Joint module and robot

Abstract

A speed reducer, a joint module, a mechanical arm, a robot, a production system and an electric device. The speed reducer (100) comprises an internal gear (1), an external gear (3), an eccentric wheel (4), a brake block (5), an elastic member (6), and a driving member (8). When the driving member rotates, the brake block overcomes the elastic force of the elastic member to move to a release position relative to the eccentric wheel, the brake block is then separated from the external gear, the driving member drives the eccentric wheel and the brake block to rotate together, and the eccentric wheel drives the external gear to rotate on its own axis while revolving in an internal gear hole around the central axis of the internal gear hole; and when the driving member stops rotating, the elastic member pushes the brake block from the release position to a braking position relative to the eccentric wheel, and the brake block then presses against the external gear, so as to prevent the eccentric wheel and the brake block from rotating relative to the external gear, such that the eccentric wheel cannot reversely transmit a torque to the driving member. The speed reducer can automatically realize reverse braking, and has a simple overall structure, a small number of parts and components, and a small size.

Description

Joint modules and robots Technical Field

[0001] The embodiments of the present disclosure relate to the field of robotics technology, and in particular, to a reducer, a joint module, a robotic arm, a robot, a production system, and an electric device. Background Art

[0002] Reducers are widely used in cranes, driving joints of robots, and winches. Reducers in related technologies have problems such as complex structure, large size, low torque density, and low load capacity. Moreover, in order to avoid the problem that the output end of the motor of the electromechanical equipment will rotate after the power is cut off, electromagnetic brakes are usually installed on the motor shaft of the motor in related technologies. In addition, existing electromechanical equipment also uses mechanisms such as worm gear pairs to achieve braking. However, the braking method in related technologies has problems such as complex structure, large number of parts, large size, low braking torque, large braking friction consumption, high cost, and low braking reliability.

[0003] Summary of the Invention

[0004] The embodiments of the present disclosure are intended to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present disclosure proposes a speed reducer with a reverse braking function.

[0006] The implementation of the present disclosure also proposes a joint module having the reducer.

[0007] The present disclosure also provides a robotic arm having the joint module.

[0008] The present disclosure also provides a robot having the joint module.

[0009] The present disclosure also provides a production system having the robot.

[0010] The present disclosure also provides an electric device having the joint module.

[0011] The reducer according to the embodiment of the present disclosure includes: an internal gear having an internal gear hole; an external gear having an external gear hole, wherein the external gear is at least partially arranged in the internal gear hole and meshes with the internal gear; an eccentric wheel, wherein the eccentric wheel is rotatably supported in the external gear hole, the rotation axis of the eccentric wheel is coaxial with the central axis of the internal gear, and the external gear is driven by the eccentric wheel to revolve around the rotation axis of the eccentric wheel and rotate at the same time; a brake block, wherein the brake block is arranged on the eccentric wheel to rotate 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 is stopped against the external gear, and in the release position, the brake block is separated from the external gear; an elastic member, the elastic member 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, 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 to the release position relative to the eccentric wheel 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.

[0012] The reducer of the disclosed embodiment can automatically realize reverse braking. When the driving member rotates, it first drives the brake block to overcome the elastic force of the elastic member and move to the release position relative to the eccentric wheel to separate from the external gear. Then the driving member drives the eccentric wheel and the brake block to rotate together. The eccentric wheel drives the external gear to revolve around the central axis of the internal gear hole in the internal gear hole while rotating on its own. The external gear acts as an output gear to output driving force or torque.

[0013] When the driving member stops rotating, the elastic member pushes the brake block from the release position to the braking position relative to the eccentric wheel, and the brake block abuts against the external gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the external gear, that is, preventing the torque (load) on the external gear from being transmitted back through the eccentric wheel to the driving member to cause the driving member to rotate. For example, when the motor of the winch stops rotating, the load applied to the external gear by the winch drum cannot be transmitted back to the driving member to cause it to rotate.

[0014] The reducer of the embodiment of the present disclosure can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size. It has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0015] In some embodiments, the eccentric wheel is provided with a shifting groove, and the driving member is provided with a shifting block, and the shifting block is movably engaged in the shifting groove. When the driving member rotates in one of clockwise and counterclockwise directions, the shifting block overcomes the elastic force of the elastic member and pushes the brake block to the release position to drive the eccentric wheel and the brake block to rotate together.

[0016] In some embodiments, when the driving member rotates in the other of clockwise and counterclockwise directions, the shift 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 shift block drives the eccentric wheel and the brake block to rotate together.

[0017] In some embodiments, the shifting groove is provided on the outer peripheral surface of the eccentric wheel, and the shifting groove extends along the circumferential direction of the outer peripheral surface of the eccentric wheel by a predetermined length and passes through the axial direction of the eccentric wheel.

[0018] In some embodiments, the driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body, and the shift block is provided on the disk body.

[0019] In some embodiments, the internal gear has a central flange extending within the internal gear hole, the central flange having a flange hole, and the disc hub is rotatably engaged in the flange hole.

[0020] In some embodiments, the eccentric wheel has an eccentric wheel hole, the eccentric wheel hole is coaxial with the internal gear, and the central flange is rotatably engaged in the eccentric wheel hole.

[0021] In some embodiments, the reducer further includes a cover plate, the internal gear has a first end and a second end, and the cover plate is arranged at the second end of the internal gear to limit the external gear.

[0022] In some embodiments, the inner gear hole includes an inner gear hole section and a limiting hole section, the inner teeth of the inner gear are formed on the peripheral wall of the inner gear hole section, the diameter of the limiting hole section is larger than the diameter of the inner gear hole section, the outer gear includes an outer gear section and a mating section, the outer teeth of the outer gear are formed on the outer peripheral surface of the outer gear section, a limiting flange is provided on the outer peripheral surface of the mating section, the limiting flange can be rotatably fitted in the limiting hole section, the mating section can be rotatably fitted in the cover plate hole of the cover plate, and the cover plate stops the limiting flange.

[0023] In some embodiments, the external gear hole includes an external gear hole section and a mating hole section, the diameter of the mating hole section is larger than the diameter of the external gear hole section, the eccentric wheel is rotatably fitted in the external gear hole section, the internal gear has a center flange located in the internal gear hole, the center flange has a flange hole, the driving member includes a disk body and a disk hub located at the center of the disk body, the disk body is located in the mating hole section, and the disk hub is rotatably fitted in the flange hole.

[0024] In some embodiments, a first socket is provided on the eccentric wheel, a second socket is provided on the brake block, the elastic member is an arc spring, the first end of the elastic member is engaged in the first socket, and the second end of the elastic member is engaged in the second socket.

[0025] 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 matched.

[0026] In some embodiments, the guide rail is arranged on the eccentric wheel, the guide rail and the guide groove are both arc-shaped, the curvature radius 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 cam surface that gradually expands radially outward along the circumference of the eccentric wheel.

[0027] In some embodiments, a notch is provided at the junction of at least one end face of the eccentric wheel and the outer peripheral surface of the eccentric wheel, the arc-shaped guide rail is provided 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.

[0028] In some embodiments, the brake block includes an arcuate plate body, an arcuate outer boss and an arcuate inner boss, the outer boss and the inner boss are provided on the plate body and extend along the circumference of the plate body, the outer boss and the inner boss are spaced apart from each other in the radial direction of the plate body, the arcuate guide groove is formed between the boss and the inner boss, the outer peripheral surface of the outer boss is flush with the outer peripheral surface of the plate body, and the inner peripheral surface of the inner boss is flush with the inner peripheral surface of the plate body. In the braking position, at least a portion of the outer peripheral surface of the outer boss and at least a portion of the outer peripheral surface of the plate body extend beyond the outer peripheral surface of the eccentric wheel in the radial direction of the eccentric wheel to stop with the external gear, the first end of the outer boss and the first end of the inner boss are spaced apart from the first end of the plate body by a first distance, and the second end of the outer boss and the second end of the inner boss are spaced apart from the second end of the plate body by a second distance.

[0029] 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.

[0030] In some embodiments, the eccentric wheel is provided with a first shift groove and a second shift groove, and the driving member is provided with a first shift block and a second shift block, the first shift block is movably engaged in the first shift groove, and the second shift block is movably engaged in the second shift groove, and the brake block corresponds to the first shift groove. When the driving member rotates counterclockwise, the first shift block overcomes the elastic force of the elastic member and pushes the brake block to the release position. When the brake block moves to the release position, the second shift block is spaced apart from or contacts the end wall of the second shift groove.

[0031] In some embodiments, when the driving member rotates clockwise, the second shift block drives the eccentric wheel to rotate clockwise and the brake block overcomes the elastic force of the elastic member and moves to the release position. When the brake block moves to the release position, the first shift block is spaced apart from or in contact with the end wall of the first shift groove.

[0032] The reducer of the disclosed embodiment includes: an internal gear, wherein 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, wherein the external gear has an external gear hole, and the external gear is at least partially arranged in the internal gear hole and meshes with the internal gear; an eccentric wheel, wherein the eccentric wheel has an eccentric wheel hole, and 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 and rotate on its own axis, 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 relative to the central axis of the eccentric wheel hole; a brake block, wherein the brake block is arranged on the eccentric wheel to rotate with the eccentric wheel, 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 is abutted 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 toward the braking 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 to the release position relative to the eccentric wheel so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

[0033] The reducer of the disclosed embodiment includes: an internal gear, the internal gear having an internal gear hole; an external gear, the external gear having an external gear hole, the external gear being at least partially arranged in the internal gear hole and meshing with the internal gear; an eccentric, the eccentric being rotatably arranged in the external gear hole to drive the external gear, the rotation axis of the eccentric being coaxial with the central axis of the internal gear, the central axis of the outer peripheral surface of the eccentric being eccentric relative to the rotation axis of the eccentric, the external gear being rotatable and being revolvable around the rotation axis of the eccentric; a brake, the brake being arranged on the eccentric to rotate with the eccentric, the brake being movable between a braking position and a release position relative to the eccentric, wherein in the radial direction of the eccentric, the brake is farther away from the rotation axis of the eccentric when it is in the braking position than when it is in the release position, or the When the brake member moves from the release position toward the braking position, the brake member moves along the circumference of the eccentric member and moves radially outward along the eccentric member at the same time, or when the brake member moves from the release position toward the braking position, the movement trajectory of the brake member is a spiral or cam profile line that gradually expands radially outward along the circumference of the eccentric member; an elastic member, the elastic member is connected to the eccentric member and the brake member, and is used to press the brake member 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 brake member moves relative to the eccentric member to the release position so that the driving member drives the eccentric member and the brake member to rotate together, and when the driving member stops rotating, the elastic member pushes the brake member to the braking position to prevent the eccentric member and the brake member from rotating together.

[0034] The joint module of the embodiment of the present disclosure includes: a reducer, which can be the reducer according to any one of the above embodiments; and a motor, wherein the motor shaft of the motor is connected to the driving member of the reducer to drive the driving member to rotate.

[0035] In some embodiments, the housing of the motor abuts against an end surface of the internal gear of the reducer and is located outside the internal gear.

[0036] In some embodiments, the speed reducer is at least partially located within the motor.

[0037] In some embodiments, the motor includes a stator seat, a stator, a rotor and a rotor seat, the stator is arranged in the stator seat, the rotor is sleeved on the rotor seat, the rotor and the rotor seat are rotatably arranged in the stator, the reducer is at least partially located in the rotor, the motor shaft is connected to the rotor seat and the driving member, and the internal gear is connected to the stator seat.

[0038] 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, the end wall of the second end of the stator base is provided with a through hole, and a portion of the external gear is rotatably supported in the through hole.

[0039] The robotic arm of the disclosed embodiment may include the joint module described in any one of the above embodiments.

[0040] The robot of the disclosed embodiment may include the joint module described in any one of the above embodiments.

[0041] The production system of the embodiments of the present disclosure may include the robotic arm described in any one of the above embodiments and / or the robot described in any one of the above embodiments.

[0042] The electric device of the embodiment of the present disclosure may include the joint module described in any one of the above embodiments.

[0043] In some embodiments, the electric device may be an electric wheelchair or an electric bed. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG. 1 is a perspective view of a speed reducer according to an embodiment of the present disclosure.

[0045] FIG. 2 is another perspective view of the speed reducer according to the embodiment of the present disclosure.

[0046] FIG3 is a schematic cross-sectional view of a reducer according to an embodiment of the present disclosure.

[0047] FIG. 4 is an axial cross-sectional view of an internal gear of the speed reducer according to the embodiment of the present disclosure.

[0048] FIG5 is an axial cross-sectional view of the external gear of the speed reducer according to the embodiment of the present disclosure.

[0049] FIG. 6 is a cross-sectional view of the speed reducer according to the embodiment of the present disclosure taken along line AA in FIG. 3 .

[0050] FIG. 7 is a cross-sectional view of the speed reducer according to the embodiment of the present disclosure, taken along line BB in FIG. 3 .

[0051] FIG8 is a schematic diagram of the cooperation between the brake block and the eccentric wheel of the reducer according to an embodiment of the present disclosure (the brake block is in the release position).

[0052] FIG9 is a perspective view of a brake pad and an eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

[0053] FIG10 is another schematic diagram of the coordination between the brake block and the eccentric wheel of the reducer according to the embodiment of the present disclosure.

[0054] FIG. 11 is another perspective view of the brake pad and the eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

[0055] FIG12 is a perspective view of an eccentric wheel of a speed reducer according to an embodiment of the present disclosure.

[0056] FIG13 is another perspective view of the eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

[0057] FIG14 is a plan view of an eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

[0058] FIG. 15 is a perspective view of a brake pad of the speed reducer according to the embodiment of the present disclosure.

[0059] FIG. 16 is another perspective view of the brake pad of the speed reducer according to the embodiment of the present disclosure.

[0060] FIG. 17 is a plan view of a brake pad of the speed reducer according to the embodiment of the present disclosure.

[0061] FIG18 is a perspective view of a joint module according to an embodiment of the present disclosure.

[0062] FIG. 19 is a perspective view of a joint module according to an embodiment of the present disclosure.

[0063] FIG. 20 is a perspective view of a joint module according to another embodiment of the present disclosure.

[0064] FIG21 is a perspective view of a joint module according to another embodiment of the present disclosure.

[0065] FIG22 is a partial cross-sectional view of a joint module according to another embodiment of the present disclosure.

[0066] FIG23 is a schematic cross-sectional view of a joint module according to another embodiment of the present disclosure.

[0067] FIG24 is a schematic diagram of a robotic arm according to an embodiment of the present disclosure.

[0068] FIG. 25 is a schematic diagram of a robot according to an embodiment of the present disclosure.

[0069] FIG. 26 is a schematic diagram of an electric device according to an embodiment of the present disclosure.

[0070] Reference numerals: 100, reducer; 101, main axis; 102, eccentric axis; 1, internal gear; 11, internal gear hole; 111, internal teeth; 112, internal gear hole segment; 113, limiting hole segment; 12, center flange; 13, flange hole; 14, end wall; 15, countersunk hole; 16, connecting portion; 2, cover plate; 21, cover plate hole; 3, external gear; 301, external teeth; 31, external gear hole; 311, external gear hole segment; 312, mating hole segment; 32, external gear segment; 33, mating segment; 331, limiting flange; 4. Eccentric wheel; 41. Slot; 41a. First slot; 41b. Second slot; 421. First end of eccentric wheel; 422. Second end of eccentric wheel; 43. First insertion hole; 44. Arc-shaped guide rail; 441. Outer circumference of arc-shaped guide rail; 45. Notch; 46. Inner groove; 47. Outer groove; 481. First step; 482. Second step; 49. Eccentric wheel hole; 5. Brake block; 51. Second insertion hole; 52. Arc-shaped guide groove; 53. Plate; 54. Outer boss; 541. Inner circumference of outer boss; 55. Inner boss; 56. Second half hole; 6. Elastic member; 61. First end of elastic member; 62. Second end of elastic member; 7. Snap ring; 8. Driving member; 81. Shift block; 81a. First shift block; 81b. Second shift block; 82. Disc body; 83. Disc hub; 831. Disc hole; 200. Joint module; 210. Motor; 211. Motor shaft; 212. Stator seat; 2121. Through hole; 213. Stator; 214. Rotor; 215. Rotor seat; 216. Stator cover; 300. Robotic arm; 400. Robot; 500. Electric wheelchair. DETAILED DESCRIPTION

[0071] The embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0072] As shown in FIG. 1 to FIG. 17 , the reducer 100 of the embodiment of the present disclosure includes an internal gear 1 , an external gear 3 , an eccentric wheel 4 , a brake block 5 , an elastic member 6 , a limiting plate 7 and a driving member 8 .

[0073] The internal gear 1 has a concentric internal gear hole 11, and the circumference of the internal gear hole 11 is provided with internal teeth 111. It should be understood that the concentric internal gear hole means that the central axis of the outer circumference of the internal gear 1 (also referred to as the central axis of the internal gear 1) is coaxial with the central axis of the internal gear hole 21.

[0074] External gear 3 has external teeth 301 on its outer circumference. External gear 3 is at least partially located within internal gear hole 11 and meshes with internal gear 1. External gear 3 has a concentric external gear hole 31. In other words, the central axis of the outer circumference of external gear 3 (also referred to as the central axis of external gear 3) is coaxial with the central axis of external gear hole 31. As shown in Figure 3, the outer circumference of external gear 3 is eccentric relative to internal gear hole 11. That is, the central axis of external gear 3 and the central axis of internal gear 1 (i.e., the central axis of internal gear hole 11) are parallel but not coaxial. A portion of external gear 3's external teeth 301 mesh with a portion of internal gear 1's internal teeth 111.

[0075] The eccentric 4 is rotatably disposed within the external gear hole 31. The central axis of the outer peripheral surface of the eccentric 4 is coaxial with the central axis of the external gear hole 31. The central axis of the outer peripheral surface of the eccentric 4 is parallel to and non-coaxial with the rotational axis of the eccentric 4. The rotational axis of the eccentric 4 is coaxial with the central axis of the internal gear 1 (i.e., the central axis of the internal gear hole 11) and the central axis (rotational axis) of the driving member 8. The external gear 3 is driven by the eccentric 4 to orbit around the rotational axis of the eccentric 4 (i.e., the central axis of the internal gear 1 and the central axis of the internal gear hole 11) while simultaneously rotating. That is, the eccentric 4 can drive the external gear 3 to orbit around the rotational axis of the eccentric 4. Since the external gear 3 is meshed with the internal gear 1, the external gear 3 orbits while simultaneously rotating, and the rotational axis of the external gear 3 is the central axis of the external gear 3.

[0076] For example, when the eccentric wheel 4 rotates clockwise, it drives the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the clockwise direction, while the external gear 3 rotates counterclockwise; when the eccentric wheel 4 rotates counterclockwise, it drives the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the counterclockwise direction, while the external gear 3 rotates clockwise.

[0077] The brake block 5 is mounted on the eccentric wheel 4 and is capable of rotating 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.

[0078] The elastic member 6 is connected to the eccentric wheel 4 and the brake shoe 5 and is used to compress the brake shoe 5 toward the braking position. In other words, the elastic member 6 applies a spring force to the brake shoe 5, and this spring force of the elastic member 6 compresses the brake shoe 5 toward the braking position. For example, as the brake shoe 5 moves from the braking position to the released position, the elastic member 6 is gradually compressed, thereby applying a spring force to the brake shoe 5, which compresses the brake shoe 5 toward the braking position.

[0079] The driving member 8 is connected to the eccentric wheel 4 . The driving member 8 is used to drive the eccentric wheel 4 , and a rotation axis of the driving member 8 is coaxial with a rotation axis of the eccentric wheel 4 .

[0080] As shown in Figures 1-3, the central axis of the internal gear 1, the central axis of the internal gear hole 11, the rotation axis of the eccentric wheel 4, and the rotation axis of the driving member 8 are coaxial and can be collectively referred to as the main axis 101. The central axis of the external gear 3, the central axis of the external gear hole 39, the rotation axis of the external gear 3, and the central axis of the outer peripheral surface of the eccentric wheel 4 are coaxial and can be collectively referred to as the eccentric axis 102.

[0081] When the driving member 8 rotates, the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the released position relative to the eccentric 4, thereby driving the eccentric 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 4 to the braking position, where it abuts the external gear 3, preventing the eccentric 4 and the brake block 5 from rotating together. In other words, when the driving member 8 rotates, the brake block 5 moves to the released position, allowing the driving member 8 to simultaneously drive the eccentric 4 and the brake block 5 to rotate, thereby driving the external gear 3 to orbit around the rotation axis of the eccentric 4 and rotate around its central axis. When the driving member 8 stops rotating, the brake block 5 moves to the braking position under the action of the elastic member 6, abutting the external gear 3. At this point, even if a load is applied to the external gear 3, the eccentric 4 cannot rotate relative to the external gear 3 together with the brake block 5. Therefore, the external gear 3, the eccentric 4, and the brake block 5 cannot rotate, thereby achieving reverse braking.

[0082] For example, the driving member 8 can be connected to the driving shaft to be driven by the driving shaft to rotate counterclockwise or clockwise. The driving shaft can be, for example, the shaft of the driver or a shaft connected to the driver shaft. The driver can be, for example, a motor, and the driving shaft can be a motor shaft.

[0083] For example, the driving member 8 is connected to the motor shaft of the motor. When the driving member 8 is driven to rotate by the motor, the brake block 5 can overcome the elastic force of the elastic member 6 and move to the release position relative to the eccentric wheel 4 and separate from the external gear 3. In this way, the driving member 8 can drive the brake block 5 to rotate together with the eccentric wheel 4, and then drive the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the internal gear hole 11, while the external gear 3 rotates on its own.

[0084] Therefore, external gear 3 can also be called the output gear of reducer 100. It can be connected to other components to drive their rotation. For example, external gear 3 can be connected to the drum of a winch or the joints of a robot. The rotation speed of driving member 8 is equal to that of eccentric wheel 4. The rotation speed of eccentric wheel 4 serves as the input speed of reducer 100. The orbital speed of external gear 3 serves as the output speed and is less than the speed of eccentric wheel 4, thereby achieving speed reduction.

[0085] When the driving member 8 does not rotate, the brake block 5 moves to the braking position relative to the eccentric wheel 4 under the elastic force of the elastic member 6 and stops against the external gear 3. The friction between the brake block 5 and the external gear 3 prevents the eccentric wheel 4 and the brake block 5 from rotating relative to the external gear 3, thereby preventing the external gear 3 from revolving and rotating.

[0086] The reducer of the disclosed embodiment can automatically realize reverse braking. When the driving member rotates, it first drives the brake block to overcome the elastic force of the elastic member and move to the release position relative to the eccentric wheel to separate from the external gear. Then the driving member drives the eccentric wheel and the brake block to rotate together. The eccentric wheel drives the external gear to revolve around the central axis of the internal gear hole in the internal gear hole while rotating on its own. The external gear acts as an output gear to output torque.

[0087] When the driving member stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the external gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the external gear, that is, preventing the torque (load) applied by the external gear on the eccentric wheel to rotate the eccentric wheel, so that the eccentric wheel cannot transmit the torque to the driving member to rotate the driving member. For example, when the motor of the winch stops rotating, the load applied to the eccentric wheel by the drum of the winch through the external gear cannot drive the eccentric wheel to rotate, so the external gear cannot rotate, and the eccentric wheel cannot rotate the driving member.

[0088] It can be understood that in the embodiment of the present disclosure, the "reverse" in "reverse braking" refers to the direction in which the torque applied to the external gear is transmitted toward the driving member, and correspondingly, the "forward" refers to the direction in which the torque of the driving member is transmitted toward the external gear.

[0089] The reducer of the embodiment of the present disclosure can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size. It has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0090] In some embodiments, as shown in Figures 1 to 17, the eccentric wheel 4 is provided with a shifting groove 41, and the driving member 8 is provided with a shifting block 81, which is movably engaged in the shifting groove 41. When the driving member 8 rotates in one of the clockwise and counterclockwise directions, the shifting block 81 overcomes the elastic force of the elastic member 6 and pushes the brake block 5 to the released position, thereby driving the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 rotates in the other of the clockwise and counterclockwise directions, the shifting block 81 drives the eccentric wheel 4 to rotate, thereby causing relative rotation between the eccentric wheel 4 and the brake block 5, and the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the released position, thereby driving the eccentric wheel 4 and the brake block 5 to rotate together.

[0091] In some examples, as shown in FIG6 , when the driving member 8 rotates counterclockwise, the shifting block 81 overcomes the elastic force of the elastic member 6 and pushes the brake block 5 to the released position, thereby driving 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 via the shifting block 81, so that the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the released position relative to the eccentric wheel 4. The shifting block 81 then applies a force to the eccentric wheel 4 directly or through the brake block 5, thereby driving the eccentric wheel 4 and the brake block 5 to rotate together.

[0092] In other examples, as shown in FIG6 , when the driving member 8 rotates clockwise, the shifting block 81 drives the eccentric wheel 4 to rotate, causing the eccentric wheel 4 and the brake block 5 to rotate relative to each other, thereby overcoming the elastic force of the elastic member 6 and moving to the released position, and then the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together. In other words, the driving member 8 drives the eccentric wheel 4 to rotate via the shifting block 81, thereby causing the brake block 5 to overcome the elastic force of the elastic member 6 and move to the released position, and then directly applies a force to the eccentric wheel 4 via the shifting block 81 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0093] In some embodiments, as shown in Figures 1-17, the shifting slot 41 includes a first shifting slot 41a and a second shifting slot 41b, and the shifter 81 includes a first shifting block 81a and a second shifting block 81b. The first shifting block 81a is movably engaged within the first shifting slot 41a, and the second shifting block 81b is movably engaged within the second shifting slot 41b. The brake block 5 corresponds to the first shifting slot 41a, meaning that the brake block 5 can be driven by the first shifting block 81a engaged within the first shifting slot 41a. When the driving member 8 rotates clockwise or counterclockwise, the first shifting block 81a moves within the first shifting slot 41a around the rotation axis of the driving member 8, and the second shifting block 81b moves relative to the rotation axis of the driving member 8 within the second shifting slot 41b.

[0094] In some examples, when the driving member 8 rotates counterclockwise, the first shifting block 81 a overcomes the elastic force of the elastic member 6 and directly contacts the brake block 5 to push the brake block 5 to the release position.

[0095] Specifically, as shown in Figure 3, the brake block 5 is in the braking position, the brake block 5 is abutted against the external gear 3, that is, the brake block 5 is abutted against the peripheral wall surface of the external gear hole 31, and the minimum gap between the two is zero. When the driving member 8 rotates counterclockwise in Figure 3, the first shift block 81a rotates counterclockwise in the first shift groove 41a until it contacts one end surface of the brake block 5 (the upper end surface in Figure 6). Then, the first shift block 81a applies a thrust to the brake block 5 to overcome the elastic force of the elastic member 6 and push the brake block 5 to the release position. The brake block 5 is separated from the external gear 3, that is, separated from the peripheral wall surface of the external gear hole 31, and the minimum gap between the two is greater than zero. Subsequently, the first shift block 81a pushes the brake block 5 and the eccentric wheel 4 to rotate together in the counterclockwise direction, thereby driving the external gear 3 to revolve counterclockwise around the rotation axis of the eccentric wheel 4, and at the same time, the external gear 3 rotates clockwise around its own center axis.

[0096] As the first shift block 81a pushes the brake shoe 5 from the braking position to the released position, the second shift block 81b rotates counterclockwise within the second shift slot 41b. When the brake shoe 5 reaches the released position, the second shift block 81b is spaced from the end wall of the second shift slot 41b (the upper end wall in Figure 6). Alternatively, the second shift block 81b may contact the end wall of the second shift slot 41b without applying force to the eccentric wheel 4. The eccentric wheel 4 and the brake shoe 5 rotate counterclockwise together under the action of the first shift block 81a. This reduces the machining and assembly precision requirements for the driver 8 and the eccentric wheel 4, thereby reducing manufacturing costs.

[0097] In some embodiments, when the driving member 8 rotates clockwise, the second shifting block 81 b drives the eccentric wheel 4 to rotate in the clockwise direction and the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release position.

[0098] Specifically, when the driving member 8 rotates clockwise in FIG6 , the second shift block 81b rotates clockwise within the second shift slot 41b until it contacts one end surface (the lower end surface in FIG6 ) of the second shift slot 41b. The second shift block 81b then applies a thrust to the eccentric 4, causing the eccentric 4 to rotate clockwise. This causes relative rotation between the eccentric 4 and the brake block 5, thereby overcoming the elastic force of the elastic member 6 and moving the brake block 5 to the released position. The second shift block 81b then drives the eccentric 4 and the brake block 5 to rotate together clockwise, thereby driving the external gear 3 to orbit clockwise around the rotation axis of the eccentric 4, while simultaneously causing the external gear 3 to rotate counterclockwise around its own central axis.

[0099] When the brake shoe 5 moves from the braking position to the releasing position against the elastic force of the elastic member 6, the first shifting block 81a is spaced apart from the end wall surface (the upper end wall surface in FIG6 ) of the first shifting groove 41a. Alternatively, the first shifting block 81a may contact the end wall surface of the first shifting groove 41a without applying any force to the eccentric wheel 4. The eccentric wheel 4 and the brake shoe 5 rotate together in the clockwise direction under the action of the second shifting block 81b.

[0100] In some specific examples, as shown in Figures 1 to 17, the first shift groove 41a, the second shift groove 41b, the first shift block 81a, the second shift block 81b, the brake block 5 and the elastic member 6 are all one, wherein the first shift block 81a is fitted in the first shift groove 41a and corresponds to the brake block 5, and the second shift block 81b is fitted in the second shift groove 41b and does not correspond to the brake block 5, that is, the second shift block 81b does not directly contact the brake block 5.

[0101] In an optional embodiment, the first shifting groove 41a, the second shifting groove 41b, the first shifting block 81a, the second shifting block 81b, the brake block 5 and the elastic member 6 can all be multiple.

[0102] In some embodiments, as shown in Figures 1 to 14, a shifting groove 41 is provided on the outer circumferential surface of the eccentric wheel 4. The shifting groove 41 extends along the circumferential direction of the outer circumferential surface of the eccentric wheel 4 by a predetermined length and penetrates the eccentric wheel 4 in 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.

[0103] In other embodiments, the eccentric wheel 4 has a first end 421 (a front end facing the observer in FIG12 ) and a second end 422 (a rear end facing away from the observer in FIG12 ) relative to each other in its axial direction, and the shift groove 41 is provided at the junction of the end face of the first end 421 of the eccentric wheel 4 and the outer peripheral surface of the eccentric wheel 4. In other words, the shift groove 41 is recessed to a predetermined depth from the end face of the first end 421 of the eccentric wheel 4 toward the second end 422 of the eccentric wheel 4 and the outer peripheral surface of the shift groove 41 is open, so that the shift groove 41 does not penetrate the eccentric wheel 4 along the axial direction of the eccentric wheel 4, and the shift 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 into the shift groove 41.

[0104] In some examples, as shown in Figures 8-14 , the shifting groove 41 is an arcuate groove extending circumferentially along the outer circumference of the eccentric wheel 4. Specifically, the inner circumferential wall of the shifting groove 41 is arcuate, and the central axis of the inner circumferential wall of the shifting groove 41 is coaxial with the central axis of the outer circumference of the eccentric wheel 4. In the example shown in Figures 1-14 , there are two shifting grooves 41, including a first shifting groove 41a and a second shifting groove 41b. The first shifting groove 41a and the second shifting groove 41b are spaced apart along the circumference of the eccentric wheel 4.

[0105] As shown in Figures 1-2 and 6-7, the shift block 81 is configured in an arc shape that matches the shift slot 41. Both the outer and inner circumferential surfaces of the shift block 81 are arc-shaped. The inner circumferential surface of the shift block 81 can slide with the inner circumferential wall of the shift slot 41. A gap can exist between the outer circumferential surface of the shift block 81 and the outer circumferential edge of the shift slot 41 in the radial direction of the eccentric wheel 4. It is understood that the embodiments of the present disclosure are not limited to this.

[0106] In some embodiments, as shown in Figures 1-4, the drive member 8 is configured as a drive disk, comprising a disk body 82 and a disk hub 83 located at the center of disk body 82. A shift block 81 is disposed on disk body 82 and extends from disk body 82 axially toward the eccentric wheel 4 and into the shift slot 41. The internal gear 1 has a central flange 12 extending axially within the internal gear bore 11. The central flange 12 has a concentric flange hole 13, and the disk hub 83 is rotatably engaged within the flange hole 13. The eccentric wheel 4 has an eccentric hole 49, which is coaxial with the internal gear 1. That is, the central axis of the eccentric hole 49 is coaxial with the central axis of the internal gear 1. As described above, the central axis of the eccentric hole 49 is the main axis 101. The central flange 12 is rotatably engaged within the eccentric hole 49 and is coaxial with the eccentric hole 49.

[0107] In some examples, as shown in Figures 3 and 4 , the center flange 12 is connected to the end wall 14 of the internal gear 1 and extends rightward along the axial direction of the internal gear hole 11. The center flange 12 is rotatably engaged in the eccentric hole 49, and the right end surface of the center flange 12 is flush with the right end surface of the eccentric 4. As shown in Figure 3 , the disc hub 83 extends leftward from the center of the disc body 82. The disc hub 83 is rotatably engaged in the flange hole 13 of the center flange 12, and the left end of the disc hub 83 extends out of the flange hole 13 and is connected by a snap ring 7. A countersunk hole 15 is provided in the middle of the left end face of the end wall 14 of the internal gear 1. The countersunk hole 15 is connected to the flange hole 13, and the diameter of the countersunk hole 15 is larger than the diameter of the flange hole 13 to form a step surface. The left end of the disc hub 83 extending out of the flange hole 13 and the retaining ring 7 are both located in the countersunk hole 15, which facilitates the connection between the reducer 100 and the motor. The retaining ring 7 is against the step surface to limit the center flange 12 and the disc hub 83 in the axial direction.

[0108] In the example shown in Figure 3, the disc hub 83 can be loosely fitted with the flange hole 13. Optionally, the disc hub 83 is rotatably supported in the flange hole 13 via a bearing.

[0109] As shown in Figures 3-6, the central axis of the eccentric hole 49, the central axis of the center flange 12, the central axis of the flange hole 13, the central axis of the disk hub 83, and the rotational axis of the disk hub 83 are all coaxial with the central axis of the internal gear 1. As shown in Figures 6 and 14, the center of the internal gear 1, the center of the eccentric hole 49, the center of the center flange 12, and the center of the disk hub 83 are all center a, and the center of the external gear 3 and the center of the outer peripheral surface of the eccentric 4 are all center b.

[0110] As shown in Figures 1-3, the disc hub 83 is provided with a disc hole 831. Disc hole 831 is adapted to engage with a driving shaft, such as a motor shaft of a motor. Disc hole 831 may extend through the disc hub 83. Alternatively, disc hole 831 may be a blind hole. The motor shaft engages within disc hole 831 to drive the driving member 8 to rotate.

[0111] In the example shown in FIG3 , the disc hole 831 extends through the disc hub 83 along the axial direction of the disc hub 83. One end of the driving shaft can be inserted from the left side of the reducer 100 and fit into the disc hole 831, or it can be inserted from the right side of the reducer 100 and fit into the disc hole 831. In the examples shown in FIG1 and FIG2 , the inner circumference of the disc hole 831 of the driving member 8 is provided with a spline, and the driving shaft can also be provided with a spline, so that the driving member 8 is spline-connected to the driving shaft.

[0112] In some embodiments, as shown in Figures 1-3, the reducer 100 includes a cover plate 2, the internal gear 1 has a first end (the left end in Figures 3 and 4) and a second end (the right end in Figures 3 and 4), the internal gear 1 has an end wall 14 at the first end, and the second end of the internal gear 1 is open. The cover plate 2 is arranged at the second end of the internal gear 1 to limit the external gear 3, that is, the cover plate 2 limits the internal gear 1 and the external gear 3 in the axial direction of the internal gear 1.

[0113] In some examples, as shown in Figures 3 and 4, the internal gear hole 11 of the internal gear 1 includes an internal gear hole section 112 and a limiting hole section 113, the internal teeth 111 of the internal gear 1 are formed on the peripheral wall of the internal gear hole section 112, and the diameter of the limiting hole section 113 is larger than the diameter of the internal gear hole section 112.

[0114] As shown in Figures 3 and 5, the cover plate 2 has a cover plate hole 21, and the external gear 3 includes an external tooth segment 32 and a mating segment 33. The external teeth 301 of the external gear 3 are formed on the outer circumferential surface of the external tooth segment 32. The external tooth segment 32 fits within and meshes with the internal tooth hole segment 112. A limiting flange 331 is provided on the outer circumferential surface of the mating segment 33. The limiting flange 331 rotatably fits within the limiting hole segment 113. The mating segment 33 rotatably fits within the cover plate hole 21 of the cover plate 2, and the cover plate 2 stops the limiting flange 331. As a result, the internal gear 1 and the external gear 3 are axially limited. It is understood that the limiting structure of the internal gear 1 and the external gear 3 is not limited to this.

[0115] Furthermore, as shown in Figures 3 and 5, the external gear hole 31 includes an external gear hole section 311 and a mating hole section 312. The diameter of the mating hole section 312 is larger than the diameter of the external gear hole section 311, and the eccentric wheel 4 is rotatably engaged within the external gear hole section 311. The disc body 82 of the driving member 8 is located within the mating hole section 312, and the disc hub 83 of the driving member 8 is rotatably engaged within the flange hole 13 of the center flange 12 of the internal gear 1.

[0116] In the examples shown in Figures 3 and 5, the outer gear hole section 311 is located on the left side of the matching hole section 312 and is coaxial therewith. The outer gear hole section 311 is provided in the outer gear section 32 of the external gear 3, and the matching hole section 312 is located in the matching section 33 of the external gear 3, providing space for the assembly of the disc body 82 of the drive disc.

[0117] In some embodiments, as shown in Figures 1-17, a first socket 43 is provided on the end surface of the first end 421 of the eccentric wheel 4, and a second socket 51 is provided on the brake shoe 5. As shown in Figures 1-3, the elastic member 6 is a rod-shaped arc spring. In other words, the main body of the spring is generally open and arc-shaped. The first and second ends of the spring extend a predetermined length generally perpendicular to the plane of the main body, facilitating connection between the brake shoe 5 and the eccentric wheel 4. The first end 61 of the elastic member 6 fits within the first socket 43, and the second end 62 of the elastic member 6 fits within the second socket 51. The spring applies an elastic force to the brake shoe 5, constantly pressing the brake shoe 5 toward the brake shoe 5. As the brake shoe 5 moves from the braking position to the release position, the first and second ends of the elastic member 6 approach each other, gradually compressing the spring. In other alternative embodiments, the spring may also be gradually stretched as the brake shoe 5 moves from the braking position to the release position.

[0118] It is understandable that the elastic member 6 is not limited to a rod-shaped spring, and may be, for example, an elastic sheet or other forms.

[0119] In the example shown in Figures 1-17 , the first insertion hole 43 of the eccentric wheel 4 forms a first half hole, and the brake block 5 is provided with a second half hole 56. In the release position, the first half hole and the second half hole 56 abut in the circumferential direction of the eccentric wheel 4 to form a circular hole (as shown in Figure 11 ). In the braking position, the first half hole and the second half hole 56 are separated. It will be appreciated that the first end of the spring is always engaged in the first half hole, which acts as a restraint on the first end of the spring.

[0120] Furthermore, as shown in FIG3 , a first arcuate groove may be provided on the end surface of the eccentric wheel 4 , and a second arcuate groove may be provided on the end surface of the brake block 5 . The first arcuate groove and the second arcuate groove are used to accommodate the elastic member 6 .

[0121] It is understandable that the connection method of the elastic member 6, the brake block 5 and the eccentric wheel 4 is not limited to the above embodiment, 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.

[0122] For example, in some examples, the first insertion hole 43 of the eccentric wheel 4 is a circular hole extending from the end surface of the first end 421 of the eccentric wheel 4 to the second end, and the first end 61 of the elastic member 6 is fitted into the first insertion hole 43 .

[0123] In some embodiments, the eccentric wheel 4 is provided with one of a guide rail and a guide groove, and the brake shoe 5 is provided with the other of the guide rail and the guide groove, and the guide rail and the guide groove are slidably engaged. When the brake shoe 5 moves between the braking position and the release position, the guide rail and the guide groove slide relative to each other to guide the relative movement between the eccentric wheel 4 and the brake shoe 5.

[0124] In some embodiments, as shown in Figures 8-17, 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. The arc-shaped guide rail 44 and the arc-shaped guide groove 52 can be slidably matched.

[0125] Specifically, as shown in Figures 8 to 17 , a recess 45 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. That is, the recess 45 is provided at the edge of the end surface of the first end 421 of the eccentric wheel 4. The recess 45 is recessed from the end surface of the first end 421 of the eccentric wheel 4 toward the second end 422 of the eccentric wheel 4 and extends along the circumference of the eccentric wheel 4. In the example shown in Figures 9 to 18 , the recess 45 penetrates the eccentric wheel 4 in the axial direction of the eccentric wheel 4. The arcuate guide rail 44 is provided in the recess 45 and extends along the circumference of the eccentric wheel 4. As shown in Figures 12 and 13, the surface of the arcuate guide rail 44 facing away from the brake pad 5 is flush with the plane of the rest of the eccentric 4 facing away from the brake pad 5 (the end face of the second end 422 of the eccentric 4), and the surface of the arcuate guide rail 44 facing the brake pad 5 is recessed toward the surface of the brake pad 5 relative to the rest of the surface of the eccentric 4 (the end face of the first end 421 of the eccentric 4).

[0126] In the braking position, a portion of the brake shoe 5 can extend above the first shifting groove 41a to overlap with a portion of the first shifting groove 41a, thereby facilitating the first shifting block 81a, which fits within the first shifting groove 41a, to push the brake shoe 5 corresponding to the first shifting groove 41a. Specifically, the notch 45 is adjacent to the first shifting groove 41a in the circumferential direction of the eccentric wheel 4 and is in communication with the first shifting groove 41a, allowing the first shifting block 81a to contact and push the brake shoe 5. Alternatively, the notch 45 may not be in communication with the first shifting groove 41a.

[0127] As shown in FIG. 8 to FIG. 17 , the notch 45 is communicated with the first shifting groove 41 a so as to cooperate with the first shifting block 81 a in the first shifting groove 41 a to contact and push the brake block 5 .

[0128] Optionally, the notch 45 may be in communication with the first detent groove 41 a , and in the braking position, a portion of the braking block 5 overlaps with a portion of the first detent groove 41 a .

[0129] As shown in Figures 8-11 and 15-17, the brake pad 5 includes a plate body 53, an outer boss 54, and an inner boss 55. The plate body 53 may be arc-shaped, having an arc-shaped outer circumferential surface and an arc-shaped inner circumferential surface. The plate body 53 has two parallel plate surfaces in its thickness direction. For example, when the brake pad 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 extend along the circumference 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. An arc-shaped guide groove 52 is formed between the outer boss 54 and the inner boss 55. The outer circumferential surface of the outer boss 54 is flush with the outer circumferential surface of the plate body 53, and the inner circumferential surface of the inner boss 55 is flush with the inner circumferential surface of the plate body 53.

[0130] As shown in Figures 8-17 , the plate body 53 of the brake shoe 5 fits within the recess 45. The first surface of the plate body 53 abuts the surface of the arcuate guide rail 44 facing the brake shoe 5, and the second surface of the plate body 53 is flush with the end surface of the first end 421 of the eccentric wheel 4. In the radial direction of the eccentric wheel 4, the arcuate 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 arcuate guide rail 44 extends into the arcuate guide groove 52 and slidably engages therewith. The end surface of the outer boss 54 of the brake shoe 5, which faces away from the plate body 53, and the end surface of the inner boss 55, which faces away from the plate body 53, are flush with the end surface of the second end 422 of the eccentric wheel 4.

[0131] In the braking position, at least a portion of the outer peripheral surface of the outer boss 54 and at least a portion 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 external gear 3. Specifically, the brake block 5 abuts against the peripheral wall surface of the external gear hole 31 of the external gear 3.

[0132] As shown in FIG17 , the outer boss 54 has a first end and a second end that are opposed to each other in the circumferential direction of the plate body 53, and the inner boss 55 has a first end and a second end that are opposed to each other in the circumferential direction of the plate body 53. The plate body 53 has a first end and a second end that are opposed to each other in the circumferential direction. The first end of the outer boss 54 and the first end of the inner boss 55 are adjacent to the first end of the plate body 53 and spaced a first distance therefrom, while the second end of the outer boss 54 and the second end of the inner boss 55 are adjacent to the second end of the plate body 53 and spaced a second distance therefrom.

[0133] As shown in Figures 8-14 , the inner side of the arcuate guide rail 44 has an inner groove 46, and the outer side of the arcuate guide rail 44 has an outer groove 47. The inner boss 55 of the brake shoe 5 fits in the inner groove 46 and is slidable along the inner groove 46, while the outer boss 54 of the brake shoe 5 fits in the outer groove 47 and is slidable along the outer groove 47. It will be understood that both the inner groove 46 and the outer groove 47 are arcuate grooves, and the outer side and upper surface of the outer groove 47 are open, forming a semi-open notch structure. This allows a portion of the outer boss 54 to extend outward through the outer groove 47 to abut against the external gear 3.

[0134] Furthermore, the first end of the arcuate guide rail 44 has a first step 481, and the second end of the arcuate guide rail 44 has a second step 482. The arcuate guide rail 44 is located between the first step 481 and the second step 482 in the circumferential direction of the eccentric wheel 4. The upper surface of the arcuate guide rail 44, the upper surface of the first step 481, and the upper surface of the second step 482 are flush. The bottom of the plate 53 slides and fits with the upper surface of the arcuate 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 shifting block 81a in the first shifting slot 41a contacts the end surface of the plate 53.

[0135] The brake shoe 5 moves along the arcuate guide rail 44 on the eccentric wheel 4 between a release position and a braking position to separate from or abut against the external gear 3. To more precisely define the movement path of the brake shoe 5 and ensure more reliable braking in the braking position and more reliable releasing in the released position, in some embodiments, the radius of curvature of the outer circumferential surface 441 of the arcuate guide rail 44 can gradually increase from the release position to the braking position. Alternatively, the outer circumferential surface 441 of the arcuate guide rail 44 can be a spiral surface or cam surface that gradually expands radially outward along the circumference of the eccentric wheel 4.

[0136] As an example, as shown in Figure 14, the curvature radius of the outer peripheral surface 441 of the arc guide rail 44 gradually increases in the direction from the release position to the braking position, and R1 and R2 respectively refer to the curvature radius of the outer peripheral surface 441 of the arc guide rail 44 at different positions. The position indicated by R1 in the figure is closer to the release position than the position indicated by R2, where R1 is smaller than R2.

[0137] As shown in Figures 15-17, the structure of the outer boss 54 of the brake pad 5 is adapted to the structure of the outer groove 47. As shown in Figure 17, r1 and r2 respectively represent the curvature radius of the inner circumferential surface 541 of the outer boss 54 at different positions, wherein the position indicated by r1 is closer to the release position than the position indicated by r2, and r1 is smaller than r2.

[0138] In some optional embodiments, the reducer 100 includes an internal gear 1 , an external gear 3 , an eccentric wheel 4 , a brake 5 , a spring, and a driving member 8 .

[0139] As mentioned above, in some examples, the driver 8 may be configured as a drive disk.

[0140] The internal gear 1 has an internal gear hole 11, the central axis of which is coaxial with the rotation axis of the internal gear 1. The external gear 3 has an external gear hole 31, which is at least partially disposed within the internal gear hole 11 and meshes with the internal gear 1. The eccentric 4 has an eccentric hole 49 and is rotatably disposed within the external gear hole 31 to drive the external gear 3 to orbit around the central axis of the eccentric hole 49 and to rotate about its own axis. The rotation axis of the eccentric 4, the central axis of the eccentric hole 49, and the central axis of the internal gear 1 are coaxial, and the central axis of the outer circumference of the eccentric 4 is eccentric relative to the central axis of the eccentric hole 49. A brake shoe 5 is mounted on the eccentric 4 to rotate with it. The brake shoe 5 is movable relative to the eccentric 4 between a braking position and a release position. In the braking position, the brake shoe 5 abuts against the external gear 3. In the release position, the brake shoe 5 is separated from the external gear 3. A spring is connected to the eccentric 4 and the brake shoe 5 to bias the brake shoe 5 toward the braking position.

[0141] 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 to the release position relative to the eccentric wheel 4 so that the driving member 8 drives the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel 4 and the brake block 5 from rotating together.

[0142] The reducer of the disclosed embodiment realizes the automatic reverse braking function by using springs and brake blocks, has a simple overall structure, a small number of parts, and a small size, and has the advantages of large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0143] In some optional embodiments, the reducer 100 includes an internal gear 1 , an external gear 3 , an eccentric member, a braking member, an elastic member 6 and a rotatable driving member 8 .

[0144] As described above, in some examples, the eccentric member may be configured as an eccentric wheel, the brake member may be configured as a brake block, the elastic member may be configured as a spring, and the driving member 8 may be configured as a driving disc.

[0145] The internal gear 1 has an internal gear hole 11, and the external gear 3 has an external gear hole 31. The external gear 3 is at least partially disposed in the internal gear hole 11 and meshes with the internal gear 1. The eccentric is rotatably disposed in the external gear hole 31 to drive the external gear 3. The rotation axis of the eccentric is coaxial with the central axis of the internal gear 1. The central axis of the outer peripheral surface of the eccentric is eccentric relative to the rotation axis of the eccentric. The external gear 3 can rotate on its own and revolve around the rotation axis of the eccentric.

[0146] The brake member is provided on the eccentric member so as to rotate together with the eccentric member, and the brake member is movable relative to the eccentric member between a braking position and a release position. In order to achieve that the brake member prevents the follower member from rotating in the braking position and allows the follower member to rotate in the release position, at least one of the following measures can be adopted: in the radial direction of the eccentric member, the brake member is farther away from the rotation axis of the eccentric member when it is in the braking position than when it is in the release position; when the brake member moves from the release position toward the braking position, the brake member moves along the circumference of the eccentric member and moves outward in the radial direction of the eccentric member at the same time; and when the brake member moves from the release position toward the braking position, the movement trajectory of the brake member is a spiral or cam profile line that gradually expands radially outward along the circumference of the eccentric member.

[0147] The elastic member 6 is connected to the eccentric member and the brake member and is used to urge the brake member toward the braking position. The rotation axis of the driving member is coaxial with the rotation axis of the eccentric member. When the driving member 8 rotates, the brake member moves to the release position relative to the eccentric member, so that the driving member 8 drives the eccentric member and the brake member to rotate together. When the driving member 8 stops rotating, the elastic member 6 pushes the brake member to the braking position to prevent the eccentric member and the brake member from rotating together.

[0148] The reducer of the embodiment of the present disclosure can realize the automatic reverse braking function, has a simple overall structure, a small number of parts, and a small size. It has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

[0149] The joint module of the embodiment of the present disclosure is described below.

[0150] As shown in Figures 18-23, the joint module 200 of the present embodiment includes a reducer and a motor 210, wherein the reducer is the 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 reducer 100 to drive the driving member 8 to rotate in a clockwise or counterclockwise direction.

[0151] The joint module of the disclosed embodiment 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 external gear to revolve around the central axis of the internal gear hole in the internal gear hole while rotating. The external 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 from the release position to the braking position relative to the eccentric wheel. The brake block and the external gear abut against each other, preventing the eccentric wheel and the brake block from rotating relative to the external gear. That is, the internal gear rotates the eccentric wheel due to the torque (load) applied to the eccentric wheel by the external gear, so that the eccentric wheel cannot transmit the torque to the driving member to rotate the driving member and the motor shaft.

[0152] In some embodiments, as shown in Figures 18-19, the housing of motor 210 abuts against one end face of internal gear 1 of reducer 100 and is positioned outside the internal gear. Motor shaft 211 extends into aperture 831 of hub 83 of driver 8 and connects to hub 83, driving driver 8 in rotation. In the example shown in Figure 19, the housing of motor 210 abuts against the left end face of internal gear 1, while motor shaft 211 extends rightward into aperture 831 of hub 83, driving driver 8 in rotation.

[0153] In some embodiments, as shown in FIG. 20 to FIG. 23 , at least a portion of the reducer 100 is disposed within the motor 210 .

[0154] In some embodiments, as shown in Figures 20 to 23, 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, and the rotor 214 is sleeved on the rotor base 215. The rotor 214 and the rotor base 215 are rotatably disposed within the stator 213. At least a portion of the reducer 100 is located within the rotor 214. The motor shaft 211 of the motor 210 is connected to the rotor base 215 and the driving member 8, and the internal gear 1 is connected to the stator base 212. The central axis of the stator base 212, the rotational axis of the stator 213, the rotational axis of the rotor 214, the central axis of the rotor base 215, the central axis of the motor shaft 211, the rotational axis of the driving member 8, the rotational axis of the eccentric wheel 4, and the central axis of the internal gear 1 are coaxial. The stator 213 drives the rotor 214 to rotate, and the rotor 214 drives the motor shaft 211 to rotate. The motor shaft 211 of the motor 210 drives the driving member 8 to rotate in a clockwise or counterclockwise direction, thereby driving the external gear 3 to revolve and rotate at the same time. The external gear 3 serves as an output gear and is connected to other driven components to drive other components.

[0155] When the motor shaft 211 of the motor 210 stops rotating, the elastic member 6 pushes the brake block 5 from the release position to the braking position relative to the eccentric wheel 4, 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 external gear 3 from being transmitted in reverse to the driving member 8 through the eccentric wheel 4, causing the driving member 8 and the motor shaft 211 to rotate.

[0156] In some specific examples, as shown in Figures 20 to 23, the stator seat 212 has a first end (the left end in Figure 23) and a second end (the right end in Figure 23), the first end of the stator seat 212 is open and covered by the stator cover 216, and the end wall of the second end of the stator seat 212 is provided with a through hole 2121, and a portion of the external gear 3 is rotatably supported in the through hole 2121.

[0157] In this example, as shown in Figure 23, reducer 100 is not provided with cover plate 2. The second end of internal gear 1 abuts against the end wall of stator base 212. A connecting portion 16 is provided on the outer circumference of internal gear 1, adjacent to the second end, facing the end wall of stator base 212. Connecting bolts pass through the end wall of stator base 212 and connect to connecting portion 16 of internal gear 1.

[0158] The mating section 33 of the external gear 3 extends through the through-hole 2121 of the stator base 212 and out of the stator base 212, connecting to the driven element and outputting a rotational torque with orbital motion. The mating section 33 of the external gear 3 is rotatably supported within the through-hole 2121. The end wall of the stator base 212 abuts against the limiting flange 331 of the external gear 3, stopping it and limiting the position of the external gear 3.

[0159] In other examples, the mating section 33 of the external gear 3 may be flush with the outer surface of the end wall of the second end of the stator seat 212 (the right end surface in FIG23 ). Alternatively, the entire external gear 3 is located on the inner side of the end wall of the second end of the stator seat 212.

[0160] 24 shows a robotic arm 300 according to an embodiment of the present disclosure, wherein 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.

[0161] 25 shows a robot 400 according to an embodiment of the present disclosure, wherein the robot 400 includes a plurality of joint modules 200. Driven by the joint modules 200, the robot can perform various actions.

[0162] It will be understood that the robotic arm 300 and / or robot 400 of the embodiment of the present disclosure is not limited to the form shown in the figures.

[0163] The production system of the embodiment of the present disclosure may include the robotic arm 300 and / or the robot 400 of the embodiment of the present disclosure. For example, the production system may be an automobile production line or other product production line.

[0164] For example, the production system of the embodiment of the present disclosure may be an automobile production line or other product production line, wherein the robotic arm 300 and / or the robot 400 may be used to pick up automobile parts and / or assemble automobiles and their components.

[0165] The electric device according to the embodiment of the present disclosure may include the joint module 200 according to the embodiment of the present disclosure.

[0166] In some embodiments, the electric device may be an electric wheelchair or an electric bed. For example, as shown in FIG26 , the electric device of the embodiment of the present disclosure is an electric wheelchair 500 , which can be driven by the joint module 200 to move and change shape.

[0167] It will be understood that the electric devices according to the embodiments of the present disclosure are not limited to electric beds and electric wheelchairs.

[0168] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply 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 understood as a limitation to the present disclosure.

[0169] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0170] In this disclosure, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," and "connected" should be understood in a broad sense. For example, they can mean connected, detachably connected, or integrated; they can mean mechanically connected, electrically connected, or communicable with each other; they can mean directly connected or indirectly connected through an intermediate medium; they can mean internal communication between two elements or an interactive relationship between two elements, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0171] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0172] In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0173] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

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

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

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

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

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

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

7. The speed reducer according to claim 6, wherein, 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.

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

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

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

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

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

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

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

15. The speed reducer according to claim 14, wherein 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 radially on 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. The inner peripheral surface of the inner convex platform is flush with the inner peripheral surface of the plate body. In the braking position, at least a part of the outer peripheral surface of the outer convex platform and at least a part of the outer peripheral surface of the plate body radially exceed the outer peripheral surface of the eccentric wheel to abut against the external 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. 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 side groove. The outer side of the guide rail has an outer side groove. The first end of the guide rail has a first step. The second end of the guide rail has a second step.

17. The speed reducer according to claim 1, wherein The eccentric wheel is provided with a first 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: An internal gear having an internal gear hole, the central axis of the internal gear hole being coaxial with the rotation axis of the internal gear; An external gear having an external gear hole, at least a part of the external gear being disposed in the internal gear hole and meshing with the internal gear; An eccentric wheel having an eccentric wheel hole, the eccentric wheel being rotatably disposed in the external gear hole to drive the external gear to revolve and rotate about the central axis of the eccentric wheel hole. The rotation axis of the eccentric wheel, the central axis of the eccentric wheel hole and the central axis of the internal gear 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 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. In the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; A spring connected to the eccentric wheel and the brake block for pressing the brake block toward the braking position; A driving member connected to the eccentric wheel and the rotation axis of the driving member being coaxial with the rotation axis of the eccentric wheel. When the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together. When the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

20. A speed reducer, characterized in that, Comprising: An internal gear having an internal gear hole; An external gear having an external gear hole, at least a part of the external gear being disposed in the internal gear hole and meshing with the internal gear; An eccentric member rotatably disposed in the external gear hole to drive the external gear, the rotation axis of the eccentric member being coaxial with the central axis of the internal gear, the central axis of the outer peripheral surface of the eccentric member being eccentric with respect to the rotation axis of the eccentric member, and the external gear being capable of self-rotation and revolving about the rotation axis of the eccentric member; 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 towards 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 towards the braking position, the movement locus of the braking member is a spiral or cam contour line that gradually expands radially outward along the circumferential direction of the eccentric member. An elastic member is connected to the eccentric member and the braking member and is used to press the braking member towards the braking position. A rotatable driving member, the rotation axis of the driving member is coaxial with the rotation axis of the eccentric member. When the driving member rotates, the 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, the speed reducer being the speed reducer according to any one of claims 1-20. A motor, the motor shaft of the motor is connected to the driving member of the speed reducer to drive the driving member to rotate.

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

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

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

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. A part of the external gear is rotatably supported in the through hole.

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

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

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

29. An electric device, characterized in that, Including the 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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