Joint module and robot

Abstract

The embodiment of the invention discloses a speed reducer, a joint module, a mechanical arm, a robot, a production system and electric equipment, and the speed reducer comprises an inner gear, an outer gear, an eccentric wheel, a brake block, an elastic piece and a driving piece. The brake block overcomes the elastic force of the elastic piece and moves to the release position relative to the eccentric wheel, the brake block is separated from the outer gear, the driving piece drives the eccentric wheel and the brake block to rotate together, and the eccentric wheel drives the outer gear to rotate while rotating around the central axis of the inner gear hole in the inner gear hole. When the driving piece stops rotating, the elastic piece pushes the brake block from the release position to the brake position relative to the eccentric wheel, the brake block abuts against the outer gear to prevent the eccentric wheel and the brake block from rotating relative to the outer gear, and therefore the eccentric wheel cannot reversely transmit torque to the driving piece.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of robots, and more specifically, to a speed reducer, a joint module, a robotic arm, a robot, a production system, and an electric device. Background Art

[0002] Speed reducers are widely used in driving joints of hoists, robots, and winches. The speed reducers in the related art have problems such as complex structure, large volume, small torque density, and low load capacity. Moreover, in order to avoid the problem that the output end of the motor of an electromechanical device rotates after the power of the motor is cut off, in the related art, an electromagnetic brake is usually installed on the motor shaft of the motor. In addition, existing electromechanical devices also use mechanisms such as worm and worm gear pairs to achieve braking. However, the braking methods in the related art have problems such as complex structure, large number of components, large volume, small braking torque, large braking friction consumption, high cost, and low braking reliability. Summary of the Invention

[0003] Embodiments of the present invention aim to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, embodiments of the present invention propose a speed reducer with a reverse braking function.

[0005] Embodiments of the present invention also propose a joint module having the speed reducer.

[0006] Embodiments of the present invention also propose a robotic arm having the joint module.

[0007] Embodiments of the present invention also propose a robot having the joint module.

[0008] Embodiments of the present invention also propose a production system having the robot.

[0009] Embodiments of the present invention also propose an electric device having the joint module.

[0010] A speed reducer according to an embodiment of the present invention includes: an internal gear having an internal gear hole; an external gear having an external gear hole, at least a part of the external gear being disposed in the internal gear hole and meshing with the internal gear; an eccentric wheel rotatably supported in the external gear hole, the rotation axis of the eccentric wheel being coaxial with the central axis of the internal gear, the external gear being driven by the eccentric wheel to revolve around the rotation axis of the eccentric wheel while rotating itself; a brake block disposed on the eccentric wheel to rotate with the eccentric wheel, the brake block being movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; an elastic member connected to the eccentric wheel and the brake block for pressing the brake block toward the braking position; a driving member connected to the eccentric wheel, and the rotation axis of the driving member being coaxial with the rotation axis of the eccentric wheel, when the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

[0011] The speed reducer according to the embodiment of the present invention can automatically achieve reverse braking. When the driving member rotates, it first drives the brake block to move relative to the eccentric wheel against the elastic force of the elastic member to the release position to separate from the external gear, and then the driving member drives the eccentric wheel and the brake block to rotate together. The eccentric wheel drives the external gear to revolve around the central axis of the internal gear hole while rotating itself in the internal gear hole, and the external gear serves as an output gear to output driving force or torque.

[0012] When the driving member stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the external gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the external gear, that is, preventing the torque (load) on the external gear from being reversely transmitted to the driving member through the eccentric wheel to cause the driving member to rotate. For example, when the motor of a winch stops rotating, the load applied by the winch drum to the external gear cannot be reversely transmitted to the driving member to cause rotation.

[0013] The speed reducer according to the embodiment of the present invention can achieve an automatic reverse braking function, has a simple overall structure, few components, a small volume, and has the advantages of a large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0014] In some embodiments, the eccentric wheel is provided with a dial groove, the driving member is provided with a dial block, the dial block is movably fitted in the dial groove, and when the driving member rotates in one of the clockwise and counterclockwise directions, the dial block pushes the brake block to the release position against the elastic force of the elastic member to drive the eccentric wheel and the brake block to rotate together.

[0015] In some embodiments, when the driving member rotates in the other of the clockwise and counterclockwise directions, the dial block drives the eccentric wheel to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the dial block drives the eccentric wheel and the brake block to rotate together.

[0016] In some embodiments, the dial groove is provided on the outer peripheral surface of the eccentric wheel, the dial groove extends a predetermined length in the circumferential direction of the outer peripheral surface of the eccentric wheel and penetrates along the axial direction of the eccentric wheel.

[0017] In some embodiments, the driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body, and the dial block is provided on the disk body.

[0018] In some embodiments, the internal gear has a central flange extending in the internal gear hole, the central flange has a flange hole, and the disk hub is rotatably fitted in the flange hole.

[0019] In some embodiments, the eccentric wheel has an eccentric wheel hole, the eccentric wheel hole is coaxial with the internal gear, and the central flange is rotatably fitted in the eccentric wheel hole.

[0020] In some embodiments, the speed reducer further includes a cover plate, the internal gear has a first end and a second end, and the cover plate is provided at the second end of the internal gear to limit the external gear.

[0021] In some embodiments, the internal gear hole includes an internal tooth hole section and a limiting hole section, the internal teeth of the internal gear are formed on the circumferential wall of the internal tooth hole section, the diameter of the limiting hole section is larger than that of the internal tooth hole section, the external gear includes an external tooth section and a fitting section, the external teeth of the external gear are formed on the outer peripheral surface of the external tooth section, a limiting flange is provided on the outer peripheral surface of the fitting section, the limiting flange is rotatably fitted in the limiting hole section, the fitting section is rotatably fitted in the cover plate hole of the cover plate, and the cover plate stops the limiting flange.

[0022] In some embodiments, the outer gear hole includes an outer tooth hole section and a mating hole section. The diameter of the mating hole section is greater than that of the outer tooth hole section. The eccentric wheel is rotatably fitted within the outer tooth hole section. The inner gear has a central flange located within the inner gear hole. The central flange has a flange hole. The driving member includes a disk body and a disk hub located at the center of the disk body. The disk body is located within the mating hole section, and the disk hub is rotatably fitted within the flange hole.

[0023] In some embodiments, a first jack is provided on the eccentric wheel, and a second jack is provided on the brake block. The elastic member is an arc-shaped spring. The first end of the elastic member is fitted within the first jack, and the second end of the elastic member is fitted within the second jack.

[0024] In some embodiments, the eccentric wheel is provided with one of a guide rail and a guide groove, and the brake block is provided with the other of the guide rail and the guide groove. The guide rail and the guide groove are slidably fitted.

[0025] In some embodiments, the guide rail is provided on the eccentric wheel. Both the guide rail and the guide groove are arc-shaped. The radius of curvature of the outer peripheral surface of the guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the guide rail is formed as a spiral surface or a cam surface that gradually expands radially outward along the circumferential direction of the eccentric wheel.

[0026] In some embodiments, a notch is provided at the junction of at least one end face of the eccentric wheel and the outer peripheral surface of the eccentric wheel. The arc-shaped guide rail is provided within the notch. The surface of the guide rail facing away from the brake block is flush with the plane of the remaining part of the eccentric wheel facing away from the brake block, and the surface of the guide rail facing the brake block is recessed relative to the surface of the remaining part of the eccentric wheel facing the brake block.

[0027] In some embodiments, the brake block includes an arc-shaped plate body, an arc-shaped outer convex platform, and an arc-shaped inner convex platform. The outer convex platform and the inner convex platform are provided on the plate body and extend along the circumferential direction of the plate body. The outer convex platform and the inner convex platform are radially spaced apart from each other on the plate body. The arc-shaped guide groove is formed between the convex platforms and the inner convex platform. The outer peripheral surface of the outer convex platform is flush with the outer peripheral surface of the plate body, and the inner peripheral surface of the inner convex platform is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer convex platform and at least a part of the outer peripheral surface of the plate body radially exceed the outer peripheral surface of the eccentric wheel to abut against the outer gear. The first ends of the outer convex platform and the inner convex platform are spaced a first distance from the first end of the plate body, and the second ends of the outer convex platform and the inner convex platform are spaced a second distance from the second end of the plate body.

[0028] In some embodiments, the inner side of the guide rail has an inner groove, the outer side of the guide rail has an outer groove, the first end of the guide rail has a first step, and the second end of the guide rail has a second step.

[0029] In some embodiments, the eccentric wheel is provided with a first dial groove and a second dial groove, the driving member is provided with a first dial block and a second dial block, the first dial block is movably fitted in the first dial groove, the second dial block is movably fitted in the second dial groove, the brake block corresponds to the first dial groove, when the driving member rotates counterclockwise, the first dial block overcomes the elastic force of the elastic member to push the brake block to the release position, and when the brake block moves to the release position, the second dial block is spaced apart from or in contact with the end wall surface of the second dial groove.

[0030] In some embodiments, when the driving member rotates clockwise, the second dial block drives the eccentric wheel to rotate clockwise and the brake block overcomes the elastic force of the elastic member to move to the release position, and when the brake block moves to the release position, the first dial block is spaced apart from or in contact with the end wall surface of the first dial groove.

[0031] The speed reducer according to an embodiment of the present invention includes: an internal gear having an internal gear hole, the central axis of the internal gear hole being coaxial with the rotation axis of the internal gear; an external gear having an external gear hole, at least a part of the external gear being disposed in the internal gear hole and meshing with the internal gear; an eccentric wheel having an eccentric wheel hole, the eccentric wheel being rotatably disposed in the external gear hole to drive the external gear to revolve and rotate about the central axis of the eccentric wheel hole, the rotation axis of the eccentric wheel, the central axis of the eccentric wheel hole and the central axis of the internal gear being coaxial, and the central axis of the outer peripheral surface of the eccentric wheel being eccentric with respect to the central axis of the eccentric wheel hole; a brake block disposed on the eccentric wheel to rotate with the eccentric wheel, the brake block being movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; a spring connected to the eccentric wheel and the brake block for pressing the brake block toward the braking position; and a driving member connected to the eccentric wheel and the rotation axis of the driving member being coaxial with the rotation axis of the eccentric wheel, when the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

[0032] The speed reducer according to an embodiment of the present invention includes: an internal gear having an internal gear hole; an external gear having an external gear hole, at least a part of the external gear being disposed in the internal gear hole and meshing with the internal gear; an eccentric member rotatably disposed in the external gear hole to drive the external gear, the rotation axis of the eccentric member being coaxial with the central axis of the internal gear, the central axis of the outer peripheral surface of the eccentric member being eccentric with respect to the rotation axis of the eccentric member, the external gear being capable of self-rotation and revolution around the rotation axis of the eccentric member; a braking member disposed on the eccentric member to rotate together with the eccentric member, the braking member being movable relative to the eccentric member between a braking position and a release position, wherein in the radial direction of the eccentric member, the braking member is farther from the rotation axis of the eccentric member when in the braking position than when in the release position, or when the braking member moves from the release position toward the braking position, the braking member moves circumferentially along the eccentric member while moving radially outward along the eccentric member, or when the braking member moves from the release position toward the braking position, the movement locus of the braking member is a spiral or cam profile linearly expanding radially outward gradually along the circumferential direction of the eccentric member; an elastic member connected to the eccentric member and the braking member for pressing the braking member toward the braking position; a rotatable driving member, the rotation axis of the driving member being coaxial with the rotation axis of the eccentric member, when the driving member rotates, the braking member moves relative to the eccentric member to the release position so that the driving member drives the eccentric member and the braking member to rotate together, and when the driving member stops rotating, the elastic member pushes the braking member to the braking position to prevent the eccentric member and the braking member from rotating together.

[0033] The joint module according to an embodiment of the present invention includes: a speed reducer, which can be the speed reducer according to any one of the above embodiments; a motor, the motor shaft of the motor being connected to the driving member of the speed reducer to drive the driving member to rotate.

[0034] In some embodiments, the housing of the motor abuts against one end face of the internal gear of the speed reducer and is located outside the internal gear.

[0035] In some embodiments, at least a part of the speed reducer is located inside the motor.

[0036] In some embodiments, the motor includes a stator base, a stator, a rotor, and a rotor base, the stator is disposed inside the stator base, the rotor is sleeved on the rotor base, the rotor and the rotor base are rotatably disposed inside the stator, at least a part of the speed reducer is located inside the rotor, the motor shaft is connected to the rotor base and the driving member, and the internal gear is connected to the stator base.

[0037] In some embodiments, the stator base has a first end and a second end. The first end of the stator base is open and covered by a stator cover. A through hole is provided in the end wall of the second end of the stator base, and a part of the outer gear is rotatably supported in the through hole.

[0038] The robotic arm according to an embodiment of the present invention may include the joint module described in any one of the above embodiments.

[0039] The robot according to an embodiment of the present invention may include the joint module described in any one of the above embodiments.

[0040] The production system according to an embodiment of the present invention may include the robotic arm and / or the robot described in any one of the above embodiments.

[0041] The electric device according to an embodiment of the present invention may include the joint module described in any one of the above embodiments.

[0042] In some embodiments, the electric device may be an electric wheelchair or an electric bed. Description of the Drawings

[0043] Figure 1 is a perspective view of a speed reducer according to an embodiment of the present invention.

[0044] Figure 2 is another perspective view of a speed reducer according to an embodiment of the present invention.

[0045] Figure 3 is a schematic cross-sectional view of a speed reducer according to an embodiment of the present invention.

[0046] Figure 4 is an axial cross-sectional view of the internal gear of a speed reducer according to an embodiment of the present invention.

[0047] Figure 5 is an axial cross-sectional view of the external gear of a speed reducer according to an embodiment of the present invention.

[0048] Figure 6 is a speed reducer according to an embodiment of the present invention along Figure 3 in the cross-sectional view taken along line A-A.

[0049] Figure 7 is a speed reducer according to an embodiment of the present invention along Figure 3 in the cross-sectional view taken along line B-B.

[0050] Figure 8 is a schematic view of the cooperation between the brake block and the eccentric wheel of a speed reducer according to an embodiment of the present invention (the brake block is in the released position).

[0051] Figure 9 is a perspective view of the brake block and the eccentric wheel of a speed reducer according to an embodiment of the present invention.

[0052] Figure 10 It is another schematic diagram of the brake block and the eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0053] Figure 11 It is another perspective view of the brake block and the eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0054] Figure 12 It is a three-dimensional view of the eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0055] Figure 13 It is another three-dimensional view of the eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0056] Figure 14 It is a plan view of the eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0057] Figure 15 It is a three-dimensional view of the brake block of the speed reducer according to an embodiment of the present invention.

[0058] Figure 16 It is another three-dimensional view of the brake block of the speed reducer according to an embodiment of the present invention.

[0059] Figure 17 It is a plan view of the brake block of the speed reducer according to an embodiment of the present invention.

[0060] Figure 18 It is a three-dimensional view of the joint module according to an embodiment of the present invention.

[0061] Figure 19 It is a perspective view of the joint module according to an embodiment of the present invention.

[0062] Figure 20 It is a perspective view of the joint module according to another embodiment of the present invention.

[0063] Figure 21 It is a three-dimensional view of the joint module according to another embodiment of the present invention.

[0064] Figure 22 It is a partial cross-sectional view of the joint module according to another embodiment of the present invention.

[0065] Figure 23 It is a schematic cross-sectional view of the joint module according to another embodiment of the present invention.

[0066] Figure 24 It is a schematic diagram of the robotic arm according to an embodiment of the present invention.

[0067] Figure 25 It is a schematic diagram of the robot according to an embodiment of the present invention.

[0068] Figure 26 It is a schematic diagram of the electric device according to an embodiment of the present invention.

[0069] Reference Signs:

[0070] 100, speed reducer; 101, main axis; 102, eccentric axis;

[0071] 1, internal gear; 11, internal gear hole; 111, internal teeth; 112, internal tooth hole section; 113, limit hole section; 12, central flange; 13, flange hole; 14, end wall; 15, counterbore; 16, connecting part;

[0072] 2, cover plate; 21, cover plate hole;

[0073] 3, external gear; 301, external teeth; 31, external gear hole; 311, external tooth hole section; 312, mating hole section; 32, external tooth section; 33, mating section; 331, limit flange;

[0074] 4, eccentric wheel; 41, dial groove; 41a, first dial groove; 41b, second dial groove; 421, first end of the eccentric wheel; 422, second end of the eccentric wheel; 43, first jack; 44, arc guide rail; 441, outer peripheral surface of the arc guide rail; 45, notch; 46, inner groove; 47, outer groove; 481, first step; 482, second step; 49, eccentric wheel hole;

[0075] 5, brake block; 51, second jack; 52, arc guide groove; 53, plate body; 54, outer boss; 541, inner peripheral surface of the outer boss; 55, inner boss; 56, second half hole;

[0076] 6, elastic member; 61, first end of the elastic member; 62, second end of the elastic member;

[0077] 7, snap ring;

[0078] 8, driving member; 81, dial block; 81a, first dial block; 81b, second dial block; 82, disk body; 83, disk hub; 831, disk hole;

[0079] 200, joint module;

[0080] 210, motor; 211, motor shaft; 212, stator seat; 2121, through hole; 213, stator; 214, rotor; 215, rotor seat; 216, stator cover;

[0081] 300, robotic arm; 400, robot; 500, electric wheelchair. Detailed Embodiments

[0082] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0083] As shown in Figures 1 - 17 FIG. 1, the speed reducer 100 according to an embodiment of the present invention includes an internal gear 1, an external gear 3, an eccentric wheel 4, a brake block 5, an elastic member 6, a limiting disk 7, and a driving member 8.

[0084] The internal gear 1 has a concentric internal gear hole 11, and internal teeth 111 are provided on the circumferential surface of the internal gear hole 11. It should be understood that the concentric internal gear hole means that the central axis of the outer circumferential surface of the internal gear 1 (which can also be referred to as the central axis of the internal gear 1) is coaxial with the central axis of the internal gear hole 21.

[0085] External teeth 301 are provided on the outer circumferential surface of the external gear 3. The external gear 3 is at least partially disposed in the internal gear hole 11 and meshes with the internal gear 1. The external gear 3 has a concentric external gear hole 31. In other words, the central axis of the outer circumferential surface of the external gear 3 (which can also be referred to as the central axis of the external gear 3) is coaxial with the central axis of the external gear hole 31. As shown in Figure 3 FIG. 1, the outer circumferential surface of the external gear 3 is eccentric with respect to the internal gear hole 11, that is, the central axis of the external gear 3 and the central axis of the internal gear 1 (i.e., the central axis of the internal gear hole 11) are parallel to each other and non-coaxial, and a part of the external teeth 301 of the external gear 3 meshes with a part of the internal teeth 111 of the internal gear 1.

[0086] The eccentric wheel 4 is rotatably disposed in the external gear hole 31. The central axis of the outer circumferential surface of the eccentric wheel 4 is coaxial with the central axis of the external gear hole 31. The central axis of the outer circumferential surface of the eccentric wheel 4 and the rotation axis of the eccentric wheel 4 are parallel to each other and non-coaxial. The rotation axis of the eccentric wheel 4 is coaxial with the central axis of the internal gear 1 (i.e., the central axis of the internal gear hole 11) and the central axis (rotation axis) of the driving member 8. The external gear 3 is driven by the eccentric wheel 4 to revolve around the rotation axis of the eccentric wheel 4 (i.e., the central axis of the internal gear 1, the central axis of the internal gear hole 11) while rotating itself. That is, the eccentric wheel 4 can drive the external gear 3 to revolve around the rotation axis of the eccentric wheel 4. Since the external gear 3 meshes with the internal gear 1, the external gear 3 rotates itself while revolving, and the rotation axis of the external gear 3 rotating itself is the central axis of the external gear 3.

[0087] For example, when the eccentric wheel 4 rotates clockwise, it drives the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the clockwise direction, and at the same time, the external gear 3 rotates counterclockwise; when the eccentric wheel 4 rotates counterclockwise, it drives the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the counterclockwise direction, and at the same time, the external gear 3 rotates clockwise.

[0088] The brake block 5 is disposed on the eccentric wheel 4 and can rotate with the eccentric wheel 4. The brake block 5 is movable relative to the eccentric wheel 4 between a braking position and a release position. In the braking position, the brake block 5 abuts against the external gear 3. In the release position, the brake block 5 is separated from the external gear 3.

[0089] The elastic member 6 is connected to the eccentric wheel 4 and the brake block 5 and is used to press the brake block 5 toward the braking position. In other words, the elastic member 6 applies an elastic force to the brake block 5, and the elastic force of the elastic member 6 presses the brake block 5 toward the braking position. For example, when the brake block 5 moves from the braking position toward the release position, the elastic member 6 is gradually compressed, so that the elastic member 6 applies an elastic force to the brake block 5, and this elastic force presses the brake block 5 toward the braking position.

[0090] The driving member 8 is connected to the eccentric wheel 4. The driving member 8 is used to drive the eccentric wheel 4, and the rotation axis of the driving member 8 is coaxial with the rotation axis of the eccentric wheel 4.

[0091] As Figures 1 - 3 shown, the central axis of the internal gear 1, the central axis of the internal gear hole 11, the rotation axis of the eccentric wheel 4, and the rotation axis of the driving member 8 are coaxial and can be collectively referred to as the main axis 101. The central axis of the external gear 3, the central axis of the external gear hole 39, the self-rotation axis of the external gear 3, and the central axis of the outer peripheral surface of the eccentric wheel 4 are coaxial and can be collectively referred to as the eccentric axis 102.

[0092] When the driving member 8 rotates, the brake block 5 can move relative to the eccentric wheel 4 to the release position against the elastic force of the elastic member 6, so that the driving member 8 drives the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 stops rotating, the elastic member 6 pushes the brake block 5 relative to the eccentric wheel 4 to the braking position, and the brake block 5 abuts against the external gear 3, thereby preventing the eccentric wheel 4 and the brake block 5 from rotating together. In other words, when the driving member 8 rotates, the brake block 5 moves to the release position, and the driving member 8 can drive the eccentric wheel 4 and the brake block 5 to rotate simultaneously, so that while driving the external gear 3 to revolve around the rotation axis of the eccentric wheel 4, the external gear 3 rotates around its own central axis. When the driving member 8 stops rotating, the brake block 5 moves to the braking position under the action of the elastic member 6, and the brake block 5 abuts against the external gear 3. At this time, even if a load is applied to the external gear 3, the eccentric wheel 4 cannot rotate together with the brake block 5 relative to the external gear 3. Therefore, the external gear 3, the eccentric wheel 4, and the brake block 5 cannot rotate, thus realizing reverse braking.

[0093] For example, the driving member 8 can be connected to the driving shaft to be driven by the driving shaft to rotate counterclockwise or clockwise. The driving shaft can be, for example, the shaft of a driver or a shaft connected to the driver shaft. The driver can be, for example, an electric motor, and the driving shaft can be the motor shaft.

[0094] For example, when the driving member 8 is connected to the motor shaft of the motor and the driving member 8 is driven by the motor to rotate, the brake block 5 can move relative to the eccentric wheel 4 to the release position against the elastic force of the elastic member 6 and separate from the external gear 3. Thus, the driving member 8 can drive the brake block 5 and the eccentric wheel 4 to rotate together, and further drive the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the internal gear hole 11, and at the same time, the external gear 3 rotates.

[0095] Therefore, the external gear 3 can also be referred to as the output gear of the speed reducer 100, which can be connected to other components to drive the rotation of other components. For example, the external gear 3 can be connected to the drum of a winch and the joints of a robot. The rotation speed of the driving member 8 is equal to the rotation speed of the eccentric wheel 4. The rotation speed of the eccentric wheel 4 can be used as the input rotation speed of the speed reducer 100, and the revolution speed of the external gear 3 can be used as the output rotation speed and is less than the rotation speed of the eccentric wheel 4, thereby achieving speed reduction.

[0096] When the driving member 8 does not rotate, the brake block 5 moves relative to the eccentric wheel 4 to the braking position under the elastic force of the elastic member 6 and abuts against the external gear 3. The frictional force between the brake block 5 and the external gear 3 prevents the eccentric wheel 4 and the brake block 5 from rotating relative to the external gear 3, thereby preventing the external gear 3 from revolving and rotating.

[0097] The speed reducer according to the embodiment of the present invention can automatically achieve reverse braking. When the driving member rotates, it first drives the brake block to overcome the elastic force of the elastic member and move relative to the eccentric wheel to the release position to separate from the external gear. Then, the driving member drives the eccentric wheel and the brake block to rotate together. The eccentric wheel drives the external gear to revolve around the central axis of the internal gear hole and rotate at the same time in the internal gear hole. The external gear serves as the output gear to output torque.

[0098] When the driving member stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the external gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the external gear, that is, preventing the torque (load) applied by the external gear on the eccentric wheel from causing the eccentric wheel to rotate. Thus, the eccentric wheel cannot transmit the torque to the driving member to cause the driving member to rotate. For example, when the motor of the winch stops rotating, the load applied by the drum of the winch to the eccentric wheel through the external gear cannot drive the eccentric wheel to rotate. Therefore, the external gear cannot rotate, and at the same time, the eccentric wheel cannot cause the driving member to rotate.

[0099] It can be understood that in the embodiment of the present invention, the "reverse" in "reverse braking" refers to the direction in which the torque applied to the external gear is transmitted towards the driving member. Correspondingly, the "forward" refers to the direction in which the torque of the driving member is transmitted towards the external gear.

[0100] The speed reducer according to the embodiment of the present invention can achieve the function of automatic reverse braking, has a simple overall structure, a small number of components, a small volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0101] In some embodiments, such as Figures 1 - 17As shown, the eccentric wheel 4 is provided with a shifting groove 41, and the driving member 8 is provided with a shifting block 81, and the shifting block 81 is movably fitted in the shifting groove 41. When the driving member 8 rotates in one of the clockwise and counterclockwise directions, the shifting block 81 overcomes the elastic force of the elastic member 6 to push the brake block 5 to the release position to drive the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 rotates in the other of the clockwise and counterclockwise directions, the shifting block 81 drives the eccentric wheel 4 to rotate, so that relative rotation occurs between the eccentric wheel 4 and the brake block 5, and the brake block 5 overcomes the elastic force of the elastic member 6 to move to the release position, so that the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together.

[0102] In some examples, as Figure 6 shown, when the driving member 8 rotates counterclockwise, the shifting block 81 overcomes the elastic force of the elastic member 6 to push the brake block 5 to the release position to drive the eccentric wheel 4 and the brake block 5 to rotate together. In other words, the driving member 8 directly pushes the brake block 5 through the shifting block 81, so that the brake block 5 overcomes the elastic force of the elastic member 6 and moves relative to the eccentric wheel 4 to the release position, and then applies a force to the eccentric wheel 4 directly through the shifting block 81 or through the brake block 5 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0103] In other examples, as Figure 6 shown, when the driving member 8 rotates clockwise, the shifting block 81 drives the eccentric wheel 4 to rotate, and relative rotation occurs between the eccentric wheel 4 and the brake block 5, whereby the brake block 5 overcomes the elastic force of the elastic member 6 to move to the release position, and then the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together. In other words, the driving member 8 drives the eccentric wheel 4 to rotate through the shifting block 81, whereby the brake block 5 overcomes the elastic force of the elastic member 6 to move to the release position, and then directly applies a force to the eccentric wheel 4 through the shifting block 81 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0104] In some embodiments, as Figures 1 - 17 shown, the shifting groove 41 includes a first shifting groove 41a and a second shifting groove 41b, and the shifting block 81 includes a first shifting block 81a and a second shifting block 81b. The first shifting block 81a is movably fitted in the first shifting groove 41a, and the second shifting block 81b is movably fitted in the second shifting groove 41b, wherein the brake block 5 corresponds to the first shifting groove 41a, that is, the brake block 5 can be driven by the first shifting block 81a fitted in the first shifting groove 41a. When the driving member 8 rotates clockwise or counterclockwise, the first shifting block 81a moves in the first shifting groove 41a around the rotation axis of the driving member 8, and the second shifting block 81b relatively moves in the second shifting groove 41b around the rotation axis of the driving member 8.

[0105] In some examples, when the driving member 8 rotates counterclockwise, the first shifting block 81a overcomes the elastic force of the elastic member 6 and directly contacts the brake block 5 to push the brake block 5 to the release position.

[0106] Specifically, as Figure 3 shown, the brake block 5 is in the braking position, and the brake block 5 abuts against the external gear 3, that is, the brake block 5 abuts against the peripheral wall surface of the external gear hole 31, and the minimum clearance between the two is zero. When the driving member 8 rotates counterclockwise along Figure 3 in, the first dial block 81a rotates counterclockwise in the first dial groove 41a until it contacts one end face of the brake block 5 ( Figure 6 the upper end face in), and then, the first dial block 81a applies a thrust to the brake block 5 to overcome the elastic force of the elastic member 6 and push the brake block 5 to the release position. The brake block 5 is separated from the external gear 3, that is, separated from the peripheral wall surface of the external gear hole 31, and the minimum clearance between the two is greater than zero. Subsequently, the first dial block 81a pushes the brake block 5 and the eccentric wheel 4 to rotate counterclockwise together, thereby driving the external gear 3 to revolve counterclockwise around the rotation axis of the eccentric wheel 4, and at the same time, the external gear 3 rotates clockwise around its own central axis.

[0107] During the process that the first dial block 81a pushes the brake block 5 from the braking position to the release position, the second dial block 81b rotates counterclockwise in the second dial groove 41b. When the brake block 5 reaches the release position, the second dial block 81b is spaced apart from the end wall surface of the second dial groove 41b ( Figure 6 the upper end wall surface in). Optionally, the second dial block 81b can contact the end wall surface of the second dial groove 41b but does not apply a force to the eccentric wheel 4, and the eccentric wheel 4 and the brake block 5 rotate counterclockwise together under the action of the first dial block 81a. Thus, the machining accuracy and assembly accuracy requirements for the driving member 8 and the eccentric wheel 4 are low, reducing the manufacturing cost.

[0108] In some embodiments, when the driving member 8 rotates clockwise, the second dial block 81b drives the eccentric wheel 4 to rotate clockwise and the brake block 5 moves to the release position against the elastic force of the elastic member 6.

[0109] Specifically, when the driving member 8 rotates clockwise along Figure 6 in, the second dial block 81b rotates clockwise in the second dial groove 41b until it contacts one end face of the second dial groove 41b ( Figure 6 the lower end face in), and the second dial block 81b applies a thrust to the eccentric wheel 4 to push the eccentric wheel 4 to rotate clockwise. Relative rotation occurs between the eccentric wheel 4 and the brake block 5, and thus the brake block 5 moves to the release position against the elastic force of the elastic member 6. Subsequently, the second dial block 81b drives the eccentric wheel 4 and the brake block 5 to rotate clockwise together, thereby driving the external gear 3 to revolve clockwise around the rotation axis of the eccentric wheel 4, and at the same time, the external gear 3 rotates counterclockwise around its own central axis.

[0110] When the brake block 5 overcomes the elastic force of the elastic member 6 and moves from the braking position to the releasing position, the first shifting block 81a and the end wall surface ( Figure 6 Optionally, the first shifting block 81a may contact the end wall of the first shifting groove 41a but may not apply force to the eccentric wheel 4, and the eccentric wheel 4 and the brake block 5 rotate together in the clockwise direction under the action of the second shifting block 81b.

[0111] In some specific examples, such as Figures 1 - 17 As shown, the first shift groove 41a, the second shift groove 41b, the first shift block 81a, the second shift block 81b, the brake block 5 and the elastic member 6 are all one, wherein the first shift block 81a is fitted in the first shift groove 41a and corresponds to the brake block 5, and the second shift block 81b is fitted in the second shift groove 41b and does not correspond to the brake block 5, that is, the second shift block 81b will not directly contact the brake block 5.

[0112] In an optional embodiment, the first shifting groove 41a, the second shifting groove 41b, the first shifting block 81a, the second shifting block 81b, the brake block 5 and the elastic member 6 may all be plural.

[0113] In some embodiments, Figures 1 - 14 As shown, the shifting groove 41 is provided on the outer peripheral surface of the eccentric wheel 4, and the shifting groove 41 extends along the circumferential direction of the outer peripheral surface of the eccentric wheel 4 by a predetermined length and penetrates the eccentric wheel 4 along the axial direction of the eccentric wheel 4. The shifting block 81 of the driving member 8 extends into the axial direction of the eccentric wheel 4 and fits in the shifting groove 41.

[0114] In other embodiments, the eccentric wheel 4 has an opposite first end 421 ( Figure 12 The front end facing the observer) and the second end 422 ( Figure 12 The shifting groove 41 is provided at the junction of the end face of the first end 421 of the eccentric wheel 4 and the outer peripheral surface of the eccentric wheel 4. In other words, the shifting groove 41 is recessed to a predetermined depth from the end face of the first end 421 of the eccentric wheel 4 toward the second end 422 of the eccentric wheel 4 and the outer peripheral surface of the shifting groove 41 is open, so that the shifting groove 41 does not penetrate the eccentric wheel 4 along the axial direction of the eccentric wheel 4, and the shifting block 81 of the driving member 8 extends from the first end 421 of the eccentric wheel 4 along the axial direction of the eccentric wheel 4 and fits in the shifting groove 41.

[0115] In some examples, such as Figures 8 - 14 As shown, the shifting groove 41 is an arc-shaped groove extending along the circumferential direction of the outer peripheral surface of the eccentric wheel 4. Specifically, the inner peripheral wall surface of the shifting groove 41 is arc-shaped, and the central axis of the inner peripheral wall surface of the shifting groove 41 is coaxial with the central axis of the outer peripheral surface of the eccentric wheel 4. Figures 1 - 14 In the example shown, there are two shifting grooves 41 including a first shifting groove 41 a and a second shifting groove 41 b , and the first shifting groove 41 a and the second shifting groove 41 b are arranged at intervals along the circumferential direction of the eccentric wheel 4 .

[0116] As shown in Figures 1 - 2 , Figures 6 - 7 shown, the shifting block 81 is configured as an arc adapted to the shifting groove 41. The outer peripheral surface and the inner peripheral surface of the shifting block 81 are both arcs. The inner peripheral surface of the shifting block 81 can be slidably mated with the inner peripheral wall surface of the shifting groove 41, and there may be a gap between the outer peripheral surface of the shifting block 81 and the outer peripheral edge of the shifting groove 41 in the radial direction of the eccentric wheel 4. It can be understood that the embodiments of the present invention are not limited thereto.

[0117] In some embodiments, as shown in Figures 1 - 4 shown, the driving member 8 is configured as a driving disk. The driving disk includes a disk body 82 and a disk hub 83 located at the center of the disk body 82. The shifting block 81 is provided on the disk body 82 and extends from the disk body 82 along the axial direction of the driving disk towards the eccentric wheel 4 and extends into the shifting groove 41. The internal gear 1 has a central flange 12 extending axially in the internal gear hole 11. The central flange 12 has a concentric flange hole 13. The disk hub 83 is rotatably mated in the flange hole 13. The eccentric wheel 4 has an eccentric wheel hole 49. The eccentric wheel hole 49 is coaxial with the internal gear 1, that is, the central axis of the eccentric wheel hole 49 is coaxial with the central axis of the internal gear 1. As described above, the central axis of the eccentric wheel hole 49 is the main axis 101. The central flange 12 is rotatably mated in the eccentric wheel hole 49 and is coaxial with the eccentric wheel hole 49.

[0118] In some examples, as shown in Figure 3 and 4 shown, the central flange 12 is connected to the end wall 14 of the internal gear 1 and extends axially to the right along the internal gear hole 11. The central flange 12 is rotatably mated in the eccentric wheel hole 49, and the right end face of the central flange 12 is flush with the right end face of the eccentric wheel 4. As shown in Figure 3 shown, the disk hub 83 extends leftward from the center of the disk body 82. The disk hub 83 is rotatably mated in the flange hole 13 of the central flange 12, and the left end of the disk hub 83 extends out of the flange hole 13 and is connected by a snap ring 7. A counterbore 15 is provided in the middle of the left end face of the end wall 14 of the internal gear 1. The counterbore 15 communicates with the flange hole 13, and the diameter of the counterbore 15 is larger than the diameter of the flange hole 13 to form a stepped surface. The left end of the disk hub 83 extending out of the flange hole 13 and the snap ring 7 are both located in the counterbore 15, which is convenient for the reducer 100 to be connected to the motor. The snap ring 7 abuts against the stepped surface to limit the central flange 12 and the disk hub 83 axially.

[0119] In Figure 3 the example shown, the disk hub 83 can be in clearance fit with the flange hole 13. Optionally, the disk hub 83 is rotatably supported in the flange hole 13 by a bearing.

[0120] As shown in Figures 3 - 6As shown, the central axis of the eccentric wheel hole 49, the central axis of the central flange 12, the central axis of the flange hole 13, the central axis of the disk hub 83, and the rotation axis of the disk hub 83 are all coaxial with the central axis of the internal gear 1. As Figure 6 and Figure 14 shown, the centers of the internal gear 1, the eccentric wheel hole 49, the central flange 12, and the disk hub 83 are all the center a, and the centers of the external gear 3 and the outer peripheral surface of the eccentric wheel 4 are both the center b.

[0121] As Figures 1 - 3 shown, the disk hub 83 is provided with a disk hole 831, and the disk hole 831 is adapted to cooperate with a driving shaft, such as the motor shaft of a motor. The disk hole 831 can penetrate the disk hub 83. Optionally, the disk hole 831 can be a blind hole. The motor shaft is fitted in the disk hole 831 to drive the driving member 8 to rotate.

[0122] In Figure 3 the example shown, the disk hole 831 penetrates the disk hub 83 along the axial direction of the disk hub 83. One end of the driving shaft can extend into and cooperate with the disk hole 831 from the left side of the speed reducer 100, or can also extend into and cooperate with the disk hole 831 from the right side of the speed reducer 100. In Figure 1 and Figure 2 the example shown, the inner peripheral surface of the disk hole 831 of the driving member 8 is provided with splines, and the driving shaft can also be provided with splines, so that the driving member 8 is spline-connected to the driving shaft.

[0123] In some embodiments, as Figures 1 - 3 shown, the speed reducer 100 includes a cover plate 2. The internal gear 1 has a first end ( Figure 3 and Figure 4 the left end in Figure 3 and Figure 4 ) and a second end (

[0124] the right end in Figure 3 and Figure 4 ). The internal gear 1 has an end wall 14 at the first end, and the second end of the internal gear 1 is open. The cover plate 2 is provided at the second end of the internal gear 1 to limit the external gear 3, that is, the cover plate 2 limits the internal gear 1 and the external gear 3 axially of the internal gear 1.

[0125] In some examples, as Figure 3 and Figure 5As shown, the cover plate 2 has a cover plate hole 21. The outer gear 3 includes an outer tooth section 32 and a fitting section 33. The outer teeth 301 of the outer gear 3 are formed on the outer peripheral surface of the outer tooth section 32. The outer tooth section 32 is fitted and meshed with the inner tooth hole section 112. A limiting flange 331 is provided on the outer peripheral surface of the fitting section 33. The limiting flange 331 is rotatably fitted in the limiting hole section 113. The fitting section 33 is rotatably fitted in the cover plate hole 21 of the cover plate 2, and the cover plate 2 stops the limiting flange 331. Thus, the inner gear 1 and the outer gear 3 are axially limited. It can be understood that the limiting structure of the inner gear 1 and the outer gear 3 is not limited to this.

[0126] Furthermore, as Figure 3 and Figure 5 shown, the outer gear hole 31 includes an outer tooth hole section 311 and a fitting hole section 312. The diameter of the fitting hole section 312 is larger than that of the outer tooth hole section 311. The eccentric wheel 4 is rotatably fitted in the outer tooth hole section 311. The disk body 82 of the driving member 8 is located in the fitting hole section 312. The disk hub 83 of the driving member 8 is rotatably fitted in the flange hole 13 of the central flange 12 of the inner gear 1.

[0127] In Figure 3 and Figure 5 the illustrated example, the outer tooth hole section 311 is located on the left side of the fitting hole section 312 and is coaxial with it. The outer tooth hole section 311 is provided in the outer tooth section 32 of the outer gear 3. The fitting hole section 312 is located in the fitting section 33 of the outer gear 3, providing space for the assembly of the disk body 82 of the driving disk.

[0128] In some embodiments, as Figures 1 - 17 shown, a first jack 43 is provided on the end surface of the first end 421 of the eccentric wheel 4. A second jack 51 is provided on the brake block 5. As Figures 1 - 3 shown, the elastic member 6 is a rod-shaped arc spring. In other words, the main body of the spring is a generally open arc. The first end and the second end of the spring extend a predetermined length along a plane generally orthogonal to the plane where the main body is located, facilitating the connection between the brake block 5 and the eccentric wheel 4. The first end 61 of the elastic member 6 is fitted in the first jack 43. The second end 62 of the elastic member 6 is fitted in the second jack 51. The spring applies an elastic force to the brake block 5 to normally press the braking position against the brake block 5. During the process of the brake block 5 moving from the braking position towards the release position, the first end 61 and the second end of the elastic member 6 approach each other, and the spring is gradually compressed. In other alternative embodiments, during the process of the brake block 5 moving from the braking position towards the release position, the spring can also be gradually stretched.

[0129] It can be understood that the elastic member 6 is not limited to a rod-shaped spring and can be, for example, an elastic sheet or other forms.

[0130] In Figures 1 - 17In the example shown, the first jack 43 of the eccentric wheel 4 is a first half hole, and the brake block 5 is provided with a second half hole 56. In the release position, the first half hole and the second half hole 56 are butt-jointed in the circumferential direction of the eccentric wheel 4 to form a circular hole (as Figure 11 shown), and in the braking position, the first half hole and the second half hole 56 are separated. It can be understood that the first end of the spring is always fitted in the first half hole, and the first half hole restricts the first end of the spring.

[0131] Furthermore, as Figure 3 shown, a first arc-shaped groove may be provided on the end face of the eccentric wheel 4, and a second arc-shaped groove may be provided on the end face of the brake block 5. The first arc-shaped groove and the second arc-shaped groove are opposite to each other for accommodating the elastic member 6.

[0132] It can be understood that the connection manner of the elastic member 6 with the brake block 5 and the eccentric wheel 4 is not limited to the above embodiments, as long as when the driving member 8 stops rotating, the elastic member 6 can move the brake block 5 from the release position to the braking position.

[0133] For example, in some examples, the first jack 43 of the eccentric wheel 4 is a circular hole extending from the end face of the first end 421 of the eccentric wheel 4 towards the second end, and the first end 61 of the elastic member 6 is fitted in the first jack 43.

[0134] In some embodiments, the eccentric wheel 4 is provided with one of a guide rail and a guide groove, and the brake block 5 is provided with the other of the guide rail and the guide groove. The guide rail and the guide groove are slidably engaged. When the brake block 5 moves between the braking position and the release position, the guide rail and the guide groove slide relative to each other to guide the relative movement between the eccentric wheel 4 and the brake block 5.

[0135] In some embodiments, as Figures 8 - 17 shown, the guide rail is provided on the eccentric wheel 4, and the guide groove is provided on the brake block 5. The guide rail and the guide groove may both be arc-shaped, that is, the guide rail is an arc-shaped guide rail 44, and the guide groove is an arc-shaped guide groove 52 adapted to the arc-shaped guide rail 44. The arc-shaped guide rail 44 and the arc-shaped guide groove 52 are slidably engaged.

[0136] Specifically, as Figures 8 - 17 shown, a notch 45 is provided at the junction of the end face of the first end 421 of the eccentric wheel 4 and the outer peripheral surface of the eccentric wheel 4, that is, the notch 45 is provided at the edge of the end face of the first end 421 of the eccentric wheel 4. The notch 45 recesses from the end face of the first end 421 of the eccentric wheel 4 towards the second end 422 of the eccentric wheel 4 and extends along the circumferential direction of the eccentric wheel 4. In Figures 9 - 18 the example shown, the notch 45 penetrates the eccentric wheel 4 along the axial direction of the eccentric wheel 4. The arc-shaped guide rail 44 is provided in the notch 45 and extends along the circumferential direction of the eccentric wheel 4. As Figure 12 and Figure 13As shown, the surface of the arc-shaped guide rail 44 facing away from the brake block 5 is flush with the plane of the remaining part of the eccentric wheel 4 facing away from the brake block 5 (the end face of the second end 422 of the eccentric wheel 4), and the surface of the arc-shaped guide rail 44 facing the brake block 5 is recessed with respect to the surface of the remaining part of the eccentric wheel 4 (the end face of the first end 421 of the eccentric wheel 4) towards the surface of the brake block 5.

[0137] In the braking position, a part of the brake block 5 can extend above the first shifting groove 41a to overlap with a part of the first shifting groove 41a, so as to facilitate the first shifting block 81a fitted in the first shifting groove 41a to push the brake block 5 corresponding to the first shifting groove 41a. Specifically, the notch 45 is adjacent to the first shifting groove 41a in the circumferential direction of the eccentric wheel 4, and the notch 45 communicates with the first shifting groove 41a, so that the first shifting block 81a can contact the brake block 5 and push the brake block 5. Optionally, the notch 45 may not communicate with the first shifting groove 41a either.

[0138] As Figures 8 - 17 shown, the notch 45 communicates with the first shifting groove 41a, so as to facilitate the first shifting block 81a fitted in the first shifting groove 41a to contact and push the brake block 5.

[0139] Optionally, the notch 45 may communicate with the first shifting groove 41a, and in the braking position, a part of the brake block 5 overlaps with a part of the first shifting groove 41a.

[0140] As Figures 8 - 11 、 Figures 15 - 17 shown, the brake block 5 includes a plate body 53, an outer boss 54 and an inner boss 55. The plate body 53 can be arc-shaped and has an arc-shaped outer peripheral surface and an arc-shaped inner peripheral surface. The plate body 53 has two parallel plate surfaces in its thickness direction. For example, when the brake block 5 is installed on the eccentric wheel 4, the plate body 53 has a first plate surface facing the eccentric wheel 4 and a second plate surface facing away from the eccentric wheel 4. The outer boss 54 and the inner boss 55 are both arranged on the first plate surface and both extend along the circumferential direction of the plate body 53. The outer boss 54 and the inner boss 55 are spaced apart from each other in the radial direction of the plate body 53, and an arc-shaped guide groove 52 is formed between the outer boss 54 and the inner boss 55. The outer peripheral surface of the outer boss 54 is flush with the outer peripheral surface of the plate body 53, and the inner peripheral surface of the inner boss 55 is flush with the inner peripheral surface of the plate body 53.

[0141] As Figures 8 - 17As shown, the plate body 53 of the brake block 5 is fitted in the notch 45. The first plate surface of the plate body 53 abuts against the surface of the arc-shaped guide rail 44 facing the brake block 5, and the second plate surface of the plate body 53 is flush with the end surface of the first end 421 of the eccentric wheel 4. In the radial direction of the eccentric wheel 4, the arc-shaped guide rail 44 is located between the outer boss 54 and the inner boss 55 and is slidable relative to the outer boss 54 and the inner boss 55 in the circumferential direction of the eccentric wheel 4. In other words, the arc-shaped guide rail 44 extends into the arc-shaped guide groove 52 and is slidably fitted with the arc-shaped guide groove 52. The end surfaces of the outer boss 54 of the brake block 5 away from the plate body 53 and the end surfaces of the inner boss 55 away from the plate body 53 are flush with the end surface of the second end 422 of the eccentric wheel 4.

[0142] In the braking position, at least a part of the outer peripheral surface of the outer boss 54 and at least a part of the outer peripheral surface of the plate body 53 extend beyond the outer peripheral surface of the eccentric wheel 4 in the radial direction of the eccentric wheel 4 to abut against the outer gear 3. Specifically, the brake block 5 abuts against the peripheral wall surface of the outer gear hole 31 of the outer gear 3.

[0143] As Figure 17 shown, the outer boss 54 has opposite first and second ends in the circumferential direction of the plate body 53, the inner boss 55 has opposite first and second ends in the circumferential direction of the plate body 53, and the plate body 53 has opposite first and second ends in its circumferential direction. The first end of the outer boss 54 and the first end of the inner boss 55 are adjacent to the first end of the plate body 53 and are spaced apart by a first distance, and the second end of the outer boss 54 and the second end of the inner boss 55 are adjacent to the second end of the plate body 53 and are spaced apart by a second distance.

[0144] As Figures 8 - 14 shown, the inner side of the arc-shaped guide rail 44 has an inner side groove 46, and the outer side of the arc-shaped guide rail 44 has an outer side groove 47. The inner boss 55 of the brake block 5 is fitted in the inner side groove 46 and is slidable along the inner side groove 46, and the outer boss 54 of the brake block 5 is fitted in the outer side groove 47 and is slidable along the outer side groove 47. It can be understood that both the inner side groove 46 and the outer side groove 47 are arc-shaped grooves, and the outer side and the upper surface of the outer side groove 47 are open, forming a semi-open notch structure so that a part of the outer boss 54 can extend outwards through the outer side groove 47 to abut against the outer gear 3.

[0145] Further, the first end of the arc-shaped guide rail 44 has a first step 481, and the second end of the arc-shaped guide rail 44 has a second step 482. The arc-shaped guide rail 44 is located between the first step 481 and the second step 482 in the circumferential direction of the eccentric wheel 4 and is connected to the first step 481 and the second step 482. The upper surfaces of the arc-shaped guide rail 44, the first step 481, and the second step 482 are flush. The bottom of the plate body 53 is in sliding fit with the upper surfaces of the arc-shaped guide rail 44, the first step 481, and the second step 482. When the eccentric wheel 4 rotates counterclockwise, the first slider 81a in the first slot 41a contacts the end face of the plate body 53.

[0146] The brake block 5 moves between a release position and a braking position along the arc-shaped guide rail 44 on the eccentric wheel 4 to separate from or abut against the external gear 3. To more precisely limit the movement path of the brake block 5, make the braking effect of the brake block 5 more reliable in the braking position, and the release effect more reliable in the release position. In some embodiments, the radius of curvature of the outer peripheral surface 441 of the arc-shaped guide rail 44 can gradually increase in the direction from the release position to the braking position. Optionally, the outer peripheral surface 441 of the arc-shaped guide rail 44 can be a spiral surface or a cam surface that gradually expands radially outward along the circumferential direction of the eccentric wheel 4.

[0147] As an example, as Figure 14 shown, the radius of curvature of the outer peripheral surface 441 of the arc-shaped guide rail 44 gradually increases in the direction from the release position to the braking position. R1 and R2 respectively represent the radii of curvature of the outer peripheral surface 441 of the arc-shaped guide rail 44 at different positions. The position marked R1 in the figure is closer to the release position than the position represented by R2, where R1 is less than R2.

[0148] As Figures 15 - 17 shown, the structure of the outer convex platform 54 of the brake block 5 is adapted to the structure of the outer slot 47. As Figure 17 shown, r1 and r2 respectively represent the radii of curvature of the inner peripheral surface 541 of the outer convex platform 54 at different positions. The position represented by r1 is closer to the release position than the position represented by r2, where r1 is less than r2.

[0149] In some alternative embodiments, the speed reducer 100 includes an internal gear 1, an external gear 3, an eccentric wheel 4, a brake member 5, a spring, and a driving member 8.

[0150] As described above, in some examples, the driving member 8 can be configured as a driving disk.

[0151] The internal gear 1 has an internal gear hole 11, and the central axis of the internal gear hole 11 is coaxial with the rotation axis of the internal gear 1. The external gear 3 has an external gear hole 31. The external gear 3 is at least partially disposed in the internal gear hole 11 and meshes with the internal gear 1. The eccentric wheel 4 has an eccentric wheel hole 49. The eccentric wheel 4 is rotatably disposed in the external gear hole 31 to drive the external gear 3 to revolve and rotate about the central axis of the eccentric wheel hole 49. The rotation axis of the eccentric wheel 4, the central axis of the eccentric wheel hole 49, and the central axis of the internal gear 1 are coaxial. The central axis of the outer peripheral surface of the eccentric wheel 4 is eccentric with respect to the central axis of the eccentric wheel hole 49. The brake block 5 is disposed on the eccentric wheel 4 to rotate with the eccentric wheel 4. The brake block 5 is movable relative to the eccentric wheel 4 between a braking position and a release position. In the braking position, the brake block 5 abuts against the external gear 3. In the release position, the brake block 5 is separated from the external gear 3. A spring is connected to the eccentric wheel 4 and the brake block 5 for pressing the brake block 5 toward the braking position.

[0152] The driving member 8 is connected to the eccentric wheel 4 and the rotation axis of the driving member 8 is coaxial with the rotation axis of the eccentric wheel 4. When the driving member 8 rotates, the brake block 5 moves relative to the eccentric wheel 4 to the release position so that the driving member 8 drives the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel 4 and the brake block 5 from rotating together.

[0153] The speed reducer according to the embodiment of the present invention realizes an automatic reverse braking function by using a spring and a brake block, has a simple overall structure, a small number of components, a small volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0154] In some alternative embodiments, the speed reducer 100 includes an internal gear 1, an external gear 3, an eccentric member, a braking member, an elastic member 6, and a rotatable driving member 8.

[0155] As described above, in some examples, the eccentric member may be configured as an eccentric wheel, the braking member may be configured as a brake block, the elastic member may be configured as a spring, and the driving member 8 may be configured as a driving disk.

[0156] The internal gear 1 has an internal gear hole 11, the external gear 3 has an external gear hole 31. The external gear 3 is at least partially disposed in the internal gear hole 11 and meshes with the internal gear 1. The eccentric member is rotatably disposed in the external gear hole 31 to drive the external gear 3. The rotation axis of the eccentric member is coaxial with the central axis of the internal gear 1. The central axis of the outer peripheral surface of the eccentric member is eccentric with respect to the rotation axis of the eccentric member. The external gear 3 can rotate and revolve about the rotation axis of the eccentric member.

[0157] The braking member is provided on the eccentric member and rotates together with the eccentric member. The braking member is movable relative to the eccentric member between a braking position and a release position. To enable the braking member to prevent the driven member from rotating in the braking position and allow the driven member to rotate in the release position, at least one of the following means can be adopted: radially of the eccentric member, when the braking member is in the braking position, it is farther from the rotation axis of the eccentric member than when it is in the release position; when the braking member moves from the release position towards the braking position, the braking member moves circumferentially along the eccentric member while moving radially outward along the eccentric member; and when the braking member moves from the release position towards the braking position, the movement locus of the braking member is a spiral or cam profile linearly expanding radially outward gradually along the circumferential direction of the eccentric member.

[0158] The elastic member 6 is connected to the eccentric member and the braking member and is used to press the braking member towards the braking position. The rotation axis of the driving member is coaxial with the rotation axis of the eccentric member. When the driving member 8 rotates, the braking member moves relative to the eccentric member to the release position so that the driving member 8 drives the eccentric member and the braking member to rotate together. When the driving member 8 stops rotating, the elastic member 6 pushes the braking member to the braking position to prevent the eccentric member and the braking member from rotating together.

[0159] The speed reducer of the embodiment of the present invention can achieve an automatic reverse braking function, has a simple overall structure, a small number of components, a small volume, and has the advantages of a large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0160] The joint module of the embodiment of the present invention is described below.

[0161] As Figures 18 - 23 shown, the joint module 200 of the embodiment of the present invention includes a speed reducer and a motor 210, wherein the speed reducer is the speed reducer 100 of any one of the above embodiments. The motor shaft 211 of the motor 210 is connected to the driving member 8 of the speed reducer 100 to drive the driving member 8 to rotate in the clockwise direction or the counterclockwise direction.

[0162] The joint module of the embodiment of the present invention can automatically achieve reverse braking. When the motor shaft of the motor rotates, the eccentric wheel and the brake block are driven to rotate together through the driving member. While the eccentric wheel drives the outer gear to revolve around the central axis of the inner gear hole in the inner gear hole and rotate itself, the outer gear outputs torque as an output gear. When the motor shaft of the motor stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the outer gear, preventing the eccentric wheel and the brake block from rotating relative to the outer gear, that is, the torque (load) applied by the inner gear on the eccentric wheel through the outer gear causes the eccentric wheel to rotate, so that the eccentric wheel cannot transmit the torque to the driving member and cause the driving member and the motor shaft to rotate.

[0163] In some embodiments, as Figures 18 - 19As shown, the housing of the motor 210 abuts against one end face of the internal gear 1 of the speed reducer 100 and is located outside the internal gear. The motor shaft 211 extends into the disk hole 831 of the disk hub 83 of the driving member 8 and is connected to the disk hub 83 to drive the driving member 8 to rotate. In Figure 19 the example shown, the housing of the motor 210 abuts against the left end face of the internal gear 1, and the motor shaft 211 extends rightward into the disk hole 831 of the disk hub 83 for driving the driving member 8 to rotate.

[0164] In some embodiments, such as Figures 20 - 23 shown, at least a part of the speed reducer 100 is provided inside the motor 210.

[0165] In some embodiments, such as Figures 20 - 23 shown, the motor 210 includes a motor shaft 211, a stator base 212, a stator 213, a rotor 214, and a rotor base 215. The stator 213 is provided inside the stator base 212, the rotor 214 is sleeved on the rotor base 215, the rotor 214 and the rotor base 215 are rotatably provided inside the stator 213, at least a part of the speed reducer 100 is located inside the rotor 214, the motor shaft 211 of the motor 210 is connected to the rotor base 215 and the driving member 8, and the internal gear 1 is connected to the stator base 212. The central axis of the stator base 212, the rotation axis of the stator 213, the rotation axis of the rotor 214, the central axis of the rotor base 215, the central axis of the motor shaft 211, the rotation axis of the driving member 8, the rotation axis of the eccentric wheel 4, and the central axis of the internal gear 1 are coaxial. The stator 213 drives the rotor 214 to rotate, the rotor 214 drives the motor shaft 211 to rotate, the motor shaft 211 of the motor 210 drives the driving member 8 to rotate in the clockwise or counterclockwise direction, thereby driving the external gear 3 to revolve and rotate simultaneously. The external gear 3 serves as an output gear and is connected to other components to be driven to drive other components.

[0166] When the motor shaft 211 of the motor 210 stops rotating, the elastic member 6 pushes the brake block 5 from the release position to the brake position relative to the eccentric wheel 4. The brake block 5 abuts against the external gear 3 to prevent the eccentric wheel 4 and the brake block 5 from rotating relative to the external gear 3, that is, to prevent the torque (load) applied to the external gear 3 from being reversely transmitted to the driving member 8 through the eccentric wheel 4 to cause the driving member 8 and the motor shaft 211 to rotate.

[0167] In some specific examples, such as Figures 20 - 23 shown, the stator base 212 has a first end ( Figure 23 the left end in Figure 23 ), and a second end (

[0168] the right end inFigure 23 As shown, the speed reducer 100 is not provided with a cover plate 2. The second end of the internal gear 1 abuts against the end wall of the stator seat 212. A connecting portion 16 opposite to the end wall of the stator seat 212 is provided on the outer peripheral surface of the internal gear 1 near its second end. Connecting bolts pass through the end wall of the stator seat 212 and are connected to the connecting portion 16 of the internal gear 1.

[0169] The mating section 33 of the external gear 3 extends out of the stator seat 212 through the through hole 2121 of the stator seat 212 and is connected to the driven element, outputting a self-rotating torque with revolution. The mating section 33 of the external gear 3 is rotatably supported in the through hole 2121. The end wall of the stator seat 212 abuts against the limiting flange 331 of the external gear 3, stopping the limiting flange 331 of the external gear 3 to limit the external gear 3.

[0170] In other examples, the mating section 33 of the external gear 3 can be flush with the outer surface of the end wall of the second end of the stator seat 212 ( Figure 23 the right end face in the figure). Or, the whole of the external gear 3 is located inside the end wall of the second end of the stator seat 212.

[0171] Figure 24 The robotic arm 300 of the embodiment of the present invention is shown. The robotic arm 300 includes a plurality of joint modules 200. Through the drive of the joint modules 200, the robotic arm 300 can perform various actions and operations.

[0172] Figure 25 The robot 400 of the embodiment of the present invention is shown. The robot 400 includes a plurality of joint modules 200. Through the drive of the joint modules 200, the robot can achieve various actions.

[0173] It can be understood that the robotic arm 300 and / or the robot 400 of the embodiment of the present invention is not limited to the form shown in the figure.

[0174] The production system of the embodiment of the present invention can include the robotic arm 300 and / or the robot 400 of the embodiment of the present invention. For example, the production system can be an automobile production line or other product production lines.

[0175] For example, the production system of the embodiment of the present invention can be an automobile production line or other product production lines, where the robotic arm 300 and / or the robot 400 can be used to pick up automobile parts and / or assemble automobiles and their components.

[0176] The electric device of the embodiment of the present invention can include the joint module 200 of the embodiment of the present invention.

[0177] In some embodiments, the electric device can be an electric wheelchair or an electric bed. For example, as Figure 26As shown, the electric device in the embodiment of the present invention is an electric wheelchair 500. Driven by the joint module 200, the electric wheelchair can move and change its shape.

[0178] It can be understood that the electric device in the embodiment of the present invention is not limited to electric beds and electric wheelchairs.

[0179] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention.

[0180] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0181] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "coupled", "joined" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection, an electrical connection, or capable of communicating with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0182] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0183] In the present invention, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0184] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A speed reducer, characterized in that, Comprising: An internal gear having an internal gear hole; An external gear having an external gear hole, at least part of the external gear being disposed in the internal gear hole and meshing with the internal gear; An eccentric wheel rotatably supported in the external gear hole, the rotation axis of the eccentric wheel being coaxial with the central axis of the internal gear, the external gear being driven by the eccentric wheel to revolve around the rotation axis of the eccentric wheel while rotating itself; A brake block disposed on the eccentric wheel to rotate therewith, the brake block being movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; An elastic member connected to the eccentric wheel and the brake block for pressing the brake block towards the braking position; A driving member connected to the eccentric wheel, and the rotation axis of the driving member being coaxial with the rotation axis of the eccentric wheel. When the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

2. The speed reducer according to claim 1, characterized in that, The eccentric wheel is provided with a dial groove, and the driving member is provided with a dial block. The dial block is movably fitted in the dial groove. When the driving member rotates in one of the clockwise and counterclockwise directions, the dial block pushes the brake block to the release position against the elastic force of the elastic member to drive the eccentric wheel and the brake block to rotate together.

3. The speed reducer according to claim 2, characterized in that, When the driving member rotates in the other of the clockwise and counterclockwise directions, the dial block drives the eccentric wheel to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the dial block drives the eccentric wheel and the brake block to rotate together.

4. The speed reducer according to claim 2, characterized in that, The dial groove is provided on the outer peripheral surface of the eccentric wheel, the dial groove extends a predetermined length in the circumferential direction of the outer peripheral surface of the eccentric wheel and penetrates axially along the eccentric wheel.

5. The speed reducer according to claim 2, characterized in that, The driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body, and the dial block is provided on the disk body.

6. The speed reducer according to claim 5, characterized in that, The internal gear has a central flange extending in the internal gear hole, the central flange having a flange hole, and the disk hub is rotatably fitted in the flange hole.

7. The speed reducer according to claim 6, characterized in that, The eccentric wheel has an eccentric wheel hole coaxial with the internal gear, and the central flange is rotatably fitted in the eccentric wheel hole.

8. The speed reducer according to claim 1, wherein The speed reducer further includes a cover plate. The internal gear has a first end and a second end, and the cover plate is disposed at the second end of the internal gear to limit the external gear.

9. The speed reducer according to claim 8, characterized in that The internal gear hole includes an internal tooth hole section and a limiting hole section. The internal teeth of the internal gear are formed on the circumferential wall of the internal tooth hole section, and the diameter of the limiting hole section is larger than that of the internal tooth hole section. The external gear includes an external tooth section and a fitting section. The external teeth of the external gear are formed on the outer peripheral surface of the external tooth section. A limiting flange is provided on the outer peripheral surface of the fitting section. The limiting flange is rotatably fitted in the limiting hole section. The fitting section is rotatably fitted in the cover hole of the cover plate, and the cover plate stops the limiting flange.

10. The speed reducer according to claim 9, characterized in that, The external gear hole includes an external tooth hole section and a fitting hole section. The diameter of the fitting hole section is larger than that of the external tooth hole section. The eccentric wheel is rotatably fitted in the external tooth hole section. The internal gear has a central flange located in the internal gear hole. The central flange has a flange hole. The driving member includes a disk body and a disk hub located at the center of the disk body. The disk body is located in the fitting hole section. The disk hub is rotatably fitted in the flange hole.

11. The speed reducer according to claim 1, characterized in that, A first jack is provided on the eccentric wheel. A second jack is provided on the brake block. The elastic member is an arc-shaped spring. The first end of the elastic member is fitted in the first jack, and the second end of the elastic member is fitted in the second jack.

12. The speed reducer according to claim 1, characterized in that, The eccentric wheel is provided with one of a guide rail and a guide groove. The brake block is provided with the other of the guide rail and the guide groove. The guide rail and the guide groove are slidably fitted.

13. The speed reducer according to claim 12, characterized in that, The guide rail is provided on the eccentric wheel. Both the guide rail and the guide groove are arc-shaped. The radius of curvature of the outer peripheral surface of the guide rail gradually increases in the direction from the release position to the braking position, or the outer peripheral surface of the guide rail is formed as a spiral surface or a cam surface that gradually expands radially outward along the circumferential direction of the eccentric wheel.

14. The speed reducer according to claim 13, characterized in that, A notch is provided at the junction of at least one end face of the eccentric wheel and the outer peripheral surface of the eccentric wheel. The arc-shaped guide rail is provided in the notch. The surface of the guide rail facing away from the brake block is flush with the plane of the rest of the eccentric wheel facing away from the brake block. The surface of the guide rail facing the brake block is recessed relative to the surface of the rest of the eccentric wheel facing the brake block.

15. The speed reducer according to claim 14, characterized in that, The brake block includes an arc-shaped plate body, an arc-shaped outer boss, and an arc-shaped inner boss. The outer boss and the inner boss are provided on the plate body and extend along the circumferential direction of the plate body. The outer boss and the inner boss are spaced apart from each other radially on the plate body. The arc-shaped guide groove is formed between the boss and the inner boss. The outer peripheral surface of the outer boss is flush with the outer peripheral surface of the plate body. The inner peripheral surface of the inner boss is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer boss and at least a part of the outer peripheral surface of the plate body radially exceed the outer peripheral surface of the eccentric wheel to abut against the external gear. The first ends of the outer boss and the inner boss are spaced a first distance from the first end of the plate body. The second ends of the outer boss and the inner boss are spaced a second distance from the second end of the plate body.

16. The speed reducer according to claim 15, wherein, The inner side of the guide rail has an inner side groove. The outer side of the guide rail has an outer side groove. The first end of the guide rail has a first step. The second end of the guide rail has a second step.

17. The speed reducer according to claim 1, wherein The eccentric wheel is provided with a first driving groove and a second driving groove, the driving member is provided with a first driving block and a second driving block, the first driving block is movably fitted in the first driving groove, and the second driving block is movably fitted in the second driving groove. The brake block corresponds to the first driving groove. When the driving member rotates counterclockwise, the first driving block pushes the brake block to the release position against the elastic force of the elastic member. When the brake block moves to the release position, the second driving block is spaced apart from or in contact with the end wall surface of the second driving groove.

18. The speed reducer according to claim 17, characterized in that, When the driving member rotates clockwise, the second driving block drives the eccentric wheel to rotate clockwise and the brake block moves to the release position against the elastic force of the elastic member. When the brake block moves to the release position, the first driving block is spaced apart from or in contact with the end wall surface of the first driving groove.

19. A speed reducer, characterized in that, Comprising: An internal gear having an internal gear hole, the central axis of the internal gear hole being coaxial with the rotation axis of the internal gear; An external gear having an external gear hole, at least part of the external gear being disposed in the internal gear hole and meshing with the internal gear; An eccentric wheel having an eccentric wheel hole, the eccentric wheel being rotatably disposed in the external gear hole to drive the external gear to revolve and rotate about the central axis of the eccentric wheel hole, the rotation axis of the eccentric wheel, the central axis of the eccentric wheel hole and the central axis of the internal gear being coaxial, and the central axis of the outer peripheral surface of the eccentric wheel being eccentric with respect to the central axis of the eccentric wheel hole; A brake block disposed on the eccentric wheel to rotate with the eccentric wheel, the brake block being movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; A spring connected to the eccentric wheel and the brake block for pressing the brake block toward the braking position; A driving member connected to the eccentric wheel and the rotation axis of the driving member being coaxial with the rotation axis of the eccentric wheel. When the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together. When the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

20. A speed reducer, characterized in that, Comprising: An internal gear having an internal gear hole; An external gear having an external gear hole, at least part of the external gear being disposed in the internal gear hole and meshing with the internal gear; An eccentric member rotatably disposed in the external gear hole to drive the external gear, the rotation axis of the eccentric member being coaxial with the central axis of the internal gear, the central axis of the outer peripheral surface of the eccentric member being eccentric with respect to the rotation axis of the eccentric member, and the external gear being capable of self-rotation and revolving about the rotation axis of the eccentric member; A brake member, which is provided on the eccentric member and rotates together with the eccentric member. The brake member is movable relative to the eccentric member between a braking position and a release position. In the radial direction of the eccentric member, when the brake member is in the braking position, it is farther from the rotation axis of the eccentric member than when it is in the release position. Or when the brake member moves from the release position towards the braking position, the brake member moves circumferentially along the eccentric member while moving radially outward along the eccentric member. Or when the brake member moves from the release position towards the braking position, the movement locus of the brake member is a spiral shape or a cam profile shape that gradually expands radially outward along the circumferential direction of the eccentric member; An elastic member, which is connected to the eccentric member and the brake member and is used to press the brake member towards the braking position; A rotatable driving member, the rotation axis of the driving member is coaxial with the rotation axis of the eccentric member. When the driving member rotates, the brake member moves relative to the eccentric member to the release position so that the driving member drives the eccentric member and the brake member to rotate together. When the driving member stops rotating, the elastic member pushes the brake member to the braking position to prevent the eccentric member and the brake member from rotating together.

21. A joint module, characterized in that, Comprising: A speed reducer, which is the speed reducer according to any one of claims 1-20; A motor, the motor shaft of the motor is connected to the driving member of the speed reducer to drive the driving member to rotate.

22. The joint module according to claim 21, wherein, The housing of the motor abuts against one end face of the internal gear of the speed reducer and is located outside the internal gear.

23. The joint module according to claim 21, wherein, At least part of the speed reducer is located inside the motor.

24. The joint module according to claim 21, wherein, The motor includes a stator seat, a stator, a rotor and a rotor seat. The stator is provided inside the stator seat. The rotor is sleeved on the rotor seat. The rotor and the rotor seat are rotatably provided inside the stator. At least part of the speed reducer is located inside the rotor. The motor shaft is connected to the rotor seat and the driving member. The internal gear is connected to the stator seat.

25. The joint module according to claim 24, wherein The stator seat has a first end and a second end. The first end of the stator seat is open and sealed by a stator cover. A through hole is provided on the end wall of the second end of the stator seat. A part of the external gear is rotatably supported inside the through hole.

26. A robotic arm, characterized in that, Comprising a joint module according to any one of claims 21-25.

27. A robot, characterized in that, Comprising a joint module according to any one of claims 21-25.

28. A production system, characterized in that, Comprising a robotic arm according to claim 26 and / or a robot according to claim 27.

29. An electric device, characterized in that, Comprising a joint module according to any one of claims 21-25.

30. The electric device according to claim 29, characterized in that, The electric device is an electric wheelchair or an electric bed.

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