WO2025152047A1 - Joint module, robotic arm, and robot - Google Patents

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

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

Speed reducers are widely used in electromechanical equipment such as cranes, robot drive joints, and winches. In the related art, speed 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 electromechanical equipment from rotating after the drive motor or other driver of the electromechanical equipment is powered 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.

Summary of the invention

The embodiments of the present disclosure are intended to solve one of the technical problems in the related art at least to some extent.

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

The embodiment of the present disclosure also proposes a joint module having the reducer.

An embodiment of the present disclosure also proposes a robotic arm having the joint module.

An embodiment of the present disclosure also proposes a robot having the joint module.

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

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

The reducer according to the embodiment of the present disclosure includes: a housing; an internal gear, which is rotatably supported at least partially in the housing, and the internal gear has an internal gear hole; an external gear, which is at least partially arranged in the internal gear hole and meshes with the internal gear to drive the internal gear to rotate, and the external gear has an external gear hole; an eccentric wheel, which is rotatably arranged at least partially in the external gear hole, 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 arranged on the eccentric wheel to rotate with the eccentric wheel, and the brake block is movable relative to the eccentric wheel between a braking position and a release position, wherein in the braking position, the brake block is stopped against the external gear, and in the release position, the brake block is separated from the external gear; an elastic member, The gear wheel is connected to the eccentric wheel and the brake block, and is used to press the brake block 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 limited 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 limited 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 block moves to the release position relative to the eccentric wheel so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together.

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 a 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, thereby driving the internal gear to rotate and output driving force or torque.

When the driving member stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the external gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the external gear, that is, preventing the internal gear from applying the torque (load) to the eccentric wheel through the external 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 external gear cannot drive the eccentric wheel to rotate, thereby the internal gear and the external gear cannot rotate, and the eccentric wheel cannot cause the driving member to rotate.

The reducer of the disclosed embodiment 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 large braking torque, small braking friction consumption, low cost, and high braking reliability.

In some embodiments, one of the limiting disk and the housing is provided with a first limiting portion and the other is provided with a first limiting groove. The first limiting portion is engaged in the first limiting groove and is movable along the first direction, 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, and the second limiting portion is engaged in the second limiting groove and is movable along the second direction.

In some embodiments, the first limiting portion is arranged on the housing, the second limiting portion is arranged on the external gear, and the first limiting groove and the second limiting groove are arranged on the limiting plate; the first limiting portion, the second limiting portion, the first limiting groove and the second limiting groove are two each, 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.

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.

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 can be 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.

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.

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.

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 arranged on the disk body, and the disk hub is rotatably engaged in the end wall hole.

In some embodiments, the internal gear has a center 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 center flange is rotatably engaged in the eccentric wheel hole.

In some embodiments, the outer peripheral surface of the internal gear is a step 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.

In some embodiments, the eccentric wheel is provided with a first socket, the brake block is provided with a second socket, 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.

In some embodiments, the eccentric wheel is provided with one of a guide rail and a guide groove, and the brake block is provided with the other of the guide rail and the guide groove, and the guide rail and the guide groove are slidably matched.

In some embodiments, the guide rail is arranged on the eccentric wheel, the guide rail and the guide groove are both 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 circumference of the eccentric wheel.

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, and the arc guide rail is arranged in the notch. The surface of the guide rail facing away from the brake pad is flush with the plane of the rest of the eccentric wheel facing away from the brake pad, and the surface of the guide rail facing the brake pad is recessed relative to the surface of the rest of the eccentric wheel facing the brake pad.

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 arranged 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 circumferential surface of the outer boss is flush with the outer circumferential surface of the plate body, and the inner circumferential surface of the inner boss is flush with the inner circumferential surface of the plate body, in the braking position, at least a portion of the outer circumferential surface of the outer boss and at least a portion of the outer circumferential surface of the plate body extend beyond the outer circumferential 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.

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.

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

In some embodiments, when the driving member rotates clockwise, the second shift block drives the eccentric wheel to rotate in the clockwise direction 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.

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, 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 disposed 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 around its central axis; an eccentric wheel, the eccentric wheel having an eccentric wheel hole, the eccentric wheel 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 are coaxial, and the central axis of the outer peripheral surface of the eccentric wheel is relative to the center axis of the eccentric wheel hole. The axis is eccentric; a brake block, which is arranged on the eccentric wheel to rotate with the eccentric wheel, and the brake block is movable between a braking position and a release position relative to the eccentric wheel, wherein in the braking position, the brake block is abutted against the external gear, and in the release position, the brake block is separated from the external gear; a spring, 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, 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.

The reducer of the disclosed embodiment includes: a housing; an internal gear, which is rotatably disposed at least partially in the housing, and the internal gear has an internal gear hole; an external gear, which has an external gear hole, and the external gear is at least partially disposed in the internal gear hole and meshes with the internal gear; an eccentric member, which is 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, which is disposed on the eccentric member to rotate with the eccentric member, and is movable relative to the eccentric member between a braking position and a release position, wherein in the radial direction of the eccentric member, the brake member is closer when it is in the braking position than when it 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 at the same time, or when the brake member moves from the release position toward the braking position, the movement trajectory of the brake member is a spiral or cam profile line shape 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.

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.

In some embodiments, the motor is disposed outside the housing of the reducer.

In some embodiments, the reducer is at least partially disposed within the motor.

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 connected to the stator seat, and the motor shaft is connected to the rotor seat and the driving member.

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, and the end wall of the second end of the stator seat is provided with a through hole, and the internal gear extends out of the stator seat through the through hole and a portion of the internal gear The housing is rotatably supported in the through hole.

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

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

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.

The electric device of the disclosed embodiment may include the joint module described in any one of the above embodiments.

In some embodiments, the electric device may be an electric wheelchair or an electric bed.

BRIEF DESCRIPTION OF THE DRAWINGS

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

FIG. 2 is a perspective view of the reducer according to the embodiment of the present disclosure from another perspective.

FIG. 3 is a schematic cross-sectional view of a reducer according to an embodiment of the present disclosure.

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

FIG5 is a cross-sectional view of the reducer according to the embodiment of the present disclosure along the line B-B in FIG3 .

FIG. 6 is a cross-sectional view of the reducer according to the embodiment of the present disclosure along the line C-C in FIG. 3 .

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

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

FIG. 9 is a perspective view of a brake block and an eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

FIG. 10 is a perspective view of a brake block and an eccentric wheel of the reducer according to the embodiment of the present disclosure from another perspective.

FIG. 11 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.

FIG. 12 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.

FIG. 13 is a perspective view of an eccentric wheel of a reducer according to an embodiment of the present disclosure.

FIG. 14 is a stereoscopic view of the eccentric wheel of the reducer according to the embodiment of the present disclosure from another perspective.

FIG. 15 is a plan view of an eccentric wheel of the speed reducer according to the embodiment of the present disclosure.

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

FIG. 17 is a perspective view of a brake pad of the reducer according to an embodiment of the present disclosure from another perspective.

FIG. 18 is a plan view of a brake pad of the speed reducer according to the embodiment of the present disclosure.

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

FIG. 20 is a three-dimensional view of the joint module according to an embodiment of the present disclosure.

FIG. 21 is a schematic cross-sectional view of the joint module according to an embodiment of the present disclosure.

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

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

FIG. 24 is a three-dimensional view of a joint module according to another embodiment of the present disclosure.

FIG. 25 is a partial cross-sectional schematic diagram of a joint module according to another embodiment of the present disclosure.

FIG. 26 is a cross-sectional schematic diagram of a joint module according to another embodiment of the present disclosure.

FIG. 27 is a schematic diagram of a robotic arm according to an embodiment of the present disclosure.

FIG. 28 is a schematic diagram of a robot according to an embodiment of the present disclosure.

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

Reference numerals:
100, reducer; 101, main axis; 102, eccentric axis;
1. Shell; 11. First limiting portion; 12. End wall; 121. End wall hole; 13. Cover plate; 131. Cover plate hole;
2. internal gear; 21. internal gear hole; 201. internal gear; 22. center flange; 23. flange hole; 24. large diameter portion; 25. small diameter portion;
3. external gear; 31. external gear hole; 301. external gear; 32. second limiting portion;
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 plug hole; 44, arc guide rail; 441, outer peripheral surface of arc guide rail; 45, notch; 46, inner groove; 47, outer slot; 481, first step; 482, second step; 49, eccentric wheel hole;
5. brake block; 51. second insertion hole; 52. arc guide groove; 53. plate body; 54. outer boss; 541. inner peripheral surface of the outer boss; 55.
Inner boss; 56, second half hole;
6. elastic member; 61. first end of the elastic member; 62. second end of the elastic member;
7. Restriction plate; 71. First limiting groove; 72. Second limiting groove;
8. driving member; 81. shifting block; 81a. first shifting block; 81b. second shifting block; 82. disk body; 83. disk hub; 831. disk 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. Robots;
500. Electric wheelchair.

DETAILED DESCRIPTION

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 are intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

As shown in FIGS. 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 .

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

The outer circumferential surface of the external gear 3 is provided with external teeth 301, and the external gear 3 is at least partially arranged in the internal gear hole 21 and meshes with the internal gear 2. The external gear 3 has a concentric external gear hole 31, in other words, the central axis of the outer circumferential surface of the external gear 3 (which may also be referred to as the central axis of the external gear 3) is coaxial with the central axis of the external gear hole 31. As shown in Figures 3 and 4, the external gear 3 is eccentrically arranged relative to the internal gear hole 21, that is, the central axis of the external gear 3 is parallel to the central axis of the internal gear 2 (that is, the central axis of the internal gear hole 21) but not coaxial, and a part of the external teeth 301 of the external gear 3 is meshed with a part of the internal teeth 201 of the internal gear 2.

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

For example, the eccentric wheel 4 rotates clockwise, driving the outer gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the clockwise direction, and the outer gear 3 drives the inner gear 2 to rotate clockwise by meshing with the inner gear 2. The eccentric wheel 4 rotates counterclockwise, driving the outer gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the counterclockwise direction, and further driving the inner gear 2 to rotate counterclockwise.

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

The elastic member 6 is connected to the eccentric wheel 4 and the brake block 5, and is used to press the brake block 5 toward the braking position. In other words, the elastic member 6 applies an elastic force to the brake block 5, and the elastic force of the elastic member 6 presses the brake block 5 toward the braking position. For example, during the movement of the brake block 5 from the braking position to the release position, the elastic member 6 is gradually compressed, so that the elastic member 6 applies an elastic force to the brake block 5, and the elastic force presses the brake block 5 toward the braking position. It can be understood that the embodiments of the present disclosure are not limited to this, for example, the elastic member can also be gradually stretched.

The limiting plate 7 is arranged in the housing 1, and the limiting plate 7 is engaged with the housing 1, so that the limiting plate 7 and the housing 1 are restricted to relative movement in the first direction. The limiting plate 7 is engaged with the external gear 3, so that the limiting plate 7 and the external gear 3 are restricted to relative movement in the second direction, wherein the first direction and the second direction are both orthogonal to the axial direction of the limiting plate 7, that is, the plane defined by the first direction and the second direction is orthogonal to the axial direction of the limiting plate 7. The axial direction of the limiting plate 7 can be parallel to the axial direction of the inner gear 2, the axial direction of the outer gear 3 and the axial direction of the eccentric wheel 4. In other words, the limiting plate 7 can only move relative to the housing 1 in the first direction, and the outer gear 3 can only move relative to the limiting plate 7 in the second direction, so that the outer gear 3 can translate relative to the housing 1 in a plane orthogonal to its axial direction, and is prohibited from rotating. Since the outer gear 3 is meshed with the inner gear 2, the outer gear 3 revolves around the central axis of the inner gear hole 21 under the drive of the eccentric wheel 4, and the outer gear 3 is restricted by the limiting plate 7 and cannot rotate.

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 .

As shown in Fig. 1 to Fig. 3, the central axis of the internal gear 2, the central axis of the internal gear hole 21, the rotation axis of the eccentric wheel 4, and the rotation axis of the driving member 8 are coaxial, and these axes can be collectively referred to as the main axis 101. In the following description, the main axis can 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, and these axes can be collectively referred to as the eccentric axis 102. In the following description, the eccentric axis can refer to any of these axes.

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 to the braking position relative to the eccentric wheel 4, 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.

In other words, when the driving member 8 rotates, the brake block 5 moves to the release position, so that the driving member 8 can 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.

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.

For example, the driving member 8 is connected to the motor shaft of the motor. When the driving member 8 is driven to rotate by the motor, the brake block 5 can overcome the elastic force of the elastic member 6 and move to the release position relative to the eccentric wheel 4 to separate from the outer gear 3. Thus, the driving member 8 can drive the brake block 5 to rotate together with the eccentric wheel 4, and then drive the outer gear 3 to revolve around the rotation axis of the eccentric wheel 4 in the inner gear hole 21, thereby driving the inner gear 2 to rotate. The inner gear 2 can also be called the output gear of the reducer 100. The inner gear 2 can be connected to other components to drive other components to rotate. For example, the inner gear 2 can be connected to the drum of the winch and the joint of the robot.

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 rotation speed of the internal gear 2 is lower than the rotation speed of the eccentric wheel 4, so that the output rotation speed of the reducer 100 is lower than the input rotation speed of the reducer 100, thereby achieving deceleration.

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 outer gear 3. The friction force between the brake block 5 and the outer gear 3 prevents the eccentric wheel 4 and the outer gear 3 from rotating, thereby preventing the inner gear 2 from rotating.

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 a 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 an output gear to output torque.

When the driving member stops rotating, the elastic member pushes the brake block relative to the eccentric wheel from the release position to the braking position, and the brake block abuts against the outer gear, thereby preventing the eccentric wheel and the brake block from rotating relative to the outer gear, i.e. 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. For example, when the motor of the winch stops rotating, the torque applied to the inner gear of the winch drum by the weight cannot be applied to the eccentric wheel through the outer gear to drive the eccentric wheel to rotate, i.e. the inner gear and the outer gear cannot rotate, and at the same time the eccentric wheel cannot rotate the driving member.

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, "forward" refers to the direction in which the torque of the driving member is transmitted toward the internal gear.

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

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 is fitted in the first limiting groove 71 and is movable along the first direction, so that the limiting plate 7 is limited to being able to move relative to the housing 1 only in the first direction. For the movement of 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 is fitted in the second limiting groove 72 and is movable along the second direction, so that the external gear 3 is limited to be able to move relative to the limiting plate 7 only in the second direction.

In some examples, as shown in FIGS. 1 to 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, and 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 may both be cylindrical rods.

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

In other examples, the limiting disk 7 has a first side surface and a second side surface that are opposite to each other in the axial direction thereof, 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.

In some specific examples, as shown in FIGS. 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 the two first limiting grooves 71 in a one-to-one correspondence. 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 the two second limiting grooves 72 in a one-to-one correspondence. 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.

In some embodiments, as shown in FIGS. 1 to 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 fitted in the shifting groove 41. When the driving member 8 rotates in one of the clockwise and counterclockwise directions, the shifting block 81 overcomes the elastic force of the elastic member 6 to push the brake block 5 to the release position to drive the eccentric wheel 4 and the brake block 5 to rotate together. When the driving member 8 rotates in the other of the clockwise and counterclockwise directions, the shifting block 81 drives the eccentric wheel 4 to rotate so that the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release position, so that the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together.

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

In other examples, as shown in FIG4 , when the driving member 8 rotates in the clockwise direction, the shifting block 81 drives the eccentric wheel 4 to rotate, and the eccentric wheel 4 and the brake block 5 rotate relative to each other, thereby the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release position, and then the shifting block 81 drives the eccentric wheel 4 and the brake block 5 to rotate together. In other words, the driving member 8 drives the eccentric wheel 4 to rotate through the shifting block 81, thereby the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release 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.

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

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.

Specifically, as shown in FIG. 4 and FIG. 6 , the brake block 5 is in the braking position, the brake block 5 abuts against the external gear 3, that is, the brake block 5 abuts against the peripheral wall surface of the external gear hole 31, and the minimum gap between the two is zero. When the driving member 8 rotates counterclockwise in FIG. 4, the first shift block 81a It rotates counterclockwise in the first shifting groove 41a until it contacts the end face of the brake block 5 (the upper end face in Figure 4). Then, the first shifting 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. Then, the first shifting 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.

When the first shift block 81a pushes the brake block 5 from the braking position to the release position, the second shift block 81b rotates counterclockwise in the second shift groove 41b. When the brake block 5 reaches the release position, the second shift block 81b is spaced apart from the end wall surface (the upper end wall surface in FIG. 4 ) of the second shift groove 41b. Optionally, the second shift block 81b may contact the end wall surface of the second shift groove 41b but the second shift block 81b may not apply a force to the eccentric wheel 4. The eccentric wheel 4 and the brake block 5 rotate together counterclockwise under the action of the first shift block 81a. Therefore, the processing accuracy and assembly accuracy requirements of the driving member 8 and the eccentric wheel 4 are low, which reduces the manufacturing cost.

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.

Specifically, when the driving member 8 rotates clockwise in FIG. 4 , the second shifting block 81b rotates clockwise in the second shifting groove 41b until it contacts one end face (the lower end face in FIG. 4 ) of the second shifting groove 41b, and the second shifting block 81b applies a thrust to the eccentric wheel 4 to push the eccentric wheel 4 to rotate clockwise, and the eccentric wheel 4 and the brake block 5 rotate relative to each other, thereby the brake block 5 overcomes the elastic force of the elastic member 6 and moves to the release position. Subsequently, the second shifting block 81b drives the eccentric wheel 4 and the brake block 5 to rotate together in the clockwise direction, thereby driving the outer gear 3 to revolve clockwise around the rotation axis of the eccentric wheel 4, thereby driving the inner gear 2 to rotate clockwise.

When the brake block 5 overcomes the elastic force of the elastic member 6 and moves from the braking position to the releasing position, the first shift block 81a is spaced apart from the end wall surface (the upper end wall surface in FIG. 4 ) of the first shift groove 41a. Optionally, the first shift block 81a may contact the end wall surface of the first shift groove 41a but the first shift block 81a may not apply a force to the eccentric wheel 4, and the eccentric wheel 4 and the brake block 5 rotate together in the clockwise direction under the action of the second shift block 81b.

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.

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

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

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

In some examples, as shown in FIG. 15 , the push groove 41 is an arc-shaped groove extending along the circumference of the outer peripheral surface of the eccentric wheel 4. Specifically, the inner peripheral wall surface of the push groove 41 is arc-shaped, and the central axis of the inner peripheral wall surface of the push groove 41 is coaxial with the central axis of the outer peripheral surface of the eccentric wheel 4. As shown in the examples shown in FIGS. 1 to 18 , there are two push grooves 41 including a first push groove 41a and a second push groove 41b, and the first push groove 41a and the second push groove 41b are arranged at intervals along the circumference of the eccentric wheel 4.

As shown in FIGS. 1-4 , the shift block 81 of the driving member 8 is configured to be arc-shaped and adapted to the shift slot 41, and the outer circumferential surface and the inner circumferential surface of the shift block 81 are both arc-shaped, wherein the inner circumferential surface of the shift block 81 and the inner circumferential wall surface of the shift slot 41 can be slidably matched, and the outer circumferential surface of the shift block 81 and the outer circumferential edge of the shift slot 41 have a gap in the radial direction of the eccentric wheel 4. It is understood that the embodiments of the present disclosure are not limited thereto.

In some embodiments, as shown in FIGS. 1-3, 7 and 8, the housing 1 has a first end (e.g., the right end in FIG. 3) and a second end (e.g., the left end in FIG. 3) that are opposite in its axial direction (e.g., the left and right direction in FIG. 3), and the first end of the housing 1 has an end wall 12, and the end wall 12 has an end wall hole 121. The second end of the housing 1 is open and covered by a cover plate 13, and the cover plate 13 has a cover plate hole 131. A portion of the internal gear 2 is located in the housing 1 and is rotatably supported by the housing 1, and another portion of the internal gear 2 is located in the cover plate hole 131 and is rotatably supported by the cover plate 13. The central axis of the end wall hole 121, the central axis of the cover plate hole 131, and the central axis of the internal gear 2 are coaxial. In other words, The housing 1 and the cover plate 13 can together form the outer shell of the reducer, and the internal gear 2 is rotatably supported in the outer shell. As shown in FIG3 , the outer side of the internal gear 2 can be flush with the outer side of the cover plate 13, thereby the overall appearance of the reducer is neat and the structure is more compact.

In some specific examples, as shown in FIGS. 1-3, 7 and 8, the outer peripheral surface of the internal gear 2 may be a stepped surface, so as to divide 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, and 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 in the cover plate hole 131, and the large diameter portion 24 is rotatably fitted in the housing 1. In some embodiments, the small diameter portion 25 may be rotatably supported in the cover plate hole 131 by a bearing, and the large diameter portion 24 may be rotatably supported in the housing 1 by a bearing.

As shown in FIG3 , the large diameter portion 24 is located on the right side of the small diameter portion 25 and is coaxial with the small diameter portion 25, the cover plate 13 is located on the left side of the large diameter portion 24 and abuts against the left end surface of the large diameter portion 24 to axially limit the internal gear 2, and the left end surface of the small diameter portion 25 is flush with the left end surface 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, and the right end surface of the external gear 3 and the right end surface of the eccentric wheel 4 are flush with the right end surface of the large diameter portion 24.

The internal gear 2 has a center flange 22 extending axially in the internal gear hole 21, and the center axis of the center flange 22 is coaxial with the center axis of the internal gear hole 21. As shown in FIG7 , the center flange 22 is connected to the middle of the small diameter portion 25 and extends rightward along the axial direction of the internal gear hole 21, and the right end surface of the center flange 22 is flush with the right end surface of the large diameter portion 24.

As shown in FIGS. 1-4 and 9-14, the eccentric wheel 4 has an eccentric wheel hole 49, and the eccentric wheel hole 49 is coaxial with the internal gear 2, that is, the central axis of the eccentric wheel hole 49 is coaxial with the central axis of the internal gear 2. In other words, the outer peripheral surface of the eccentric wheel 4 is eccentric relative to the central axis of the eccentric wheel hole. As described above, the central axis of the eccentric wheel hole 49 can also be called the main axis 101. The center flange 22 is rotatably fitted in the eccentric wheel hole 49 and is coaxial with the eccentric wheel hole 49. As shown in FIGS. 4 and 15, the center of the internal gear 2, the center of the eccentric wheel 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 peripheral surface of the eccentric wheel 4 are all center b.

As shown in Figs. 1-3 and 7, a flange hole 23 is provided on the center flange 22, and the flange hole 23 is suitable for matching with a driven shaft. For example, the driven shaft can be a drum shaft of a winch drum, and the flange hole 23 can pass through the center flange 22. The first end of the driven shaft is matched in the flange hole 23, so that the internal gear 2 drives the driven shaft to rotate, and the second end of the driven shaft can be connected to a driven element, such as a drum of a winch, to output power to the driven element. Optionally, the flange hole 23 is spline-connected with the driven shaft.

In some embodiments, as shown in FIGS. 1 to 3 , the driving member 8 can be configured as a driving disk, and the driving disk includes a disk body 82 and a disk hub 83 located at the center of the disk body 82. The shift block 81 is provided on the disk body 82 and extends from the disk body 82 toward the eccentric wheel 4 along the axial direction of the driving disk, and the disk hub 83 is rotatably fitted in 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 rotation 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 rotation 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 FIG. 3 , the disk hub 83 is clearance-fitted with the end wall hole 121. Optionally, the disk hub 83 is rotatably supported in the end wall hole 121 by a bearing.

As shown in Fig. 1 to Fig. 3, a disc hole 831 is provided on the disc hub 83, and the disc hole 831 is suitable for cooperating with a driving shaft, such as a 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 Fig. 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 Fig. 1 and Fig. 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.

As shown in Fig. 3, the outer gear 3, the eccentric wheel 4, the limiting plate 7, the brake block 5, the elastic member 6 and the disc body 82 of the driving member 8 are all located in the housing 1, and the disc body 82 is located between the end wall 12 of the housing 1 and the eccentric wheel 4 in the axial direction. Therefore, the housing 1 can better protect the above components, and the structure of the reducer 100 is more compact.

In some embodiments, as shown in Fig. 4, Fig. 6, Fig. 9-Fig. 18, a first plug hole 43 is provided on the end surface of the first end 421 of the eccentric wheel 4, and a second plug hole 51 is provided on the brake block 5. As shown in Fig. 1-Fig. 2, the elastic member 6 is a rod-shaped arc spring. In other words, the main body of the spring is generally open arc-shaped, and the first end and the second end of the spring extend a predetermined length along a plane generally orthogonal to the main body, so that the brake block 5 and the eccentric wheel 4 are connected. The first end 61 of the elastic member 6 is fitted in the first plug hole 43, and the second end 62 of the elastic member 6 is fitted in the second plug hole 51. The spring applies elastic force to the brake block 5 to press the braking position toward the brake block 5. In the process of the brake block 5 moving from the braking position to the release position, the first end 61 and the second end of the elastic member 6 are close to each other, and the spring is gradually compressed. In other optional embodiments, the spring can also be gradually stretched in the process of the brake block 5 moving from the braking position to the release position.

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.

In the example shown in FIGS. 1 to 18 , the first insertion hole 43 of the eccentric wheel 4 is a first half hole, and the brake block 5 is provided with a second half hole 56. In the release position, the first half hole and the second half hole 56 are connected in the circumferential direction of the eccentric wheel 4 to form a circular hole (as shown in FIG. 11 ), and in the braking position, the first half hole and the second half hole 56 are separated. It can be understood that the first end of the spring is always fitted in the first half hole, and the first half hole has a limiting effect on the first end of the spring.

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.

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 in the first insertion hole 43 .

In some embodiments, the eccentric wheel 4 is provided with one of a guide rail and a guide groove, and the brake block 5 is provided with the other of the guide rail and the guide groove, and the guide rail and the guide groove are slidably matched. When the brake block 5 moves between the braking position and the release position, the guide rail and the guide groove slide relative to each other, and the sliding match between the guide rail and the guide groove guides the relative movement between the eccentric wheel 4 and the brake block 5, that is, guides the movement of the brake block 5 relative to the eccentric wheel 4.

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.

Specifically, as shown in FIGS. 9 to 18 , a notch 45 is provided at the junction of the end face of the first end 421 of the eccentric wheel 4 and the outer peripheral surface of the eccentric wheel 4, that is, the notch 45 is provided at the edge of the end face of the first end 421 of the eccentric wheel 4. The notch 45 is recessed from the end face of the first end 421 of the eccentric wheel 4 to a predetermined depth toward the second end 422 of the eccentric wheel 4 and extends along the circumference of the eccentric wheel 4. In the example shown in FIGS. 9 to 18 , the notch 45 penetrates the eccentric wheel 4 along the axial direction of the eccentric wheel 4. The arc guide rail 44 is provided in the notch 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 block 5 is flush with the surface of the rest of the eccentric 4 facing away from the brake block 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 block 5 is recessed toward the surface of the brake block 5 relative to the surface of the rest of the eccentric 4 (the end face of the first end 421 of the eccentric 4).

In the braking position, a portion of the brake block 5 can extend onto the first shifting groove 41a to overlap with a portion of the first shifting groove 41a, so as to facilitate the first shifting block 81a in the first shifting groove 41a to push the brake block 5 corresponding to the first shifting groove 41a. Specifically, the notch 45 is adjacent to the first shifting groove 41a in the circumferential direction of the eccentric wheel 4, and the notch 45 is in communication with the first shifting groove 41a, so that the first shifting block 81a can contact the brake block 5 and push the brake block 5. Optionally, the notch 45 may not be in communication with the first shifting groove 41a.

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 .

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 a portion of the first detent groove 41 a .

As shown in Figs. 9 to 12 and Figs. 16 to 18, the brake block 5 comprises a plate body 53, an outer boss 54 and an inner boss 55. The plate body 53 may be arc-shaped and have an arc-shaped outer peripheral surface and an arc-shaped inner peripheral surface. The plate body 53 has two plate surfaces parallel to each other in its thickness direction. For example, when the brake block 5 is mounted on the eccentric wheel 4, the plate body 53 has a first plate surface facing the eccentric wheel 4 and a second plate surface away from the eccentric wheel 4. The outer boss 54 and the inner boss 55 are both arranged on the first plate surface and both extend along the 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. The arc-shaped guide groove 52 is formed between the outer boss 54 and the inner boss 55. The outer peripheral surface of the outer boss 54 is flush with the outer peripheral surface of the plate body 53, and the inner peripheral surface of the inner boss 55 is flush with the inner peripheral surface of the plate body 53.

As shown in Fig. 9 to Fig. 12, the plate body 53 of the brake block 5 is fitted in the notch 45, the first plate surface of the plate body 53 abuts against the surface of the arc guide rail 44 facing the brake block 5, and the second plate surface of the plate body 53 is flush with the end surface of the first end 421 of the eccentric wheel 4. In other words, the brake block 5 and the notch 45 are substantially complementary. In the radial direction of the eccentric wheel 4, the arc guide rail 44 is located between the outer boss 54 and the inner boss 55, and is slidable relative to the outer boss 54 and the inner boss 55 in the circumferential direction of the eccentric wheel 4. In other words, the arc guide rail 44 extends into the arc guide groove 52 and is slidably fitted with the arc guide groove 52. The end surface of the outer boss 54 of the brake block 5 that is away from the plate body 53 and the end surface of the inner boss 55 that is away from the plate body 53 are flush with the end surface of the second end 422 of the eccentric wheel 4.

In the braking position, at least a portion of the outer circumferential surface of the outer boss 54 and at least a portion of the outer circumferential surface of the plate body 53 extend beyond the outer circumferential 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.

As shown in FIG. 18 , the outer boss 54 has a first end and a second end opposite to each other in the circumferential direction of the plate body 53, and the inner boss 55 is disposed on the inner side of the plate body 53. The plate body 53 has a first end and a second end opposite 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 are spaced a first distance therefrom, and the second end of the outer boss 54 and the second end of the inner boss 55 are adjacent to the second end of the plate body 53 and are spaced a second distance therefrom.

As shown in FIGS. 9 to 15 , the inner side of the arc-shaped guide rail 44 has an inner groove 46, and the outer side of the arc-shaped guide rail 44 has an outer groove 47. The inner boss 55 of the brake block 5 fits in the inner groove 46 and can slide along the inner groove 46, and the outer boss 54 of the brake block 5 fits in the outer groove 47 and can slide along the outer groove 47. It can be understood that both the inner groove 46 and the outer groove 47 are arc-shaped grooves, and the outer side and the upper surface of the outer groove 47 are open to form a semi-open notch structure, so that a part of the outer boss 54 can extend outward through the outer groove 47 to stop against the outer gear 3.

Furthermore, the first end of the arc guide rail 44 has a first step 481, and the second end of the arc guide rail 44 has a second step 482. The arc guide rail 44 is located between the first step 481 and the second step 482 in the circumferential direction of the eccentric wheel 4, and is connected to the first step 481 and the second step 482. The upper surface of the arc guide rail 44, the upper surface of the first step 481, and the upper surface of the second step 482 are flush, and the bottom of the plate body 53 is slidably fitted with the upper surface of the arc 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 in the counterclockwise direction, the first shifting block 81a in the first shifting groove 41a contacts the end surface of the plate body 53.

The brake block 5 moves between the release position and the braking position along the arc guide 44 on the eccentric wheel 4, and is separated from or stopped by the outer gear 3. In order to more accurately define the movement path of the brake block 5, so that the reverse braking effect of the brake block 5 at the braking position is more reliable, and the release effect at the release position is more reliable, in some embodiments, the curvature radius of the outer peripheral surface 441 of the arc guide 44 can be gradually increased in the direction from the release position to the braking position. Optionally, the outer peripheral surface 441 of the arc guide 44 can be a spiral surface or a cam surface that gradually expands radially outward along the circumference of the eccentric wheel 4.

As an example, as shown in Figure 15, the radius of curvature 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, R1 and R2 respectively refer to the radius of curvature of the outer peripheral surface 441 of the arc guide rail 44 at different positions, and 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.

As shown in Figures 16-18, the structure of the outer boss 54 of the brake block 5 is adapted to the structure of the outer groove 47. As shown in Figure 18, r1 and r2 respectively refer to the curvature radius of the inner peripheral surface 541 of the outer boss 54 at different positions, wherein the position referred to by r1 is closer to the release position than the position referred to by r2, wherein r1 is smaller than r2.

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 .

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

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

The eccentric wheel 4 has an eccentric wheel hole 49. The eccentric wheel 4 is rotatably disposed in the external gear hole 31 to drive the external gear 3 to revolve 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.

The brake block 5 is arranged on the eccentric wheel 4 to rotate with the eccentric wheel 4, and the brake block 5 is movable between a braking position and a release position relative to the eccentric wheel 4, wherein in the braking position, the brake block 5 is stopped against the external gear 3, and in the release position, the brake block 5 is separated from the external gear 3. The spring is connected to the eccentric wheel 4 and the brake block 5, and is used to press the brake block 5 toward the braking position. In other words, in the braking position, the brake block 5 prevents the eccentric wheel 4 and the brake member 5 from rotating relative to the external gear 3 together, and in the release position, the eccentric wheel 4 and the brake block 5 rotate together.

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.

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 volume, and has the advantages of large braking torque, small braking friction consumption, low cost, and high braking reliability.

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 .

As described above, in some examples, the eccentric member can be configured as an eccentric wheel, the brake member can be configured as a brake block, and the drive member 8 can be configured as a Made into a drive disk.

The internal gear 2 is rotatably disposed at least partially in the housing 1, and the internal gear 2 has an internal gear hole 21. The external gear 3 has an external gear hole 31, and the external gear 3 is disposed in the internal gear hole 21 and meshes with the internal gear 2. The eccentric is rotatably disposed in the external gear hole 31 to drive the external gear 3, the rotation axis of the eccentric is coaxial with the central axis of the internal gear 2, the central axis of the outer peripheral surface of the eccentric is eccentric with respect to the rotation axis of the eccentric, and the external gear 3 can revolve around the rotation axis of the eccentric and is prohibited from rotating around its central axis to drive the internal gear 2 to rotate.

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

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 a 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 a braking position to prevent the eccentric member and the brake member from rotating together.

The reducer of the disclosed embodiment 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 large braking torque, small braking friction consumption, low cost, and high braking reliability.

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

As shown in Figures 19 to 26, the joint module 200 of the embodiment of the present disclosure 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 direction or a counterclockwise direction.

The joint module of the disclosed embodiment can automatically realize 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, and the brake block abuts against the external gear to prevent 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 reversely transmitted from the internal gear to the driving member to rotate the driving member and the motor shaft.

In some embodiments, as shown in FIGS. 19-21 , the motor 210 is disposed 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.

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

In some embodiments, as shown in FIGS. 21 to 26 , the motor 210 includes a motor shaft 211, a stator seat 212, a stator 213, a rotor 214, and a rotor seat 215. The stator 213 is disposed in the stator seat 212, the rotor 214 is sleeved on the rotor seat 215, and the rotor 214 and the rotor seat 215 are rotatably disposed in the stator 213. The housing 1 of the reducer 100 is located in the rotor 214 and can be connected to the stator seat 212, and the motor shaft 211 of the motor 210 is connected to the rotor seat 215 and the driving member 8. The central axis of the stator seat 212, the rotation axis of the stator 213, the rotation axis of the rotor 214, the central axis of the rotor seat 215, the central axis of the motor shaft 211, the rotation axis of the driving member 8, the rotation axis of the eccentric wheel 4, and the central axis of the internal gear 2 are coaxial. The stator 213 drives the rotor 214 to rotate, the rotor 214 drives the motor shaft 211 to rotate, and the motor shaft 211 of the motor 210 drives the driving member 8 to rotate in a clockwise direction or a counterclockwise direction.

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.

In some specific examples, as shown in Figures 21-26, 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 a stator cover 216, 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 part of the internal gear 2 is rotatably supported in the through hole 2121.

In this example, as shown in FIG26 , the reducer 100 does not have the cover plate 13. The small diameter portion 25 of the internal gear 2 extends out of the stator seat 212 through a portion of the through hole 2121, and the small diameter portion 25 of the internal gear 2 is rotatably supported in the through hole 2121. The end wall of the stator seat 212 abuts against the end surface of the large diameter portion 24 of the internal gear 2 to limit the position of the internal gear 2. The connecting bolt passes through the end wall of the stator seat 212 and the end surface of the reducer 100. The shell is connected.

In other examples, the small diameter portion 25 of the internal gear 2 may be flush with the outer surface (left end surface in FIG. 26 ) of the end wall of the second end of the stator seat 212. Alternatively, the internal gear 2 is entirely located on the inner side of the end wall of the second end of the stator seat 212, and the end wall of the second end of the stator seat 212 restricts the internal gear 2.

FIG. 27 shows a robot arm 300 according to an embodiment of the present disclosure. The robot arm 300 includes a plurality of joint modules 200 . The robot arm 300 can perform various actions and operations by being driven by the joint modules 200 .

FIG28 shows a robot 400 according to an embodiment of the present disclosure. The robot 400 includes a joint module 200 . The robot can perform various actions by being driven by the joint module 200 .

It is understandable 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.

The production system of the embodiment of the present disclosure may include the robot 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 robot arm 300 and/or the robot 400 may be used to pick up automobile parts and/or assemble automobiles and their components.

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.

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 walk and change shape through the drive of the joint module 200 .

It is understandable that the electric devices according to the embodiments of the present disclosure are not limited to electric beds and electric wheelchairs.

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 referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature 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. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of 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 (30)

A reducer, characterized in that it comprises: case; an internal gear rotatably supported at least partially within 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 is rotatably disposed at least partially in the hole of the external gear, 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, the brake block being arranged 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 being connected to the eccentric wheel and the brake block and being used for pressing the brake block toward the braking position; a limiting plate, the limiting plate being arranged in the housing, the limiting plate being engaged with the housing so that the limiting plate and the housing are restricted to move relative to each other in a first direction, the limiting plate being engaged with the external gear so that the limiting plate and the external gear are restricted to move relative to each other 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, wherein the driving member is connected to the eccentric wheel and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel, when the driving member rotates, the brake block moves to the release position relative to the eccentric wheel so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the elastic member pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together. The 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, the first limiting portion is fitted in the first limiting groove and is movable along the first direction, 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, and the second limiting portion is fitted in the second limiting groove and is movable along the second direction. The reducer according to claim 2 is characterized in that: 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. The reducer according to claim 2 is 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. The reducer according to claim 1 is characterized in that the eccentric wheel is provided with a shifting groove, and the driving member is provided with a shifting block, and the shifting block can be movably engaged in the shifting groove, and when the driving member rotates in one of the clockwise and counterclockwise directions, the shifting block overcomes the elastic force of the elastic member to push the brake block to the release position to drive the eccentric wheel and the brake block to rotate together. The reducer according to claim 5 is characterized in that 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. The reducer according to claim 5 or 6 is characterized in that 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 part of the internal gear is located in the shell and is rotatably supported by the shell, and the other part of the internal gear is located in the cover plate hole and is rotatably supported by the cover plate. The reducer according to claim 7 is 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 shift block is arranged on the disk body, and the disk hub is rotatably engaged in the end wall hole. The reducer according to claim 7 is characterized in that the internal gear has a center 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 center flange is rotatably engaged with the eccentric wheel hole. Inside the heart chakra hole. The reducer according to claim 7 is characterized in that the outer peripheral surface of the internal gear is a step 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. The reducer according to claim 1 is characterized in that the eccentric wheel is provided with a first hole, the brake block is provided with a second hole, the elastic member is an arc spring, the first end of the elastic member is fitted in the first hole, and the second end of the elastic member is fitted in the second hole. The reducer according to claim 1 is characterized in that the eccentric wheel is provided with one of a guide rail and a guide groove, the brake block is provided with the other of the guide rail and the guide groove, and the guide rail and the guide groove are slidably matched. The reducer according to claim 12 is characterized in that the guide rail is arranged on the eccentric wheel, the guide rail and the guide groove are both 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 circumference of the eccentric wheel. The reducer according to claim 13 is characterized in that a notch is provided at the junction of at least one end face of the eccentric wheel and the outer peripheral surface of the eccentric wheel, the arc guide rail is arranged in the notch, the surface of the guide rail facing away from the brake pad is flush with the plane of the rest of the eccentric wheel facing away from the brake pad, and the surface of the guide rail facing the brake pad is recessed relative to the surface of the rest of the eccentric wheel facing the brake pad. The reducer according to claim 14 is characterized in that the brake block comprises an arc-shaped plate body, an arc-shaped outer boss and an arc-shaped inner boss, the outer boss and the inner boss are arranged 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 arc-shaped guide groove is formed between the boss and the inner boss, the outer peripheral surface of the outer boss is flush with the outer peripheral surface of the plate body, 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 circumferential surface of the outer boss and at least a portion of the outer circumferential surface of the plate body extend beyond the outer circumferential surface of the eccentric wheel in the radial direction of the eccentric wheel to stop against the external gear, the first end of the outer boss and the first end of the inner boss are spaced a first distance from the first end of the plate body, and the second end of the outer boss and the second end of the inner boss are spaced a second distance from the second end of the plate body. The reducer according to claim 15 is 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. The reducer according to claim 1 is characterized in that the eccentric wheel is provided with a first shifting groove and a second shifting groove, the driving member is provided with a first shifting block and a second shifting block, the first shifting block is movably fitted in the first shifting groove, and the second shifting block is movably fitted in the second shifting groove. The brake block corresponds to the first shifting groove. When the driving member rotates counterclockwise, the first shifting 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 shifting block is spaced apart from or in contact with the end wall of the second shifting groove. The reducer according to claim 17 is characterized in that when the driving member rotates clockwise, the second shift block drives the eccentric wheel to rotate in the clockwise direction and the brake block overcomes the elastic force of the elastic member and moves to the release position, and 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. A reducer, characterized in that it comprises: case; an internal gear, the internal gear being rotatably disposed at least partially within 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, 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 to drive the internal gear to rotate, the external gear being translatable in a plane orthogonal to the axial direction of the external gear and being prohibited from rotating about its central axis; An eccentric wheel, wherein the eccentric wheel has an eccentric wheel hole, the eccentric wheel is rotatably disposed at least partially in the outer gear hole to drive the outer 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 inner gear are coaxial, and the central axis of the outer peripheral surface of the eccentric wheel is eccentric relative to the central axis of the eccentric wheel hole; a brake block, the brake block being arranged 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; a spring, the spring being connected to the eccentric wheel and the brake block and being used for pressing the brake block toward the braking position; A driving member, wherein the driving member is connected to the eccentric wheel and the rotation axis of the driving member is coaxial with the rotation axis of the eccentric wheel, when the driving member rotates, the brake block moves to the release position relative to the eccentric wheel so that the driving member drives the eccentric wheel and the brake block to rotate together, and when the driving member stops rotating, the spring pushes the brake block to the braking position to prevent the eccentric wheel and the brake block from rotating together. A reducer, characterized in that it comprises: case; an internal gear, the internal gear being rotatably disposed at least partially within 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 with respect 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 arranged on the eccentric member so as to rotate together with the eccentric member, the brake member being movable between a braking position and a releasing position relative to the eccentric member, wherein in the radial direction of the eccentric member, the brake member is farther from the rotation axis of the eccentric member when it is located at the braking position than when it is located at the releasing position, or the brake member moves along the circumferential direction of the eccentric member and moves outward in the radial direction of the eccentric member when it moves from the releasing position toward the braking position, or the movement trajectory of the brake member when it moves from the releasing position toward the braking position is a spiral shape or a cam profile shape that gradually expands radially outward along the circumference of the eccentric member; an elastic member, the elastic member being connected to the eccentric member and the brake block and being used for pressing the brake block toward the braking position; A rotatable driving member, wherein 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 to the release position relative to the eccentric member so that the driving member drives the eccentric member and the braking member to rotate together, and when the driving member stops rotating, the elastic member pushes the braking member to the braking position to prevent the eccentric member and the braking member from rotating together. A joint module, characterized by comprising: A reducer, wherein the reducer is a reducer according to any one of claims 1 to 20; 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. The joint module according to claim 21 is characterized in that the motor is arranged outside the housing of the reducer. According to claim 21, the joint module is characterized in that the reducer is at least partially arranged inside the motor. According to claim 21, the joint module is characterized in that 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 connected to the stator seat, and the motor shaft is connected to the rotor seat and the driving member. According to claim 24, the joint module is characterized in that 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 part of the internal gear is rotatably supported in the through hole. A robotic arm, characterized in that it comprises a joint module according to any one of claims 21-25. A robot, characterized in that it comprises a joint module according to any one of claims 21-25. A production system, characterized in that it comprises the robotic arm according to claim 26 and/or the robot according to claim 27. An electric device, characterized in that it comprises a joint module according to any one of claims 21-25. The electric device according to claim 29 is characterized in that the electric device is an electric wheelchair or an electric bed.