Compact heavy-load cycloid oscillating tooth joint module

Abstract

The invention relates to a compact heavy-load cycloid oscillating tooth joint module which comprises a frameless torque motor, a joint shell, an eccentric shaft, a reverse cycloid wheel, a forward shock wave wheel, a middle connecting shaft, an epicycloid gear transmission system and a hypocycloid oscillating tooth transmission system. The frameless torque motor is installed in the joint shell, the output end of the frameless torque motor transmits torque to the eccentric shaft, the eccentric shaft drives the reverse cycloidal gear to rotate, and the reverse cycloidal gear and the forward shock wave wheel are connected through a middle connecting shaft and rotate in the same direction. Torque generated by the epicycloid gear transmission system is transmitted to the hypocycloid oscillating tooth transmission system, and the hypocycloid oscillating tooth transmission system outputs torque after speed reduction. The invention has the advantages of high precision, high rigidity, high bearing capacity, small volume, small back clearance and the like, can be used for application scenes with small installation space and heavy load requirements, and is particularly suitable for a small-volume heavy-load joint module of a collaborative robot.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a compact heavy-load cycloid movable tooth joint module. Background Art

[0002] Collaborative robots are a major direction of robot development and an important component of human-machine collaborative operations. Collaborative robots generally adopt modular design, and integrated joint modules are their most important modules. The versatility, stability and structural size of integrated joint modules greatly affect the performance and application areas of collaborative robots. As an integrated joint module that is the core component of the power and transmission system of the robotic arm, the robotic arm constructed by the joint module not only requires high precision and low backlash retention during operation, but also needs to complete large-load movements. Conventional small joint modules are composed of motors, harmonic reducers or motors, cycloid pinwheel reducers. In the case of small volume and large speed ratio, in order to avoid meshing interference, the cycloid pin teeth, harmonic steel, and flexible wheel teeth are very small, and are easy to bend and break under heavy load, which limits the power, torque and stiffness transmitted by the reducer, and cannot meet the needs of assisting robots for large torque, high power, high stiffness, low backlash and small volume joint modules.

[0003] A collaborative robot is a robotic system that simulates human movement behavior. The integrated joint module is the driving component of the collaborative robot, which is usually driven by hydraulics or motors. However, when collaborative robots using existing drive joints perform "high-burst" movements such as running and jumping, there is still a large gap between them and the human prototype. The insufficient torque output of the small-volume integrated joint module seriously restricts the robot's movement performance. Summary of the invention

[0004] In view of the above, it is necessary to provide a compact heavy-load cycloid movable tooth joint module with high precision, high rigidity, high load-bearing capacity and small size.

[0005] To this end, the present invention provides a compact heavy-duty cycloid movable tooth joint module, including a frameless torque motor, a joint housing, an eccentric shaft, a reverse cycloid wheel, a forward shock wheel, an intermediate connecting shaft, an outer cycloid gear transmission system and an inner cycloid movable tooth transmission system;

[0006] The frameless torque motor is installed in the joint housing, and the output end of the frameless torque motor transmits torque to the eccentric shaft. The eccentric shaft drives the reverse cycloid wheel to rotate. The reverse cycloid wheel is connected with the forward shock wave wheel through an intermediate connecting shaft and rotates in the same direction. The torque generated by the epicycloid gear transmission system is transmitted to the hypocycloid movable tooth transmission system, and the hypocycloid movable tooth transmission system outputs torque after deceleration.

[0007] According to the compact heavy-loaded cycloid movable tooth joint module, the compact heavy-loaded cycloid movable tooth joint module includes a frameless torque motor, a joint housing, a reducer input end flange, a pin gear housing support bearing, a pin gear housing, pin teeth, a reverse cycloid wheel, an intermediate U-shaped movable tooth groove, a forward shock wheel, an eccentric bearing, an inner cycloid output flange, an inner cycloid output flange support bearing, a right U-shaped movable tooth groove, an eccentric shaft, an eccentric shaft input end support bearing, a cycloid movable tooth, a joint output end end cover and an intermediate connecting shaft;

[0008] The reducer input end flange, pin gear housing support bearing, pin gear housing, pin gear, reverse cycloid wheel, eccentric shaft and eccentric shaft input end support bearing constitute the epicycloid gear transmission system;

[0009] The intermediate connecting shaft, the intermediate U-shaped movable tooth groove, the forward shock wave wheel, the eccentric bearing, the hypocycloid output flange, the hypocycloid output flange support bearing, the right U-shaped movable tooth groove, the eccentric shaft and the cycloid movable teeth constitute the hypocycloid movable tooth transmission system;

[0010] The left end of the intermediate connecting shaft is fixedly connected to the reducer input end flange by bolts, and the right end of the intermediate connecting shaft is interference fit with the right U-shaped movable tooth groove. The intermediate U-shaped movable tooth groove and the forward shock wave wheel are installed between the reducer input end flange and the right U-shaped movable tooth groove; the two ends of the cycloid movable tooth roll up and down on the intermediate U-shaped movable tooth groove and the right U-shaped movable tooth groove respectively, and mesh with the inner tooth profile of the inner cycloid output flange.

[0011] According to the compact heavy-loaded cycloid movable tooth joint module, the frameless torque motor includes a motor output shaft, a motor output shaft support bearing, a joint motor end cover, a drive plate assembly, a motor outer rotor, and a motor inner rotor; the motor inner rotor and the motor output shaft are connected via a flat key to transmit torque, and the motor output shaft and the eccentric shaft are connected via a flat key.

[0012] According to the compact heavy-load cycloid movable tooth joint module, a TMC4671 control chip is installed on the drive board assembly.

[0013] According to the compact heavy-load cycloid movable tooth joint module, the outer rotor of the motor is fixedly connected to the inner wall of the joint housing, and the motor output shaft is connected to the joint motor end cover via a motor output shaft support bearing.

[0014] According to the compact heavy-load cycloid movable tooth joint module, the joint housing is connected to the robot joint body.

[0015] According to the compact heavy-load cycloid movable tooth joint module, an arc-shaped groove is provided on the outer surface of the joint housing.

[0016] According to the compact heavy-loaded cycloid movable tooth joint module, the combined motion of the intermediate connecting shaft and the eccentric shaft acts on the forward shock wave wheel; the cycloid movable teeth roll on the forward shock wave wheel and mesh with the inner tooth profile of the inner cycloid output flange to transmit torque, and the inner cycloid output flange outputs torque.

[0017] According to the compact heavy-loaded cycloid movable tooth joint module, the reverse cycloid wheel and the forward shock wave wheel are composed of a plurality of cycloid wheels and a plurality of shock wave wheels.

[0018] According to the compact heavy-loaded cycloid movable tooth joint module, the needle tooth housing and the joint housing are connected by bolts, the eccentric shaft drives the reverse cycloid wheel to rotate through the eccentric bearing, and the needle teeth in the tooth grooves of the needle tooth housing are meshed with the reverse cycloid wheel; the torque generated by the outer cycloid gear transmission system is transmitted to the inner cycloid movable tooth transmission system through the intermediate connecting shaft.

[0019] Compared with the prior art, the above-mentioned compact heavy-duty cycloid movable tooth joint module drives the positive shock wave wheel in the inner cycloid movable tooth transmission system to rotate through the outer cycloid gear transmission system, and the positive shock wave wheel drives the cycloid movable teeth to engage with the inner cycloid tooth profile, and finally the inner cycloid output flange outputs the torque. The reduction ratio of this compact heavy-duty cycloid movable tooth joint module is 29 times greater than that of the pure cycloid reduction joint module of the same size. This joint module has the advantages of high precision, high rigidity, high load-bearing capacity, small volume, and small backlash. It can be used in small installation space and heavy-duty application scenarios that require central control wiring. It is particularly suitable for use in small-volume heavy-duty joint modules of collaborative robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 It is a schematic diagram of the compact heavy-duty cycloid movable tooth joint module of the present invention.

[0022] Figure 2 It is a schematic structural diagram of the compact heavy-load cycloid movable tooth joint module of the present invention.

[0023] Figure 3 This is a side view of the compact heavy-duty cycloid movable tooth joint module of the present invention.

[0024] Figure 4 yes Figure 3 AA section view.

[0025] Figure 5 yes Figure 3 BB section view.

[0026] Figure 6 It is a schematic diagram of the circuit layout of the drive board assembly of the compact heavy-duty cycloid movable tooth joint module of the present invention.

[0027] Figure 7 It is an exploded schematic diagram of the compact heavy-duty cycloid movable tooth joint module of the present invention.

[0028] Main component symbols

[0029] 1-joint housing; 2-reducer input end flange; 3-pin gear housing support bearing; 4-pin gear housing; 5-pin gear; 6-reverse cycloid wheel; 7-middle U-shaped movable tooth groove; 8-forward shock wave wheel; 9-eccentric bearing; 10-hypocycloid output flange; 11-hypocycloid output flange support bearing; 12-right U-shaped movable tooth groove; 13-eccentric shaft; 14-eccentric shaft input end support bearing; 15-cycloid movable tooth; 16-joint output end cover; 17-middle connecting shaft; 18-motor output shaft; 19-motor output shaft support bearing; 20-joint motor end cover; 21-drive plate assembly; 22-motor outer rotor; 23-motor inner rotor; 24-control chip; 25-input end absolute value single-turn encoder control core; 26-output end absolute value multi-turn encoder control core; 27-power interface; 28-arc groove. The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] like Figures 1 to 7 As shown, a compact heavy-duty cycloid movable tooth joint module comprises a frameless torque motor, a joint housing 1, an eccentric shaft 13, a reverse cycloid wheel 6, a forward shock wheel 8, an intermediate connecting shaft 17, an outer cycloid gear transmission system and an inner cycloid movable tooth transmission system;

[0034] The frameless torque motor is installed in the joint housing 1. The output end of the frameless torque motor transmits torque to the eccentric shaft 13. The eccentric shaft 13 drives the reverse cycloid wheel 6 to rotate. The reverse cycloid wheel 6 is connected with the forward shock wave wheel 8 through the intermediate connecting shaft 17 and rotates in the same direction. The torque generated by the outer cycloid gear transmission system is transmitted to the inner cycloid movable tooth transmission system. The inner cycloid movable tooth transmission system outputs torque after deceleration.

[0035] Specifically, the compact heavy-duty cycloid movable tooth joint module includes a frameless torque motor, a joint housing 1, a reducer input end flange 2, a pin gear housing support bearing 3, a pin gear housing 4, a pin gear 5, a reverse cycloid wheel 6, an intermediate U-shaped movable tooth groove 7, a forward shock wheel 8, an eccentric bearing 9, an inner cycloid output flange 10, an inner cycloid output flange support bearing 11, a right U-shaped movable tooth groove 12, an eccentric shaft 13, an eccentric shaft input end support bearing 14, a cycloid movable tooth 15, a joint output end cover 16 and an intermediate connecting shaft 17;

[0036] The reducer input end flange 2, the pin gear housing support bearing 3, the pin gear housing 4, the pin gear 5, the reverse cycloid wheel 6, the eccentric shaft 13 and the eccentric shaft input end support bearing 14 constitute an epicycloid gear transmission system;

[0037] The middle connecting shaft 17, the middle U-shaped movable tooth groove 7, the forward shock wave wheel 8, the eccentric bearing 9, the hypocycloid output flange 10, the hypocycloid output flange support bearing 11, the right U-shaped movable tooth groove 12, the eccentric shaft 13 and the cycloid movable tooth 15 constitute a hypocycloid movable tooth transmission system;

[0038] The left end of the intermediate connecting shaft 17 is fixedly connected to the reducer input end flange 2 by bolts, and the right end of the intermediate connecting shaft 17 is interference fit with the right U-shaped movable tooth groove 12. The intermediate U-shaped movable tooth groove 7 and the forward shock wave wheel 8 are installed between the reducer input end flange 2 and the right U-shaped movable tooth groove 12; the two ends of the cycloid movable tooth 15 roll up and down on the intermediate U-shaped movable tooth groove 7 and the right U-shaped movable tooth groove 12 respectively, and mesh with the inner tooth profile of the inner cycloid output flange 10.

[0039] The frameless torque motor includes a motor output shaft 18, a motor output shaft support bearing 19, a joint motor end cover 20, a drive plate assembly 21, a motor outer rotor 22, and a motor inner rotor 23; the motor inner rotor 23 is connected to the motor output shaft 18 via a flat key to transmit torque, and the motor output shaft 18 is connected to the eccentric shaft 13 via a flat key.

[0040] The drive board assembly 21 is equipped with a TMC4671 control chip 24. Two encoder control positions are reserved on the drive board assembly 21, namely, the input end absolute value single-turn encoder control core 25 and the output end absolute value multi-turn encoder control core 26, and a joint module power interface 27 is also provided; the entire joint module is reserved for the wiring circular holes for the hollow wiring of the collaborative robot joints.

[0041] The motor outer rotor 22 is fixedly connected to the inner wall of the joint housing 1, and the motor output shaft 18 is connected to the joint motor end cover 20 through the motor output shaft support bearing 19. The motor outer rotor 22 can be fixedly connected to the joint housing 1 by strong glue.

[0042] The joint housing 1 is connected to the robot joint body.

[0043] An arc-shaped groove 28 is provided on the outer surface of the joint housing 1, which is beneficial to reducing weight and increasing heat dissipation area.

[0044] The combined motion of the intermediate connecting shaft 17 and the eccentric shaft 13 acts on the forward shock wave wheel 8; the cycloid movable teeth 15 roll on the forward shock wave wheel 8 and mesh with the inner tooth profile of the hypocycloid output flange 10 to transmit torque, and the hypocycloid output flange 10 outputs torque.

[0045] The reverse cycloid wheel 6 and the forward shock wheel 8 are composed of a plurality of cycloid wheels and a plurality of shock wheels. Each cycloid wheel or shock wheel in the combination is staggered by 360° / N, where N is the number.

[0046] The pin gear housing 4 is connected to the joint housing 1 by bolts, the eccentric shaft 13 drives the reverse cycloid wheel 6 to rotate through the eccentric bearing 9, and the pin teeth 5 in the tooth grooves of the pin gear housing 4 are meshed with the reverse cycloid wheel 6; the torque generated by the outer cycloid gear transmission system is transmitted to the inner cycloid movable tooth transmission system through the intermediate connecting shaft 17.

[0047] Working principle:

[0048] The inner rotor 23 of the motor is connected to the motor output shaft 18 through a flat key to transmit torque. The left end of the motor output shaft 18 is connected to the joint motor end cover 20 through a bearing, and the right end of the motor output shaft 18 is connected to the eccentric shaft 13 through a flat key, which is easy to install; the eccentric shaft 13 is connected to the reducer input end flange 2, the reverse cycloid wheel 6, the middle U-shaped movable tooth groove 7, the forward shock wave wheel 8, and the right U-shaped movable tooth groove 12 through bearings. The reverse cycloid wheel 6 and the forward shock wave wheel 8 have different numbers of teeth and are provided with connecting transmission holes, and the hole diameter is twice the eccentricity of the diameter of the middle connecting shaft 17. When the frameless torque motor assembly drives the eccentric shaft 13 to rotate forward, due to the different numbers of teeth of the reverse cycloid wheel 6 and the forward shock wave wheel 8, the reverse cycloid wheel 6 moves in the reverse direction and the forward shock wave wheel 8 moves forward. The movable tooth frame is composed of the middle U-shaped movable tooth groove 7 and the right U-shaped movable tooth groove 12. The forward shock wheel 8 is installed between the middle U-shaped movable tooth groove 7 and the right U-shaped movable tooth groove 12. The two ends of the cycloid movable tooth 15 are respectively interference fit with the middle U-shaped movable tooth groove 7 and the right U-shaped movable tooth groove 12. The reverse cycloid wheel 6 is installed between the reducer input end flange 2 and the middle U-shaped movable tooth groove 7. The left end of the intermediate connecting shaft 17 is fixedly connected to the reducer input end flange 2 by bolts, and the right end is interference fit with the right U-shaped movable tooth groove 12. The eccentric shaft 13 drives the reverse cycloid wheel 6 to rotate through the eccentric bearing 9, and the needle teeth 5 in the tooth groove of the needle gear housing 4 are meshed with the reverse cycloid wheel 6; the torque generated by the outer cycloid gear transmission is transmitted to the inner cycloid movable tooth transmission system through the intermediate connecting shaft 17.

[0049] The middle U-shaped movable tooth groove 7 and the forward shock wave wheel 8 are located between the reducer input end flange 2 and the right U-shaped movable tooth groove 12; the two ends of the cycloid movable tooth 15 roll up and down on the middle U-shaped movable tooth groove 7 and the right U-shaped movable tooth groove 12 respectively, and engage with the inner tooth profile of the inner cycloid output flange 10, so that the torque of the entire joint module is output from the inner cycloid output flange 10.

[0050] When the eccentric shaft 13 rotates clockwise, the reverse cycloid wheel 6 also rotates clockwise, but when the reverse cycloid wheel 6 meshes with the pin teeth 5 on the pin gear housing 4, the movement is subject to the resistance of the pin gear housing 4, and the reverse cycloid wheel 6 rotates counterclockwise. Since the reverse cycloid wheel 6 is connected to the forward shock wheel 8 through the intermediate connecting shaft 17 and rotates in the same direction, the forward shock wheel 8 also has the same counterclockwise movement trend as the reverse cycloid wheel 6. When the eccentric shaft 13 rotates one circle, the reverse cycloid wheel 6 and the forward shock wheel 8 each rotate one tooth. Due to the eccentric motion of the forward shock wheel 8, the forward shock wheel 8 pushes the cycloid movable teeth 15 to move in the inner cycloid tooth profile of the inner cycloid output flange 10, but since the number of pin teeth 5 meshing with the reverse cycloid wheel 6 and the number of cycloid movable teeth 15 meshing with the forward shock wheel 8 are different, the rotation of the forward shock wheel 8 is a composite motion of the clockwise motion of the eccentric shaft 13 and the counterclockwise motion of the reverse cycloid wheel 6. As a result of the compound motion, the rotation direction of the forward shock wheel 8 is consistent with the rotation direction of the eccentric shaft 13. After the cycloid movable teeth 15 mesh with the hypocycloid tooth profile of the hypocycloid output flange 10 to decelerate and increase the force, the cycloid movable teeth 15 push the hypocycloid output flange 10 to coaxially output the decelerated motion and power. At the same time, there is rolling friction between the cycloid movable teeth 15 and the forward shock wheel 8, which reduces energy loss and improves efficiency.

[0051] Beneficial effects of the present invention:

[0052] (1) Compared with the joint modules using frameless torque motors, harmonic reducers or cycloidal pinwheel reducers in the past, the present invention has a greater speed ratio advantage in transmission ratio because the reducer part uses the structure of epicycloidal gear transmission and hypocycloidal movable tooth transmission. When the joint module has an outer diameter of only 70mm, an axial dimension of 60mm, and a cycloidal tooth number of 31, the joint module can achieve a reduction ratio of 899 using the structure of epicycloidal gear transmission and hypocycloidal movable tooth transmission, which can achieve a greater output torque and a wider speed range. Under the same structural space and reduction ratio, the number of teeth in the reducer part of the joint module is greatly reduced, and the diameter of the pin teeth and movable teeth can be increased; the number of teeth of the tooth profile of the reverse cycloidal wheel 6 and the hypocycloidal output flange 10 will be greatly reduced, which will greatly reduce the processing cost. This not only improves the accuracy and rigidity and reduces the backlash and deadweight, but also improves the bearing capacity and life of the joint module.

[0053] (2) The present invention makes a compact integrated design of the frameless torque motor, drive assembly, epicycloidal gear transmission, and hypocycloidal movable tooth transmission, so that the joint module has the characteristics of high-precision transmission, high rigidity, and compact structure of the cycloidal reducer, effectively reduces the volume of the joint module, and greatly improves the power density of the robot joint module. The joint module is applied to small-volume collaborative robots, which can effectively increase the torque output and effective speed range of the joint module, and solve the problem that the existing small-volume collaborative robots cannot cross higher or farther obstacles due to insufficient joint torque output. The present invention provides a solution for collaborative robots to complete low-speed heavy-load actions such as climbing and carrying weights, and fast burst actions such as running and jumping, which can effectively improve the robot's motion performance.

[0054] 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.

[0055] 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. A compact heavy-duty cycloid movable tooth joint module, characterized in that: It includes a frameless torque motor, a joint housing, an eccentric shaft, a reverse cycloid wheel, a forward shock wheel, an intermediate connecting shaft, an epicycloid gear transmission system and an hypocycloid movable tooth transmission system; The frameless torque motor is installed in the joint housing, and the output end of the frameless torque motor transmits torque to the eccentric shaft. The eccentric shaft drives the reverse cycloid wheel to rotate. The reverse cycloid wheel is connected with the forward shock wave wheel through an intermediate connecting shaft and rotates in the same direction. The torque generated by the epicycloid gear transmission system is transmitted to the hypocycloid movable tooth transmission system, and the hypocycloid movable tooth transmission system outputs torque after deceleration.

2. The compact heavy-duty cycloid movable tooth joint module according to claim 1, characterized in that: The compact heavy-duty cycloid movable tooth joint module includes a frameless torque motor, a joint housing, a reducer input end flange, a pin gear housing support bearing, a pin gear housing, pin teeth, a reverse cycloid wheel, an intermediate U-shaped movable tooth groove, a forward shock wheel, an eccentric bearing, an inner cycloid output flange, an inner cycloid output flange support bearing, a right U-shaped movable tooth groove, an eccentric shaft, an eccentric shaft input end support bearing, a cycloid movable tooth, a joint output end cover and an intermediate connecting shaft; The reducer input end flange, pin gear housing support bearing, pin gear housing, pin gear, reverse cycloid wheel, eccentric shaft and eccentric shaft input end support bearing constitute the epicycloid gear transmission system; The intermediate connecting shaft, the intermediate U-shaped movable tooth groove, the forward shock wave wheel, the eccentric bearing, the hypocycloid output flange, the hypocycloid output flange support bearing, the right U-shaped movable tooth groove, the eccentric shaft and the cycloid movable teeth constitute the hypocycloid movable tooth transmission system; The left end of the intermediate connecting shaft is fixedly connected to the reducer input end flange by bolts, and the right end of the intermediate connecting shaft is interference fit with the right U-shaped movable tooth groove. The intermediate U-shaped movable tooth groove and the forward shock wave wheel are installed between the reducer input end flange and the right U-shaped movable tooth groove; the two ends of the cycloid movable tooth roll up and down on the intermediate U-shaped movable tooth groove and the right U-shaped movable tooth groove respectively, and mesh with the inner tooth profile of the inner cycloid output flange.

3. The compact heavy-duty cycloid movable tooth joint module according to claim 1, characterized in that: The frameless torque motor includes a motor output shaft, a motor output shaft support bearing, a joint motor end cover, a drive plate assembly, a motor outer rotor, and a motor inner rotor; the motor inner rotor and the motor output shaft are connected via a flat key to transmit torque, and the motor output shaft and the eccentric shaft are connected via a flat key.

4. The compact heavy-duty cycloid movable tooth joint module according to claim 3, characterized in that: The drive board assembly is equipped with a TMC4671 control chip.

5. The compact heavy-duty cycloid movable tooth joint module according to claim 3, characterized in that: The motor outer rotor is fixedly connected to the inner wall of the joint housing, and the motor output shaft is connected to the joint motor end cover via a motor output shaft support bearing.

6. The compact heavy-duty cycloid movable tooth joint module according to claim 1, characterized in that: The joint housing is connected to the robot joint body.

7. The compact heavy-duty cycloid movable tooth joint module according to claim 1, characterized in that: An arc-shaped groove is formed on the outer surface of the joint housing.

8. The compact heavy-duty cycloid movable tooth joint module according to claim 2, characterized in that: The combined motion of the intermediate connecting shaft and the eccentric shaft acts on the forward shock wheel; the cycloid movable teeth roll on the forward shock wheel and mesh with the inner tooth profile of the hypocycloid output flange to transmit torque, and the hypocycloid output flange outputs torque.

9. The compact heavy-duty cycloid movable tooth joint module according to claim 2, characterized in that: The reverse cycloid wheel and the forward shock wave wheel are composed of a plurality of cycloid wheels and a plurality of shock wave wheels.

10. The compact heavy-duty cycloid movable tooth joint module according to claim 2, characterized in that: The pin gear housing is connected to the joint housing by bolts, the eccentric shaft drives the reverse cycloid wheel to rotate through the eccentric bearing, and the pin teeth in the tooth grooves of the pin gear housing are meshed with the reverse cycloid wheel; the torque generated by the outer cycloid gear transmission system is transmitted to the inner cycloid movable tooth transmission system through the intermediate connecting shaft.

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