The invention belongs to the technical field of robots, and discloses a
robot precise joint speed
reducer. The
robot precise joint speed
reducer comprises a
power module, a primary torque transmissionmodule, a secondary
torque transmission module, a
gear transmission detection module, a central control module, a
wireless signal transmission module, a storage module, an
electric power module and an alarm module. According to the
robot precise joint speed
reducer, the front surface and the back surface of an eccentric gear
assembly are engaged with the
contact print through a collection micro camera, the collected
contact print image is denoised through an
image processing unit, the collected front surface and the back surface of the eccentric gear
assembly are engaged with the
contact print through an
image measurement unit to be measured and recorded, the
processing result is compared and analyzed with a preset threshold value, so that the transmission error and the abrasion state ofmeshing of a rigid gear and an output shaft can be found in time, precision control is facilitated, and by means of the
machining method of the eccentric gear
assembly, the
machining precision of therigid gear can be improved, and the service life is prolonged.