Joint module, mechanical arm 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. The speed reducer comprises a shell, an inner gear, an outer gear, an eccentric wheel, a brake block, an elastic piece, a limiting disc and a driving piece. The speed reducer can automatically achieve reverse braking, when the driving piece rotates, the brake block overcomes the elastic force of the elastic piece to move to the release position relative to the eccentric wheel, the brake block is separated from the outer gear, and then the driving piece drives the eccentric wheel and the brake block to rotate together; the eccentric wheel drives the outer gear to revolve around the central axis of the inner gear hole in the inner gear hole so as to drive the inner gear to rotate, and the inner gear serves as an output gear to output torque. When the driving piece stops rotating, the elastic piece pushes the brake block from the releasing position to the braking position relative to the eccentric wheel, the brake block abuts against the outer gear, and therefore the eccentric wheel and the brake block are prevented from rotating relative to the outer gear, and the automatic reverse braking function is achieved.

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 electromechanical devices such as hoists, drive joints of robots, and winches. In related technologies, speed reducers have problems such as complex structures, large volumes, low torque density, and low load capacity. In related technologies, in order to prevent the output end of a drive motor or other driver of an electromechanical device from rotating after power failure, 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 reverse braking. However, the braking measures in related technologies have problems such as complex structures, a large number of components, large volumes, small braking torques, high braking friction consumption, high costs, and low braking reliability. Summary of the Invention

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

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

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

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

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

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

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

[0010] A speed reducer according to an embodiment of the present invention includes: a housing; an internal gear rotatably supported at least partially within the housing, the internal gear having an internal gear hole; an external gear disposed at least partially within the internal gear hole and meshing with the internal gear to drive the internal gear to rotate, the external gear having an external gear hole; an eccentric wheel rotatably disposed at least partially within the external gear hole, the rotation axis of the eccentric wheel being coaxial with the central axis of the internal gear, the eccentric wheel being configured to drive the external gear to revolve around the rotation axis of the eccentric wheel; 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 limiting disk disposed within the housing, the limiting disk being engaged with the housing such that the limiting disk and the housing are restricted from relative movement in a first direction, and the limiting disk being engaged with the external gear such that the limiting disk and the external gear are restricted from relative movement in a second direction, wherein the first direction, the second direction, and the axis of the limiting disk are orthogonal to each other; a driving member connected to the eccentric wheel and having a rotation axis 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 within the internal gear hole, and then drives the internal gear to rotate to output a 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) applied by the internal gear on the eccentric wheel through the external gear from rotating the eccentric wheel, so that the eccentric wheel cannot transmit the torque to the driving member to cause the driving member to rotate. For example, when the motor of a winch stops rotating, the load applied by the winch drum on the eccentric wheel through the internal gear and the external gear cannot drive the eccentric wheel to rotate. As a result, the internal gear and the external gear cannot rotate, and at the same time, the eccentric wheel cannot cause the driving member to rotate.

[0013] The speed reducer according to the embodiment of the present invention can achieve an automatic reverse braking function, with 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.

[0014] In some embodiments, one of the limiting disk and the housing is provided with a first limiting portion and the other is provided with a first limiting groove, the first limiting portion is fitted in the first limiting groove and is movable along the first direction, one of the limiting disk and the external gear is provided with a second limiting portion and the other is provided with a second limiting groove, the second limiting portion is fitted in the second limiting groove and is movable along the second direction.

[0015] In some embodiments, the first limiting portion is provided on the housing, the second limiting portion is provided on the external gear, and the first limiting groove and the second limiting groove are provided on the limiting disk; both the first limiting portion, the second limiting portion, the first limiting groove and the second limiting groove are two, the two first limiting portions are opposite in the first direction and the two first limiting grooves are opposite in the first direction, the two second limiting portions are opposite in the second direction and the two second limiting grooves are opposite in the second direction.

[0016] In some embodiments, the first limiting portion and the second limiting portion are cylindrical rods, and the first limiting groove and the second limiting groove are U-shaped grooves.

[0017] 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, when the driving member rotates in one of the clockwise and counterclockwise directions, the dial block overcomes the elastic force of the elastic member to push the brake block to the release position to drive the eccentric wheel and the brake block to rotate together.

[0018] 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 overcomes the elastic force of the elastic member and moves to the release position, so that the dial block drives the eccentric wheel and the brake block to rotate together.

[0019] In some embodiments, the housing has a first end and a second end, the second end of the housing is open and covered by a cover plate, the end wall of the first end of the housing has an end wall hole, the cover plate has a cover plate hole, a part of the internal gear is located inside the housing and is rotatably supported by the housing, and another part of the internal gear is located inside the cover plate hole and is rotatably supported by the cover plate.

[0020] 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. The shifting block is provided on the disk body, and the disk hub is rotatably fitted in the end wall hole.

[0021] In some embodiments, the internal gear has a central flange extending in the internal gear hole. The eccentric wheel has an eccentric wheel hole which is coaxial with the internal gear, and the central flange is rotatably fitted in the eccentric wheel hole.

[0022] In some embodiments, the outer peripheral surface of the internal gear is a stepped surface, so as to divide the internal gear into a large-diameter portion and a small-diameter portion. The small-diameter portion is rotatably fitted in the cover plate hole, and the large-diameter portion is rotatably fitted in the housing.

[0023] In some embodiments, 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, a first end of the elastic member is fitted in the first jack, and a second end of the elastic member is fitted in the second jack.

[0024] In some embodiments, 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, and 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, a radius of curvature of an outer peripheral surface of the guide rail gradually increases in a 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 radially expands outward along the circumferential direction of the eccentric wheel.

[0026] In some embodiments, a notch is provided at a 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, a surface of the guide rail facing away from the brake block is flush with a plane of the rest of the eccentric wheel facing away from the brake block, and a surface of the guide rail facing the brake block is recessed relative to a surface of the rest of the eccentric wheel facing the brake block.

[0027] In some embodiments, the brake block includes an arcuate plate body, an arcuate outer convex platform and an arcuate 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 spaced apart from each other in the radial direction of the plate body. The arcuate 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 extend radially beyond 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 apart from the first end of the plate body by a first distance, and the second ends of the outer convex platform and the inner convex platform are spaced apart from the second end of the plate body by a second distance.

[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, and 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 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 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 moves to the release position against the elastic force of the elastic member. 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: a housing; an internal gear, at least part of the internal gear is rotatably arranged in the housing, the internal gear has an internal gear hole, and the central axis of the internal gear hole is coaxial with the rotation axis of the internal gear; an external gear, the external gear has an external gear hole, at least part of the external gear is arranged in the internal gear hole and meshes with the internal gear to drive the internal gear to rotate, the external gear can be translated in a plane orthogonal to the axial direction of the external gear and is prohibited from rotating around its central axis; an eccentric wheel, the eccentric wheel has an eccentric wheel hole, at least part of the eccentric wheel is rotatably arranged in the external gear hole to drive the external gear to revolve around 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 are coaxial, and the central axis of the outer peripheral surface of the eccentric wheel is eccentric with respect to the central axis of the eccentric wheel hole; a brake block, the brake block is arranged on the eccentric wheel to rotate with the eccentric wheel, the brake block can move between a brake position and a release position relative to the eccentric wheel, wherein in the brake 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, the spring is connected to the eccentric wheel and the brake block and is used to press the brake block towards the brake position; a driving member, the driving member is connected to the eccentric wheel and the rotation axis of the driving member is 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 brake 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: a housing; an internal gear, at least part of which is rotatably provided in the housing, and the internal gear has an internal gear hole; an external gear, which has an external gear hole, at least part of the external gear is provided in the internal gear hole and meshes with the internal gear; an eccentric member, which is rotatably provided in the external gear hole to drive the external gear, the rotation axis of the eccentric member is coaxial with the central axis of the internal gear, 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 can revolve around the rotation axis of the eccentric member and is prohibited from rotating around its own central axis to drive the internal gear to rotate; a braking member, which is provided on the eccentric member and rotates with the eccentric member, the braking member is 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 it is in the braking position than when it is in the release position, or when the braking member moves from the release position towards the braking position, the braking member moves along the circumferential direction of the eccentric member and simultaneously moves radially outward along the eccentric member, or when the braking member moves from the release position towards the braking position, the movement locus of the braking 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 block, and is used to press the brake block 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 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 is connected to the driving member of the speed reducer to drive the driving member to rotate.

[0034] In some embodiments, the motor is provided outside the housing of the speed reducer.

[0035] In some embodiments, at least part of the speed reducer is provided in the motor.

[0036] In some embodiments, the motor includes a stator seat, a stator, a rotor and a rotor seat, the stator is provided in the stator seat, the rotor is sleeved on the rotor seat, the rotor and the rotor seat are rotatably provided in the stator, the housing of the speed reducer is located in the rotor and connected to the stator seat, and the motor shaft is connected to the rotor seat and the driving member.

[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. The internal gear extends out of the stator base through the through hole, and a part of the internal 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 provided by 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. BRIEF 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 a perspective view of the speed reducer according to an embodiment of the present invention from another perspective.

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

[0046] Figure 4 is the speed reducer according to an embodiment of the present invention along Figure 3 a cross-sectional view taken along line A-A in

[0047] Figure 5 is the speed reducer according to an embodiment of the present invention along Figure 3 a cross-sectional view taken along line B-B in

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

[0049] Figure 7 is a cross-sectional view of the internal gear of the speed reducer according to an embodiment of the present invention.

[0050] Figure 8 is a cross-sectional view of the housing and cover plate of the speed reducer according to an embodiment of the present invention in a disassembled state.

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

[0052] Figure 10 Perspective view of the brake block and eccentric wheel of the speed reducer according to an embodiment of the present invention from another perspective.

[0053] Figure 11 Assembly schematic diagram of the brake block and eccentric wheel of the speed reducer according to an embodiment of the present invention.

[0054] Figure 12 Another assembly schematic diagram of the brake block and eccentric wheel of the speed reducer according to an embodiment of the present invention.

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

[0056] Figure 14 Three-dimensional view of the eccentric wheel of the speed reducer according to an embodiment of the present invention from another perspective.

[0057] Figure 15 Plan view of the eccentric wheel of the speed reducer according to an embodiment of the present invention.

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

[0059] Figure 17 Three-dimensional view of the brake block of the speed reducer according to an embodiment of the present invention from another perspective.

[0060] Figure 18 Plan view of the brake block of the speed reducer according to an embodiment of the present invention.

[0061] Figure 19 Perspective view of the joint module according to an embodiment of the present invention.

[0062] Figure 20 Three-dimensional view of the joint module according to an embodiment of the present invention.

[0063] Figure 21 Cross-sectional schematic diagram of the joint module according to an embodiment of the present invention.

[0064] Figure 22 Perspective view of the joint module according to another embodiment of the present invention.

[0065] Figure 23 Perspective view of the joint module according to another embodiment of the present invention from another perspective.

[0066] Figure 24 Three-dimensional view of the joint module according to another embodiment of the present invention.

[0067] Figure 25 Partial cross-sectional schematic diagram of the joint module according to another embodiment of the present invention.

[0068] Figure 26 It is a schematic cross-sectional view of a joint module according to another embodiment of the present invention.

[0069] Figure 27 It is a schematic diagram of a robotic arm according to an embodiment of the present invention.

[0070] Figure 28 It is a schematic diagram of a robot according to an embodiment of the present invention.

[0071] Figure 29 It is a schematic diagram of an electric device according to an embodiment of the present invention.

[0072] Reference numerals:

[0073] 100, speed reducer; 101, main axis; 102, eccentric axis;

[0074] 1, housing; 11, first limiting portion; 12, end wall; 121, end wall hole; 13, cover plate; 131, cover plate hole;

[0075] 2, internal gear; 21, internal gear hole; 201, internal teeth; 22, central flange; 23, flange hole; 24, large diameter portion; 25, small diameter portion;

[0076] 3, external gear; 31, external gear hole; 301, external teeth; 32, second limiting portion;

[0077] 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;

[0078] 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;

[0079] 6, elastic member; 61, first end of the elastic member; 62, second end of the elastic member;

[0080] 7, limiting disc; 71, first limiting groove; 72, second limiting groove;

[0081] 8, driving member; 81, dial block; 81a, first dial block; 81b, second dial block; 82, disc body; 83, disc hub; 831, disc hole;

[0082] 200, joint module;

[0083] 210. Motor; 211. Motor shaft; 212. Stator base; 2121. Through hole; 213. Stator; 214. Rotor; 215. Rotor base; 216. Stator cover;

[0084] 300. Manipulator;

[0085] 400. Robot;

[0086] 500. Electric wheelchair. Detailed implementation manners

[0087] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation to the present invention.

[0088] As Figures 1 - 18 shown, the speed reducer 100 of the embodiment of the present invention includes a housing 1, an internal gear 2, 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.

[0089] The internal gear 2 is rotatably supported at least partially in the housing 1. The internal gear 2 has a concentric internal gear hole 21, and internal teeth 201 are provided on the circumferential surface of the internal gear hole 21. It should be understood that the concentric internal gear hole 21 means that the central axis of the outer circumferential surface of the internal gear 2 (which can also be referred to as the central axis of the internal gear 2) is coaxial with the central axis of the internal gear hole 21, and the rotation axis of the internal gear 2 is coaxial with the central axis of the internal gear hole 21.

[0090] 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 21 and meshes with the internal gear 2. 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 Figure 3 and Figure 4 shown, the external gear 3 is eccentrically disposed relative to the internal gear hole 21, that is, the central axis of the external gear 3 is parallel but not coaxial with the central axis of the internal gear 2 (i.e., the central axis of the internal gear hole 21), and a part of the external teeth 301 of the external gear 3 meshes with a part of the internal teeth 201 of the internal gear 2.

[0091] The eccentric wheel 4 is rotatably disposed at least partially in the outer gear hole 31. The central axis of the outer peripheral surface of the eccentric wheel 4 is coaxial with the central axis of the outer gear hole 31. The central axis of the outer peripheral surface of the eccentric wheel 4 is parallel but not coaxial with the rotation axis of the eccentric wheel 4. The rotation axis of the eccentric wheel 4 is coaxial with the central axis of the internal gear 2 (i.e., the central axis of the internal gear hole 21) and the central axis (rotation axis) of the driving member 8. The eccentric wheel 4 can drive the outer gear 3 to revolve around the rotation axis of the eccentric wheel 4 (i.e., the central axis of the internal gear 2 and the central axis of the internal gear hole 21), and further drive the internal gear 2 to rotate around its central axis. Here, it can be understood that an eccentric wheel means that the outer peripheral surface of the eccentric wheel is eccentric with respect to the rotation axis of the eccentric wheel.

[0092] For example, when the eccentric wheel 4 rotates clockwise, it drives the outer gear 3 to revolve clockwise around the rotation axis of the eccentric wheel 4. The outer gear 3 drives the internal gear 2 to rotate clockwise by meshing with the internal gear 2. When the eccentric wheel 4 rotates counterclockwise, it drives the outer gear 3 to revolve counterclockwise around the rotation axis of the eccentric wheel 4, and further drives the internal gear 2 to rotate counterclockwise.

[0093] 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 outer gear 3. In the release position, the brake block 5 is separated from the outer gear 3.

[0094] 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, during the process of the brake block 5 moving 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. It can be understood that the embodiments of the present invention are not limited to this. For example, the elastic member can also be gradually stretched.

[0095] The limiting disk 7 is arranged inside the housing 1. The limiting disk 7 is engaged with the housing 1, so that the limiting disk 7 and the housing 1 are restricted from relatively moving in the first direction. The limiting disk 7 is engaged with the external gear 3, so that the limiting disk 7 and the external gear 3 are restricted from relatively moving in the second direction, where both the first direction and the second direction are orthogonal to the axial direction of the limiting disk 7, that is, the plane defined by the first direction and the second direction is orthogonal to the axial direction of the limiting disk 7, and the axial direction of the limiting disk 7 can be parallel to the axial directions of the internal gear 2, the external gear 3, and the eccentric wheel 4. In other words, the limiting disk 7 can only move relative to the housing 1 in the first direction, and the external gear 3 can only move relative to the limiting disk 7 in the second direction. Thus, the external gear 3 can translate relative to the housing 1 in a plane orthogonal to its axial direction while being prohibited from self-rotating. Since the external gear 3 meshes with the internal gear 2, the external gear 3 revolves around the central axis of the internal gear hole 21 under the drive of the eccentric wheel 4, and at the same time, the external gear 3 is restricted by the limiting disk 7 and cannot self-rotate.

[0096] The driving member 8 is connected to the eccentric wheel 4. The driving member 8 is used to drive the eccentric wheel 4 to rotate, and the rotation axis of the driving member 8 is coaxial with the rotation axis of the eccentric wheel 4.

[0097] As Figures 1 - 3 shown, the central axis of the internal gear 2, the central axis of the internal gear hole 21, the rotation axis of the eccentric wheel 4, and the rotation axis of the driving member 8 are coaxial. These axes can be collectively referred to as the main axis 101. In the following description, the main axis can refer to any one of these axes. The central axis of the external gear 3, the central axis of the external gear hole 39, and the central axis of the outer peripheral surface of the eccentric wheel 4 are coaxial. These axes can be collectively referred to as the eccentric axis 102. In the following description, the eccentric axis can refer to any one of these axes.

[0098] 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.

[0099] In other words, when the driving member 8 rotates, the brake block 5 moves to the release position, so that the driving member 8 can drive the eccentric wheel 4 and the brake block 5 to rotate simultaneously, thereby driving the external gear 3 to revolve around the rotation axis of the eccentric wheel 4. 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 (torque) is applied to the external gear 3, the eccentric wheel 4 cannot rotate relative to the external gear 3 together with the brake block 5. Therefore, the internal gear 2, the external gear 3, the eccentric wheel 4, and the brake block 5 cannot rotate, and thus reverse braking is achieved.

[0100] For example, the driving member 8 can be connected to the driving shaft and driven by the driving shaft to rotate in the counterclockwise direction or the clockwise direction. 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.

[0101] For example, the driving member 8 is connected to the motor shaft of the electric motor. When the driving member 8 is driven by the motor to rotate, the brake block 5 can overcome the elastic force of the elastic member 6 and move relative to the eccentric wheel 4 to the release position to 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 inner gear hole 21, thereby driving the inner gear 2 to rotate. The inner gear 2 can also be referred to as the output gear of the speed reducer 100. The inner gear 2 can be connected to other components to drive other components to rotate. For example, the inner gear 2 can be connected to the drum of a winch and the joint of a robot.

[0102] It can be understood that the number of internal teeth of the inner gear 2 is greater than the number of external teeth of the external gear 3, and the rotational speed of the inner gear 2 is less than the rotational speed of the eccentric wheel 4. Thus, the output rotational speed of the speed reducer 100 is less than the input rotational speed of the speed reducer 100, thereby achieving speed reduction.

[0103] When the electric motor stops rotating, the driving member 8 no longer rotates. Under the elastic force of the elastic member 6, the brake block 5 moves relative to the eccentric wheel 4 to the braking position 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 external gear 3 from rotating, and further prevents the inner gear 2 from rotating.

[0104] 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 inner gear hole in the inner gear hole. At the same time, the external gear cannot rotate self - sufficiently, and further drives the inner gear to rotate. The inner gear serves as the output gear to output torque.

[0105] 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. 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 inner gear from being transmitted to the external gear and further transmitted to the eccentric wheel to make the eccentric wheel rotate. Thus, the eccentric wheel cannot transmit the torque to the driving member to make the driving member rotate. For example, when the electric motor of the winch stops rotating, the drum of the winch cannot drive the eccentric wheel to rotate because the torque exerted by the heavy object on the inner gear cannot be applied to the eccentric wheel through the external gear, that is, the inner gear and the external gear cannot rotate, and at the same time, the eccentric wheel cannot make the driving member rotate.

[0106] It can be understood that in the embodiments of the present invention, "reverse" in "reverse braking" refers to the direction in which the torque applied to the internal gear is transmitted towards the driving member. Correspondingly, "forward" refers to the direction in which the torque of the driving member is transmitted towards the internal gear.

[0107] The speed reducer according to the embodiments of the present invention can achieve an automatic reverse braking function, with a simple overall structure, fewer components, a small volume, and has the advantages of a large torque density, a large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0108] In some embodiments, one of the limiting disk 7 and the housing 1 is provided with a first limiting portion 11 and the other is provided with a first limiting groove 71. The first limiting portion 11 is fitted in the first limiting groove 71 and can move along a first direction, so that the limiting disk 7 is restricted to only move relative to the housing 1 in the first direction. One of the limiting disk 7 and the external gear 3 is provided with a second limiting portion 32 and the other is provided with a second limiting groove 72. The second limiting portion 32 is fitted in the second limiting groove 72 and can move along a second direction, so that the external gear 3 is restricted to only move relative to the limiting disk 7 in the second direction.

[0109] In some examples, as Figures 1 - 8 shown, the first limiting portion 11 is provided on the end wall 12 of the housing 1 and extends from the end wall 12 of the housing 1 towards the limiting disk 7 along the axial direction of the housing 1 (i.e., the axial direction of the limiting disk 7, or the main axis 101). The second limiting portion 32 is provided on the external gear 3 and extends from the external gear 3 towards the limiting disk 7 along the main axis 101. The first limiting portion 11 and the second limiting portion 32 can both be cylindrical rods.

[0110] Both the first limiting groove 71 and the second limiting groove 72 are provided on the outer peripheral surface of the limiting disk 7 and can penetrate the limiting disk 7 along the axial direction of the limiting disk 7. The first limiting portion 11 extends into and is fitted in the first limiting groove 71 along the axial direction of the limiting disk 7, and the second limiting portion 32 extends into and is fitted in the second limiting groove 72 along the axial direction of the limiting disk 7. The first limiting groove 71 and the second limiting groove 72 can be U-shaped grooves, where the first limiting groove extends along the first direction ( Figure 5 the direction where the Y-axis is located in Figure 5 i.e., the up and down direction), the first limiting portion 11 can slide in the first limiting groove 71 along the first direction, the second limiting groove extends along the second direction ( Figure 5 the direction where the X-axis is located in Figure 5 i.e., the left and right direction), and the second limiting portion 32 can slide in the second limiting groove 72 along the second direction.

[0111] In other examples, the limiting disk 7 has a first side and a second side that are axially opposite to each other. The first limiting groove 71 can be provided on the first side of the limiting disk 7 and recessed towards the second side by a predetermined depth. The second limiting groove 72 can be provided on the second side of the limiting disk 7 and recessed towards the first side by a predetermined depth.

[0112] In some specific examples, such as Figures 1 - 2 and Figure 8 As shown, the first limiting portion 11, the second limiting portion 32, the first limiting groove 71, and the second limiting groove 72 can all be two. The two first limiting portions 11 are opposite to each other in the first direction and the two first limiting grooves 71 are opposite to each other in the first direction. The two first limiting portions 11 are correspondingly engaged in the two first limiting grooves 71 one by one. The two second limiting portions 32 are opposite to each other in the second direction and the two second limiting grooves 72 are opposite to each other in the second direction. The two second limiting portions 32 are correspondingly engaged in the two second limiting grooves 72 one by one. In this way, the limiting between the limiting disk 7 and the housing 1 and between the external gear 3 and the limiting disk 7 is more stable and reliable, and the limiting structure is simpler.

[0113] In some embodiments, such as Figures 1 - 18 As shown, the eccentric wheel 4 is provided with a dial groove 41, and the driving member 8 is provided with a dial block 81. The dial block 81 is movably engaged in the dial groove 41. When the driving member 8 rotates in one of the clockwise and counterclockwise directions, the dial 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 dial block 81 drives the eccentric wheel 4 to rotate so that the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release position, so that the dial block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together.

[0114] In some examples, such as Figure 4 As shown, when the driving member 8 rotates counterclockwise, the dial 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 dial 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. Furthermore, the dial block 81 directly or through the brake block 5 applies a force to the eccentric wheel 4 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0115] In some other examples, such as Figure 4As shown, when the driving member 8 rotates in the clockwise direction, the dial block 81 drives the eccentric wheel 4 to rotate. A relative rotation occurs between the eccentric wheel 4 and the brake block 5. Thus, the brake block 5 moves to the release position against the elastic force of the elastic member 6. Further, the dial 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 dial block 81. Thus, the brake block 5 moves to the release position against the elastic force of the elastic member 6. Further, the dial block 81 directly applies a force to the eccentric wheel 4 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0116] In some embodiments, as Figures 1 - 18 shown, the dial groove 41 includes a first dial groove 41a and a second dial groove 41b, and the dial block 81 includes a first dial block 81a and a second dial block 81b. The first dial block 81a is movably engaged in the first dial groove 41a, and the second dial block 81b is movably engaged in the second dial groove 41b. Wherein the brake block 5 corresponds to the first dial groove 41a, that is, the brake block 5 can be driven by the first dial block 81a engaged in the first dial groove 41a. When the driving member 8 rotates in the clockwise direction or the counterclockwise direction, it drives the first dial block 81a to move in the first dial groove 41a around the rotation axis (main axis) of the driving member 8, and drives the second dial block 81b to move in the second dial groove 41b around the rotation axis of the driving member 8.

[0117] In some examples, when the driving member 8 rotates counterclockwise, the first dial block 81a directly contacts the brake block 5 against the elastic force of the elastic member 6 to push the brake block 5 to the release position.

[0118] Specifically, as Figure 4 and Figure 6 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 as in Figure 4 , the first dial block 81a rotates counterclockwise in the first dial groove 41a until it contacts the end face of the brake block 5 ( Figure 4 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 separates from the external gear 3, that is, separates 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 further driving the internal gear 2 to rotate counterclockwise.

[0119] During the process of the first dial block 81a pushing 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 contacts the end wall surface of the second dial groove 41b (Figure 4 is spaced apart from the end wall surface) of the upper end wall surface in the figure. Optionally, the second shifting block 81b may be in contact with the end wall surface of the second shifting groove 41b, but the second shifting block 81b may not apply a force to the eccentric wheel 4. The eccentric wheel 4 and the brake block 5 rotate counterclockwise together under the action of the first shifting 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.

[0120] In some embodiments, when the driving member 8 rotates clockwise, the second shifting 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.

[0121] Specifically, when the driving member 8 rotates Figure 4 clockwise in the figure, the second shifting block 81b rotates clockwise in the second shifting groove 41b until it contacts an end surface ( Figure 4 the lower end surface in the figure) of the second shifting groove 41b. The second shifting block 81b applies a thrust force to the eccentric wheel 4 to push the eccentric wheel 4 to rotate clockwise. A relative rotation occurs between the eccentric wheel 4 and the brake block 5. Thus, the brake block 5 moves to the release position against the elastic force of the elastic member 6. Subsequently, the second shifting block 81b drives the eccentric wheel 4 and the brake block 5 to rotate clockwise together, thereby driving the outer gear 3 to revolve clockwise around the rotation axis of the eccentric wheel 4, and further driving the inner gear 2 to rotate clockwise.

[0122] When the brake block 5 moves from the braking position to the release position against the elastic force of the elastic member 6, the first shifting block 81a is spaced apart from the end wall surface ( Figure 4 the upper end wall surface in the figure) of the first shifting groove 41a. Optionally, the first shifting block 81a may be in contact with the end wall surface of the first shifting groove 41a, but the first shifting block 81a may not apply a force to the eccentric wheel 4. The eccentric wheel 4 and the brake block 5 rotate clockwise together under the action of the second shifting block 81b.

[0123] In some specific examples, as Figures 1 - 18 shown, there is one first shifting groove 41a, one second shifting groove 41b, one first shifting block 81a, one second shifting block 81b, one brake block 5, and one elastic member 6. The first shifting block 81a is fitted in the first shifting groove 41a and corresponds to the brake block 5. The second shifting block 81b is fitted in the second shifting groove 41b and does not correspond to the brake block 5, that is, the second shifting block 81b does not directly contact the brake block 5.

[0124] In an alternative embodiment, there may be multiple first shifting grooves 41a, multiple second shifting grooves 41b, multiple first shifting blocks 81a, multiple second shifting blocks 81b, multiple brake blocks 5, and multiple elastic members 6.

[0125] In some embodiments, as Figures 1 - 2 and Figures 9 - 18As shown, the shifting groove 41 is provided on the outer peripheral surface of the eccentric wheel 4 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 .

[0126] In other embodiments, the eccentric wheel 4 has an opposite first end 421 ( Figure 13 The front end facing the observer) and the second end 422 ( Figure 13 The shifting groove 41 is provided at the junction of the end surface 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 from the end surface of the first end 421 of the eccentric wheel 4 to a predetermined depth 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.

[0127] In some examples, such as Figure 15 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 - 18 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 .

[0128] like Figures 1 - 4 As shown, the shift block 81 of the driving member 8 is constructed in an arc shape that matches the shift slot 41, and the outer circumference and inner circumference of the shift block 81 are both arc-shaped, wherein the inner circumference of the shift block 81 and the inner circumference of the shift slot 41 can be slidably matched, and the outer circumference of the shift block 81 and the outer circumference of the shift slot 41 have a gap in the radial direction of the eccentric wheel 4. It can be understood that the embodiment of the present invention is not limited to this.

[0129] In some embodiments, Figures 1 - 3 , Figure 7 and Figure 8 As shown, the housing 1 has a Figure 3 The first end opposite to the left and right direction in FIG. Figure 3 the right end of the Figure 3At the left end (in the figure), the first end of the housing 1 has an end wall 12, and the end wall 12 has an end wall hole 121. The second end of the housing 1 is open and covered by a cover plate 13, and the cover plate 13 has a cover plate hole 131. A part of the internal gear 2 is located inside the housing 1 and is rotatably supported by the housing 1, and another part of the internal gear 2 is located inside the cover plate hole 131 and is rotatably supported by the cover plate 13. The central axis of the end wall hole 121, the central axis of the cover plate hole 131, and the central axis of the internal gear 2 are coaxial. In other words, the housing 1 and the cover plate 13 can jointly form the outer shell of the speed reducer, and the internal gear 2 is rotatably supported inside the outer shell. As Figure 3 shown, the outer side surface of the internal gear 2 can be flush with the outer side surface of the cover plate 13, so that the overall appearance of the speed reducer is neat and the structure is more compact.

[0130] In some specific examples, such as Figures 1 - 3 , Figure 7 and Figure 8 shown, the outer peripheral surface of the internal gear 2 can be a stepped surface, so as to divide the internal gear 2 along the axial direction of the internal gear 2 into a large-diameter part 24 and a small-diameter part 25, and the diameter of the large-diameter part 24 is larger than the diameter of the small-diameter part 25. The small-diameter part 25 is rotatably fitted in the cover plate hole 131, and the large-diameter part 24 is rotatably fitted in the housing 1. In some embodiments, the small-diameter part 25 can be rotatably supported in the cover plate hole 131 by a bearing, and the large-diameter part 24 can be rotatably supported in the housing 1 by a bearing.

[0131] As Figure 3 shown, the large-diameter part 24 is located on the right side of the small-diameter part 25 and is coaxial with the small-diameter part 25. The cover plate 13 is located on the left side of the large-diameter part 24 and abuts against the left end face of the large-diameter part 24 to axially limit the internal gear 2, and the left end face of the small-diameter part 25 is flush with the left end face of the cover plate 13. The internal gear hole 21 is located in the large-diameter part 24, and the external gear 3 is located in the internal gear hole 21 and meshes with the internal gear partially. The right end face of the external gear 3 and the right end face of the eccentric wheel 4 are flush with the right end face of the large-diameter part 24.

[0132] The internal gear 2 has a central flange 22 extending axially inside the internal gear hole 21, and the central axis of the central flange 22 is coaxial with the central axis of the internal gear hole 21. As Figure 7 shown, the central flange 22 is connected to the middle part of the small-diameter part 25 and extends axially to the right along the internal gear hole 21, and the right end face of the central flange 22 is flush with the right end face of the large-diameter part 24.

[0133] As Figures 1 - 4 and Figures 9 - 14As shown, the eccentric wheel 4 has an eccentric wheel hole 49, and the eccentric wheel hole 49 is coaxial with the internal gear 2, that is, the central axis of the eccentric wheel hole 49 is coaxial with the central axis of the internal gear 2. In other words, the outer peripheral surface of the eccentric wheel 4 is eccentric with respect to the central axis of the eccentric wheel hole. As described above, the central axis of the eccentric wheel hole 49 can also be referred to as the main axis 101. The central flange 22 is rotatably fitted in the eccentric wheel hole 49 and is coaxial with the eccentric wheel hole 49. As Figure 4 and Figure 15 shown, the center of the internal gear 2, the center of the eccentric wheel hole 49, and the center of the central flange 22 are all the center a, and the center of the external gear 3 and the center of the outer peripheral surface of the eccentric wheel 4 are both the center b.

[0134] As Figures 1 - 3 and Figure 7 shown, a flange hole 23 is provided on the central flange 22, and the flange hole 23 is adapted to cooperate with a driven shaft. For example, the driven shaft can be the drum shaft of the drum of a winch. The flange hole 23 can penetrate the central flange 22. The first end of the driven shaft is fitted in the flange hole 23, so that the internal gear 2 drives the driven shaft to rotate. The second end of the driven shaft can be connected to a driven element such as the drum of a winch to output power to the driven element. Optionally, the flange hole 23 is splined to the driven shaft.

[0135] In some embodiments, as Figures 1 - 3 shown, the driving member 8 can be configured as a driving disc, and the driving disc includes a disc body 82 and a disc hub 83 located at the center of the disc body 82. The shifting block 81 is provided on the disc body 82 and extends from the disc body 82 along the axial direction of the driving disc towards the eccentric wheel 4. The disc hub 83 is rotatably fitted in the end wall hole 121 of the housing 1. The central axis of the disc body 82, the central axis of the disc hub 83, the rotation axis of the disc hub 83 are coaxial with the central axis of the end wall hole 121. As described above, the central axis of the disc body 82, the central axis of the disc hub 83, the rotation axis of the disc hub 83 can also be referred to as the main axis 101. As Figure 3 shown, the disc hub 83 is in clearance fit with the end wall hole 121. Optionally, the disc hub 83 is rotatably supported in the end wall hole 121 by a bearing.

[0136] As Figures 1 - 3 shown, a disc hole 831 is provided on the disc hub 83, and the disc hole 831 is adapted to cooperate with a driving shaft, such as the motor shaft of a motor. The disc hole 831 can penetrate the disc hub 83. Optionally, the disc hole 831 can be a blind hole. The motor shaft is fitted in the disc hole 831 to drive the driving member 8 to rotate. In Figure 3 the example shown, the disc hole 831 penetrates the disc hub 83 along the axial direction of the disc hub 83, and one end of the driving shaft can be fitted in the disc hole 831 to be connected to the driving member 8. In Figure 1 and Figure 2In the illustrated example, splines are provided on the inner circumferential surface of the disk hole 831 of the driving member 8, and splines can also be provided on the driving shaft, so that the driving member 8 is splined to the driving shaft.

[0137] As Figure 3 shown, the external gear 3, the eccentric wheel 4, the limiting disk 7, the brake block 5, the elastic member 6, and the disk body 82 of the driving member 8 are all located within the housing 1, and the disk body 82 is axially located between the end wall 12 of the housing 1 and the eccentric wheel 4. Thus, the housing 1 can better protect the above components, and the structure of the speed reducer 100 is more compact.

[0138] In some embodiments, as Figure 4 、 Figure 6 、 Figures 9 - 18 shown, a first jack hole 43 is provided on the end face of the first end 421 of the eccentric wheel 4, and a second jack hole 51 is provided on the brake block 5. As Figures 1 - 2 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, and the first end and the second end of the spring extend a predetermined length along a plane substantially 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 hole 43, and the second end 62 of the elastic member 6 is fitted in the second jack hole 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.

[0139] 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.

[0140] In Figures 1 - 18 the example shown, the first jack hole 43 of the eccentric wheel 4 is a first half hole, and the brake block 5 is provided with a second half hole 56. Wherein, 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.

[0141] 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 the elastic member 6 can move the brake block 5 from the release position to the braking position when the driving member 8 stops rotating.

[0142] 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 inside the first jack 43.

[0143] 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, and the guide rail and the guide groove are slidably fitted. 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, and the sliding fit between the guide rail and the guide groove guides the relative movement between the eccentric wheel 4 and the brake block 5, that is, guides the movement of the brake block 5 relative to the eccentric wheel 4.

[0144] In some embodiments, as Figures 9 - 18 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 can 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, and the arc-shaped guide rail 44 and the arc-shaped guide groove 52 are slidably fitted.

[0145] Specifically, as Figures 9 - 18 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 by a predetermined depth and extends along the circumferential direction of the eccentric wheel 4. In Figures 9 - 18 the shown example, 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 13 and Figure 14 shown, the surface of the arc-shaped guide rail 44 facing away from the brake block 5 is flush with the surface of the rest 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 towards the surface of the brake block 5 relative to the surface of the rest of the eccentric wheel 4 (the end face of the first end 421 of the eccentric wheel 4).

[0146] In the braking position, a part of the brake block 5 can extend above the first dial groove 41a to overlap with a part of the first dial groove 41a, so as to facilitate the first dial block 81a fitted in the first dial groove 41a to push the brake block 5 corresponding to the first dial groove 41a. Specifically, the notch 45 and the first dial groove 41a are adjacent to each other in the circumferential direction of the eccentric wheel 4, and the notch 45 is communicated with the first dial groove 41a, so as to facilitate the first dial block 81a to contact the brake block 5 and push the brake block 5. Optionally, the notch 45 may not be communicated with the first dial groove 41a.

[0147] As Figures 9 - 18As shown, the notch 45 communicates with the first shifting groove 41a so that the first shifting block 81a fitted in the first shifting groove 41a contacts and pushes the brake block 5.

[0148] Optionally, the notch 45 can 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.

[0149] As Figures 9 - 12 and Figures 16 - 18 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 mounted 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 provided 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.

[0150] As Figures 9 - 12 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 other words, the brake block 5 is substantially complementary to the notch 45. 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 engaged with the arc-shaped guide groove 52. The end surface of the outer boss 54 of the brake block 5 away from the plate body 53 and the end surface 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.

[0151] 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.

[0152] As Figure 18As shown, the outer convex platform 54 has opposite first and second ends in the circumferential direction of the plate body 53, the inner convex platform 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 convex platform 54 and the first end of the inner convex platform 55 are adjacent to the first end of the plate body 53 and are spaced apart from it by a first distance, and the second end of the outer convex platform 54 and the second end of the inner convex platform 55 are adjacent to the second end of the plate body 53 and are spaced apart from it by a second distance.

[0153] As Figures 9 - 15 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 convex platform 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 convex platform 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 moreover, 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 convex platform 54 can extend outwards through the outer side groove 47 to abut against the outer gear 3.

[0154] Furthermore, the first end of the arc-shaped guide rail 44 has a first step 481, 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 surface of the arc-shaped guide rail 44, the upper surface of the first step 481, and the upper surface of the second step 482 are flush, and the bottom of the plate body 53 is in sliding contact with the upper surface of the arc-shaped guide rail 44, the upper surface of the first step 481, and the upper surface of the second step 482. When the eccentric wheel 4 rotates counterclockwise, the first dial block 81a in the first dial groove 41a contacts the end face of the plate body 53.

[0155] The brake block 5 moves between the release position and the braking position along the arc-shaped guide rail 44 on the eccentric wheel 4, separating from or abutting against the outer gear 3. In order to more precisely limit the movement path of the brake block 5, make the reverse braking effect of the brake block 5 at the braking position more reliable, and the release effect at the release position more reliable, 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 outwards along the circumferential direction of the eccentric wheel 4.

[0156] As an example, as Figure 15As 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 by R1 in the figure is closer to the release position than the position represented by R2, and R1 is less than R2.

[0157] As Figures 16 - 18 shown, the structure of the outer convex platform 54 of the brake block 5 is adapted to the structure of the outer groove 47. As Figure 18 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, and r1 is less than r2.

[0158] In some alternative embodiments, the speed reducer 100 includes a housing 1, an internal gear 2, an external gear 3, an eccentric wheel 4, a brake block 5, a spring, and a driving member 8.

[0159] As described above, in some examples, the driving member 8 can be configured as a driving disk.

[0160] The internal gear 2 is rotatably disposed at least partially within the housing 1. The internal gear 2 has an internal gear hole 21, and the central axis of the internal gear hole 21 is coaxial with the rotation axis of the internal gear 2. The external gear 3 has an external gear hole 31. The external gear 3 is disposed in the internal gear hole 21 and meshes with the internal gear 2 to drive the internal gear 2 to rotate. The external gear 3 is translatable in a plane orthogonal to the axial direction of the external gear 3 and is prohibited from rotating about its central axis.

[0161] 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 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 3 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.

[0162] The brake block 5 is disposed on the eccentric wheel 4 to rotate together 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. The spring 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, in the braking position, the brake block 5 prevents the eccentric wheel 4 and the brake member 5 from rotating together relative to the external gear 3. In the release position, the eccentric wheel 4 and the brake block 5 rotate together.

[0163] 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 5 to the braking position to prevent the eccentric wheel 4 and the brake block 5 from rotating together.

[0164] The speed reducer according to the embodiment of the present invention realizes the automatic reverse braking function by using a spring and a brake block, has a simple overall structure, fewer components, a small volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0165] In some other alternative embodiments, the speed reducer 100 includes a housing 1, an internal gear 2, an external gear 3, an eccentric member, a braking member, an elastic member 6, and a rotatable driving member 8.

[0166] 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, and the driving member 8 may be configured as a driving disc.

[0167] The internal gear 2 is rotatably disposed at least partially within the housing 1, and the internal gear 2 has an internal gear hole 21. The external gear 3 has an external gear hole 31, and the external gear 3 is disposed in the internal gear hole 21 and meshes with the internal gear 2. 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 2, and 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 revolve around the rotation axis of the eccentric member and is prohibited from rotating around its own central axis to drive the internal gear 2 to rotate.

[0168] The braking member is disposed on the eccentric member to rotate together with the eccentric member. The braking member is movable relative to the eccentric member between a braking position and a release position. In order to realize that the braking member prevents the eccentric member from rotating in the braking position and allows the eccentric member to rotate in the release position, at least one of the following means can be adopted: in the radial direction of the eccentric member, the braking member is farther from the rotation axis of the eccentric member when located in the braking position than when located 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 and radially outward along the eccentric member; and when the braking member moves from the release position towards the braking position, the movement trajectory of the braking member is a spiral or cam profile line that gradually expands radially outward along the circumference of the eccentric member. The elastic member 6 is connected to the eccentric member and the brake block and is used to press the brake block towards the braking position;

[0169] The rotation axis of the driving member 8 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.

[0170] The speed reducer according to the embodiment of the present invention can achieve an automatic reverse braking function, has a simple overall structure, fewer components, and a small volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0171] The joint module according to the embodiment of the present invention will be described below.

[0172] As Figures 19 - 26 described, the joint module 200 according to the embodiment of the present invention includes a speed reducer and a motor 210, wherein the speed reducer can be the speed reducer 100 of any 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.

[0173] The joint module according to 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. The eccentric wheel drives the outer gear to revolve around the central axis of the inner gear hole in the inner gear hole, and then drives the inner gear to rotate. The inner gear serves as an output gear to output torque. 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) on the inner gear cannot drive the eccentric wheel to rotate through the outer gear. In other words, the torque (load) cannot be reversely transmitted from the inner gear to the driving member to cause the driving member and the motor shaft to rotate.

[0174] In some embodiments, as Figures 19 - 21 shown, the motor 210 is arranged outside the housing 1 of the speed reducer 100, and the motor shaft 211 extends into the disk hole 831 of the disk hub 83 of the driving member 8 to be connected to the disk hub 83, so as to drive the driving member 8 to rotate.

[0175] In some embodiments, as Figures 21 - 26 shown, at least a part of the speed reducer 100 is arranged inside the motor 210.

[0176] In some embodiments, as Figures 21 - 26As 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 disposed within the stator base 212, the rotor 214 is sleeved on the rotor base 215, and the rotor 214 and the rotor base 215 are rotatably disposed within the stator 213. The housing 1 of the speed reducer 100 is located within the rotor 214 and can be connected to the stator base 212, and the motor shaft 211 of the motor 210 is connected to the rotor base 215 and the driving member 8. 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 2 are coaxial. The stator 213 drives the rotor 214 to rotate, the rotor 214 drives the motor shaft 211 to rotate, and the motor shaft 211 of the motor 210 drives the driving member 8 to rotate in the clockwise or counterclockwise direction.

[0177] When the motor shaft 211 of the motor 210 stops rotating, the elastic member 6 pushes the brake block 5 relative to the eccentric wheel 4 from the release position to the braking position, and the brake block 5 abuts against the external gear 3, preventing the eccentric wheel 4 and the brake block 5 from rotating relative to the external gear 3, that is, preventing the torque (load) applied to the internal gear 2 from being reversely transmitted to the driving member 8 to cause the driving member 8 and the motor shaft 211 to rotate.

[0178] In some specific examples, such as Figures 21 - 26 As shown, the stator base 212 has a first end ( Figure 26 the right end in Figure 26 ) and a second end (

[0179] the left end in Figure 26 ). The first end of the stator base 212 is open and covered by a stator cover 216. A through hole 2121 is provided in the end wall of the second end of the stator base 212, and the internal gear 2 passes through the through hole 2121 and extends out of the stator base 212, and a part of the internal gear 2 is rotatably supported within the through hole 2121.

[0180] In this example, as Figure 26 shown, the speed reducer 100 does not have a cover plate 13. The small-diameter portion 25 of the internal gear 2 passes through a part of the through hole 2121 and extends out of the stator base 212, and the small-diameter portion 25 of the internal gear 2 is rotatably supported within the through hole 2121. The end wall of the stator base 212 abuts against the end face of the large-diameter portion 24 of the internal gear 2 to limit the internal gear 2, and the connecting bolts pass through the end wall of the stator base 212 and are connected to the housing of the speed reducer 100.

[0181] Figure 27 The robotic arm 300 according to an embodiment of the present invention is shown. The robotic arm 300 includes a plurality of joint modules 200. Driven by the joint modules 200, the robotic arm 300 can perform various actions and operations.

[0182] Figure 28 The robot 400 according to an embodiment of the present invention is shown. The robot 400 includes joint modules 200. Driven by the joint modules 200, the robot can achieve various actions.

[0183] It can be understood that the robotic arm 300 and the robot 400 according to the embodiments of the present invention are not limited to the forms shown in the figures.

[0184] The production system according to an embodiment of the present invention may include the robotic arm 300 and / or the robot 400 according to an embodiment of the present invention. For example, the production system according to an embodiment of the present invention may be an automobile production line or other product production lines, where the robotic arm 300 and / or the robot 400 may be used to pick up automobile parts and / or assemble automobiles and their components.

[0185] The electric device according to an embodiment of the present invention may include the joint module 200 according to an embodiment of the present invention.

[0186] In some embodiments, the electric device may be an electric wheelchair or an electric bed. For example, as Figure 29 shown, the electric device according to an embodiment of the present invention is an electric wheelchair 500. Driven by the joint module 200, the electric wheelchair can move and change its form.

[0187] It can be understood that the electric device according to the embodiments of the present invention is not limited to electric beds and electric wheelchairs.

[0188] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship 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, and therefore should not be construed as a limitation of the present invention.

[0189] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed 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 defined.

[0190] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "connected to", "fixed" and the like shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the communication inside 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 may be understood according to specific circumstances.

[0191] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0192] In the present invention, terms such as "an embodiment", "some embodiments", "examples", "specific examples", 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 a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0193] 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: A housing; An internal gear, which is rotatably supported at least partially within the housing, and the internal gear has an internal gear hole; An external gear, which is at least partially disposed within the internal gear hole and meshes with the internal gear to drive the internal gear to rotate, and the external gear has an external gear hole; An eccentric wheel, which is rotatably supported at least partially within the external gear hole, and the rotation axis of the eccentric wheel is coaxial with the central axis of the internal gear, and the eccentric wheel is used to drive the external gear to revolve around the rotation axis of the eccentric wheel; A brake block, which is disposed on the eccentric wheel to rotate together with the eccentric wheel, and the brake block is 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, which is connected to the eccentric wheel and the brake block, and is used to press the brake block toward the braking position; A limiting disk, which is disposed within the housing, and the limiting disk engages with the housing so that the limiting disk and the housing are restricted from relative movement in a first direction, and the limiting disk engages with the external gear so that the limiting disk and the external gear are restricted from relative movement in a second direction, wherein the first direction, the second direction and the axis of the limiting disk are orthogonal to each other; A driving member, which is connected to the eccentric wheel and the rotation axis of the driving member is 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, One of the limiting disk and the housing is provided with a first limiting portion and the other is provided with a first limiting groove, and the first limiting portion is fitted within the first limiting groove and is movable along the first direction, One of the limiting disk and the external gear is provided with a second limiting portion and the other is provided with a second limiting groove, and the second limiting portion is fitted within the second limiting groove and is movable along the second direction.

3. The speed reducer according to claim 2, wherein The first limiting portion is disposed on the housing, the second limiting portion is disposed on the external gear, and the first limiting groove and the second limiting groove are disposed on the limiting disk; Both the first limiting portion, the second limiting portion, the first limiting groove and the second limiting groove are two. The two first limiting portions are opposite to each other in the first direction and the two first limiting grooves are opposite to each other in the first direction. The two second limiting portions are opposite to each other in the second direction and the two second limiting grooves are opposite to each other in the second direction.

4. The speed reducer according to claim 2, characterized in that, The first limiting portion and the second limiting portion are cylindrical rods, and the first limiting groove and the second limiting groove are U-shaped grooves.

5. The speed reducer according to claim 1, characterized in that, The eccentric wheel is provided with a shifting groove, the driving member is provided with a shifting block, the shifting block is movably fitted in the shifting groove, when the driving member rotates in one of the clockwise and counterclockwise directions, the shifting 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.

6. The speed reducer according to claim 5, characterized in that When the driving member rotates in the other of the clockwise and counterclockwise directions, the shifting 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 shifting block drives the eccentric wheel and the brake block to rotate together.

7. The speed reducer according to claim 5 or 6, characterized in that The housing has a first end and a second end, the second end of the housing is open and covered by a cover plate, the end wall of the first end of the housing has an end wall hole, the cover plate has a cover plate hole, a part of the internal gear is located inside the housing and is rotatably supported by the housing, and the other part of the internal gear is located inside the cover plate hole and is rotatably supported by the cover plate.

8. The speed reducer according to claim 7, wherein The driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body, the shifting block is arranged on the disk body, and the disk hub is rotatably fitted in the end wall hole.

9. The speed reducer according to claim 7, characterized in that, The internal gear has a central flange extending in the internal gear hole, 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.

10. The speed reducer according to claim 7, characterized in that, The outer peripheral surface of the internal gear is a stepped surface to divide the internal gear into a large-diameter portion and a small-diameter portion, the small-diameter portion is rotatably fitted in the cover plate hole, and the large-diameter portion is rotatably fitted in the housing.

11. The speed reducer according to claim 1, characterized in that, A first jack is arranged on the eccentric wheel, a second jack is arranged 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, wherein, 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, and 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 arranged 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, wherein, 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 arranged 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, and 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 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 spaced apart from each other in the radial direction of the plate body. The arc-shaped guide groove is formed between the convex platform 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 extend radially beyond 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.

16. The speed reducer according to claim 15, wherein, 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.

17. The speed reducer according to claim 1, wherein 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, and 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 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 dial block is spaced apart from or in contact with the end wall surface of the second dial groove.

18. The speed reducer according to claim 17, wherein, When the driving member rotates clockwise, the second dial 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 dial block is spaced apart from or in contact with the end wall surface of the first dial groove.

19. A speed reducer, characterized in that, Comprising: A housing; An internal gear, at least part of which is rotatably provided in the housing. The internal gear has an internal gear hole, and the central axis of the internal gear hole is coaxial with the rotation axis of the internal gear. An external gear, which has an external gear hole. The external gear is at least partially provided in the internal gear hole and meshes with the internal gear to drive the internal gear to rotate. The external gear is translatable in a plane orthogonal to the axial direction of the external gear and is prohibited from rotating about its central axis. An eccentric wheel, which has an eccentric wheel hole. The eccentric wheel is at least partially rotatably provided in the external gear hole to drive the external gear to revolve around 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 are coaxial. The central axis of the outer peripheral surface of the eccentric wheel is eccentric with respect to the central axis of the eccentric wheel hole. A brake block is provided on the eccentric wheel and rotates with the eccentric wheel. The brake block is movable relative to the eccentric wheel between a braking position and a release position. 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 is connected to the eccentric wheel and the brake block and is used to press the brake block toward the braking position. A driving member is connected to the eccentric wheel, and the rotation axis of the driving member is 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: A housing; An internal gear that is rotatably provided at least partially within the housing and has an internal gear hole; An external gear that has an external gear hole, with at least part of the external gear disposed within the internal gear hole and meshing with the internal gear; An eccentric member that is rotatably provided within the external gear hole to drive the external gear. The rotation axis of the eccentric member is coaxial with the central axis of the internal gear. 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 can revolve around the rotation axis of the eccentric member and is prohibited from rotating about its own central axis to drive the internal gear to rotate; A braking member is provided on the eccentric member and rotates with the eccentric member. The braking 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 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, 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 trajectory of the braking member is a spiral or cam profile line that gradually expands radially outward along the circumference of the eccentric member; An elastic member is connected to the eccentric member and the brake block and is used to press the brake block toward 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 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. 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.

21. A joint module, characterized in that, Comprising: A speed reducer, which is the speed reducer according to any one of claims 1-20; An electric motor, the motor shaft of which 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 electric motor is provided outside the housing of the speed reducer.

23. The joint module according to claim 21, wherein, The speed reducer is at least partially disposed within the motor.

24. The joint module according to claim 21, characterized in that, The motor includes a stator base, a stator, a rotor, and a rotor base. The stator is disposed within the stator base, the rotor is sleeved on the rotor base, the rotor and the rotor base are rotatably disposed within the stator, the housing of the speed reducer is located within the rotor and is connected to the stator base, and the motor shaft is connected to the rotor base and the driving member.

25. The joint module according to claim 24, characterized in that, The stator base has a first end and a second end. The first end of the stator base is open and sealed by a stator cover. A through hole is provided in the end wall of the second end of the stator base. The internal gear extends out of the stator base through the through hole, and a part of the internal gear is rotatably supported within 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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