This invention discloses an integrated double-cycloidal pinwheel joint module and
robot. The module includes a motor input module, an eccentric transmission module, an output module, a pin tooth fixing module, a housing, a driver, and an
encoder. The motor input module uses a frameless
torque motor as the power input, with its rotor fixedly connected to the motor input component. The eccentric transmission module includes an eccentric shaft and a cycloidal wheel, forming a cycloidal pinwheel reduction mechanism. The output module is equipped with a magnetic ring. The pin tooth fixing module is fixedly connected to the motor
stator and has pin teeth installed. The core structure of the
reducer, composed of the eccentric transmission module, the output module, and the pin tooth fixing module, is built into the
stator of the frameless
torque motor, greatly compressing the axial space. The magnetic ring and the first
encoder are spaced apart from the motor rotor, allowing
direct reading of output data. A custom-made flexible flat cable connects the motor and the driver, resulting in a thin profile and small space occupation. This invention has the advantages of compact structure, high integration,
high transmission accuracy, high rigidity, and long service life.