Adaptive cycloidal reducer integrated joint module

Abstract

The application relates to a self-adaptive cycloid pin wheel reducer integrated joint module, which comprises a motor end assembly, a self-adaptive cycloid pin wheel reducer and a joint output shaft, the output end of the motor end assembly is connected with the input end of the self-adaptive cycloid pin wheel reducer, the joint output shaft is connected with the output end of the self-adaptive cycloid pin wheel reducer, and the self-adaptive cycloid pin wheel reducer comprises a self-adaptive floating disc assembly. The self-adaptive cycloid pin wheel reducer integrated joint module has the advantages of compact structure, self-adaptive operation, and can be used in application scenes of bearing repeated impact and complex external environment, such as replacement of joint modules in various robot fields, such as industry, rescue and carrying.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an adaptive cycloidal pinwheel reducer integrated joint module. Background Technology

[0002] Industrial robots remain the mainstream in industrial manufacturing and service sectors, but rapid social development has led to ever-evolving demands for production, daily life, entertainment, healthcare, and services. Traditional industrial robots, in terms of structure, control, and intelligence, cannot meet these requirements. People need lightweight, integrated, and intelligent collaborative robots, and require greater safety when robots work in collaboration with humans.

[0003] Existing integrated robot joint modules typically consist of a harmonic reducer, motor, brake, photoelectric encoder, and force sensor connected in simple series, resulting in a relatively long axial dimension. The flexspline in the harmonic reducer is a flexible component that requires repeated high-speed deformation to transmit torque, thus limiting its load-bearing capacity, lifespan, and dynamic performance. Furthermore, its motion accuracy decreases significantly with prolonged use. RV reducers, composed of a two-stage transmission system (a planetary structure and a cycloidal structure), prevent the miniaturization of joint modules with RV reducers. Traditional cycloidal pinwheel reducers can overcome the limitations of harmonic reducers in terms of load-bearing capacity and lifespan, and can achieve the miniaturized integration required by RV reducers. However, collaborative robots built from joint modules not only require instantaneous torque output during wall breaking and stable load-bearing capacity during transport, but also need to perform compliant movements such as sensing human vital signs. Existing robot joints integrate components such as motors, reducers, encoders, and drivers into a compact space; however, the reducers currently used in integrated joint modules are all rigid reducers, making it difficult to directly achieve flexible actuation and limiting the overall performance of the robot. Although direct drive technology has emerged in the field of robotics in recent years, it has achieved the coexistence of high speed and large torque through power drive technology, which has improved the sensitivity, compliance and working bandwidth of robot joints to a certain extent.

[0004] Chinese invention patent application number 202011151545.4 discloses a built-in integrated robot joint module. It consists of a cycloidal pinwheel reducer, a brake, a photoelectric encoder, and an integrated circuit module, combined with a motor in parallel to form the built-in integrated robot joint module. While the built-in structure increases the radial dimension of the joint module, it still struggles to meet the requirements of collaborative robots for instantaneous torque output, stable high-load movement, and compliant operation. The statements in this section are merely background information related to this 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 cycloidal pinwheel reducer integrated joint module that can improve the efficiency and accuracy of integrated joint transmission.

[0006] To address this, the present invention provides an integrated joint module for an adaptive cycloidal pinwheel reducer, comprising 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, and the joint output shaft is connected to the output end of the adaptive cycloidal pinwheel reducer. The adaptive cycloidal pinwheel reducer includes an adaptive floating disk assembly.

[0007] According to the aforementioned adaptive cycloidal 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 cycloidal pinwheel reducer includes a cycloidal pinwheel reducer housing and a crankshaft, an input end flange, a cycloidal wheel assembly, and an output end flange installed in the cycloidal pinwheel reducer housing. The motor end input shaft is fixedly connected to the crankshaft by a flat key, and the output end flange is fixedly connected to the joint output shaft. The adaptive floating disk assembly is installed between the input end flange and the cycloidal wheel assembly and between the output end flange and the cycloidal wheel assembly, respectively.

[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 flange and the first cycloidal wheel, and the second floating disk is installed between the output flange and the second cycloidal wheel.

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

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

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

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

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

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

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

[0016] Compared to existing technologies, the aforementioned adaptive cycloidal pinwheel reducer integrated joint module combines the adaptive cycloidal pinwheel reducer, motor end assembly, and joint output shaft into a compact, integrated structure. Its high integration, small size, and hollow structure significantly improve the load-to-weight ratio of the integrated joint module and facilitate hollow cable routing. The large diameter of the pinwheel ring increases the reduction ratio of the adaptive cycloidal pinwheel reducer. The floating disc structure of the adaptive cycloidal pinwheel reducer, compared to the traditional pin structure, greatly improves the transmission efficiency at the output end during operation. Furthermore, even with certain manufacturing and installation errors, motion self-alignment allows for more stable operation of the joint module. Attached Figure Description

[0017] To more clearly illustrate the specific implementation methods, the accompanying drawings used in the description of the implementation methods will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the integrated joint module of the adaptive cycloidal pinwheel reducer of the present invention.

[0019] Figure 2 This is a side view of the integrated joint module of the adaptive cycloidal pinwheel reducer of the present invention.

[0020] Figure 3 yes Figure 2 A sectional view along line AA.

[0021] Figure 4 yes Figure 2 BB-direction sectional view.

[0022] Figure 5 This is an exploded view of the integrated joint module of the adaptive cycloidal pinwheel reducer of the present invention.

[0023] Explanation of 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 flange; 11-Output flange; 12-First cycloidal wheel; 13-Second cycloidal wheel; 14-First floating disc; 15-Second floating disc; 16-Needle roller; 17-Mounting groove; 18-Boss; 19-Needle tooth groove; 20-Needle tooth; 21- 21-Joint end cover; 22-Output encoder; 23-Brake end cover; 24-Input 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-Spherical 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 detailed embodiments will further illustrate the present invention in conjunction with the above-described drawings. Detailed Implementation

[0025] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. Many specific details are set forth in the following description to provide a thorough understanding of the present invention; the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort 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 commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0027] In various embodiments, for ease of description and not limitation of the invention, the term "connection" used in the patent application specification and claims is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "below," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0028] like Figures 1 to 5 As shown, an adaptive cycloidal pinwheel reducer integrated joint module includes a motor end assembly 1, an adaptive cycloidal pinwheel reducer 2, and a joint output shaft 3. The output end of the motor end assembly 1 is connected to the input end of the adaptive cycloidal pinwheel reducer 2, and the joint output shaft 3 is connected to the output end of the adaptive cycloidal pinwheel reducer 2. The adaptive cycloidal pinwheel reducer 2 includes an adaptive floating disk assembly. The adaptive cycloidal pinwheel reducer 2, brake, photoelectric encoder, and integrated circuit module are combined in a series-parallel structure to realize the adaptive cycloidal pinwheel reducer integrated joint module, improving 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 cabinetless torque motor respectively installed within the joint housing 4. The cabinetless torque motor includes a motor-end input shaft 7. The adaptive cycloidal pinwheel reducer 2 includes a cycloidal pinwheel reducer housing 8 and a crankshaft 9, an input flange 10, a cycloidal wheel assembly, and an output flange 11 installed within the cycloidal pinwheel reducer housing 8. The motor-end input shaft 7 is fixedly connected to the crankshaft 9 by a flat key, and the output flange 11 is fixedly connected to the joint output shaft 3. Adaptive floating disk assemblies are installed between the input flange 10 and the cycloidal wheel assembly, and between the output flange 11 and the cycloidal wheel assembly, respectively. The left side of the crankshaft 9 is fitted with a deep groove ball bearing, the right side with a tapered roller bearing, and the middle 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 flange 10 and the first cycloidal wheel 12, and the second floating disk 15 is installed between the output flange 11 and the second cycloidal wheel 13.

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

[0032] Mounting grooves 17 are respectively provided on both sides of the first floating disk 14 and the second floating disk 15. The input flange 10, the output flange 11, the first cycloidal wheel 12, and the second cycloidal wheel 13 are respectively provided with bosses 18 that are adapted to the mounting grooves 17. Needle rollers 16 are respectively provided on both sides of the mounting grooves 17. Multiple needle tooth grooves 19 are provided on the circumference of the inner circle of the cycloidal pinwheel reducer housing 8. Each of the multiple needle tooth grooves 19 contains needle teeth 20, forming a pinwheel ring. The inner holes of the first cycloidal wheel 12 and the second cycloidal wheel 13 are interference-fitted with the outer ring of the cylindrical bearing 32. The cycloidal teeth on the outer rings of the first cycloidal wheel 12 and the second cycloidal wheel 13 mesh with the needle teeth 20, which are mounted in the needle tooth grooves 19 of the cycloidal pinwheel reducer housing 8. The number of pin teeth 20 is one more than the number of teeth on the first cycloidal wheel 12 and the second cycloidal wheel 13. When multiple cycloidal teeth mesh with the pin teeth 20 at the upper and lower ends of the pin wheel ring, multiple cycloidal teeth separate from the pin teeth 20 at the left and right ends of the pin wheel ring. The pin wheel ring of the adaptive cycloidal pin wheel reducer integrated joint module has a large diameter and more pin teeth 20, so the reduction ratio of the adaptive cycloidal pin wheel reducer 2 is very large. The inner hole of the output flange 11 is equipped with a first output flange bearing 36, and the outer circle of the output flange 11 is equipped with a second output flange bearing 37. The inner hole and outer circle of the input flange are equipped with a first input flange bearing 34 and a second input flange bearing 35, respectively. The outer rings of the first input flange bearing 34 and the second input flange bearing 35 are fixed with retaining rings through holes.

[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 cabinetless torque motor also includes an outer stator 26 and an inner rotor 27. The outer stator 26 is fixedly connected to the joint housing 4, and the inner rotor 27 is fixedly connected to the input shaft 7 at the motor end.

[0035] The electromagnetic brake 6 includes a brake stator and a brake rotor. 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 signal acquisition module are respectively fixed on the integrated circuit board 5.

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

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

[0038] The adaptive cycloidal pinwheel reducer 2 adds an adaptive floating disk assembly to the traditional cycloidal pinwheel reducer. The adaptive floating disk assembly of the integrated joint module of the adaptive cycloidal pinwheel reducer is movably connected via needle rollers 16 to the bosses 18 of the first cycloidal wheel 12, the second cycloidal wheel 13, the output flange 11, and the input flange 10, respectively. The adaptive floating disk can reciprocate linearly relative to the output flange 11 in the vertical direction, while the cycloidal wheel assembly can reciprocate linearly relative to the cross-grooved disk in the horizontal direction. By combining the vertical and horizontal linear motions, the planetary motion of the cycloidal wheel assembly can be transmitted at a constant angular velocity to the output flange 11 of the adaptive cycloidal pinwheel reducer 2, and then to the joint output shaft 3. This reducer, forming an adaptive cycloidal pinwheel reducer integrated joint module, not only overcomes the disadvantage of the significant decrease in motion capability of harmonic reducer integrated modules with increasing usage time, but also increases the load capacity and lifespan of the integrated module. This design simultaneously addresses the limitations of miniaturization in RV reducer integrated modules and overcomes the rigid connection drawbacks of traditional cycloidal pinwheel reducers. The adaptive floating disk assembly can adaptively align the joint integrated module under conditions of significant external impact and manufacturing / installation errors, ensuring smooth operation and high precision. Furthermore, the adaptive floating disk assembly provides a degree of flexibility to buffer and protect the joint integrated module from sudden increases in external load. For robot control, wiring is necessary; existing robots typically use external wiring, which is messy and poses safety hazards. This adaptive cycloidal pinwheel reducer integrated module features pre-installed hollow wiring, simplifying joint wiring.

[0039] In a preferred embodiment, the joint housing 4 has a stepped hole structure and is fixedly connected to the joint end cover 21, integrated circuit board 5, brake end cover 23, and motor input shaft bearing end cover 25 by bolts. Its large hollow structure reduces the weight of the joint. 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 brake end cover 23 are made of 40Cr material, which can effectively shield the magnetic field of the brushless torque motor from the influence of the input encoder 24 and the output encoder 22. In addition, the joint input bearing 33 is a bearing with a sealing cover, which can also effectively prevent the dust generated during the long-term operation of the brake from affecting the output encoder 22. The right end of the joint housing 4 is fixedly connected to the adaptive cycloidal pinwheel reducer housing 8 by bolts.

[0040] The adaptive cycloidal pinwheel reducer 2 is located at the right end of the joint housing 4. The adaptive cycloidal pinwheel reducer 2 has a crankshaft 9 and a joint output shaft 3 arranged coaxially. The crankshaft 9 is connected to the motor end input shaft 7 by a flat key. The joint output shaft 3 extends to the left into the joint housing 4, and the joint output shaft 3 has a large hollow structure to reserve space for wiring. 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 housed in the joint housing 4. The outer stator 26 of the motor is fixed to the inner wall of the joint housing 4. The inner rotor 27 of the motor is mounted on the input shaft 7 at the motor end and corresponds to the position of the outer stator 26. This makes it possible to install the adaptive cycloidal pinwheel reducer housing 8 on the joint housing 4 and connect the crankshaft 9 to the input shaft 7 at the motor end via a flat key. The overall structure is more integrated, the installation process is simpler, and disassembly and maintenance are more convenient.

[0042] The electromagnetic brake 6 has a brake pin in its center hole and a spring hole at its upper end. The spring hole corresponds to the center hole of the electromagnetic brake 6. A spring is installed in the spring hole, and the lower end of the spring presses against the brake pin. A brake gear ring is installed on the outer circle of the left end of the motor input shaft 7. The lower end of the brake pin presses against the teeth of the brake gear ring. The brake pin presses against the teeth to play a braking role. When the electromagnetic brake generates a suction force, the brake pin retracts and disengages from the teeth, and the rotor 27 inside the motor rotates normally.

[0043] The input encoder 24 is bolted to the motor input shaft 7; in this embodiment, the input encoder 24 is bolted to the motor input shaft 7. The output encoder 22 is mounted 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 outer stator 26 of the motor, and the signal acquisition module is connected to the output encoder 22 and the input encoder 24. The connecting wires pass through the hollow hole in the end cover.

[0045] The adaptive cycloidal pinwheel reducer 2 adds an adaptive floating disk assembly compared to the traditional cycloidal reducer. The first floating disk 14 and the second floating disk 15 are movably connected to the bosses 18 of the input flange 10 and the output flange 11, and the bosses 18 of the first cycloidal wheel 12 and the second cycloidal wheel 13, respectively, via needle rollers 16. During assembly, the bosses 18 of the output flange 11 and the bosses 18 on the first cycloidal wheel 12 and the second cycloidal wheel are respectively placed in the vertical and horizontal mounting slots 17 of the first floating disk 14 and the second floating disk 15. Each boss 18 is connected to the first floating disk 14 and the second floating disk 15 on both sides. Needle rollers 16 are installed in the slots of the moving disc 15 to limit the relative motion direction of the first floating disc 14 and the second floating disc 15. The first floating disc 14 and the second floating disc 15 can reciprocate linearly relative to the output flange 11 in the vertical direction, while the first cycloidal wheel 12 and the second cycloidal wheel 13 can reciprocate linearly relative to the cross-grooved disc in the horizontal direction. By combining the vertical and horizontal linear motions, the planetary motion of the first cycloidal wheel 12 and the second cycloidal wheel 13 can be transmitted to the output flange 11 of the adaptive cycloidal pinwheel reducer at a constant angular velocity, and thus to the joint output shaft 3. When different shafts occur due to machining errors and assembly errors, the adaptive cycloidal pinwheel reducer can automatically align itself, greatly improving the transmission efficiency and transmission accuracy of the integrated joint module of the cycloidal pinwheel reducer.

[0046] In the several specific embodiments provided in this invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. Furthermore, it is clear that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. Terms such as "first," "second," etc., are used to denote names and do not indicate any particular order.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the present invention should not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. An integrated joint module for an adaptive cycloidal pinwheel reducer, characterized in that, The device includes 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, and the joint output shaft is connected to the output end of the adaptive cycloidal pinwheel reducer. The adaptive cycloidal pinwheel reducer includes an adaptive floating disk assembly. 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 cycloidal pinwheel reducer includes a cycloidal pinwheel reducer housing and a crankshaft, an input end flange, a cycloidal wheel assembly, and an output end flange installed in the cycloidal pinwheel reducer housing. The motor end input shaft is fixedly connected to the crankshaft by a flat key, and the output end flange is fixedly connected to the joint output shaft. The adaptive floating disk assembly is installed between the input end flange and the cycloidal wheel assembly and between the output end flange and the cycloidal wheel assembly, respectively. 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 flange and the first cycloidal wheel, and the second floating disk is installed between the output flange and the second cycloidal wheel.

2. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 1, characterized in that, The first floating disk and the second floating disk are respectively provided with needle rollers on both sides. The first floating disk is movably connected to the input end flange and the first cycloidal wheel through the needle rollers, and the second floating disk is movably connected to the output end flange and the second cycloidal wheel through the needle rollers.

3. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 2, characterized in that, The first floating disk and the second floating disk are respectively provided with mounting grooves on both sides. The input end flange, the output end flange, the first cycloidal wheel and the second cycloidal wheel are respectively provided with bosses that are adapted to the mounting grooves. The needle rollers are respectively provided on both sides of the mounting grooves.

4. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 1, characterized in that, The motor end assembly also includes a joint end cover, an output encoder, a brake end cover, an input encoder, and a motor input shaft bearing end cover. The integrated circuit board is fixedly connected to the joint housing, the output 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 encoder is fixedly connected to the motor input shaft.

5. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 1, characterized in that, The cabinetless torque motor also includes an outer stator and an inner rotor. The outer stator is fixedly connected to the joint housing, and the inner rotor is fixedly connected to the motor end input shaft.

6. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 4, characterized in that, 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.

7. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 1, characterized in that, The output flange is provided with a pin, and the cycloidal wheel assembly has a pin hole. The pin passes through the pin hole and is fixedly connected to the input flange.

8. The adaptive cycloidal pinwheel reducer integrated joint module as described in claim 1, characterized in that, The adaptive cycloidal pinwheel reducer also includes a reducer end cover, which is fixedly connected to the cycloidal pinwheel reducer housing.

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