaft 300 of the joint reducer through a coupling or other connection method to convert electrical energy into mechanical energy. The output shaft 400 is connected to the next limb to transmit the decelerated low-speed and high-torque power to the next limb to drive the movement of the limb.

[0076] The robot joint reducer and joint device of the present invention are installed, connected or set in common mechanical ways, and can be implemented as long as they can achieve their beneficial effects.

[0077] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robot joint reducer, characterized in that: include: A housing (100) is independently fixed; A planetary gear train (200) is arranged inside the housing (100), comprising an inner gear ring (210), a sun gear (220), a planetary gear (230) and a planet carrier (240), wherein the inner gear ring (210) is rotationally connected to the housing (100), the sun gear (220) is coaxially arranged inside the inner gear ring (210), the planetary gear (230) is meshed with the inner gear ring (210) and the sun gear (220), the planetary carrier (240) is rotationally connected to the planetary gear (230), and the sun gear (220) drives the planetary carrier (240) through the planetary gear (230); An input shaft (300) is arranged on a side of the sun gear (220) away from the planet carrier (240), one end of which is coaxially fixedly connected to the sun gear (220), and the other end of which passes through the housing (100) and extends to the outside; An output shaft (400) is arranged on a side of the planet carrier (240) away from the planetary gear (230), one end of which is fixedly connected to the planet carrier (240) and the other end of which passes through the housing (100) and extends to the outside; The transmission mechanism (500) is transmission-connected to the input shaft (300) and the inner gear ring (210); the input shaft (300) drives the inner gear ring (210) through the transmission mechanism (500).

2. The robot joint reducer according to claim 1, characterized in that: The transmission mechanism (500) comprises: A first transmission wheel (510) is sleeved on the outside of the input shaft (300) and is coaxially fixedly connected to the input shaft (300); An outer gear ring (520) is coaxially arranged with the inner gear ring (210) and fixedly connected to the inner gear ring (210) via a first support frame (530); A second transmission wheel (540) is fixedly connected to the housing (100) via a second support frame (550); a gear (541) is provided at one end of the second transmission wheel (540); and the gear (541) is meshed with the outer gear ring (520); a third transmission wheel (560) abutting against the first transmission wheel (510) and the second transmission wheel (540) to transmit the movement of the first transmission wheel (510) to the second transmission wheel (540); An adjustment structure (570) is connected to the third transmission wheel (560) and changes the transmission ratio between the inner gear ring (210) and the sun gear (220) by adjusting the position of the third transmission wheel (560).

3. The robot joint reducer according to claim 2, characterized in that: The regulating structure (570) comprises: An adjusting ring (571) is mounted on the outside of the housing (100) and is rotatably connected to the housing (100); A fourth transmission wheel (572) is installed on the outside of the housing (100) through a third support frame (573); the fourth transmission wheel (572) abuts against the outer wall of the adjustment ring (571); a through hole is provided through the fourth transmission wheel (572) and the housing (100); an internal thread is provided on the inner wall of the through hole; The adjusting rod (574) has an outer wall provided with an external thread which is matched and connected with the internal thread, and two ends are respectively located on the inner and outer sides of the shell (100); one end of the fourth transmission wheel (572) located inside the shell (100) is rotatably connected with the third transmission wheel (560).

4. The robot joint reducer according to claim 3, characterized in that: A locking ring (575) is arranged outside the adjusting ring (571), and a locking rod (576) is rotatably connected to the locking ring (575), and the end of the locking rod (576) abuts against the adjusting ring (571).

5. The robot joint reducer according to claim 2, characterized in that: A protective cover (580) is provided on the outer side of the adjustment structure (570), and the protective cover (580) is fixedly connected to the housing (100).

6. The robot joint reducer according to claim 1, characterized in that: A support wheel assembly (600) for supporting the inner gear ring (210) is disposed in the housing (100), and the support wheel assembly (600) comprises: A circular ring (610) is fixedly mounted on the inner wall of the housing (100); A plurality of support wheels (620), each of which is mounted on the circular ring (610) via a support wheel frame, and the outer periphery of the support wheel (620) is in contact with the outer periphery of the inner gear ring (210) for transmission.

7. The robot joint reducer according to claim 6, characterized in that: Each of the supporting wheels (620) is provided with a protrusion, and the outer side of the inner gear ring (210) is provided with a slot that cooperates with the protrusion.

8. The robot joint reducer according to claim 1, characterized in that: The housing (100) comprises a main body (110) and a cover body (120) which are connected to each other in a matching manner; the main body (110) is provided with a first slot hole for the input shaft (300) to pass through, and the cover body (120) is provided with a second slot hole for the output shaft (400) to pass through.

9. The robot joint reducer according to claim 1, characterized in that: It also includes an outer cover (700), the shell (100) is installed in the outer cover (700) through the installation ears (130), and the two sides of the outer cover (700) are respectively provided with a through hole and a rotatably connected output disk, and the output disk is fixedly connected to the output shaft (400).

10. A robot joint device, comprising a joint (800), a drive motor (900) and a joint reducer as claimed in any one of claims 1 to 9, wherein the joint (800) and the drive motor (900) are connected to the joint reducer.

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