Cycloidal-pin wheel speed reduction joint module

Abstract

The cycloidal-pin wheel speed reduction joint module comprises an input shaft, a speed reduction mechanism, an electric control mechanism and an output shaft, and is characterized in that a plurality of connecting pin shafts extend outwards from the end face of one end, facing the speed reduction mechanism, of the output shaft, the connecting pin shafts and the output shaft are integrally formed, the electric control mechanism drives the input shaft to rotate, and the output shaft is driven by the electric control mechanism to rotate. The input shaft drives the output shaft through the speed reducing mechanism to bear an external load at a low rotating speed and output the external load, the output shaft can bear a larger torque and keep the connection rigidity of the connecting pin shaft and the output shaft, and rigid collapse or bending caused by too large torque in the rotating process of the output shaft is prevented. Local deformation or fracture risks caused by fit clearance and stress concentration in split type reamed hole bolt connection are avoided, the torque rigidity and the bending rigidity of the joint module under the high-speed and high-load working conditions are improved, the overall reliability of the module is improved, and the service life of the module is prolonged.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, and more specifically to a cycloidal pinwheel speed reducer joint module. Background Technology

[0002] As an important component of mechanical transmission systems, speed reducers are widely used in industrial automation, robotics, aerospace and other fields.

[0003] Chinese invention patent CN118269141B discloses a cycloidal pinwheel reducer robot joint module and its assembly method. The joint module includes a drive plate, a motor assembly, a cycloidal pinwheel reducer assembly, and a housing. The drive plate is connected to the motor assembly, and the output shaft of the motor assembly is connected to the cycloidal pinwheel reducer assembly. The drive plate, motor assembly, and cycloidal pinwheel reducer assembly are all housed within the housing. The cycloidal pinwheel reducer assembly includes a cycloidal wheel central shaft, on which a first cycloidal central shaft bearing, a second cycloidal central shaft bearing, and an eccentric sliding bearing are sequentially mounted. A cycloidal wheel is mounted on the eccentric sliding bearing. The first and second cycloidal central shaft bearings are respectively assembled on an input flange and an output flange. The input flange and output flange are located on opposite sides of the cycloidal wheel and are fixedly connected to it.

[0004] According to paragraphs

[0059] to

[0113] of its instruction manual, the output flange has several bolt holes, and reamed bolts are installed in the bolt holes. The reamed bolts are located inside the output flange. The reamed bolts inside the output flange are inserted into the pin sleeves on the cycloidal wheel to realize the linkage between the output flange and the cycloidal wheel. However, the reamed bolts and the output flange are set separately. When the output flange is subjected to a large external load, the output flange is prone to breakage due to insufficient torque stiffness and bending stiffness. Summary of the Invention

[0005] The purpose of this invention is to provide a cycloidal pinwheel reduction joint module with high torsional stiffness and high bending stiffness to solve the above-mentioned problems existing in the prior art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a cycloidal pinwheel reduction joint module, including an input shaft, a reduction mechanism, an electrical control mechanism, and an output shaft, characterized in that: the input shaft is rotatably fitted with a planetary carrier, and several connecting pins extend outward from the end face of the output shaft facing the reduction mechanism. The connecting pins and the output shaft are integrally formed, and the output shaft is detachably connected to the planetary carrier through the connecting pins. The electrical control mechanism drives the input shaft to rotate circumferentially around the central axis, and the input shaft drives the connecting pins to decelerate circumferentially through the reduction mechanism, thereby causing the output shaft to decelerate and rotate.

[0007] By adopting the above technical solution, the planetary carrier and output shaft are located on both sides of the input shaft and rotate with it, making the load distribution on the output shaft more uniform. At the same time, the connecting pin and the output shaft are integrally formed. When the electronic control mechanism drives the input shaft to rotate, and the reduction mechanism drives the output shaft to bear the external load and output at a lower speed, it can bear greater torque and maintain the connection rigidity between the connecting pin and the output shaft. This prevents the output shaft from breaking or bending due to excessive torque during rotation, and avoids the risk of local deformation or breakage caused by the fit clearance and stress concentration in the split reamed hole bolt connection. This improves the torque stiffness and bending stiffness of the joint module under high-speed and high-load conditions, and improves the overall reliability and service life of the module. In addition, the integral forming of the connecting pin and the output shaft reduces the assembly difficulty of the output shaft and the reduction mechanism, and improves the convenience of assembling the cycloidal pinwheel reduction joint module.

[0008] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: the planetary carrier has several connecting pin slots, the end of the connecting pin shaft passes through the connecting pin slot, the bottom of the connecting pin slot has a connecting hole, the connecting hole has a connecting bolt, the planetary carrier has a mounting ring platform at one end of the connecting hole opposite to the connecting pin shaft, one end of the connecting bolt is threaded to the connecting pin shaft, and the other end abuts against the end face of the mounting ring platform.

[0009] By adopting the above technical solution: the end of the connecting pin is inserted into the connecting pin groove of the planetary carrier and locked in place by a connecting bolt, a power transmission connection is formed between the output shaft and the planetary carrier. One end of the connecting bolt is threaded to the connecting pin and the other end abuts against the end face of the mounting ring. This effectively restricts the axial movement of the connecting pin in the connecting pin groove. At the same time, the supporting effect of the mounting ring disperses the local stress at the connection point, avoiding fatigue damage caused by stress concentration. Under the premise of ensuring synchronous rotation of the output shaft and the planetary carrier, the connection stability under high torque transmission is enhanced.

[0010] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: the input shaft is provided with a first eccentric disk and a second eccentric disk, the first eccentric disk and the second eccentric disk are staggered; the reduction mechanism includes a reduction connecting seat, a first cycloidal pinwheel, a second cycloidal pinwheel, and a plurality of cycloidal pin teeth; the inner wall of the reduction connecting seat is provided with a plurality of cycloidal pin grooves for mounting the cycloidal pin teeth; the cycloidal pin teeth pass through the cycloidal pin grooves and rotate in cooperation with the cycloidal pin grooves; the first cycloidal pinwheel is circumferentially provided with a plurality of first pin holes; the second cycloidal pinwheel is circumferentially provided with a plurality of first pin holes. A second pin hole is provided, and a connecting pin passes through the first pin hole and the second pin hole to connect with the planetary carrier. The first cycloidal pin wheel is linked with the first eccentric disk through the first rotating arm bearing, and the second cycloidal pin wheel is linked with the second eccentric disk through the second rotating arm bearing. The rotation of the input shaft drives the first and second cycloidal pin wheels to move eccentrically. During the eccentric movement of the first and second cycloidal pin wheels, their circumferences mesh with the cycloidal pin teeth, causing the first and second cycloidal pin wheels to decelerate and rotate, thereby driving the connecting pin to rotate circumferentially.

[0011] By adopting the above technical solution: when the input shaft rotates, the first eccentric disk and the second eccentric disk rotate synchronously eccentrically. The first eccentric disk drives the first cycloidal pinwheel to oscillate, and the second eccentric disk drives the second cycloidal pinwheel to oscillate. When the first and second eccentric disks oscillate, the tooth grooves on the outer periphery of the first and second eccentric disks mesh with the cycloidal pin teeth, driving the first and second eccentric disks to decelerate around the central axis. Due to the misalignment of the first and second eccentric disks, during the rotation, the first pin hole and the second pin hole alternately drive the connecting pin to rotate stably in the circumferential direction, realizing the deceleration output of the output shaft. At the same time, there is a phase difference between the pin teeth of the first and second cycloidal pinwheels, which not only balances the eccentric load and reduces vibration and wear, but also improves the transmission accuracy and torque capacity, achieving greater load-bearing capacity, higher efficiency, higher rigidity, and stronger impact resistance in power transmission.

[0012] The aforementioned cycloidal pinwheel reduction joint module can be further configured such that: the connecting pin sleeve is provided with a pin sleeve, the pin sleeve can contact the inner wall of the first pin hole and the second pin hole, and the output shaft and planetary carrier are rotatably engaged with the input shaft through ball bearings.

[0013] By adopting the above technical solution: when the connecting pin passes through the pin holes of the first cycloidal pinwheel and the second cycloidal pinwheel, the pin sleeve directly contacts the inner wall of the pin hole and forms a rotational or sliding fit, which effectively avoids direct friction and wear between the connecting pin and the cycloidal wheel hole wall, and extends the service life of the connecting pin. At the same time, the output shaft and the planetary carrier achieve rotational fit with the input shaft through ball bearings. The ball bearings can withstand radial and axial loads, ensuring the concentricity and smooth operation of the output shaft during deceleration rotation, and reducing vibration and noise caused by eccentric motion.

[0014] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: a first shaft ring extends outward from the circumferential side of the output shaft, a second shaft ring extends outward from the circumferential side of the planetary carrier, a plurality of first cross rollers are provided on the side of the first shaft ring near the cycloidal tooth groove, the first cross rollers are circumferentially distributed on the outer circumference of the output shaft, a first annular shaft ring is provided on the side of the output shaft opposite the first shaft ring, the first shaft ring and the first annular shaft ring clamp the first cross rollers to form a first cross roller bearing, a plurality of second cross rollers are provided on the side of the second shaft ring near the cycloidal tooth groove of the second shaft ring, the second cross rollers are circumferentially distributed on the outer circumference of the output shaft, a second annular shaft ring is provided on the side of the output shaft opposite the second shaft ring, the second shaft ring and the second annular shaft ring clamp the second cross rollers to form a second cross roller bearing.

[0015] By adopting the above technical solution: the input shaft and the first and second shaft rings extending outward from the outer periphery of the planetary carrier, the first shaft ring and the first annular shaft ring clamp the first cross roller to form a first cross roller bearing, so that the first cross roller bearing is integrated with the output shaft; the second shaft ring and the second annular shaft ring clamp the second cross roller to form a second cross roller bearing, so that the second cross roller bearing is integrated with the planetary carrier, which not only improves the load capacity and bending stiffness of the output bearing, but also improves the integration of the output shaft, enabling the output shaft to withstand greater overturning loads.

[0016] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: the electrical control mechanism includes an electrical control connector, a frameless torque motor, and a driver; the reduction mechanism is detachably connected to the electrical control connector; the input shaft is provided with a rotor support; the rotor support is linked to the output end of the frameless torque motor; the input shaft is linked to the rotor support; the frameless torque motor is signal-connected to the driver; the driver controls the frameless torque motor to stop or run, causing the rotor support to drive the input shaft to rotate circumferentially.

[0017] By adopting the above technical solution: the electronic control mechanism sets the frameless torque motor in the electronic control connector, and the rotor of the frameless torque motor is fixed to the input shaft through the rotor bracket. When the frameless torque motor is running, a rotational magnetic field is generated between its stator and rotor, thereby driving the circumferential rotation of the input shaft. At the same time, the frameless torque motor has high torque density, low inertia and fast response characteristics, and the driver can realize precise adjustment of the start and stop, speed and direction of the input shaft.

[0018] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: the driver includes a drive base and a drive panel, the drive base is detachably connected to a drive end cover, and the drive end cover has several connection notches corresponding to the connection interface of the drive panel.

[0019] By adopting the above technical solution: the drive base and the electronic control connection base are connected by bolts, the drive panel is set inside the drive base, and the connection interface on the drive panel is connected to the signals of each control through the connection notch, which ensures the stability and effectiveness of the connection between the drive panel and the signals of each control. At the same time, the drive end cover can cover the drive base, reduce the intrusion of contaminants or impurities into the drive base, and reduce the impact on the drive panel, thereby improving the reliability and service life of the drive panel.

[0020] The aforementioned cycloidal pinwheel reduction joint module can be further configured such that the electronic control mechanism also includes a braking component, which includes a brake and a friction pad. The brake is detachably connected to the drive seat, and the friction pad is slidably engaged with the rotor support through connecting bolts. The operation of the brake causes the friction pad to separate from the rotor support.

[0021] By adopting the above technical solution, the braking component can brake the input shaft. When the brake is powered on, it can quickly drive the friction pad to separate from the rotor support, realizing unobstructed rotation of the input shaft. When the power is off or braking is required, the brake stops attracting the friction pad, the friction pad resets and contacts the end face of the rotor support, and the friction force achieves a fast and stable braking response. This ensures that the transmission efficiency and dynamic response accuracy of the joint module are not affected during normal operation, and provides reliable holding torque and braking safety in case of shutdown, power failure or emergency. It effectively prevents the output shaft from being accidentally displaced due to external force or inertia, and improves the control reliability and operational safety of the joint module in scenarios with high precision and high safety requirements.

[0022] The aforementioned cycloidal pinwheel reduction joint module can be further configured as follows: the electrical control mechanism is also equipped with an input encoder and an output encoder. The input shaft is rotatably engaged with the input encoder, and the output shaft is provided with a mounting platform in the middle. The mounting platform is detachably connected to an encoder shaft. One end of the encoder shaft is linked with the output shaft, and the other end passes through the input shaft and is rotatably engaged with the output encoder.

[0023] By adopting the above technical solution—where the input encoder identifies the rotation angle and position of the input shaft, and the output encoder identifies the rotation angle and position of the output shaft through the encoding shaft—synchronous monitoring of the motion states of the input and output shafts is achieved. Simultaneously, the input and output encoders transmit the monitoring data to the drive panel. Based on the motion states of the input and output shafts, the drive panel can compensate and correct for transmission errors, backlash, and elastic deformation in real time, improving the positional accuracy and repeatability of the joint module. Furthermore, the encoding shaft is detachably connected to the mounting platform via bolts and passes through the end of the input shaft within the electrical control mechanism, enabling simultaneous monitoring of the input and output encoders on the same side. This facilitates the installation and calibration of the input and output encoders, ensuring the stability and reliability of signal acquisition.

[0024] The beneficial effects of this invention are as follows: First, by using an integrated structure for the connecting pin and the output shaft, compared to the existing two-part structure where the output shaft and the pin are separate, the inherent gaps and stress concentration points of the split connection are eliminated. This allows the torque output by the reduction mechanism to be directly and without attenuation transmitted to the output shaft, thereby significantly enhancing the torque stiffness and bending stiffness of the constant velocity output structure. It has better stiffness retention under large external loads, effectively preventing fatigue deformation or fracture at the connection due to alternating stress. Furthermore, compared to the harmonic joint module, the output shaft is detachably connected to the planetary carrier via an integrated connecting pin, giving the reduction mechanism greater load-bearing capacity, higher mechanical transmission efficiency, higher torsional and bending stiffness, and stronger impact resistance and longer fatigue life when facing impact loads.

[0025] Secondly, by integrating the first cross-roller bearing with the output shaft and the second cross-roller bearing with the planetary carrier, compared with the angular contact bearings used at the output end of traditional reducers, the line contact structure of the first and second cross-roller bearings, which are arranged in a cross pattern, provides a larger load-bearing contact area in the same space. This not only provides excellent radial and axial rigidity but also allows the reducer to withstand complex composite torques, resulting in better bending stiffness and the ability to withstand sufficiently large overturning loads. This ensures the motion accuracy and stability of the output shaft under high-speed and high-load conditions.

[0026] Third, the electronic control mechanism has an input encoder and an output encoder on the same side. The output shaft transmits rotational data to the electronic control mechanism through an encoder shaft. The input encoder and output encoder can simultaneously detect the rotational speed and speed difference of the input shaft and output shaft, and then control the operation of the frameless torque motor through the driver to achieve precise detection and control of the cycloidal pinwheel reduction module. At the same time, the braking component set in the electronic control mechanism can quickly brake the rotation of the input shaft when the power is off or the operation stops, effectively preventing the output shaft from being accidentally displaced due to external force or inertia, thus improving the control reliability and operational safety of the joint module in scenarios with high precision and high safety requirements.

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the present invention; Figure 3 This is a schematic diagram of the input shaft of the present invention; Figure 4 This is a schematic diagram showing the disassembled deceleration mechanism of the present invention; Figure 5 This is a schematic diagram showing the disassembled electronic control mechanism of the present invention; Figure 6 This is a schematic diagram of the driver of the present invention; Figure 7 This is a schematic diagram of the output shaft of the present invention; Figure 8 This is a schematic diagram of the planetary gear structure of the present invention; Label annotations: Input shaft 1, First eccentric disk 11, Second eccentric disk 12, Rotor support 13. Reducer mechanism 2, reducer connecting seat 21, cycloidal pin groove 211, first cycloidal pin wheel 22, first pin hole 221, first swivel bearing 222, second cycloidal pin wheel 23, second pin hole 231, second swivel bearing 232, cycloidal pin tooth 24. 3. Electrical control mechanism; 31. Electrical control connector; 32. Frameless torque motor; 33. Driver; 331. Driver base; 332. Driver panel; 333. Driver end cover; 334. Connecting notch; 335. Braking assembly; 341. Brake; 342. Friction pad; 35. Input encoder; 36. Output encoder; 37. Encoding shaft. Output shaft 4, connecting pin 41, pin sleeve 42, ball bearing 43, first shaft ring 44, first cross roller bearing 45, first annular shaft ring 46, second cross roller bearing 47, mounting platform 48. Planetary carrier 5, connecting pin groove 51, connecting hole 52, mounting ring platform 53, second shaft ring 54, second cross roller 55, second annular shaft ring 56, second cross roller bearing 57. Detailed Implementation

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Cycloidal pinwheel reduction joint module, such as Figures 1 to 8 As shown, it includes an input shaft 1, a reduction mechanism 2, an electrical control mechanism 3, and an output shaft 4. The output shaft 4 is also rotatably fitted with a planetary carrier 5. The output shaft 4 and the planetary carrier 5 are detachably connected. The output shaft 4 is rotatably fitted with the planetary carrier 5. Several connecting pins 41 extend outward from the end face of the output shaft 4 facing the reduction mechanism 2. The connecting pins 41 and the output shaft 4 are integrally formed. The output shaft 4 is detachably connected to the planetary carrier 5 through the connecting pins 41. The electrical control mechanism 3 drives the input shaft 1 to rotate circumferentially around the central axis. The input shaft 1 drives the connecting pins 41 to rotate circumferentially at a reduced speed through the reduction mechanism 2, which causes the output shaft 4 to rotate at a reduced speed.

[0031] like Figure 3As shown, the input shaft 1 is provided with a first eccentric disk 11 and a second eccentric disk 12, which are staggered.

[0032] like Figure 4 As shown, the reduction mechanism 2 includes a reduction connecting seat 21, a first cycloidal pinwheel 22, a second cycloidal pinwheel 23, and a plurality of cycloidal pin teeth 24. The inner wall of the reduction connecting seat 21 is provided with a plurality of cycloidal pin grooves 211 for mounting the cycloidal pin teeth 24. The cycloidal pin teeth 24 pass through the cycloidal pin grooves 211 and rotate in cooperation with the cycloidal pin grooves 211. The first cycloidal pinwheel 22 is circumferentially provided with a plurality of first pin holes 221, and the second cycloidal pinwheel 23 is circumferentially provided with a second pin hole 231. The connecting pin 41 passes through the first pin hole 221 and the second pin hole 231. The pin hole 231 is connected to the planetary carrier 5. The first cycloidal pinwheel 22 is linked to the first eccentric disk 11 through the first swivel bearing 222. The second cycloidal pinwheel 23 is linked to the second eccentric disk 12 through the second swivel bearing 232. The rotation of the input shaft 1 drives the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 to move eccentrically. During the eccentric movement of the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23, their circumferences mesh with the cycloidal pin teeth 24, causing the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 to decelerate and rotate, thereby driving the connecting pin 41 to rotate circumferentially.

[0033] like Figure 5 , Figure 6 As shown, the electronic control mechanism 3 includes an electronic control connector 31, a frameless torque motor 32, and a driver 33. The reduction mechanism 2 is detachably connected to the electronic control connector 31. The input shaft 1 is provided with a rotor support 13. The rotor support 13 is linked to the output end of the frameless torque motor 32. The input shaft 1 is linked to the rotor support 13. The frameless torque motor 32 is signal-connected to the driver 33. The driver 33 controls the frameless torque motor 32 to stop or run, causing the rotor support 13 to drive the input shaft 1 to rotate circumferentially.

[0034] The driver 33 includes a driver base 331 and a driver panel 332. The driver base 331 is detachably connected to a driver end cover 333. The driver end cover 333 has several connection notches 334 corresponding to the connection interface of the driver panel 332.

[0035] The electronic control mechanism 3 also includes a braking assembly 34, which includes a brake 341 and a friction pad 342. The brake 341 is detachably connected to the drive seat 331. The friction pad 342 is slidably engaged with the rotor support 13 by connecting bolts. The operation of the brake 341 causes the friction pad 342 to separate from the rotor support 13.

[0036] The electrical control mechanism 3 is also equipped with an input encoder 35 and an output encoder 36. The input shaft 1 is rotatably engaged with the input encoder 35. The output shaft 4 has a mounting platform 48 in the middle. The mounting platform 48 is detachably connected to an encoder shaft 37. One end of the encoder shaft 37 is linked with the output shaft 4, and the other end passes through the input shaft 1 and is rotatably engaged with the output encoder 36.

[0037] like Figure 2 , Figure 7 As shown, the planetary carrier 5 has several connecting pin grooves 51. The end of the connecting pin shaft 41 passes through the connecting pin groove 51. A connecting hole 52 is provided through the bottom of the connecting pin groove 51. A connecting bolt passes through the connecting hole 52. The planetary carrier 5 has a mounting ring platform 53 at one end of the connecting hole 52 opposite to the connecting pin shaft 51. One end of the connecting bolt is threaded to the connecting pin shaft 41, and the other end abuts against the end face of the mounting ring platform 53.

[0038] The connecting pin 41 is fitted with a pin sleeve 42, which can contact the inner walls of the first pin hole 221 and the second pin hole 231. The output shaft 4 and the planetary carrier 5 are rotatably engaged with the input shaft 1 through ball bearings 43.

[0039] A first shaft ring 44 extends outward from the circumference of the output shaft 4, and a second shaft ring 54 extends outward from the circumference of the planetary carrier 5. Several first cross rollers 45 are provided on the side of the first shaft ring 44 near the cycloidal pin groove 211. The first cross rollers 45 are circumferentially distributed around the outer circumference of the output shaft 4. A first annular shaft ring 46 is provided on the side of the output shaft 4 opposite to the first shaft ring 44. The first shaft ring 44 and the first annular shaft ring 46 clamp the first cross rollers 45 to form a first cross roller bearing 47. Several second cross rollers 55 are provided on the side of the second shaft ring 54 near the cycloidal pin groove 211. The second cross rollers 55 are circumferentially distributed around the outer circumference of the output shaft 4. A second annular shaft ring 56 is provided on the side of the output shaft 4 opposite to the second shaft ring 54. The second shaft ring 54 and the second annular shaft ring 56 clamp the second cross rollers 55 to form a second cross roller bearing 57.

[0040] The working principle of this embodiment is as follows: After the power supply is connected to the electrical control mechanism 3, the brake 341 attracts the friction pad 342, and the end face of the friction pad 342 separates from the end face of the rotor support 13. At the same time, the drive panel 332 controls the frameless torque motor 32 to run. The rotor of the frameless torque motor 32 drives the rotor support 13 to rotate circumferentially, and the input shaft 1 rotates synchronously with the rotor support 13.

[0041] When the input shaft 1 rotates, the first eccentric disk 11 and the second eccentric disk 12 rotate eccentrically around the central axis of the input shaft 1. The first eccentric disk 11 pushes the first cycloidal pinwheel 22 to oscillate, and the second eccentric disk 12 pushes the second cycloidal pinwheel 23 to rotate circumferentially around the central axis of the input shaft 1. The external teeth of the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 mesh with the cycloidal pin teeth 24 in the cycloidal pin groove 211, pushing the first cycloidal pinwheel 22 to rotate circumferentially around the central axis of the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 around the central axis of the second cycloidal pinwheel 23.

[0042] When the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 rotate around their central axis, the first cycloidal pinwheel 22 and the second cycloidal pinwheel 23 alternately drive the connecting pin 41 to rotate. The connecting pin 41 synchronously drives the output shaft 4 and the planetary carrier 5 to rotate around the central axis of the input shaft 1, thereby realizing power output.

[0043] During the rotation of the output shaft 4, the encoder shaft 37 rotates synchronously with the output shaft 4 within the input shaft 1. The input encoder 35 of the electronic control mechanism 3 monitors the rotation data of the input shaft 1, and the output encoder 36 monitors the rotation data of the encoder shaft 37 and synchronously transmits the two sets of data to the drive panel 332. The drive panel 332 adjusts the operation of the frameless torque motor 32 according to the data.

[0044] When rotation needs to be stopped, the drive panel 332 disconnects the power supply to the brake 341, and the friction pad 342 re-contacts the end face of the rotor support 13 to achieve rapid braking of the input shaft 1. At the same time, when the joint module is unexpectedly de-energized, the brake 341 will also release the friction pad 342, causing the friction pad 342 to contact the rotor support 13, so that the input shaft 1 is braked quickly.

[0045] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A cycloidal pinwheel reduction joint module, comprising an input shaft, a reduction mechanism, an electrical control mechanism, and an output shaft, characterized in that: The input shaft is rotatably fitted with a planetary carrier. Several connecting pins extend outward from the end face of the output shaft facing the reduction mechanism. The connecting pins are integrally formed with the output shaft. The output shaft is detachably connected to the planetary carrier through the connecting pins. The electronic control mechanism drives the input shaft to rotate circumferentially around the central axis. The input shaft drives the connecting pins to rotate circumferentially at a reduced speed through the reduction mechanism, thereby causing the output shaft to rotate at a reduced speed.

2. The cycloidal pinwheel reduction joint module according to claim 1, characterized in that: The planetary carrier has several connecting pin slots. The end of the connecting pin shaft passes through the connecting pin slot. A connecting hole is formed through the bottom of the connecting pin slot. A connecting bolt passes through the connecting hole. The planetary carrier has a mounting ring platform at one end of the connecting hole opposite to the connecting pin shaft. One end of the connecting bolt is threaded to the connecting pin shaft, and the other end abuts against the end face of the mounting ring platform.

3. The cycloidal pinwheel reduction joint module according to claim 2, characterized in that: The input shaft is provided with a first eccentric disk and a second eccentric disk, which are staggered. The reduction mechanism includes a reduction connecting seat, a first cycloidal pinwheel, a second cycloidal pinwheel, and a plurality of cycloidal pin teeth. The inner wall of the reduction connecting seat is provided with a plurality of cycloidal pin grooves for mounting the cycloidal pin teeth. The cycloidal pin teeth pass through the cycloidal pin grooves and rotate in cooperation with the cycloidal pin grooves. The first cycloidal pinwheel is provided with a plurality of first pin holes circumferentially, and the second cycloidal pinwheel is provided with a second pin circumferentially. The connecting pin passes through the first pin hole and the second pin hole and is connected to the planetary carrier. The first cycloidal pinwheel is linked to the first eccentric disk through the first swivel bearing, and the second cycloidal pinwheel is linked to the second eccentric disk through the second swivel bearing. The rotation of the input shaft drives the first cycloidal pinwheel and the second cycloidal pinwheel to move eccentrically. During the eccentric movement of the first cycloidal pinwheel and the second cycloidal pinwheel, their circumferences mesh with the cycloidal pin teeth, causing the first cycloidal pinwheel and the second cycloidal pinwheel to decelerate and rotate, thereby driving the connecting pin to rotate circumferentially.

4. The cycloidal pinwheel reduction joint module according to claim 3, characterized in that: The connecting pin sleeve is provided with a pin sleeve, which can contact the inner walls of the first pin hole and the second pin hole. The output shaft and planetary carrier are rotatably engaged with the input shaft through ball bearings.

5. The cycloidal pinwheel reduction joint module according to claim 4, characterized in that: The output shaft has a first shaft ring extending outward from its circumference, and the planetary carrier has a second shaft ring extending outward from its circumference. The first shaft ring has a plurality of first cross rollers near the cycloidal tooth groove. The first cross rollers are circumferentially distributed around the outer circumference of the output shaft. The output shaft has a first annular shaft ring on the side of the first cross rollers opposite the first shaft ring. The first shaft ring and the first annular shaft ring sandwich the first cross rollers to form a first cross-roll bearing. The second shaft ring has a plurality of second cross rollers near the cycloidal tooth groove. The second cross rollers are circumferentially distributed around the outer circumference of the output shaft. The output shaft has a second annular shaft ring on the side of the second cross rollers opposite the second shaft ring. The second shaft ring and the second annular shaft ring sandwich the second cross rollers to form a second cross-roll bearing.

6. The cycloidal pinwheel reduction joint module according to any one of claims 1 to 5, characterized in that: The electronic control mechanism includes an electronic control connector, a frameless torque motor, and a driver. The reduction mechanism is detachably connected to the electronic control connector. The input shaft is equipped with a rotor support. The rotor support is linked to the output end of the frameless torque motor. The input shaft is linked to the rotor support. The frameless torque motor is signal-connected to the driver. The driver controls the frameless torque motor to stop or start, causing the rotor support to drive the input shaft to rotate circumferentially.

7. The cycloidal pinwheel reduction joint module according to claim 6, characterized in that: The driver includes a driver base and a driver panel. The driver base is detachably connected to a driver end cover. The driver end cover has several connection notches corresponding to the connection interface of the driver panel.

8. The cycloidal pinwheel reduction joint module according to claim 7, characterized in that: The electronic control mechanism also includes a braking assembly, which includes a brake and a friction pad. The brake is detachably connected to the drive seat, and the friction pad is slidably engaged with the rotor support via connecting bolts. The operation of the brake causes the friction pad to separate from the rotor support.

9. The cycloidal pinwheel reduction joint module according to claim 8, characterized in that: The electronic control mechanism is also equipped with an input encoder and an output encoder. The input shaft is rotatably engaged with the input encoder. The output shaft has a mounting platform in the middle. The mounting platform is detachably connected to an encoding shaft. One end of the encoding shaft is linked to the output shaft, and the other end passes through the input shaft and is rotatably engaged with the output encoder.

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