Cycloid speed reducer joint module with large hollow structure and pin shaft output

Abstract

The present application relates to humanoid robot joint module technical field, specifically to a kind of pin shaft output type cycloidal reducer joint module under big hollow structure, including inner rotor motor, the two ends of inner rotor motor are provided with electric control assembly and output assembly, hollow fixed shaft extends from electric control assembly to output assembly;Wherein rotor cooperates and connects rotating shaft, rotating shaft is sleeved with eccentric shaft sleeve and is connected with the fourth bearing and the fifth bearing, the fourth bearing is matched with the first cycloidal disc outside, the fifth bearing is provided with the second cycloidal disc outside, the first cycloidal disc and the second cycloidal disc are coaxially arranged and are connected by lock pin cooperation;Lock pin also drives output flange to rotate.By improving the structure components in the installation cavity, the number of components is reduced, at the same time, the cooperation of adjacent components is more compact, the structure of joint module is simplified as a whole, the size of joint module is reduced, and the machining manufacturing process of joint module can be simplified, and the overall stability and reliability of joint module are also guaranteed.

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