Cycloidal-pin wheel speed reducer joint module of integrated encoder

Abstract

The invention provides a cycloidal-pin wheel speed reducer joint module of an integrated encoder. One end of a rotor shaft is connected with an eccentric input shaft, and the other end of the rotor shaft is provided with a first encoder; the end face of the output flange is provided with a flange sinking groove. One end of the encoder adapter shaft is provided with a connecting flange, and the other end of the encoder adapter shaft is provided with a second encoder; the encoder adapter shaft penetrates through the output flange plate, the eccentric input shaft and the rotor shaft, and the connecting flange is embedded and fixedly connected to the flange sinking groove; when the rotor shaft rotates, the rotor shaft drives the eccentric input shaft to rotate, the eccentric input shaft drives the output flange plate and the encoder adapter shaft to rotate, and rotating speed signals of the first encoder and the second encoder are transmitted to the input control assembly. According to the invention, hidden installation of the encoder adapter shaft on the output flange plate is realized, the measurement precision is ensured, and the service life is prolonged.

Description

Technical Field

[0001] This application relates to the field of robot transmission structure technology, specifically to a cycloidal pinwheel reducer joint module with an integrated encoder. Background Technology

[0002] Cycloidal pinwheel reducers are particularly suitable for robot joints with stringent requirements for positioning accuracy and dynamic response due to their small transmission backlash, high transmission efficiency, and strong shock resistance. Their working principle involves an eccentric input shaft driving a cycloidal wheel to oscillate planetarily within a pin tooth housing. The multi-tooth meshing between the cycloidal profile and the pin teeth achieves a large reduction ratio and high torque output. Compared to split structures, this type of integrated cycloidal pinwheel reducer joint module highly integrates the reducer, motor, encoder, and drive circuitry, saving space, simplifying assembly, and significantly improving the overall system reliability and control performance. It is widely used in collaborative robots, industrial robotic arms, and precision automation equipment.

[0003] In existing integrated cycloidal pinwheel reducer joint modules, the encoder adapter shaft is a key intermediate transmission and signal transmission element. Its function is to synchronously and seamlessly transmit the angular displacement or speed of the rotating parts to the encoder, ensuring the accuracy and real-time performance of position feedback.

[0004] Existing encoder adapter shafts are typically mounted directly on the output end face of the reducer via flanges. The output torque of downstream components acts on the adapter shaft through their mounting flanges, which may cause deformation, vibration, or encoder damage to the encoder adapter shaft, thereby affecting measurement accuracy and system reliability.

[0005] It should be noted that the information in the background section above is only used to enhance the understanding of the background technology of this application, and therefore may include technical information that does not constitute technical information known or easily inferred by a person skilled in the art. Summary of the Invention

[0006] In view of the aforementioned problems, this application is made to provide a cycloidal pinwheel reducer joint module for an integrated encoder that overcomes or at least partially solves the aforementioned problems, including a reducer mechanism and a motion input mechanism; the reducer mechanism includes: an eccentric input shaft, an output flange, and an encoder adapter shaft; the motion input mechanism includes: a rotor shaft and an input control component; One end of the rotor shaft is connected to the eccentric input shaft, and the other end of the rotor shaft is provided with a first encoder; The output flange has a flange groove on its end face; one end of the encoder adapter shaft has a connecting flange, and the other end of the encoder adapter shaft has a second encoder. The encoder adapter shaft passes through the output flange, the eccentric input shaft and the rotor shaft, and the connecting flange is embedded in and fixedly connected to the flange groove; When the rotor shaft rotates, the rotor shaft drives the eccentric input shaft to rotate, and the eccentric input shaft drives the output flange and the encoder adapter shaft to rotate. The speed signals of the first encoder and the second encoder are transmitted to the input control component.

[0007] Furthermore, the end face of the connecting flange is flush with the end face of the output flange.

[0008] Furthermore, the connecting flange is provided with countersunk holes, and the connecting flange is connected to the flange groove by countersunk screws, the heads of which are embedded in the countersunk holes.

[0009] Furthermore, the reducer mechanism includes a first housing; the motion input mechanism includes a second housing; Both the first shell and the second shell are hollow cylindrical structures; The eccentric input shaft and the output flange are disposed inside the first housing; the rotor shaft and the input control assembly are disposed inside the second housing. The second housing is axially connected to the first housing.

[0010] Furthermore, the rotor shaft is a hollow structure; the encoder adapter shaft passes through the rotor shaft, and the first encoder and the second encoder are flush with each other.

[0011] Furthermore, the motion input mechanism includes a third housing; the input control component includes a dual-channel magnetic sensor; The third housing is disposed inside the second housing; one end of the third housing is provided with an inner flange; The dual-channel magnetic sensor is disposed on the inner side of the inner flange and is disposed corresponding to the first encoder and the second encoder; When the rotor shaft rotates, the speed signals of the first encoder and the second encoder are transmitted to the dual-channel magnetic sensor.

[0012] Furthermore, the dual-channel magnetic sensor has a disk-shaped structure; the input control component includes a PCB driver board; The inner flange is flush with the dual-channel magnetic sensor and forms a cavity structure on the side of the third housing away from the encoder adapter shaft; the PCB drive board is disposed within the cavity structure.

[0013] Furthermore, the motion input mechanism includes a rotor support bearing; The side of the rotor shaft is connected to the inner flange via the rotor support bearing.

[0014] Furthermore, the input control component includes: a motor stator and a motor rotor; The motor stator is disposed inside the second housing; the motor rotor is disposed on the rotor shaft.

[0015] Furthermore, the reducer mechanism includes: an eccentric bearing assembly, a cycloidal wheel assembly, a pin limiting member, and a pin assembly; The side of the eccentric input shaft is connected to the cycloidal wheel assembly via the eccentric bearing assembly; The inner side of the first housing is provided with a plurality of needle teeth; the outer edge tooth profile of the cycloidal wheel assembly meshes with the needle teeth; the cycloidal wheel assembly is disposed between the pin limiting member and the output flange; the pin assembly passes through the cycloidal wheel assembly, and its two ends are respectively embedded in the pin limiting member and the output flange; When the rotor shaft rotates, the eccentric input shaft drives the pin assembly through the eccentric bearing assembly and the cycloidal wheel assembly, causing the output flange to rotate.

[0016] This application has the following advantages: In the embodiments of this application, addressing the problem that existing encoder adapter shafts easily transmit torque to downstream components of the joint module, potentially causing deformation, vibration, or encoder damage, thereby affecting measurement accuracy and system reliability, this application provides a solution for embedding and fixing the encoder adapter shaft's connecting flange into a flange recess. Specifically, it provides a cycloidal pinwheel reducer joint module with an integrated encoder, comprising a reducer mechanism and a motion input mechanism; the reducer mechanism includes: an eccentric input shaft, an output flange, and an encoder adapter shaft; the motion input mechanism includes: a rotor shaft and an input control component; one end of the rotor shaft is connected to the eccentric input shaft. The rotor shaft has a first encoder at one end; the output flange has a flange groove on its end face; the encoder adapter shaft has a connecting flange at one end and a second encoder at the other end; the encoder adapter shaft passes through the output flange, the eccentric input shaft, and the rotor shaft, and the connecting flange is embedded and fixedly connected to the flange groove; when the rotor shaft rotates, it drives the eccentric input shaft to rotate, which in turn drives the output flange and the encoder adapter shaft to rotate, and the speed signals of the first encoder and the second encoder are transmitted to the input control component. This application achieves a concealed installation of the encoder adapter shaft within the output flange by embedding and fixing the connecting flange of the encoder adapter shaft to the flange groove, allowing the output flange to be directly connected to the downstream component of the joint module. The encoder adapter shaft does not need to bear the output torque, thus ensuring measurement accuracy and improving service life. Attached Figure Description

[0017] To more clearly illustrate the technical solution of this application, the drawings used in the description of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a front view structural schematic diagram of a cycloidal pinwheel reducer joint module with an integrated encoder provided in an embodiment of this application; Figure 2 This is a right-side structural schematic diagram of a cycloidal pinwheel reducer joint module with an integrated encoder provided in an embodiment of this application; Figure 3 This is an exploded structural diagram of the output flange and encoder adapter shaft in one embodiment of this application; Figure 4 This is a cross-sectional view of a cycloidal pinwheel reducer joint module with an integrated encoder provided in one embodiment of this application; Figure 5 yes Figure 1Schematic diagram of the cross-sectional structure of section AA in the middle; The attached figures are labeled as follows: 1. Reducer mechanism; 11. Eccentric input shaft; 12. Output flange; 121. Flange groove; 13. Encoder adapter shaft; 131. Connecting flange; 1311. Countersunk hole; 14. Second encoder; 15. First housing; 151. Needle tooth; 161. Eccentric bearing assembly; 162. Cycloidal wheel assembly; 163. Pin limiter; 164. Pin assembly; 2. Motion input mechanism; 21. Rotor shaft; 221. Dual-channel magnetic sensor; 222. PCB driver board; 223. Motor stator; 224. Motor rotor; 23. First encoder; 24. Second housing; 25. Third housing; 251. Inner flange; 26. End cover; 27. Rotor support bearing. Detailed Implementation

[0019] To make the objectives, features, and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] The inventors, through analysis of existing technology, discovered that conventional encoder adapter shafts are typically mounted directly on the output face of the reducer via flanges to transmit the output rotational motion to the encoder for position feedback. However, the encoder adapter shaft is essentially only a signal transmission component and is not designed to bear the main drive torque. If the torque of the downstream components of the joint module acts indirectly on the adapter shaft through its mounting flange, it will cause unexpected mechanical loads, potentially leading to deformation, vibration, or encoder damage, thereby affecting measurement accuracy and system reliability.

[0021] Reference Figure 1-5 This application illustrates a cycloidal pinwheel reducer joint module with an integrated encoder according to an embodiment of the present application, including a reducer mechanism 1 and a motion input mechanism 2; the reducer mechanism 1 includes: an eccentric input shaft 11, an output flange 12 and an encoder adapter shaft 13; the motion input mechanism 2 includes: a rotor shaft 21 and an input control component; One end of the rotor shaft 21 is connected to the eccentric input shaft 11, and the other end of the rotor shaft 21 is provided with a first encoder 23; The output flange 12 has a flange groove 121 on its end face; one end of the encoder adapter shaft 13 has a connecting flange 131, and the other end of the encoder adapter shaft 13 has a second encoder 14. The encoder adapter shaft 13 passes through the output flange 12, the eccentric input shaft 11 and the rotor shaft 21, and the connecting flange 131 is embedded in and fixedly connected to the flange groove 121. When the rotor shaft 21 rotates, the rotor shaft 21 drives the eccentric input shaft 11 to rotate, and the eccentric input shaft 11 drives the output flange 12 and the encoder adapter shaft 13 to rotate. The speed signals of the first encoder 23 and the second encoder 14 are transmitted to the input control component.

[0022] In the embodiments of this application, addressing the problem that the existing encoder adapter shaft 13 easily transmits torque to the downstream components of the joint module, potentially causing deformation, vibration, or encoder damage, thereby affecting measurement accuracy and system reliability, this application provides a solution to embed and fix the connecting flange 131 of the encoder adapter shaft 13 into the flange recess 121. Specifically, it provides a cycloidal pinwheel reducer joint module with an integrated encoder, including a reducer mechanism 1 and a motion input mechanism 2; the reducer mechanism 1 includes: an eccentric input shaft 11, an output flange 12, and an encoder adapter shaft 13; the motion input mechanism 2 includes: a rotor shaft 21 and an input control component; one end of the rotor shaft 21 is connected to the eccentric input shaft 11, and the other end of the rotor shaft 21... A first encoder 23 is provided at one end; a flange groove 121 is provided on the end face of the output flange 12; a connecting flange 131 is provided at one end of the encoder adapter shaft 13, and a second encoder 14 is provided at the other end of the encoder adapter shaft 13; the encoder adapter shaft 13 passes through the output flange 12, the eccentric input shaft 11 and the rotor shaft 21, and the connecting flange 131 is embedded and fixedly connected to the flange groove 121; when the rotor shaft 21 rotates, the rotor shaft 21 drives the eccentric input shaft 11 to rotate, and the eccentric input shaft 11 drives the output flange 12 and the encoder adapter shaft 13 to rotate, and the speed signals of the first encoder 23 and the second encoder 14 are transmitted to the input control component. This application embeds and fixes the connecting flange 131 of the encoder adapter shaft 13 into the flange groove 121, so that the output flange 12 can be directly connected to the downstream component of the joint module. The encoder adapter shaft 13 does not need to bear the output torque, thus realizing the hidden installation of the encoder adapter shaft 13 in the output flange 12, ensuring measurement accuracy and improving service life.

[0023] The following will further describe a cycloidal pinwheel reducer joint module with an integrated encoder in this exemplary embodiment.

[0024] It should be noted that since the connecting flange 131 is embedded in the flange groove 121, the end face of the connecting flange 131 is inside the end face of the output flange 12. When the joint module is connected to the downstream component, the encoder adapter shaft 13 will not come into contact with the downstream component, which can improve the fit between the downstream component and the output flange 12.

[0025] The rotor shaft 21, the eccentric input shaft 11, and the encoder adapter shaft 13 can all be hollow structures. The hollow structures of the rotor shaft 21 and the eccentric input shaft 11 can be used to install the encoder adapter shaft 13, and the hollow structure of the encoder adapter shaft 13 can be used to install the electrical wiring of the joint module.

[0026] Since the first encoder 23 is mounted on the rotor shaft 21 and the rotor shaft 21 is fixedly connected to the eccentric input shaft 11, the first encoder 23 can transmit the input speed signal of the reducer mechanism 1 to the input control component; since the second encoder 14 is mounted on the encoder adapter shaft 13 and the encoder adapter shaft 13 is fixedly connected to the output flange 12, the second encoder 14 can transmit the output speed signal of the reducer mechanism 1 to the input control component.

[0027] The input control component can drive the rotor shaft 21 to rotate, record the speed signal transmitted by the first encoder 23 and the second encoder 14, compare and calculate it with the preset speed, and perform feedback control, so that the entire joint module can achieve precise positioning control, speed adjustment and torque management.

[0028] In one embodiment of this application, the end face of the connecting flange 131 is flush with the end face of the output flange 12.

[0029] It should be noted that the end faces of the connecting flange 131 and the output flange 12 are flush, which not only ensures the flatness and consistency of the connection surface, but also allows the end face of the connecting flange 131 to provide axial support as a contact surface when installing downstream components, without the need to provide torque.

[0030] Reference Figure 2-3 In one embodiment of this application, the connecting flange 131 is provided with a countersunk hole 1311, and the connecting flange 131 is connected to the flange countersunk groove 121 by a countersunk screw, the head of the countersunk screw being embedded in the countersunk hole 1311.

[0031] It should be noted that the countersunk hole 1311 ensures the concealed installation of the countersunk screws in the connecting flange 131, preventing the connecting flange 131 and its fasteners from protruding from the flange countersunk groove 121 into the output flange 12, thereby preventing interference with downstream components. Simultaneously, when the output flange 12 is connected to the downstream component, the connecting flange 131, positioned between the output flange 12 and the downstream component, further prevents the connecting flange 131 from detaching from the flange countersunk groove 121.

[0032] As an example, the countersunk holes 1311 may include 6 holes, which are evenly distributed circumferentially along the connecting flange 131.

[0033] Reference Figure 1 and Figure 4 In one embodiment of this application, the reducer mechanism 1 includes a first housing 15; the motion input mechanism 2 includes a second housing 24. Both the first shell 15 and the second shell 24 are hollow cylindrical structures; The eccentric input shaft 11 and the output flange 12 are disposed inside the first housing 15; the rotor shaft 21 and the input control assembly are disposed inside the second housing 24. The second housing 24 is axially connected to the first housing 15.

[0034] It should be noted that the first housing 15 can support the main components of the reducer mechanism 1, and the second housing 24 can support the main components of the motion input mechanism 2. The second housing 24 may be provided with a stop groove corresponding to the first housing 15. When installing, the first housing 15 only needs to be embedded into the stop groove of the second housing 24 to realize the modular assembly of the motion input mechanism 2 and the reducer mechanism 1.

[0035] In one specific implementation, the outer sides of the first housing 15 and the second housing 24 may both be provided with heat dissipation grooves to dissipate heat from the motion input mechanism 2 and the reducer mechanism 1, respectively.

[0036] Reference Figure 4 In one embodiment of this application, the rotor shaft 21 is a hollow structure; the encoder adapter shaft 13 passes through the rotor shaft 21, and the first encoder 23 and the second encoder 14 are flush.

[0037] It should be noted that by setting the first encoder 23 and the second encoder 14 flush, the input speed signal and the output speed signal can be acquired simultaneously, and the encoder can receive signals more accurately. The first encoder 23 and the second encoder 14 can both be ring structures. Since the encoder adapter shaft 13 is located inside the rotor shaft 21, the second encoder 14 can be located inside the first encoder 23. The structure is compact and makes full use of the structure of the shaft and the internal space of the second housing 24.

[0038] In one specific implementation, since neither the first encoder 23 nor the second encoder 14 needs to bear torque and load, the first encoder 23 can be bonded to the end of the rotor shaft 21 with an adhesive material, and the second encoder 14 can be bonded to the end of the encoder adapter shaft 13 with an adhesive material, eliminating the need for a complex installation structure and saving costs.

[0039] Meanwhile, since the encoder adapter shaft 13 does not need to bear torque and load, the encoder adapter shaft 13 only needs to be fixed at one end through the connecting flange 131 to form a structure similar to a cantilever beam to complete the installation, without the need to set a separate bearing at the other end to form a structure similar to a simply supported beam. The above structure can reduce the axial dimension of the encoder adapter shaft 13, reduce the number of parts, and optimize the internal space of the joint module.

[0040] Reference Figure 4 In one embodiment of this application, the motion input mechanism 2 includes a third housing 25; the input control component includes a dual-channel magnetic sensor 221. The third housing 25 is disposed inside the second housing 24; one end of the third housing 25 is provided with an inner flange 251; The dual-channel magnetic sensor 221 is disposed on the inner side of the inner flange 251 and is disposed corresponding to the first encoder 23 and the second encoder 14; When the rotor shaft 21 rotates, the speed signals of the first encoder 23 and the second encoder 14 are transmitted to the dual-channel magnetic sensor 221.

[0041] It should be noted that the dual-channel magnetic sensor 221 can be used to simultaneously acquire the rotational speed signals of the first encoder 23 and the second encoder 14, and transmit the acquired signals to the PCB driver board 222 at the same time to realize the feedback control of rotational speed and torque management.

[0042] Reference Figure 4 In one embodiment of this application, the dual-channel magnetic sensor 221 has a disk-shaped structure; the input control component includes a PCB driver board 222; The inner flange 251 is flush with the dual-channel magnetic sensor 221 and forms a cavity structure on the side of the third housing 25 away from the encoder adapter shaft 13; the PCB drive board 222 is disposed in the cavity structure.

[0043] It should be noted that the above structure divides the motion input mechanism 2 into three axial parts via the inner flange 251: the first part is used to install the rotor shaft 21, the motor stator 223, and the motor rotor 224; the second part is used to install the first encoder 23, the second encoder 14, and the dual-channel magnetic sensor 221; and the third part is used to install the PCB drive board 222. This makes the joint module structure compact and the assembly hierarchy clear, facilitating disassembly and assembly. Simultaneously, the cavity structure formed by the inner flange 251 also facilitates the installation, wiring, and debugging of the PCB drive board 222.

[0044] In one specific implementation, the third housing 25 is provided with an end cap 26 on the side away from the inner flange 251, and the end cap 26 can be used to close the cavity structure.

[0045] Reference Figure 4 In one embodiment of this application, the motion input mechanism 2 includes a rotor support bearing 27; The side of the rotor shaft 21 is connected to the inner flange 251 via the rotor support bearing 27.

[0046] It should be noted that the inner flange 251 can serve as both a support structure for the dual-channel magnetic sensor 221 and a support structure for the rotor shaft 21. It should be understood that the inner flange 251 can form a non-circular shaft structure at one end towards the reducer mechanism 1 to support corresponding components.

[0047] Reference Figure 4 In one embodiment of this application, the input control component includes: a motor stator 223 and a motor rotor 224; The motor stator 223 is disposed inside the second housing 24; the motor rotor 224 is disposed on the rotor shaft 21.

[0048] It should be noted that the rotating magnetic field generated by the motor stator 223 after it is energized drives the motor rotor 224 to rotate, and the motor rotor 224 drives the rotor shaft 21 to rotate. The motor stator 223 can be located on the side of the inner flange 251 away from the PCB drive board 222.

[0049] Reference Figure 4-5 In one embodiment of this application, the reducer mechanism 1 includes: an eccentric input shaft 11, an eccentric bearing assembly 161, a cycloidal wheel assembly 162, a pin limiting member 163, and a pin assembly 164. The side of the eccentric input shaft 11 is connected to the cycloidal wheel assembly 162 via the eccentric bearing assembly 161; The inner side of the first housing 15 is provided with a plurality of needle teeth 151; the outer edge tooth profile of the cycloidal wheel assembly 162 meshes with the needle teeth 151; the cycloidal wheel assembly 162 is disposed between the pin limiting member 163 and the output flange 12; the pin assembly 164 passes through the cycloidal wheel assembly 162, and its two ends are respectively embedded in the pin limiting member 163 and the output flange 12; When the rotor shaft 21 rotates, the eccentric input shaft 11 drives the pin assembly 164 through the eccentric bearing assembly 161 and the cycloidal wheel assembly 162, causing the output flange 12 to rotate.

[0050] It should be noted that the eccentric bearing assembly 161 may include two eccentric bearings, and the cycloidal wheel assembly 162 may include two cycloidal wheels. The eccentric bearings are disposed on the eccentric section of the eccentric input shaft 11, and the eccentric bearing assembly 161 enables the cycloidal wheel assembly 162 to rotate relative to the eccentric input shaft 11. The two cycloidal wheels are respectively disposed on different eccentric bearings, and the number of teeth on the outer edge profile of the cycloidal wheel is one less than the number of teeth on the pin tooth 151 fixed to the first housing 15. The phase difference between the two cycloidal wheels is set to 180° to achieve mutual balance of eccentric inertial forces.

[0051] In one specific implementation, when the motion input mechanism 2 drives the eccentric input shaft 11 to rotate, the eccentric input shaft 11 drives the eccentric bearing to perform eccentric motion through its eccentric section; the eccentric bearing supports the cycloidal wheel and drives it to perform eccentric revolution around the main axis of the reducer mechanism 1; since the cycloidal wheel and the pin tooth 151 fixed to the first housing 15 form a small tooth difference meshing pair, the cycloidal wheel generates a slow rotation opposite to its revolution direction during the revolution; the pin tooth 151, as the fixed internal gear ring of the first housing 15, can constrain and guide the combined revolution and rotation motion of the cycloidal wheel; the cycloidal wheel cooperates with the pin assembly 164 through the pin hole on it, converting the rotation motion of the cycloidal wheel into a low-speed circular motion of the pin assembly 164 around the main axis of the reducer mechanism 1, and finally the output flange 12 rigidly connected to the pin assembly 164 realizes the deceleration output.

[0052] It should be understood that since the cycloidal wheel generates a slow rotation opposite to the direction of revolution, the rotation direction of the eccentric input shaft 11 is opposite to that of the output flange 12. Therefore, the rotation direction of the eccentric input shaft 11 is also opposite to that of the encoder adapter shaft 13. Thus, a certain gap needs to be set between the eccentric input shaft 11 and the encoder adapter shaft 13 to prevent interference.

[0053] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0054] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0055] The above provides a detailed description of a cycloidal pinwheel reducer joint module with an integrated encoder provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A cycloidal pinwheel reducer joint module with an integrated encoder, characterized in that, Includes a speed reducer mechanism and a motion input mechanism; The reducer mechanism includes: an eccentric input shaft, an output flange, and an encoder adapter shaft; the motion input mechanism includes: a rotor shaft and an input control component. One end of the rotor shaft is connected to the eccentric input shaft, and the other end of the rotor shaft is provided with a first encoder; The output flange has a flange groove on its end face; one end of the encoder adapter shaft has a connecting flange, and the other end of the encoder adapter shaft has a second encoder. The encoder adapter shaft passes through the output flange, the eccentric input shaft and the rotor shaft, and the connecting flange is embedded in and fixedly connected to the flange groove; When the rotor shaft rotates, the rotor shaft drives the eccentric input shaft to rotate, and the eccentric input shaft drives the output flange and the encoder adapter shaft to rotate. The speed signals of the first encoder and the second encoder are transmitted to the input control component.

2. The joint module according to claim 1, characterized in that, The end face of the connecting flange is flush with the end face of the output flange.

3. The joint module according to claim 2, characterized in that, The connecting flange is provided with countersunk holes, and the connecting flange is connected to the flange groove by countersunk screws, the head of which is embedded in the countersunk holes.

4. The joint module according to claim 1, characterized in that, The reducer mechanism includes a first housing; the motion input mechanism includes a second housing; Both the first shell and the second shell are hollow cylindrical structures; The eccentric input shaft and the output flange are disposed inside the first housing; the rotor shaft and the input control assembly are disposed inside the second housing. The second housing is axially connected to the first housing.

5. The joint module according to claim 4, characterized in that, The rotor shaft is a hollow structure; the encoder adapter shaft passes through the rotor shaft, and the first encoder and the second encoder are flush.

6. The joint module according to claim 5, characterized in that, The motion input mechanism includes a third housing; the input control component includes a dual-channel magnetic sensor. The third housing is disposed inside the second housing; one end of the third housing is provided with an inner flange; The dual-channel magnetic sensor is disposed on the inner side of the inner flange and is disposed corresponding to the first encoder and the second encoder; When the rotor shaft rotates, the speed signals of the first encoder and the second encoder are transmitted to the dual-channel magnetic sensor.

7. The joint module according to claim 6, characterized in that, The dual-channel magnetic sensor has a disk-shaped structure; the input control component includes a PCB driver board. The inner flange is flush with the dual-channel magnetic sensor and forms a cavity structure on the side of the third housing away from the encoder adapter shaft; the PCB drive board is disposed within the cavity structure.

8. The joint module according to claim 6, characterized in that, The motion input mechanism includes a rotor support bearing; The side of the rotor shaft is connected to the inner flange via the rotor support bearing.

9. The joint module according to claim 5, characterized in that, The input control components include: a motor stator and a motor rotor; The motor stator is disposed inside the second housing; the motor rotor is disposed on the rotor shaft.

10. The joint module according to claim 4, characterized in that, The reducer mechanism includes: an eccentric bearing assembly, a cycloidal wheel assembly, a pin limiting component, and a pin assembly; The side of the eccentric input shaft is connected to the cycloidal wheel assembly via the eccentric bearing assembly; The inner side of the first housing is provided with a plurality of needle teeth; the outer edge tooth profile of the cycloidal wheel assembly meshes with the needle teeth; the cycloidal wheel assembly is disposed between the pin limiting member and the output flange; the pin assembly passes through the cycloidal wheel assembly, and its two ends are respectively embedded in the pin limiting member and the output flange; When the rotor shaft rotates, the eccentric input shaft drives the pin assembly through the eccentric bearing assembly and the cycloidal wheel assembly, causing the output flange to rotate.

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