Integrated joint module of self-adaptive cycloidal-pin wheel speed reducer

Abstract

The invention relates to a self-adaptive cycloidal-pin gear speed reducer integrated joint module which comprises a motor end assembly, a self-adaptive cycloidal-pin gear speed reducer and a joint output shaft. The output end of the motor end assembly is connected with the input end of the self-adaptive cycloidal-pin gear speed reducer; the joint output shaft is connected with the output end of the self-adaptive cycloidal-pin wheel speed reducer, and the self-adaptive cycloidal-pin wheel speed reducer comprises a self-adaptive floating disc assembly. The self-adaptive cycloidal-pin wheel speed reducer integrated joint module is compact in structure, can run in a self-adaptive mode, and can be used for bearing repeated impact, being complex in external environment and other application scenes, such as replacement of joint modules in various robot fields of industry, rescue, carrying and the like.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to an adaptive cycloid pinwheel reducer integrated joint module. Background Art

[0002] Industrial robots are still the mainstream in the fields of industrial manufacturing and services, but the rapid development of society has led to ever-changing demands for production, life, entertainment, medical care and services. Traditional industrial robots cannot meet these requirements in terms of structure, control and intelligence. People need lightweight, integrated and intelligent collaborative robots, and require robots to be safer when working with people.

[0003] The existing robot integrated joint module is usually composed of a harmonic reducer, a motor, a brake, a photoelectric encoder and a force sensor in simple series, and its axial dimension is relatively long. The flexible wheel in the harmonic reducer is a flexible component. It needs to transmit torque through repeated high-speed deformation, so its load capacity, life and dynamic performance are limited, and its motion accuracy will be significantly reduced with the increase of use time. The RV reducer is composed of a two-stage transmission, including a primary planetary structure and a secondary cycloid structure, which makes it impossible to miniaturize the joint module with the RV reducer. The traditional cycloid pinwheel reducer can overcome the shortcomings of the harmonic reducer in terms of load capacity and life, and can also achieve a small integrated module that the RV reducer cannot achieve. However, the collaborative robot constructed by the joint module is not only required to achieve instantaneous torque output when breaking the wall and stable load-holding ability during transportation, but also needs to complete flexible actions such as human life characteristics perception. The existing robot joint integrates components such as motors, reducers, encoders, and drivers into a compact space, but the reducers currently used in the integrated joint module are all rigid reducers, which are difficult to directly achieve flexible drive, limiting the overall performance of the robot. Although direct drive technology has emerged in the field of robotics in recent years, the coexistence of high speed and large torque has been achieved through power drive technology, which has improved the sensitivity, flexibility and working bandwidth of robot joints to a certain extent.

[0004] The Chinese invention patent with application number 202011151545.4 discloses a built-in robot integrated joint module, which is composed of a cycloidal pinwheel reducer, a brake, a photoelectric encoder, and an integrated circuit module and a motor in a parallel combination structure to realize the built-in robot integrated joint module. Its built-in structure increases the radial size of the joint module, but it is still difficult to meet the needs of instantaneous torque output, stable high-load motion, and smooth operation of collaborative robots. The statements in this section only provide background technical information related to the present invention and do not necessarily constitute prior art. Summary of the invention

[0005] In view of the above, it is necessary to provide an adaptive cycloid pinwheel reducer integrated joint module that can improve the transmission efficiency and transmission accuracy of the integrated joint.

[0006] To this end, the present invention provides an adaptive cycloidal pinwheel reducer integrated joint module, including a motor end assembly, an adaptive cycloidal pinwheel reducer and a joint output shaft, the output end of the motor end assembly is connected to the input end of the adaptive cycloidal pinwheel reducer, the joint output shaft is connected to the output end of the adaptive cycloidal pinwheel reducer, and the adaptive cycloidal pinwheel reducer includes an adaptive floating disk assembly.

[0007] According to the adaptive cycloid pinwheel reducer integrated joint module, the motor end assembly includes a joint housing and an integrated circuit board, an electromagnetic brake and a cabinetless torque motor respectively installed in the joint housing, the cabinetless torque motor includes a motor end input shaft, the adaptive cycloid pinwheel reducer includes a cycloid pinwheel reducer housing and a crankshaft, an input end flange, a cycloid wheel assembly and an output end flange installed in the cycloid pinwheel reducer housing, the motor end input shaft is fixedly connected to the crankshaft by a flat key, the output end flange is fixedly connected to the joint output shaft, and the adaptive floating disk assembly is respectively installed between the input end flange and the cycloid wheel assembly and between the output end flange and the cycloid wheel assembly.

[0008] According to the adaptive cycloidal pinwheel reducer integrated joint module, the cycloidal wheel assembly includes a first cycloidal wheel and a second cycloidal wheel, and the adaptive floating disk assembly includes a first floating disk and a second floating disk, the first floating disk is installed between the input end flange and the first cycloidal wheel, and the second floating disk is installed between the output end flange and the second cycloidal wheel.

[0009] According to the adaptive cycloid pinwheel reducer integrated joint module, needle rollers are respectively provided on both sides of the first floating disk and the second floating disk, and the first floating disk is movably connected to the input end flange and the first cycloid wheel through needle rollers, and the second floating disk is movably connected to the output end flange and the second cycloid wheel through needle rollers.

[0010] According to the adaptive cycloid pinwheel reducer integrated joint module, mounting grooves are respectively opened on both sides of the first floating disk and the second floating disk, and bosses adapted to the mounting grooves are respectively provided on the input end flange, the output end flange, the first cycloid wheel and the second cycloid wheel, and the needle rollers are respectively arranged on both sides of the mounting grooves.

[0011] According to the adaptive cycloid pinwheel reducer integrated joint module, the motor end component also includes a joint end cover, an output end encoder, a brake end cover, an input end encoder and a motor input shaft bearing end cover, the integrated circuit board is fixedly connected to the joint housing, the output end encoder is fixedly connected to the joint output shaft, the brake end cover is fixedly connected to the joint housing, the electromagnetic brake is fixedly connected to the brake end cover, and the input end encoder is fixedly connected to the motor end input shaft.

[0012] According to the adaptive cycloid pinwheel reducer integrated joint module, the cabinet-less torque motor also includes an outer motor stator and an inner motor rotor, the outer motor stator is fixedly connected to the joint housing, and the inner motor rotor is fixedly connected to the motor end input shaft.

[0013] According to the adaptive cycloid pinwheel reducer integrated joint module, the electromagnetic brake includes a brake stator and a brake rotor, the brake stator is fixedly mounted on the brake end cover, and the brake rotor is sleeved on the motor end input shaft.

[0014] According to the adaptive cycloid pinwheel reducer integrated joint module, the output end flange is provided with a pin shaft, the cycloid wheel assembly is provided with a pin hole, and the pin shaft passes through the pin hole and is fixedly connected to the input end flange.

[0015] According to the adaptive cycloid pinwheel reducer integrated joint module, the adaptive cycloid pinwheel reducer also includes a reducer end cover, and the reducer end cover is fixedly connected to the cycloid pinwheel reducer housing.

[0016] Compared with the prior art, the above-mentioned adaptive cycloidal pinwheel reducer integrated joint module combines the adaptive cycloidal pinwheel reducer, motor end assembly and joint output shaft into an integrated compact structure with high integration, small volume and hollow structure, which greatly improves the load-to-weight ratio of the integrated joint module and facilitates hollow wiring; the diameter of the needle wheel ring is large, the reduction ratio of the adaptive cycloidal pinwheel reducer is increased, and the floating disk structure of the adaptive cycloidal pinwheel reducer and the traditional pin column structure can greatly improve the transmission efficiency of the output end during movement. At the same time, in the case of certain manufacturing and installation errors, motion alignment can be performed to make the joint module run more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation method, the drawings required for use in the description of the implementation method will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of the adaptive cycloid pinwheel reducer integrated joint module of the present invention.

[0019] Figure 2 It is a side schematic diagram of the adaptive cycloid pinwheel reducer integrated joint module of the present invention.

[0020] Figure 3 yes Figure 2 AA section view.

[0021] Figure 4 yes Figure 2 BB section view.

[0022] Figure 5 It is a structural exploded view of the adaptive cycloid pinwheel reducer integrated joint module of the present invention.

[0023] Main component symbols

[0024] 1-motor end assembly; 2-adaptive cycloidal pinwheel reducer; 3-joint output shaft; 4-joint housing; 5-integrated circuit board; 6-electromagnetic brake; 7-motor end input shaft; 8-cycloidal pinwheel reducer housing; 9-crankshaft; 10-input end flange; 11-output end flange; 12-first cycloidal wheel; 13-second cycloidal wheel; 14-first floating plate; 15-second floating plate; 16-needle roller; 17-mounting groove; 18-boss; 19-needle tooth groove; 20-needle tooth; 21- Joint end cover; 22-output end encoder; 23-brake end cover; 24-input end encoder; 25-motor input shaft bearing end cover; 26-motor outer stator; 27-motor inner rotor; 28-pin shaft; 29-pin hole; 30-reducer end cover; 31-motor input shaft bearing; 32-cylindrical bearing; 33-joint input end bearing; 34-first input end flange bearing; 35-second input end flange bearing; 36-first output end flange bearing; 37-second output end flange bearing. The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0025] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present invention.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0027] In each embodiment, for the convenience of description and not to limit the present invention, the term "connection" used in the patent application specification and claims of the present invention is not limited to physical or mechanical connection, but may include electrical connection, whether direct or indirect. "Up", "down", "below", "left", "right", etc. are only used to indicate relative position relationship. When the absolute position of the described object changes, the relative position relationship also changes accordingly.

[0028] like Figures 1 to 5 As shown, an adaptive cycloid reducer integrated joint module includes a motor end assembly 1, an adaptive cycloid reducer 2 and a joint output shaft 3, wherein the output end of the motor end assembly 1 is connected to the input end of the adaptive cycloid reducer 2, the joint output shaft 3 is connected to the output end of the adaptive cycloid reducer 2, and the adaptive cycloid reducer 2 includes an adaptive floating disk assembly. The adaptive cycloid reducer 2, the brake, the photoelectric encoder, and the integrated circuit module are combined in series and parallel to realize the adaptive cycloid reducer integrated joint module, thereby improving the transmission efficiency and transmission accuracy.

[0029] The motor end assembly 1 includes a joint housing 4 and an integrated circuit board 5, an electromagnetic brake 6 and a non-cabinet torque motor respectively installed in the joint housing 4. The non-cabinet torque motor includes a motor end input shaft 7. The adaptive cycloid pinwheel reducer 2 includes a cycloid pinwheel reducer housing 8 and a crankshaft 9 installed in the cycloid pinwheel reducer housing 8, an input end flange 10, a cycloid wheel assembly and an output end flange 11. The motor end input shaft 7 is fixedly connected to the crankshaft 9 through a flat key, and the output end flange 11 is fixedly connected to the joint output shaft 3. Adaptive floating plate assemblies are respectively installed between the input end flange 10 and the cycloid wheel assembly and between the output end flange 11 and the cycloid wheel assembly. The left side of the crankshaft 9 is matched with a deep groove ball bearing, and the right side is matched with a tapered roller bearing, and the middle is matched with a cylindrical bearing 32.

[0030] The cycloidal wheel assembly includes a first cycloidal wheel 12 and a second cycloidal wheel 13 , and the adaptive floating disk assembly includes a first floating disk 14 and a second floating disk 15 . The first floating disk 14 is installed between the input end flange 10 and the first cycloidal wheel 12 , and the second floating disk 15 is installed between the output end flange 11 and the second cycloidal wheel 13 .

[0031] Needle rollers 16 are respectively arranged on both sides of the first floating plate 14 and the second floating plate 15. The first floating plate 14 is movably connected to the input end flange 10 and the first cycloidal wheel 12 through the needle rollers 16, and the second floating plate 15 is movably connected to the output end flange 11 and the second cycloidal wheel 13 through the needle rollers 16, which greatly reduces the influence of different axes caused by manufacturing and assembly.

[0032] The first floating plate 14 and the second floating plate 15 are provided with mounting grooves 17 on both sides, and bosses 18 matching the mounting grooves 17 are provided on the input end flange 10, the output end flange 11, the first cycloid wheel 12 and the second cycloid wheel 13, respectively. The needle rollers 16 are provided on both sides of the mounting grooves 17. The circumference of the central part of the inner circle of the housing 8 of the cycloid pinwheel reducer is provided with a plurality of pin-tooth grooves 19, and pin-tooth 20 is provided in each of the plurality of pin-tooth grooves 19 to form a pinwheel ring. The inner holes of the first cycloid wheel 12 and the second cycloid wheel 13 are interference fit with the outer ring of the cylindrical bearing 32, and the cycloid teeth of the outer rings of the first cycloid wheel 12 and the second cycloid wheel 13 mesh with the pin-tooth 20, and the pin-tooth 20 is installed in the pin-tooth groove 19 of the housing 8 of the cycloid pinwheel reducer. The number of needle teeth 20 is one more than the number of teeth of the first cycloidal wheel 12 and the second cycloidal wheel 13. When the multiple cycloidal teeth are meshed with the needle teeth 20 at the upper and lower ends of the needle wheel ring, the multiple cycloidal teeth are separated from the needle teeth 20 at the left and right ends of the needle wheel ring. The needle wheel ring diameter of the adaptive cycloidal pinwheel reducer integrated joint module is large and the number of needle teeth 20 is large. Therefore, the reduction ratio of the adaptive cycloidal pinwheel reducer 2 is very large. The inner hole of the output end flange 11 is installed with the first output end flange bearing 36, and the outer circle of the output end flange 11 is respectively installed with the second output end flange bearing 37. The inner hole and outer circle of the input end flange are respectively installed with the first input end flange bearing 34 and the second input end flange bearing 35. The outer rings of the first input end flange bearing 34 and the second input end flange bearing 35 are fixed with retaining rings.

[0033] The motor end assembly 1 also includes a joint end cover 21, an output end encoder 22, a brake end cover 23, an input end encoder 24 and a motor input shaft bearing end cover 25. The integrated circuit board 5 is fixedly connected to the joint housing 4, the output end encoder 22 is fixedly connected to the joint output shaft 3, the brake end cover 23 is fixedly connected to the joint housing 4, the electromagnetic brake 6 is fixedly connected to the brake end cover 23, and the input end encoder 24 is fixedly connected to the motor end input shaft 7.

[0034] The cabinet-less torque motor further includes an outer motor stator 26 and an inner motor rotor 27 . The outer motor stator 26 is fixedly connected to the joint housing 4 , and the inner motor rotor 27 is fixedly connected to the motor-end input shaft 7 .

[0035] The electromagnetic brake 6 comprises a brake stator and a brake rotor, wherein the brake stator is fixedly mounted on the brake end cover 23, and the brake rotor is sleeved on the motor end input shaft 7. The brushless motor control module and the signal acquisition module are fixed on the integrated circuit board 5 respectively.

[0036] The output end flange 11 is provided with a pin shaft 28, and the cycloid wheel assembly is provided with a pin hole 29, and the pin shaft 28 passes through the pin hole 29 and is fixedly connected to the input end flange 10. The pin shaft 28 of the output end flange 11 is fixedly connected to the input end flange 10 by bolts.

[0037] The adaptive cycloid pinwheel reducer 2 further includes a reducer end cover 30 , which is fixedly connected to the cycloid pinwheel reducer housing 8 .

[0038] The adaptive cycloid pinwheel reducer 2 adds an adaptive floating disc assembly on the basis of the traditional cycloid pinwheel reducer. The adaptive floating disc assembly of the adaptive cycloid pinwheel reducer integrated joint module is movably connected with the boss 18 of the first cycloid wheel 12, the boss 18 of the second cycloid wheel 13, the boss 18 of the output end flange 11, and the boss of the input end flange 10 through the needle roller 16. The adaptive floating disc can perform reciprocating linear motion relative to the output end flange 11 in the vertical direction, and the cycloid wheel assembly can perform reciprocating linear motion relative to the cross groove disc in the horizontal direction. The linear motion in the vertical and horizontal directions is synthesized, and the planetary motion of the cycloid wheel assembly can be transmitted to the output end flange 11 of the adaptive cycloid pinwheel reducer 2 at a constant angular velocity, and then transmitted to the joint output shaft 3. The adaptive cycloid pinwheel reducer integrated joint module constituted by the reducer can not only overcome the disadvantage that the motion ability of the harmonic reducer integrated module is significantly reduced with the increase of use time, but also increase the load capacity and life of the integrated module. At the same time, it meets the demand that the RV reducer integrated module cannot be miniaturized and the shortcomings of the traditional cycloid pinwheel reducer with fully rigid connection. The adaptive floating disc assembly can perform adaptive centering movement on the joint integrated module in some cases of large external impact and large manufacturing and installation errors, ensuring the smooth operation and high precision of the joint module. In addition, the adaptive floating disc assembly has a certain flexible activity space that can provide a certain buffer to protect the joint integrated module when the external load increases instantaneously. In order to control the robot, wiring is required. Existing robots generally use external wiring, which is relatively messy and poses a safety hazard. The adaptive cycloid pinwheel reducer integrated module reserves hollow wiring to make joint wiring easier.

[0039] As a preferred embodiment, the joint housing 4 is a stepped hole structure, which is fixedly connected to the joint end cover 21, the integrated circuit board 5, the brake end cover 23, and the motor input shaft bearing end cover 25 by bolts, and its large hollow structure reduces the weight of the joint itself; in this embodiment, the brushless motor outer stator 26 is installed on the inner wall of the joint housing 4, the motor input shaft bearing end cover 25 and the brake end cover 23 are made of 40Cr material, which can effectively shield the magnetic field of the brushless torque motor from the input end encoder 24 and the output end encoder 22; and the joint input end bearing 33 is a bearing with a sealing cover, which can also effectively prevent the dust generated when the brake works for a long time from affecting the output end encoder 22, and the right end of the joint housing 4 is fixedly connected to the adaptive cycloid pinwheel reducer housing 8 by bolts.

[0040] The adaptive cycloid pinwheel reducer 2 is arranged at the right end of the joint housing 4, and has a coaxially arranged crankshaft 9 and a joint output shaft 3 on the adaptive cycloid pinwheel reducer 2. The crankshaft 9 is connected to the motor end input shaft 7 by a flat key, and the joint output shaft 3 extends to the left into the joint housing 4, and the joint output shaft 3 is a large hollow structure with reserved wiring space; in this embodiment, the joint output shaft 3 extends into the joint input end bearing 33 and cooperates with the joint input end bearing 33.

[0041] The brushless torque motor is arranged in the joint housing 4, the outer stator 26 of the motor is fixed to the inner wall of the joint housing 4, and the inner rotor 27 of the motor is arranged on the motor end input shaft 7 and corresponds to the position of the outer stator 26 of the motor, so that during installation, it is only necessary to install the adaptive cycloid pinwheel reducer housing 8 on the joint housing 4 and connect the crankshaft 9 with the motor end input shaft 7 through a flat key. The overall structure is more integrated, the installation process is simpler, and disassembly and maintenance are also more convenient.

[0042] The center hole of the electromagnetic brake 6 is provided with a brake pin, and the upper end is provided with a spring hole, which corresponds to the center hole of the electromagnetic brake 6. A spring is provided in the spring hole, and the lower end of the spring is pressed on the brake pin. The brake gear ring is installed on the outer circle of the left end of the input shaft 7 at the motor end, and the lower end of the brake pin is pressed on the teeth of the brake gear ring. The brake pin presses on the teeth to act as a brake. When the electromagnetic brake generates suction, the brake pin retracts and breaks contact with the teeth, and the rotor 27 inside the motor rotates normally.

[0043] The input end encoder 24 is connected to the motor end input shaft 7 by bolts; in this embodiment, the input end encoder 24 is matched with the motor end input shaft 7 by bolt connection. The output end encoder 22 is sleeved on the joint output shaft 3.

[0044] The integrated circuit board 5 includes a brushless motor control module and a signal acquisition module, the two modules are fixed on the integrated circuit board 5, the brushless motor control module is connected to the motor external stator 26, the signal acquisition module is connected to the output end encoder 22 and the input end encoder 24, and the connecting wire harness passes through the hollow hole of the end cover.

[0045] The adaptive cycloid pinwheel reducer 2 has an adaptive floating plate assembly compared to the traditional cycloid reducer. The first floating plate 14 and the second floating plate 15 are movably connected to the bosses 18 of the input end flange 10 and the output end flange 11 and the bosses 18 of the first cycloid wheel 12 and the second cycloid wheel 13 through the needle roller 16. The bosses 18 of the output end flange 11 and the bosses 18 on the first cycloid wheel 12 and the second cycloid wheel are respectively placed in the vertical and horizontal mounting grooves 17 of the first floating plate 14 and the second floating plate 15 during assembly. The two sides of each boss 18 are respectively connected to the first floating plate 14 and the second floating plate 15. Needle rollers 16 are installed between the grooves of the moving plate 15 to limit the relative movement direction of the first floating plate 14 and the second floating plate 15. The first floating plate 14 and the second floating plate 15 can perform reciprocating linear motion relative to the output end flange 11 in the vertical direction, while the first cycloid wheel 12 and the second cycloid wheel 13 can perform reciprocating linear motion relative to the cross groove disc in the horizontal direction. The linear motions in the vertical and horizontal directions are synthesized, and the planetary motions of the first cycloid wheel 12 and the second cycloid wheel 13 can be transmitted to the output end flange 11 of the adaptive cycloid pinwheel reducer at a constant angular velocity, and then transmitted to the joint output shaft 3. When the different axes caused by processing errors and assembly errors occur, the adaptive cycloid pinwheel reducer can automatically align the center, which greatly improves the transmission efficiency and transmission accuracy of the cycloid pinwheel reducer integrated joint module.

[0046] In the several specific embodiments provided by the present invention, it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0047] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. An adaptive cycloid pinwheel reducer integrated joint module, characterized in that: It includes a motor end assembly, an adaptive cycloid pinwheel reducer and a joint output shaft. The output end of the motor end assembly is connected to the input end of the adaptive cycloid pinwheel reducer, the joint output shaft is connected to the output end of the adaptive cycloid pinwheel reducer, and the adaptive cycloid pinwheel reducer includes an adaptive floating disk assembly.

2. The adaptive cycloid pinwheel reducer integrated joint module according to claim 1, characterized in that: The motor end assembly includes a joint housing and an integrated circuit board, an electromagnetic brake and a cabinet-less torque motor respectively installed in the joint housing; the cabinet-less torque motor includes a motor end input shaft; the adaptive cycloid pinwheel reducer includes a cycloid pinwheel reducer housing and a crankshaft, an input end flange, a cycloid wheel assembly and an output end flange installed in the cycloid pinwheel reducer housing; the motor end input shaft is fixedly connected to the crankshaft via a flat key; the output end flange is fixedly connected to the joint output shaft; the adaptive floating disk assembly is respectively installed between the input end flange and the cycloid wheel assembly and between the output end flange and the cycloid wheel assembly.

3. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The cycloidal wheel assembly includes a first cycloidal wheel and a second cycloidal wheel, and the adaptive floating disk assembly includes a first floating disk and a second floating disk, the first floating disk is installed between the input end flange and the first cycloidal wheel, and the second floating disk is installed between the output end flange and the second cycloidal wheel.

4. The adaptive cycloid pinwheel reducer integrated joint module according to claim 3, characterized in that: Needle rollers are respectively arranged on both sides of the first floating plate and the second floating plate, and the first floating plate is movably connected to the input end flange and the first cycloidal wheel through the needle rollers, and the second floating plate is movably connected to the output end flange and the second cycloidal wheel through the needle rollers.

5. The adaptive cycloid pinwheel reducer integrated joint module according to claim 4, characterized in that: The first floating plate and the second floating plate are respectively provided with mounting grooves on both sides, the input end flange, the output end flange, the first cycloid wheel and the second cycloid wheel are respectively provided with bosses adapted to the mounting grooves, and the needle rollers are respectively arranged on both sides of the mounting grooves.

6. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The motor end assembly also includes a joint end cover, an output end encoder, a brake end cover, an input end encoder and a motor input shaft bearing end cover. The integrated circuit board is fixedly connected to the joint housing, the output end encoder is fixedly connected to the joint output shaft, the brake end cover is fixedly connected to the joint housing, the electromagnetic brake is fixedly connected to the brake end cover, and the input end encoder is fixedly connected to the motor end input shaft.

7. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The cabinet-less torque motor further comprises an outer motor stator and an inner motor rotor. The outer motor stator is fixedly connected to the joint housing, and the inner motor rotor is fixedly connected to the motor-end input shaft.

8. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The electromagnetic brake comprises a brake stator and a brake rotor. The brake stator is fixedly mounted on the brake end cover, and the brake rotor is sleeved on the motor end input shaft.

9. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The output end flange is provided with a pin shaft, the cycloid wheel assembly is provided with a pin hole, and the pin shaft passes through the pin hole and is fixedly connected to the input end flange.

10. The adaptive cycloid pinwheel reducer integrated joint module according to claim 2, characterized in that: The adaptive cycloid pinwheel reducer also includes a reducer end cover, and the reducer end cover is fixedly connected to the cycloid pinwheel reducer housing.

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