Joint module, robotic arm, and robot

Abstract

A speed reducer, a joint module, a robotic arm, a robot, a production system, and an electric device. The speed reducer (100) comprises a housing (1), an internal gear (2), an external gear (3), an eccentric wheel (4), a brake block (6), an elastic piece (6), a limiting disc (7) and a driving member (8). When the driving member rotates, the brake block moves to a release position relative to the eccentric wheel against the elastic force of the elastic piece, and the brake block is separated from the external gear, such that the driving member drives the eccentric wheel and the brake block to rotate together, the eccentric wheel drives the external gear to revolve in an internal gear hole around the central axis of the internal gear hole, so as to drive the internal gear to rotate, and the internal gear serves as an output gear to output torque; and after the driving member stops rotating, the elastic piece pushes the brake block relative to the eccentric wheel from the release position to a brake 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. The speed reducer can realize the function of automatic reverse braking.

Description

Joint modules, robotic arms, 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 electromechanical equipment such as cranes, driving joints of robots, and winches. In the related art, reducers have the problems of complex structure, large size, low torque density, and low load capacity. In the related art, in order to prevent the output end of the driving motor or other driver of the electromechanical equipment from rotating after the power is cut off, an electromagnetic brake is usually installed on the motor shaft of the motor. In addition, existing electromechanical equipment also uses mechanisms such as worm gear pairs to achieve reverse braking. However, the braking measures in the related art have the problems of complex structure, large number of parts, large size, small 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] An embodiment of the present disclosure also provides a joint module having the reducer.

[0007] An embodiment of the present disclosure also provides a robotic arm having the joint module.

[0008] An embodiment of the present disclosure also provides a robot having the joint module.

[0009] An embodiment of the present disclosure also provides a production system having the robot.

[0010] An embodiment of the present disclosure also provides an electric device having the joint module.

[0011] The reducer according to the embodiment of the present disclosure includes: a housing; an internal gear, the internal gear being rotatably supported at least partially in the housing, the internal gear having an internal gear hole; an external gear, the external gear being at least partially disposed in the internal gear hole and meshing with the internal gear to drive the internal gear to rotate, the external gear having an external gear hole; an eccentric wheel, the eccentric wheel being rotatably disposed at least partially in the external gear hole, the rotation axis of the eccentric wheel being coaxial with the central axis of the internal gear, the eccentric wheel being used to drive the external gear to revolve around the rotation axis of the eccentric wheel; a brake block, the brake block being disposed on the eccentric wheel so as to rotate with the eccentric wheel, the brake block being movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; an elastic member, the elastic member The gear train is connected to the eccentric wheel and the brake pad, and is used to press the brake pad toward the braking position; a limiting plate, which is arranged in the housing, and the limiting plate is engaged with the housing so that the limiting plate and the housing are restricted to relative movement in a first direction, and the limiting plate is engaged with the external gear so that the limiting plate and the external gear are restricted to relative movement in a second direction, wherein the first direction, the second direction and the axial direction of the limiting plate are orthogonal to each other; a driving member, which is connected to the eccentric wheel and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel, and when the driving member rotates, the brake pad moves to the release position relative to the eccentric wheel so that the driving member drives the eccentric wheel and the brake pad to rotate together, and when the driving member stops rotating, the elastic member pushes the brake pad to the braking position to prevent the eccentric wheel and the brake pad 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, and then drives the internal gear to rotate 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 outer gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the outer gear, that is, preventing the internal gear from applying the torque (load) to the eccentric wheel through the outer gear to cause the eccentric wheel to rotate, 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 internal gear and the outer gear cannot drive the eccentric wheel to rotate, so the internal gear and the outer gear cannot rotate, and the eccentric wheel cannot cause the driving member 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, one of the limiting plate and the shell is provided with a first limiting portion and the other is provided with a first limiting groove, the first limiting portion is engaged in the first limiting groove and is movable along the first direction, and one of the limiting plate and the external gear is provided with a second limiting portion and the other is provided with a second limiting groove, the second limiting portion is engaged in the second limiting groove and is movable along the second direction.

[0016] In some embodiments, the first limiting portion is provided on the housing, the second limiting portion is provided on the external gear, and the first limiting groove and the second limiting groove are provided on the limiting plate; there are two of each of the first limiting portion, the second limiting portion, the first limiting groove and the second limiting groove, the two first limiting portions are opposite in the first direction and the two first limiting grooves are opposite in the first direction, the two second limiting portions are opposite in the second direction and the two second limiting grooves are opposite in the second direction.

[0017] In some embodiments, the first limiting portion and the second limiting portion are cylindrical rods, and the first limiting groove and the second limiting groove are U-shaped grooves.

[0018] 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.

[0019] 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.

[0020] In some embodiments, the shell has a first end and a second end, the second end of the shell is open and covered by a cover plate, the end wall of the first end of the shell has an end wall hole, the cover plate has a cover plate hole, a portion of the internal gear is located in the shell and is rotatably supported by the shell, and another portion of the internal gear is located in the cover plate hole and is rotatably supported by the cover plate.

[0021] In some embodiments, the driving member is a driving disk and includes a disk body and a disk hub located at the center of the disk body. The shift block is provided on the disk body, and the disk hub is rotatably engaged in the end wall hole.

[0022] In some embodiments, the internal gear has a central flange extending in the internal gear hole, the eccentric has an eccentric hole, the eccentric hole is coaxial with the internal gear, and the central flange is rotatably engaged in the eccentric hole.

[0023] In some embodiments, the outer peripheral surface of the internal gear is a stepped surface to divide the internal gear into a large diameter portion and a small diameter portion, the small diameter portion is rotatably fitted in the cover plate hole, and the large diameter portion is rotatably fitted in the housing.

[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: a housing; an internal gear, which is rotatably disposed at least partially in the housing, the 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, which has an external gear hole, the external gear being at least partially disposed in the internal gear hole and meshing with the internal gear to drive the internal gear to rotate, the external gear being translatably movable in a plane orthogonal to the axial direction of the external gear and being prohibited from rotating around its central axis; an eccentric wheel, which has an eccentric wheel hole, which is rotatably disposed at least partially in the external gear hole to drive the external gear to revolve around the central axis of the eccentric wheel hole, the rotation axis of the eccentric wheel, the central axis of the eccentric wheel hole and the central axis of the internal gear being coaxial, and the central axis of the outer peripheral surface of the eccentric wheel relative to the center axis of the eccentric wheel hole The axis is eccentric; a brake block, which is provided 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; a spring, which 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, which is connected to the eccentric wheel and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel, and 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: a housing; an internal gear, the internal gear being rotatably disposed at least partially in the housing, 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 disposed in the internal gear hole and meshing with the internal gear; an eccentric member, the eccentric member being 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 relative to the rotation axis of the eccentric member, the external gear being revolvable around the rotation axis of the eccentric member and being prohibited from rotating around its central axis to drive the internal gear to rotate; a brake member, the brake member being disposed on the eccentric member to rotate with the eccentric member, the brake member being movable relative to the eccentric member between a braking position and a release position, wherein in the radial direction of the eccentric member, the brake member is more responsive to the braking position than the brake member is in the release position. When the brake member is in the release position, it is farther away from the rotation axis of the eccentric member, or 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, 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 block, and is used to press the brake block toward the braking position; a rotatable driving member, the rotation axis of the driving member is coaxial with the rotation axis of the eccentric member, when the driving member rotates, the 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 motor is arranged outside the housing of the reducer.

[0036] In some embodiments, the speed reducer is at least partially disposed 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 housing of the reducer is located in the rotor and is connected to the stator seat, and the motor shaft is connected to the rotor seat and the driving member.

[0038] In some embodiments, the stator seat has a first end and a second end, the first end of the stator seat is open and covered by a stator cover, the end wall of the second end of the stator seat is provided with a through hole, the internal gear extends out of the stator seat through the through hole, and a portion of the internal 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 provided in 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 a perspective view of the reducer according to the embodiment of the present disclosure from another perspective.

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

[0047] FIG. 4 is a cross-sectional view of the reducer according to the embodiment of the present disclosure taken along line AA in FIG. 3 .

[0048] FIG. 5 is a cross-sectional view of the reducer according to the embodiment of the present disclosure taken along line BB in FIG. 3 .

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

[0050] FIG. 7 is a cross-sectional view of an internal gear of the speed reducer according to the embodiment of the present disclosure.

[0051] FIG8 is a cross-sectional view of the reducer housing and the cover plate in a disassembled state according to the embodiment of the present disclosure.

[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 a perspective view of a brake block and an eccentric wheel of the speed reducer according to an embodiment of the present disclosure from another perspective.

[0054] FIG11 is a schematic diagram of the assembly of the brake block and the eccentric wheel of the reducer according to the embodiment of the present disclosure.

[0055] FIG12 is another schematic diagram of the assembly of the brake block and the eccentric wheel of the reducer according to the embodiment of the present disclosure.

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

[0057] FIG14 is a perspective view of the eccentric wheel of the speed reducer according to the embodiment of the present disclosure from another perspective.

[0058] FIG15 is a plan view of an eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

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

[0060] FIG17 is a perspective view of a brake pad of a speed reducer according to an embodiment of the present disclosure from another perspective.

[0061] FIG. 18 is a plan view of a brake pad of the speed reducer according to the 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] FIG20 is a perspective view of a joint module according to an embodiment of the present disclosure.

[0064] FIG21 is a schematic cross-sectional view of the joint module according to an embodiment of the present disclosure.

[0065] FIG. 22 is a perspective view of a joint module according to another embodiment of the present disclosure.

[0066] FIG. 23 is a perspective view of a joint module according to another embodiment of the present disclosure from another perspective.

[0067] FIG24 is a perspective view of a joint module according to another embodiment of the present disclosure.

[0068] FIG25 is a partial cross-sectional schematic diagram of a joint module according to another embodiment of the present disclosure.

[0069] FIG26 is a schematic cross-sectional view of a joint module according to another embodiment of the present disclosure.

[0070] FIG27 is a schematic diagram of a robotic arm according to an embodiment of the present disclosure.

[0071] FIG28 is a schematic diagram of a robot according to an embodiment of the present disclosure.

[0072] FIG. 29 is a schematic diagram of an electric device according to an embodiment of the present disclosure.

[0073] Reference Signs: 100, reducer; 101, main axis; 102, eccentric axis; 1, housing; 11, first stopper; 12, end wall; 121, end wall hole; 13, cover plate; 131, cover plate hole; 2, internal gear; 21, internal gear hole; 201, internal teeth; 22, center flange; 23, flange hole; 24, large diameter portion; 25, small diameter portion; 3, external gear; 31, external gear hole; 301, external teeth; 32, second stopper; 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. Limiting plate; 71. First limiting groove; 72. Second limiting groove; 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

[0074] 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.

[0075] As shown in Figures 1 to 18, the reducer 100 of the embodiment of the present disclosure includes a housing 1, an internal gear 2, an external gear 3, an eccentric wheel 4, a brake block 5, an elastic member 6, a limiting plate 7 and a driving member 8.

[0076] Internal gear 2 is rotatably supported at least partially within housing 1. Internal gear 2 has a concentric internal gear hole 21, and internal teeth 201 are provided on the circumference of internal gear hole 21. It should be understood that concentric internal gear hole 21 means that the central axis of the outer circumference of internal gear 2 (also referred to as the central axis of internal gear 2) is coaxial with the central axis of internal gear hole 21, and the rotation axis of internal gear 2 is coaxial with the central axis of internal gear hole 21.

[0077] External gear 3 is provided with external teeth 301 on its outer circumference. External gear 3 is at least partially positioned within internal gear hole 21 and meshes with internal gear 2. 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 Figures 3 and 4, external gear 3 is eccentric relative to internal gear hole 21. That is, the central axis of external gear 3 is parallel to, but not coaxial with, the central axis of internal gear 2 (i.e., the central axis of internal gear hole 21). A portion of external gear 3's external teeth 301 mesh with a portion of internal gear 2's internal teeth 201.

[0078] The eccentric 4 is rotatably disposed at least partially within the outer gear hole 31. The central axis of the outer circumference of the eccentric 4 is coaxial with the central axis of the outer gear hole 31. The central axis of the outer circumference of the eccentric 4 is parallel to, but not 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 2 (i.e., the central axis of the internal gear hole 21) and the central axis (rotational axis) of the drive member 8. The eccentric 4 can drive the outer gear 3 to revolve around the rotational axis of the eccentric 4 (i.e., the central axis of the internal gear 2 and the central axis of the internal gear hole 21), thereby driving the internal gear 2 to rotate about its central axis. Here, it should be understood that the eccentric refers to an eccentric whose outer circumference is eccentric relative to the rotational axis of the eccentric.

[0079] For example, when the eccentric wheel 4 rotates clockwise, it drives the outer gear 3 to revolve clockwise around the rotation axis of the eccentric wheel 4. The outer gear 3 meshes with the inner gear 2, driving the inner gear 2 to rotate clockwise. When the eccentric wheel 4 rotates counterclockwise, it drives the outer gear 3 to revolve counterclockwise around the rotation axis of the eccentric wheel 4, which in turn drives the inner gear 2 to rotate counterclockwise.

[0080] 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.

[0081] The elastic member 6 is connected to the eccentric wheel 4 and the brake pad 5 and is used to compress the brake pad 5 toward the braking position. In other words, the elastic member 6 applies an elastic force to the brake pad 5, and the elastic force of the elastic member 6 compresses the brake pad 5 toward the braking position. For example, as the brake pad 5 moves from the braking position to the release position, the elastic member 6 is gradually compressed, thereby applying an elastic force to the brake pad 5, which compresses the brake pad 5 toward the braking position. It will be understood that the embodiments of the present disclosure are not limited to this. For example, the elastic member can also be gradually stretched.

[0082] A restriction plate 7 is disposed within the housing 1 and engages with the housing 1, restricting relative movement between the restriction plate 7 and the housing 1 to a first direction. The restriction plate 7 engages with the external gear 3, restricting relative movement between the restriction plate 7 and the external gear 3 to a second direction. Both the first and second directions are orthogonal to the axial direction of the restriction plate 7. Specifically, the plane defined by the first and second directions is orthogonal to the axial direction of the restriction plate 7. The axial direction of the restriction plate 7 can be parallel to the axial directions of the internal gear 2, the external gear 3, and the axial direction of the eccentric 4. In other words, the restriction plate 7 can only move relative to the housing 1 in the first direction, while the external gear 3 can only move relative to the restriction plate 7 in the second direction. Consequently, the external gear 3 can translate relative to the housing 1 within a plane orthogonal to its axial direction while being prohibited from rotation. Because the external gear 3 meshes with the internal gear 2, it orbits around the central axis of the internal gear hole 21, driven by the eccentric 4, while being restricted by the restriction plate 7 and prevented from rotation.

[0083] The driving member 8 is connected to the eccentric wheel 4 . The driving member 8 is used to drive the eccentric wheel 4 to rotate, and the rotation axis of the driving member 8 is coaxial with the rotation axis of the eccentric wheel 4 .

[0084] As shown in Figures 1-3, the central axis of the internal gear 2, the central axis of the internal gear hole 21, the rotational axis of the eccentric wheel 4, and the rotational axis of the driving member 8 are coaxial. These axes may be collectively referred to as the main axis 101. In the following description, the main axis may refer to any of these axes. The central axis of the external gear 3, the central axis of the external gear hole 39, and the central axis of the outer peripheral surface of the eccentric wheel 4 are coaxial. These axes may be collectively referred to as the eccentric axis 102. In the following description, the eccentric axis may refer to any of these axes.

[0085] When the driving member 8 rotates, 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, so that the driving member 8 drives the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 stops rotating, the elastic member 6 pushes the brake block 5 relative to the eccentric wheel 4 to the braking position, and the brake block 5 stops against the external gear 3, thereby preventing the eccentric wheel 4 and the brake block 5 from rotating together.

[0086] In other words, when the driving member 8 rotates, the brake block 5 moves to the released position, so that the driving member 8 can simultaneously drive the eccentric wheel 4 and the brake block 5 to rotate, thereby driving the external gear 3 to revolve around the rotation axis of the eccentric wheel 4. When the driving member 8 stops rotating, the brake block 5 moves to the braking position under the action of the elastic member 6, and the brake block 5 stops against the external gear 3. At this time, even if a load (torque) is applied to the external gear 3, the eccentric wheel 4 cannot rotate relative to the external gear 3 together with the brake block 5. Therefore, the internal gear 2, the external gear 3, the eccentric wheel 4 and the brake block 5 cannot rotate, thereby achieving reverse braking.

[0087] 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.

[0088] 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 overcomes the elastic force of the elastic member 6 and moves to the release position relative to the eccentric wheel 4, thereby separating from the external gear 3. The driving member 8 can thereby drive the brake block 5 to rotate together with the eccentric wheel 4, thereby driving the external gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the internal gear hole 21, thereby driving the internal gear 2 to rotate. The internal gear 2 can also be called the output gear of the reducer 100. The internal gear 2 can be connected to other components to drive the rotation of other components. For example, the internal gear 2 can be connected to the drum of a winch or the joints of a robot.

[0089] It can be understood that the number of internal teeth of the internal gear 2 is greater than the number of external teeth of the external gear 3, and the rotational speed of the internal gear 2 is less than the rotational speed of the eccentric wheel 4. Therefore, the output rotational speed of the reducer 100 is less than the input rotational speed of the reducer 100, thereby achieving deceleration.

[0090] When the motor stops rotating, the driving member 8 stops rotating, and 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 external gear 3 from rotating, thereby preventing the internal gear 2 from rotating.

[0091] 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. At the same time, the external gear cannot rotate on its own, thereby driving the internal gear to rotate. The internal gear serves as the output gear to output torque.

[0092] 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 outer gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the outer gear, that is, preventing the torque (load) on the inner gear from being transmitted to the outer gear, and then transmitted to 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 torque of the winch drum cannot be applied to the eccentric wheel through the outer gear to drive the eccentric wheel to rotate due to the weight applied to the inner gear. That is, the inner gear and the outer gear cannot rotate, and at the same time, the eccentric wheel cannot rotate the driving member.

[0093] 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 internal 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 internal gear.

[0094] 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, and has the advantages of high torque density, large braking torque, low braking friction consumption, low cost, and high braking reliability.

[0095] In some embodiments, one of the limiting plate 7 and the housing 1 is provided with a first limiting portion 11, and the other is provided with a first limiting groove 71. The first limiting portion 11 fits within the first limiting groove 71 and is movable in a first direction, thereby limiting the limiting plate 7 to be movable only in the first direction relative to the housing 1. One of the limiting plate 7 and the external gear 3 is provided with a second limiting portion 32, and the other is provided with a second limiting groove 72. The second limiting portion 32 fits within the second limiting groove 72 and is movable in a second direction, thereby limiting the external gear 3 to be movable only in the second direction relative to the limiting plate 7.

[0096] In some examples, as shown in Figures 1-8, the first limiting portion 11 is provided on the end wall 12 of the housing 1 and extends from the end wall 12 of the housing 1 along the axial direction of the housing 1 (i.e., the axial direction of the limiting disk 7, or the main axis 101) toward the limiting disk 7. The second limiting portion 32 is provided on the external gear 3 and extends from the external gear 3 along the main axis 101 toward the limiting disk 7. The first limiting portion 11 and the second limiting portion 32 can both be cylindrical rods.

[0097] The first limiting groove 71 and the second limiting groove 72 are both provided on the outer circumferential surface of the limiting disk 7 and can penetrate the limiting disk 7 in the axial direction of the limiting disk 7. The first limiting portion 11 extends into the axial direction of the limiting disk 7 and fits into the first limiting groove 71. The second limiting portion 32 extends into the axial direction of the limiting disk 7 and fits into the second limiting groove 72. The first limiting groove 71 and the second limiting groove 72 can be U-shaped grooves, wherein the first limiting groove extends along a first direction (the direction of the Y axis in FIG. 5 , i.e., the up-down direction in FIG. 5 ), the first limiting portion 11 is slidable in the first limiting groove 71 in the first direction, the second limiting groove extends along a second direction (the direction of the X axis in FIG. 5 , i.e., the left-right direction in FIG. 5 ), and the second limiting portion 32 is slidable in the second direction in the second limiting groove 72.

[0098] In other examples, the limiting disk 7 has a first side surface and a second side surface that are opposite to each other in its axial direction, the first limiting groove 71 can be provided on the first side surface of the limiting disk 7 and recessed to a predetermined depth toward the second side surface, and the second limiting groove 72 can be provided on the second side surface of the limiting disk 7 and recessed to a predetermined depth toward the first side surface.

[0099] In some specific examples, as shown in Figures 1-2 and 8, the first limiting portion 11, the second limiting portion 32, the first limiting groove 71, and the second limiting groove 72 can all be two. The two first limiting portions 11 are opposite to each other in the first direction, and the two first limiting grooves 71 are opposite to each other in the first direction, and the two first limiting portions 11 are matched in a one-to-one correspondence with the two first limiting grooves 71. The two second limiting portions 32 are opposite to each other in the second direction, and the two second limiting grooves 72 are opposite to each other in the second direction, and the two second limiting portions 32 are matched in a one-to-one correspondence with the two second limiting grooves 72. In this way, the limiting between the limiting disk 7 and the housing 1 and between the external gear 3 and the limiting disk 7 is more stable and reliable, and the limiting structure is simpler.

[0100] In some embodiments, as shown in Figures 1-18, 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, so that the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the released position, so that the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together.

[0101] In some examples, as shown in FIG4 , 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. Then, the shifting block 81 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.

[0102] In other examples, as shown in FIG4 , when the driving member 8 rotates clockwise, the shifting block 81 drives the eccentric wheel 4 to rotate, causing relative rotation between the eccentric wheel 4 and the brake block 5, 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 overcoming the elastic force of the elastic member 6 and moving to the released position, and then the shifting block 81 directly applies a force to the eccentric wheel 4 to drive the eccentric wheel 4 and the brake block 5 to rotate together.

[0103] In some embodiments, as shown in Figures 1-18, 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, that is, 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, it drives the first shifting block 81a to move within the first shifting slot 41a around the rotation axis (main axis) of the driving member 8, and drives the second shifting block 81b to move within the second shifting slot 41b around the rotation axis of the driving member 8.

[0104] 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.

[0105] Specifically, as shown in Figures 4 and 6, 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 4, the first shift block 81a rotates counterclockwise in the first shift groove 41a until it contacts the end face of the brake block 5 (the upper end face in Figure 4). 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 then driving the internal gear 2 to rotate counterclockwise.

[0106] 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 4). Alternatively, the second shift block 81b can 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.

[0107] 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.

[0108] Specifically, when the driving member 8 rotates clockwise in FIG4 , the second shift block 81b rotates clockwise in the second shift groove 41b until it contacts one end surface (the lower end surface in FIG4 ) of the second shift groove 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 outer gear 3 to revolve clockwise around the rotation axis of the eccentric 4, thereby driving the inner gear 2 to rotate clockwise.

[0109] 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 FIG. 4 ) 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.

[0110] In some specific examples, as shown in Figures 1 to 18, 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.

[0111] 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 plural.

[0112] In some embodiments, as shown in Figures 1-2 and Figures 9-18, the shift groove 41 is provided on the outer peripheral surface of the eccentric wheel 4 and penetrates the eccentric wheel 4 along the axial direction of the eccentric wheel 4. The shift block 81 of the driving member 8 extends into the axial direction of the eccentric wheel 4 and fits in the shift groove 41.

[0113] In other embodiments, the eccentric wheel 4 has an opposite first end 421 (a front end facing the observer in FIG. 13 ) and a second end 422 (a rear end facing away from the observer in FIG. 13 ) in its axial direction, and the shifting groove 41 is provided at the intersection of the end surface of the first end 421 of the eccentric wheel 4 and the outer peripheral surface of the eccentric wheel 4. In other words, the shifting groove 41 is recessed to a predetermined depth 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 the outer peripheral surface of the shifting groove 41 is open, so that the shifting groove 41 does not penetrate the eccentric wheel 4 in the axial direction of the eccentric wheel 4, and the shifting block 81 of the driving member 8 extends from the first end 421 of the eccentric wheel 4 in the axial direction of the eccentric wheel 4 and fits into the shifting groove 41.

[0114] In some examples, as shown in FIG15 , 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. As in the example shown in FIG1-18 , there are two shifting grooves 41, including a first shifting groove 41a and a second shifting groove 41b, which are spaced apart along the circumference of the eccentric wheel 4.

[0115] As shown in Figures 1-4, the shift block 81 of the driving member 8 is configured in an arc shape that matches the shift slot 41. The outer and inner circumferences of the shift block 81 are both arc-shaped. The inner circumference of the shift block 81 is slidably engaged with the inner circumferential wall of the shift slot 41. A gap exists between the outer circumference of the shift block 81 and the outer circumference of the shift slot 41 in the radial direction of the eccentric wheel 4. It will be understood that the embodiments of the present disclosure are not limited to this.

[0116] In some embodiments, as shown in Figures 1-3, 7, and 8, the housing 1 has a first end (e.g., the right end in Figure 3) and a second end (e.g., the left end in Figure 3) that are opposite in their axial direction (e.g., the left-right direction in Figure 3). The first end of the housing 1 has an end wall 12 with an end wall hole 121. The second end of the housing 1 is open and covered by a cover plate 13 with a cover plate hole 131. A portion of the internal gear 2 is located within the housing 1 and rotatably supported by the housing 1, while another portion of the internal gear 2 is located within the cover plate hole 131 and rotatably supported by the cover plate 13. The central axes of the end wall hole 121, the cover plate hole 131, and the central axis of the internal gear 2 are coaxial. In other words, the housing 1 and the cover plate 13 can together form the outer shell of the reducer, with the internal gear 2 rotatably supported within the outer shell. As shown in Figure 3, the outer surface of the internal gear 2 can be flush with the outer surface of the cover plate 13, resulting in a neater overall appearance and a more compact structure for the reducer.

[0117] In some specific examples, as shown in Figures 1-3, 7, and 8, the outer circumferential surface of the internal gear 2 can be a stepped surface, thereby dividing the internal gear 2 into a large diameter portion 24 and a small diameter portion 25 along the axial direction of the internal gear 2, where the diameter of the large diameter portion 24 is larger than the diameter of the small diameter portion 25. The small diameter portion 25 is rotatably fitted within the cover plate hole 131, and the large diameter portion 24 is rotatably fitted within the housing 1. In some embodiments, the small diameter portion 25 can be rotatably supported within the cover plate hole 131 by a bearing, and the large diameter portion 24 can be rotatably supported within the housing 1 by a bearing.

[0118] As shown in Figure 3, the large-diameter portion 24 is located to the right of the small-diameter portion 25 and is coaxial with it. The cover plate 13 is located to the left of the large-diameter portion 24 and abuts against the left end face of the large-diameter portion 24 to axially limit the internal gear 2. The left end face of the small-diameter portion 25 is flush with the left end face of the cover plate 13. The internal gear hole 21 is located in the large-diameter portion 24. The external gear 3 is located in the internal gear hole 21 and partially meshes with the internal gear. The right end faces of the external gear 3 and the eccentric 4 are flush with the right end face of the large-diameter portion 24.

[0119] Internal gear 2 has a center flange 22 extending axially within internal gear hole 21. The central axis of center flange 22 is coaxial with the central axis of internal gear hole 21. As shown in Figure 7, center flange 22 is connected to the middle of small-diameter portion 25 and extends rightward along the axial direction of internal gear hole 21. The right end surface of center flange 22 is flush with the right end surface of large-diameter portion 24.

[0120] As shown in Figures 1-4 and 9-14, the eccentric 4 has an eccentric hole 49, which is coaxial with the internal gear 2. That is, the center axis of the eccentric hole 49 is coaxial with the center axis of the internal gear 2. In other words, the outer circumference of the eccentric 4 is eccentric relative to the center axis of the eccentric hole. As described above, the center axis of the eccentric hole 49 can also be referred to as the main axis 101. The center flange 22 is rotatably fitted within the eccentric hole 49 and is coaxial with the eccentric hole 49. As shown in Figures 4 and 15, the center of the internal gear 2, the center of the eccentric hole 49, and the center of the center flange 22 are all center a, and the center of the external gear 3 and the center of the outer circumference of the eccentric 4 are all center b.

[0121] As shown in Figures 1-3 and 7 , the center flange 22 is provided with a flange hole 23. Flange hole 23 is adapted to engage with a driven shaft. For example, the driven shaft may be the drum shaft of a winch. Flange hole 23 may extend through the center flange 22. The first end of the driven shaft engages within flange hole 23, thereby driving the driven shaft to rotate via the internal gear 2. The second end of the driven shaft may be connected to a driven element, such as the winch drum, to output power to the driven element. Optionally, flange hole 23 may be splined to the driven shaft.

[0122] In some embodiments, as shown in Figures 1-3, the drive member 8 can be configured as a drive disk, comprising a disk body 82 and a disk hub 83 located at the center of the disk body 82. The shift block 81 is disposed on the disk body 82 and extends from the disk body 82 along the axial direction of the drive disk toward the eccentric wheel 4. The disk hub 83 is rotatably engaged within the end wall hole 121 of the housing 1. The central axis of the disk body 82, the central axis of the disk hub 83, and the rotational axis of the disk hub 83 are coaxial with the central axis of the end wall hole 121. As described above, the central axis of the disk body 82, the central axis of the disk hub 83, the rotational axis of the disk hub 83, and the central axis of the end wall hole 121 can also be referred to as the main axis 101. As shown in Figure 3, the disk hub 83 is loosely engaged with the end wall hole 121. Optionally, the disk hub 83 is rotatably supported within the end wall hole 121 via a bearing.

[0123] As shown in Figures 1 to 3, a disc hole 831 is provided on the disc hub 83. The disc hole 831 is suitable for cooperating with a driving shaft, such as the motor shaft of a motor, and the disc hole 831 can pass through the disc hub 83. Optionally, the disc hole 831 can be a blind hole. The motor shaft fits in the disc hole 831 to drive the driving member 8 to rotate. In the example shown in Figure 3, the disc hole 831 passes through the disc hub 83 along the axial direction of the disc hub 83, and one end of the driving shaft can fit in the disc hole 831 to connect with the driving member 8. In the examples shown in Figures 1 and 2, 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.

[0124] As shown in Figure 3, the external gear 3, eccentric 4, limiting plate 7, brake block 5, elastic member 6, and disk body 82 of the driving member 8 are all located within the housing 1, and the disk body 82 is axially located between the end wall 12 of the housing 1 and the eccentric 4. As a result, the housing 1 can better protect the above-mentioned components, and the structure of the speed reducer 100 is more compact.

[0125] In some embodiments, as shown in Figures 4, 6, and 9-18, a first receptacle 43 is provided on the end surface of the first end 421 of the eccentric wheel 4, and a second receptacle 51 is provided on the brake shoe 5. As shown in Figures 1-2, 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 receptacle 43, and the second end 62 of the elastic member 6 fits within the second receptacle 51. The spring applies an elastic force to the brake shoe 5, constantly pressing the brake shoe 5 toward the braking position. As the brake shoe 5 moves from the braking position to the released 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 gradually expand as the brake shoe 5 moves from the braking position to the released position.

[0126] 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.

[0127] In the example shown in Figures 1-18 , 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 against each other 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 separate. It will be appreciated that the first end of the spring always fits within the first half hole, which acts as a restraint on the first end of the spring.

[0128] 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.

[0129] 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 .

[0130] 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. The sliding engagement between the guide rail and the guide groove guides the relative movement between the eccentric wheel 4 and the brake shoe 5, that is, guides the movement of the brake shoe 5 relative to the eccentric wheel 4.

[0131] In some embodiments, as shown in Figures 9-18, 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.

[0132] Specifically, as shown in Figures 9 to 18, 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 to a predetermined depth 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 13 and 14, the surface of the arc guide rail 44 facing away from the brake pad 5 is flush with the surface 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 arc guide rail 44 facing the brake pad 5 is recessed toward the surface of the brake pad 5 relative to the surface of the rest of the eccentric 4 (the end face of the first end 421 of the eccentric 4).

[0133] 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.

[0134] As shown in FIG. 9 to FIG. 18 , 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 .

[0135] 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 .

[0136] As shown in Figures 9-12 and 16-18, 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 along 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.

[0137] As shown in Figures 9-12, 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 other words, the brake shoe 5 and the recess 45 are substantially complementary. 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.

[0138] 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.

[0139] As shown in FIG18 , 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.

[0140] As shown in Figures 9-15 , 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.

[0141] 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.

[0142] The brake shoe 5 moves along the arcuate guide rail 44 on the eccentric wheel 4 between a release position and a braking position, separating from or coming into contact with the external gear 3. To more precisely define the movement path of the brake shoe 5 and ensure a more reliable reverse braking action in the braking position and a more reliable release action in the release 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.

[0143] As an example, as shown in Figure 15, 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.

[0144] As shown in Figures 16-18, 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 18, r1 and r2 respectively represent the curvature radius of the inner circumferential surface 541 of the outer boss 54 at different positions, where the position indicated by r1 is closer to the release position than the position indicated by r2, and r1 is smaller than r2.

[0145] In some optional embodiments, the reducer 100 includes a housing 1 , an internal gear 2 , an external gear 3 , an eccentric wheel 4 , a brake block 5 , a spring, and a driving member 8 .

[0146] As mentioned above, in some examples, the driver 8 may be configured as a drive disk.

[0147] Internal gear 2 is rotatably disposed at least partially within housing 1. Internal gear 2 has an internal gear hole 21, the central axis of which is coaxial with the rotational axis of internal gear 2. External gear 3 has an external gear hole 31, which is disposed within internal gear hole 21 and meshes with internal gear 2 to drive internal gear 2 to rotate. External gear 3 is capable of translation within a plane orthogonal to its axial direction and is prohibited from rotating about its central axis.

[0148] The eccentric wheel 4 has an eccentric wheel hole 49. The eccentric wheel 4 is rotatably arranged in the outer gear hole 31 to drive the outer gear 3 to revolve around the central axis of the eccentric wheel hole 49. The rotation axis of the eccentric wheel 4, the central axis of the eccentric wheel hole 49 and the central axis of the internal gear 3 are coaxial, and the central axis of the outer peripheral surface of the eccentric wheel 4 is eccentric relative to the central axis of the eccentric wheel hole 49.

[0149] A brake shoe 5 is mounted on the eccentric 4 so as to rotate therewith. 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 urge the brake shoe 5 toward the braking position. In other words, in the braking position, the brake shoe 5 prevents the eccentric 4 and the brake member 5 from rotating relative to the external gear 3. In the release position, the eccentric 4 and the brake shoe 5 rotate together.

[0150] 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 5 to the braking position to prevent the eccentric wheel 4 and the brake block 5 from rotating together.

[0151] 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.

[0152] In some other optional embodiments, the reducer 100 includes a housing 1 , an internal gear 2 , an external gear 3 , an eccentric member, a braking member, an elastic member 6 and a rotatable driving member 8 .

[0153] 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, and the driving member 8 may be configured as a driving disc.

[0154] An internal gear 2 is rotatably disposed at least partially within the housing 1 and has an internal gear hole 21. An external gear 3 has an external gear hole 31, which is disposed within the internal gear hole 21 and meshes with the internal gear 2. An eccentric member is rotatably disposed within the external gear hole 31 to drive the external gear 3. The eccentric member's rotational axis is coaxial with the central axis of the internal gear 2, and the central axis of the eccentric member's outer peripheral surface is eccentric relative to the eccentric member's rotational axis. The external gear 3 is capable of orbiting about the eccentric member's rotational axis and is prohibited from rotating about its central axis to drive the internal gear 2.

[0155] The brake member is mounted on the eccentric member so as to rotate therewith. The brake member is movable relative to the eccentric member between a braking position and a release position. To prevent the eccentric member from rotating in the braking position and to allow the eccentric member to rotate in the release position, at least one of the following measures may be employed: in the radial direction of the eccentric member, the brake member is farther from the rotation axis of the eccentric member when in the braking position than when 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 simultaneously moves radially outward along the eccentric member; and when the brake member moves from the release position toward the braking position, the motion trajectory of the brake member is a spiral or cam profile that gradually expands radially outward along the circumference of the eccentric member. An elastic member 6 is connected to the eccentric member and the brake block and is used to compress the brake block toward the braking position.

[0156] The rotation axis of the driving member 8 is coaxial with the rotation axis of the eccentric member. When the driving member 8 rotates, the 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.

[0157] 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.

[0158] The joint module of the embodiment of the present disclosure is described below.

[0159] As shown in Figures 19 to 26, the joint module 200 of the present embodiment includes a reducer and a motor 210, wherein the reducer can be 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.

[0160] 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, thereby driving the internal gear to rotate. The internal 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 torque (load) on the internal gear cannot drive the eccentric wheel to rotate through the external gear. In other words, the torque (load) cannot be transmitted from the internal gear to the driving member in reverse to cause the driving member and the motor shaft to rotate.

[0161] In some embodiments, as shown in Figures 19-21, the motor 210 is arranged outside the housing 1 of the reducer 100, and the motor shaft 211 extends into the disk hole 831 of the disk hub 83 of the driving member 8 to be connected to the disk hub 83, thereby driving the driving member 8 to rotate.

[0162] In some embodiments, as shown in FIG. 21-FIG . 26 , the reducer 100 is at least partially disposed within the motor 210 .

[0163] In some embodiments, as shown in Figures 21-26, a 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. The housing 1 of the reducer 100 is located within the rotor 214 and can be connected to the stator base 212. The motor shaft 211 of the motor 210 is connected to the rotor base 215 and the driving member 8. The central axis of the stator base 212, the 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 2 are coaxial. The stator 213 drives the rotor 214 to rotate, the rotor 214 drives the motor shaft 211 to rotate, and the motor shaft 211 of the motor 210 drives the driving member 8 to rotate in a clockwise direction or a counterclockwise direction.

[0164] 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 internal gear 2 from being transmitted back to the driving member 8 to cause the driving member 8 and the motor shaft 211 to rotate.

[0165] In some specific examples, as shown in Figures 21 to 26, the stator seat 212 has a first end (the right end in Figure 26) and a second end (the left end in Figure 26), 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, the internal gear 2 extends out of the stator seat 212 through the through hole 2121, and a portion of the internal gear 2 is rotatably supported in the through hole 2121.

[0166] In this example, as shown in Figure 26 , reducer 100 lacks cover plate 13. Small-diameter portion 25 of internal gear 2 extends through a portion of through-hole 2121 and out of stator base 212. Small-diameter portion 25 of internal gear 2 is rotatably supported within through-hole 2121. The end wall of stator base 212 abuts against the end face of large-diameter portion 24 of internal gear 2, securing internal gear 2. Connecting bolts pass through the end wall of stator base 212 and connect to the housing of reducer 100.

[0167] In other examples, the small-diameter portion 25 of the internal gear 2 may be flush with the outer surface of the end wall at the second end of the stator base 212 (the left end surface in FIG26 ). Alternatively, the internal gear 2 may be entirely located inside the end wall at the second end of the stator base 212, with the end wall at the second end of the stator base 212 constraining the internal gear 2.

[0168] FIG27 shows a robotic arm 300 according to an embodiment of the present disclosure. 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.

[0169] FIG28 shows a robot 400 according to an embodiment of the present disclosure. The robot 400 includes a joint module 200 . Driven by the joint module 200 , the robot can perform various actions.

[0170] It will be understood that the robotic arm 300 and the robot 400 of the embodiment of the present disclosure are not limited to the forms shown in the figures.

[0171] 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 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.

[0172] 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.

[0173] In some embodiments, the electric device may be an electric wheelchair or an electric bed. For example, as shown in FIG29 , 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two elements or interaction 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.

[0178] 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.

[0179] 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.

[0180] 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: A housing; An internal gear, which is rotatably supported at least partially within the housing and has an internal gear bore; An external gear, which is at least partially disposed within the internal gear bore and meshes with the internal gear to drive the internal gear to rotate, and the external gear has an external gear bore; An eccentric wheel, which is rotatably supported at least partially within the external gear bore, and the rotation axis of the eccentric wheel is coaxial with the central axis of the internal gear, and the eccentric wheel is used to drive the external gear to revolve around the rotation axis of the eccentric wheel; A brake block, which is disposed on the eccentric wheel to rotate together with the eccentric wheel, and the brake block is movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear; An elastic member, which is connected to the eccentric wheel and the brake block and is used to press the brake block towards the braking position; A limiting disk, which is disposed within the housing, and the limiting disk engages with the housing so that the limiting disk and the housing are restricted from moving relative to each other in a first direction, and the limiting disk engages with the external gear so that the limiting disk and the external gear are restricted from moving relative to each other in a second direction, wherein the first direction, the second direction and the axis of the limiting disk are orthogonal to each other; A driving member, which is connected to the eccentric wheel and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel. When the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together. When the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

2. The speed reducer according to claim 1, characterized in that, One of the limiting disk and the housing is provided with a first limiting portion and the other is provided with a first limiting groove, and the first limiting portion is fitted within the first limiting groove and is movable along the first direction. One of the limiting disk and the external gear is provided with a second limiting portion and the other is provided with a second limiting groove, and the second limiting portion is fitted within the second limiting groove and is movable along the second direction.

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

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

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

6. The speed reducer according to claim 5, wherein, When the driving member rotates in the other of the clockwise and counterclockwise directions, the shifting block drives the eccentric wheel to rotate so that the brake block moves to the release position against the elastic force of the elastic member, so that the shifting block drives the eccentric wheel and the brake block to rotate together.

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

8. The speed reducer according to claim 7, 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. The shifting block is provided on the disk body, and the disk hub is rotatably fitted in the end wall hole.

9. The speed reducer according to claim 7, wherein The internal gear has a central flange extending in the internal gear hole, the eccentric wheel has an eccentric wheel hole, the eccentric wheel hole is coaxial with the internal gear, and the central flange is rotatably fitted in the eccentric wheel hole.

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

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

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

13. The speed reducer according to claim 12, 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, and the surface of the guide rail facing the brake block is recessed relative to the surface of the rest of the eccentric wheel facing the brake block.

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

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

17. The speed reducer according to claim 1, characterized in that, 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, characterized in that, When the driving member rotates clockwise, the second dial block drives the eccentric wheel to rotate clockwise and the brake block moves to the release position against the elastic force of the elastic member. When the brake block moves to the release position, the first dial block is spaced apart from or in contact with the end wall surface of the first dial groove.

19. A speed reducer, characterized in that, Comprising: A housing; An internal gear, at least a part of which is rotatably provided in the housing. The internal gear has an internal gear hole, and the central axis of the internal gear hole is coaxial with the rotation axis of the internal gear. An external gear, which has an external gear hole. The external gear is at least partially provided in the internal gear hole and meshes with the internal gear to drive the internal gear to rotate. The external gear is translatable in a plane orthogonal to the axial direction of the external gear and is prohibited from rotating about its central axis. An eccentric wheel, which has an eccentric wheel hole. The eccentric wheel is at least partially rotatably provided in the external gear hole to drive the external gear to revolve around the central axis of the eccentric wheel hole. The rotation axis of the eccentric wheel, the central axis of the eccentric wheel hole, and the central axis of the internal gear are coaxial. The central axis of the outer peripheral surface of the eccentric wheel is eccentric with respect to the central axis of the eccentric wheel hole. A brake block is provided on the eccentric wheel and rotates with the eccentric wheel. The brake block is movable relative to the eccentric wheel between a braking position and a release position. In the braking position, the brake block abuts against the external gear, and in the release position, the brake block is separated from the external gear. A spring is connected to the eccentric wheel and the brake block and is used to press the brake block towards the braking position. A driving member is connected to the eccentric wheel, and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel. When the driving member rotates, the brake block moves relative to the eccentric wheel to the release position so that the driving member drives the eccentric wheel and the brake block to rotate together. When the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

20. A speed reducer, characterized in that, Comprising: A housing; An internal gear, which is rotatably provided at least partially inside the housing and has an internal gear hole; An external gear, which has an external gear hole, and the external gear is at least partially provided in the internal gear hole and meshes with the internal gear; An eccentric member, which is rotatably provided in the external gear hole to drive the external gear. The rotation axis of the eccentric member is coaxial with the central axis of the internal gear. The central axis of the outer peripheral surface of the eccentric member is eccentric with respect to the rotation axis of the eccentric member. The external gear can revolve around the rotation axis of the eccentric member and is prohibited from rotating around its own central axis to drive the internal gear to rotate; A braking member 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 trajectory 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 brake block and is used to press the brake block towards the braking position. A rotatable driving member, the rotation axis of the driving member is coaxial with the rotation axis of the eccentric member. When the driving member rotates, the braking member moves relative to the eccentric member to the release position so that the driving member drives the eccentric member and the braking member to rotate together. When the driving member stops rotating, the elastic member pushes the braking member to the braking position to prevent the eccentric member and the braking member from rotating together.

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

22. The joint module according to claim 21, characterized in that, The electric motor is provided outside the housing of the speed reducer.

23. The joint module according to claim 21, wherein, At least part of the speed reducer is arranged 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 arranged inside the stator base. The rotor is sleeved on the rotor base. The rotor and the rotor base are rotatably arranged inside the stator. The housing of the speed reducer is located inside the rotor and is connected to the stator base. The motor shaft is connected to the rotor base and the driving member.

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

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

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

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

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

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

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