A gap-adjustable cycloid speed reducer and joint module

Abstract

The application relates to the technical field of robots, and discloses a cycloid speed reducer with adjustable gap and a joint module. The speed reducer comprises an input shaft, one end of the input shaft is provided with two eccentric parts with a phase difference of 180 degrees, two cycloid wheels are correspondingly installed on the eccentric parts, a pin-tooth shell is sleeved on the periphery of the two cycloid wheels, a plurality of guide holes are arranged in the radial direction on the pin-tooth shell, each pin-tooth is slidably arranged in the corresponding guide hole and simultaneously meshes with the two cycloid wheels, a pin-tooth frame is rotatably arranged at the end of the pin-tooth shell, an annular groove matched with the end of each pin-tooth is arranged on the pin-tooth frame, and the extension direction of the annular groove is obliquely arranged relative to the circumferential direction of the pin-tooth shell, and an adjusting device is used for driving the pin-tooth frame to rotate relative to the pin-tooth shell, so that the annular groove pushes the pin-tooth to move in the radial direction along the guide hole. The circumferential rotation of the pin-tooth frame is converted into the radial movement of the pin-tooth, the transmission gap can be accurately adjusted, and the problems of inconvenient and inaccurate transmission gap adjustment in the prior art are solved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a cycloidal reducer with adjustable clearance and a joint module. Background Technology

[0002] Cycloidal pinwheel reducers, with their advantages of high precision, high load capacity, and large reduction ratio, are widely used as joint drive devices in robots, and are also core transmission components in CNC machine tools, automated equipment, and other fields. Their working principle mainly relies on the precise meshing between the cycloidal wheel and the pin teeth to achieve deceleration and power transmission.

[0003] However, in practical applications, the meshing clearance between the cycloidal wheel and the needle teeth often gradually increases due to manufacturing tolerances, assembly errors, and friction, wear, and thermal deformation caused by long-term operation. This increase in clearance directly affects transmission accuracy, leading to increased return error and causing vibration and noise, becoming a key bottleneck restricting the achievement of high repeatability positioning accuracy in robot joint modules.

[0004] To eliminate or reduce the aforementioned meshing backlash, existing technologies have proposed various solutions. For example, the eccentricity adjustment method, which compensates for the backlash by adjusting the crankshaft eccentricity, may affect the system's rigidity and dynamic balance. Another example is the method of precisely modifying the cycloidal gear tooth profile, which, while pre-setting the backlash, cannot compensate for subsequent wear-induced backlash changes. Yet another approach is to use axial or radial elastic elements to pre-tighten the pin teeth to achieve backlash-free transmission. While theoretically feasible, this requires extremely stringent geometric accuracy and consistency of the parts, making practical engineering implementation difficult. Furthermore, the pre-tightening force control and reliability of the elastic elements under complex operating conditions are hard to guarantee, easily accelerating wear and shortening the service life of the joint module. Therefore, how to provide a technical solution that allows for simple, precise, and reliable adjustment of the transmission backlash during assembly or subsequent maintenance has become a pressing technical challenge in this field. Summary of the Invention

[0005] In view of this, this application proposes a cycloidal reducer and joint module with adjustable clearance, aiming to solve the technical problems of inconvenient and inaccurate adjustment of the clearance of cycloidal pinwheel transmission and difficulty in eliminating the meshing clearance of the pinwheel pair in the prior art.

[0006] The technical solution of this application is implemented as follows: On one hand, this application provides a cycloidal reducer with adjustable clearance, comprising: An input shaft, one end of which is provided with two eccentric portions that are 180° out of phase along the axial direction; Two cycloidal wheels are respectively mounted on the corresponding eccentric parts via the first bearing; A needle tooth shell is sleeved around the two cycloidal wheels, and the needle tooth shell is provided with a plurality of radially extending guide holes spaced circumferentially. Multiple needle teeth, each of which slides through the corresponding guide hole and simultaneously meshes with the two cycloidal wheels; A needle tooth frame is rotatably disposed at the end of the needle tooth shell. The needle tooth frame is provided with an annular groove that mates with the ends of each needle tooth. The extending direction of the annular groove is inclined relative to the circumferential direction of the needle tooth shell. An adjustment device is connected between the needle tooth housing and the needle tooth frame, used to drive the needle tooth frame to rotate relative to the needle tooth housing, so that the annular groove pushes the needle tooth to move radially along the guide hole.

[0007] Based on the above technical solutions, the preferred embodiment also includes: The housing, wherein the needle tooth shell is detachably fixed inside the housing; The first end cap is fixedly installed at the opening end of the housing; An output flange is located at one end of the housing, and the output flange is supported on the first end cover by a second bearing. Multiple pins, one end of which is fixedly connected to the output flange, and the other end of which moves sequentially through the two cycloidal wheels and is in clearance fit with the cycloidal wheels.

[0008] Based on the above technical solution, preferably, the needle tooth frame includes two needle tooth frames, which are rotatably disposed at opposite ends of the needle tooth shell, and the inclination directions of the annular grooves on the two needle tooth frames are opposite. The outer periphery of the needle tooth shell is provided with a plurality of first connecting parts spaced apart in the circumferential direction, and the first connecting parts extend axially to both ends of the needle tooth shell; both needle tooth frames are provided with a number of second connecting parts in the circumferential direction that are the same as the number of the first connecting parts, and the second connecting parts on the two needle tooth frames are arranged in a centrally symmetrical manner with respect to the first connecting parts. Each of the first connecting parts is connected to a corresponding second connecting part at both ends by an adjustment device. The adjustment device includes a screw and two nuts threaded onto the screw. One end of the screw is fixedly connected to the second connecting part, and the other end moves through the first connecting part. The two nuts abut against both sides of the first connecting part.

[0009] Based on the above technical solution, preferably, the end face of the needle tooth shell where the first connecting part is located is provided with a scale, which is used to indicate the radial displacement of the needle tooth.

[0010] Based on the above technical solution, preferably, the needle teeth include: The guide portion passes through the corresponding guide hole; The meshing part is perpendicularly connected to the guide part and meshes with the two cycloidal wheels simultaneously. The two ends of the meshing part are respectively connected to the annular grooves of the two needle teeth.

[0011] Based on the above technical solution, preferably, the outer periphery of the needle tooth shell is provided with an exhaust groove that communicates with the guide hole, and at least one end of the exhaust groove extends to the axial end of the needle tooth shell.

[0012] Secondly, this application discloses a joint module, including the cycloidal reducer with adjustable clearance as described in the first aspect and a motor. The motor is fixedly disposed at the end of the housing away from the output flange. The motor includes a stator and a rotor. The stator is fixedly disposed inside the housing, and the rotor is disposed radially inside the stator. The end of the input shaft away from the eccentric part is fixedly connected to the rotor.

[0013] Based on the above technical solution, preferably, the housing includes a first housing and a second housing. The first housing is cylindrical, the needle-tooth housing is detachably fixed inside the first housing, the second housing is detachably connected to the end of the first housing away from the output flange, and the motor is fixedly installed inside the second housing.

[0014] Based on the above technical solution, preferably, it also includes a second end cover and a transmission accuracy detection device. The second end cover is fixedly disposed at the end of the second housing away from the first housing, and the transmission accuracy detection device is disposed on the second end cover for detecting the angle signals at both the input and output ends of the reducer.

[0015] Based on the above technical solution, preferably, the transmission accuracy detection device includes a central shaft, a high-speed gear, a low-speed gear, a high-speed encoder gear, a low-speed encoder gear, an encoder, and a protective cover; The central shaft passes through the input shaft, with one end fixedly connected to the output flange and the other end fixedly connected to the low-speed gear. The end of the input shaft away from the output flange passes through the second end cover and is connected to the high-speed gear. The high-speed encoding gear and the low-speed encoding gear are respectively rotatably mounted on the second end cover. The high-speed encoding gear meshes with the high-speed gear, and the low-speed encoding gear meshes with the low-speed gear. The encoder is used to acquire rotation signals of both high-speed and low-speed coded gears; The protective cover is fixed to the end of the second end cover away from the second housing, and encapsulates the high-speed gear, low-speed gear, high-speed encoder gear, low-speed encoder gear and encoder in the space formed by the protective cover and the second end cover.

[0016] This application has the following advantages over the prior art: 1) The cycloidal reducer disclosed in this application provides a pin tooth housing around the cycloidal wheel and a pin tooth bracket rotatably mounted at the end of the pin tooth housing. The pin tooth is radially guided by a guide hole on the pin tooth housing, and an annular groove on the pin tooth bracket engages with the end of the pin tooth. The annular groove extends at an angle relative to the circumference of the pin tooth housing. When the adjusting device drives the pin tooth bracket to rotate relative to the pin tooth housing, the annular groove pushes the pin tooth to generate radial displacement along the guide hole, thereby achieving precise adjustment of the meshing clearance between the cycloidal wheel and the pin tooth. This structure converts the circumferential rotation of the pin tooth bracket into radial movement of the pin tooth. The transmission clearance can be adjusted during assembly or later maintenance without extensive disassembly of the reducer, effectively solving the technical problems of inconvenient and inaccurate adjustment of the cycloidal pin wheel transmission clearance and the difficulty in eliminating the meshing clearance of the pin wheel pair in the prior art.

[0017] 2) The structure, with two needle tooth frames arranged in opposite directions and the annular grooves inclined in opposite directions, allows both ends of the needle teeth to be constrained and bear bidirectional loads simultaneously. The first connecting part extends axially to both ends of the needle tooth shell and is symmetrically arranged with the second connecting parts on the upper and lower needle tooth frames, enabling synchronous counter-rotation of the upper and lower needle tooth frames. An adjustment device, with a screw fixedly connected to the second connecting part, moving through the first connecting part, and abutting against both sides of the first connecting part by two nuts, achieves precise control of the relative angle between the needle tooth frame and the needle tooth shell. These structures work together to allow the operator to precisely adjust the meshing clearance between the cycloidal wheel and the needle teeth by simply tightening the nuts. This solves the technical problems of inconvenient and inaccurate transmission clearance adjustment and difficulty in eliminating the meshing clearance of the needle wheel pair in existing technologies, achieving the technical effects of improving adjustment accuracy, simplifying adjustment operations, and enhancing structural reliability.

[0018] 3) The guide portion passes through the guide hole to achieve radial guidance of the needle teeth. The meshing portion is perpendicularly connected to the guide portion and simultaneously meshes with two cycloidal wheels to achieve power transmission. The two ends of the meshing portion are connected to the annular grooves of the two needle tooth frames to achieve dual-sided drive of the needle teeth. This structure allows the needle teeth to move smoothly radially along the guide hole when subjected to the thrust of the annular grooves, while ensuring reliable meshing with the cycloidal wheels. This solves the technical problems of complex needle tooth structure and unbalanced force leading to difficult clearance adjustment in existing technologies, achieving the technical effects of simplifying the needle tooth structure, improving adjustment smoothness, and enhancing transmission reliability.

[0019] 4) By splitting the housing into a first housing and a second housing, the first housing is cylindrical and houses the reducer components such as the pinion gear housing. The second housing is detachably connected to the end of the first housing furthest from the output flange and houses the motor. This allows for easy adjustment of the transmission clearance by simply removing the first housing and the first end cover. The motor, located in the second housing, remains unaffected, enabling convenient operation of the adjustment device. This achieves the technical effects of simplifying maintenance operations, reducing maintenance difficulty, and improving maintenance efficiency.

[0020] 5) The output signal is transmitted to one end of the second end cover via a central shaft passing through the input shaft. A high-speed gear connects to the input shaft, and a low-speed gear connects to the central shaft. The high-speed and low-speed encoder gears are centrally located on the second end cover. Two sets of rotation signals are acquired by an encoder. All detection elements are encapsulated in the same space by a protective cover. This structure allows the angle signal detection at both the input and output ends to be completed at the same end, achieving a centralized layout of detection elements. This results in a compact structure, saving axial space, facilitating installation and maintenance, and improving detection accuracy. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0022] Figure 1 This is a three-dimensional structural schematic diagram of the cycloidal reducer disclosed in the embodiments of this application; Figure 2 This is an exploded view of the cycloidal reducer disclosed in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the cycloidal wheel, needle tooth frame, needle tooth housing, and adjustment device disclosed in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the needle tooth frame, needle tooth housing, and adjustment device disclosed in the embodiments of this application; Figure 5 This is an exploded view of the joint module disclosed in the embodiments of this application; Figure 6 This is a schematic diagram of the planar structure of the joint module disclosed in the embodiments of this application; Figure 7 for Figure 6 Planar sectional view at point AA; Figure label: 1. Input shaft; 11. Eccentric part; 2. Cycloidal wheel; 3. Needle tooth housing; 31. Guide hole; 4. Needle tooth; 5. Needle tooth frame; 51. Annular groove; 6. Adjustment device; 7. Housing; D1. First end cover; F. Output flange; Z. Pin; 32. First connecting part; 52. Second connecting part; 61. Screw; 62. Nut; K. Scale; 41. Guide part; 42. Meshing part; 33. Exhaust groove; 8. Motor; 81. Stator; 82. Rotor; 71. First housing; 72. Second housing; D2. Second end cover; 9. Transmission accuracy detection device; 91. Central shaft; 92. High-speed gear; 93. Low-speed gear; 94. High-speed encoding gear; 95. Low-speed encoding gear; 96. Encoder; 97. Protective cover; C1. First bearing; C2. Second bearing; 711. Recessed groove. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0025] In the description of the embodiments of this application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0029] like Figure 1 As shown, combined with Figure 2-4 The first embodiment of this application discloses a cycloidal reducer with adjustable gap, including an input shaft 1, two cycloidal wheels 2, a needle tooth housing 3, multiple needle teeth 4, a needle tooth frame 5, and an adjustment device 6.

[0030] The input shaft 1 has two eccentric portions 11 with a phase difference of 180° at one end along the axial direction, and the other end of the input shaft 1 is used to receive power input, such as connecting to the motor 8. The two eccentric portions 11 are spaced apart in the axial direction of the input shaft 1, and the arrangement of the two eccentric portions 11 enables the input shaft 1 to generate periodic eccentric motion when rotating, providing a power source for the subsequent revolution motion of the cycloidal wheel 2.

[0031] Two cycloidal wheels 2 are respectively mounted on the corresponding eccentric parts 11 via the first bearing C1. The first bearing C1 is used to realize the relative rotation between the cycloidal wheel 2 and the eccentric part 11, so that when the input shaft 1 rotates, the eccentric part 11 can drive the cycloidal wheel 2 to perform a planar compound motion, that is, the cycloidal wheel 2 revolves around the axis of the input shaft 1 and rotates around its own axis. This is the basic motion form for the cycloidal pinwheel reducer to achieve the deceleration function.

[0032] The pin tooth housing 3 is fitted around the two cycloidal wheels 2. As the supporting structure of the entire reducer, the pin tooth housing 3 provides space for the movement of the cycloidal wheels 2, and also positions and guides the subsequent pin teeth 4. The pin tooth housing 3 has multiple radially extending guide holes 31 spaced circumferentially. The number and position of the guide holes 31 correspond one-to-one with the pin teeth 4, constraining the movement direction of the pin teeth 4 so that they can only move radially and cannot produce displacement in other directions.

[0033] Multiple pin teeth 4 are slidably inserted into corresponding guide holes 31 and simultaneously mesh with two cycloidal wheels 2. As transmission elements that directly contact the cycloidal wheels 2, the meshing relationship between the pin teeth 4 and the cycloidal wheels 2 determines the transmission accuracy and load-bearing capacity of the reducer. When the cycloidal wheels 2 move under the drive of the eccentric part 11, the outer tooth profile of the cycloidal wheels 2 forms continuous point contact meshing with the pin teeth 4, thereby realizing the function of deceleration and torque increase.

[0034] The pin tooth holder 5 is rotatably mounted on the end of the pin tooth housing 3. The pin tooth holder 5 is provided with annular grooves 51 that mate with the ends of each pin tooth 4. The extension direction of the annular grooves 51 is inclined relative to the circumferential direction of the pin tooth housing 3. The inclination angle of the annular grooves 51 allows the circumferential rotation of the pin tooth holder 5 to be converted into a radial thrust on the pin tooth 4. When the pin tooth holder 5 rotates, the inner wall of the annular grooves 51 pushes the ends of the pin teeth 4, causing the pin teeth 4 to undergo radial displacement along the guide hole 31.

[0035] Adjustment device 6 is connected between needle tooth housing 3 and needle tooth frame 5, and is used to drive needle tooth frame 5 to rotate relative to needle tooth housing 3. When adjustment device 6 is operated, needle tooth frame 5 rotates circumferentially relative to needle tooth housing 3, annular groove 51 rotates accordingly and pushes needle tooth 4 to move radially along guide hole 31, thereby changing the meshing clearance between needle tooth 4 and cycloidal wheel 2. In this way, the operator can precisely adjust the transmission clearance during assembly or after long-term operation without disassembling the main structure of the reducer.

[0036] The cycloidal reducer disclosed in this application uses a pin tooth housing 3 surrounding the cycloidal wheel 2, and a pin tooth frame 5 rotatably mounted at the end of the pin tooth housing 3. The pin tooth 4 is radially guided by a guide hole 31 on the pin tooth housing 3, and the pin tooth 4 is engaged with an annular groove 51 on the pin tooth frame 5. The annular groove 51 extends at an angle relative to the circumference of the pin tooth housing 3, so that when the adjusting device 6 drives the pin tooth frame 5 to rotate relative to the pin tooth housing 3, the annular groove 51 can push the pin tooth 4 to generate radial displacement along the guide hole 31, thereby achieving precise adjustment of the meshing clearance between the cycloidal wheel 2 and the pin tooth 4. This structure converts the circumferential rotation of the pin tooth frame 5 into radial movement of the pin tooth 4, allowing for adjustment of the transmission clearance during assembly or later maintenance without extensive disassembly of the reducer. This effectively solves the technical problems of inconvenient and inaccurate adjustment of the cycloidal pin wheel transmission clearance and the difficulty in eliminating the meshing clearance of the pin wheel pair in the prior art.

[0037] In some embodiments, the cycloidal reducer further includes a housing 7, an output flange F, and a plurality of pins Z.

[0038] The housing 7 serves as the external support structure for the entire reducer, providing a mounting base and protective barrier for the internal components. The pin tooth housing 3 is detachably fixed inside the housing 7. For example, the pin tooth housing 3, pin tooth frame 5, and cycloidal wheel 2 are assembled into a whole and placed inside the housing 7. The pin tooth housing 3 is fixed by bolts installed on the outside of the housing 7. This detachable connection method allows the operator to manually release the rigid connection between the pin tooth housing 3 and the housing 7 when the transmission clearance needs to be adjusted. For example, by removing the bolts, the housing 7 can be removed from the outside of the pin tooth housing 3, pin tooth frame 5, cycloidal wheel 2, and other components, thereby exposing the adjustment device 6 for clearance adjustment operations without the need for large-scale disassembly of the entire reducer.

[0039] The first end cover D1 is fixedly installed at the open end of the housing 7. The first end cover D1 is used to close one end of the housing 7 to prevent external impurities from entering the reducer. The first end cover D1 also provides a supporting base for the subsequent output flange F, ensuring that the output flange F can rotate stably.

[0040] The output flange F is located at one end of the housing 7 and is supported by the first end cover D1 via the second bearing C2. As the power output component of the reducer, the output flange F transmits the reduced torque to an external load. The second bearing C2 is positioned between the output flange F and the first end cover D1, providing radial and axial support to the output flange F to ensure its stability during rotation. It also reduces the frictional resistance between the output flange F and the first end cover D1, thereby improving transmission efficiency.

[0041] Multiple pins Z have one end fixedly connected to the output flange F, and the other end sequentially passes through two cycloidal wheels 2, with a clearance fit between them. The pins Z act as a transmission bridge between the cycloidal wheels 2 and the output flange F, transmitting the rotational motion of the cycloidal wheels 2 to the output flange F. When the cycloidal wheels 2 undergo planar compound motion driven by the eccentric part 11, the pin holes on the cycloidal wheels 2 push the pins Z, which then transmit the power to the output flange F, achieving the function of deceleration and torque increase. The clearance fit between the pins Z and the cycloidal wheels 2 ensures that the cycloidal wheels 2 can swing freely relative to the pins Z during movement without interference.

[0042] In some embodiments, the housing 7 is connected to a device that provides torque, such as a motor 8. When adjusting the gap, the first end cover D1 can be removed from the housing 7 first, and then the housing 7 can be disassembled, which facilitates gap adjustment via the adjusting device 6.

[0043] By adopting the above technical solution, this application provides a detachable mounting base for the pin gear housing 3 through the housing 7, which allows the operator to easily remove the housing 7 to expose the adjustment device 6 for gap adjustment. This solves the problem that the reducer needs to be disassembled on a large scale when adjusting the transmission gap in the prior art, and achieves the technical effect of easy maintenance and adjustment.

[0044] In some embodiments, the pin tooth holder 5 includes two pin tooth holders 5, which are rotatably disposed at opposite ends of the pin tooth housing 3, and the annular grooves 51 on the two pin tooth holders 5 have opposite inclination directions. The two pin tooth holders 5 are located at opposite ends of the pin tooth housing 3, such that both ends of each pin tooth 4 are constrained by the annular grooves 51. The opposite inclination directions of the annular grooves 51 mean that when one pin tooth holder 5 rotates clockwise, the other pin tooth holder 5 rotates counterclockwise, thereby ensuring that the thrust on both ends of the pin tooth 4 is in the same direction, jointly pushing the pin tooth 4 to move radially, preventing the pin tooth 4 from deflecting or jamming during movement. Simultaneously, the counter-inclined annular grooves 51 can also withstand meshing forces from both directions, ensuring that the reducer maintains stable transmission performance under both forward and reverse rotation conditions.

[0045] Multiple first connecting portions 32 are circumferentially spaced around the outer periphery of the needle tooth housing 3, and the first connecting portions 32 extend axially to both ends of the needle tooth housing 3. The first connecting portions 32 serve as the connection interface between the needle tooth housing 3 and the adjusting device 6, providing an installation position for the adjusting device 6. The design of the first connecting portions 32 extending axially to both ends of the needle tooth housing 3 allows each first connecting portion 32 to simultaneously connect with the second connecting portions 52 on the upper and lower needle tooth frames 5, reducing the number of parts and improving the compactness of the structure.

[0046] In this embodiment, the first connecting part 32 is a protrusion provided on the outer peripheral surface of the needle-tooth shell 3 along its axial direction, such as a strip-shaped flange.

[0047] Both pin tooth frames 5 are provided with second connecting parts 52 in the same number as the first connecting parts 32 along the circumferential direction. The second connecting parts 52 serve as the connection interface between the pin tooth frame 5 and the adjustment device 6, and correspond one-to-one with the first connecting parts 32. In this embodiment, the second connecting part 52 is a lug provided on the outer circumferential surface of the pin tooth frame 5.

[0048] The second connecting parts 52 on the two needle tooth frames 5 are arranged in a centrally symmetrical manner with respect to the first connecting part 32. This arrangement allows the second connecting parts 52 on the upper and lower needle tooth frames 5 to be located on both sides of the first connecting part 32. When the adjusting device 6 pushes the second connecting part 52, the upper and lower needle tooth frames 5 can rotate in opposite directions synchronously, thereby realizing the simultaneous radial movement of both ends of the needle tooth 4.

[0049] Each of the first connecting parts 32 is connected to a corresponding second connecting part 52 at both ends via an adjusting device 6. The adjusting device 6 includes a screw 61 and two nuts 62 threaded onto the screw 61. One end of the screw 61 is fixedly connected to the second connecting part 52, and the other end movably passes through the first connecting part 32. The two nuts 62 abut against both sides of the first connecting part 32.

[0050] When adjustment of the transmission clearance is required, the operator tightens two nuts 62, moving one nut 62 closer to the first connecting part 32 and the other nut 62 further away from it. Since the screw 61 is fixedly connected to the second connecting part 52, the movement of the nuts 62 pushes the first connecting part 32 to shift relative to the second connecting part 52, thereby passively driving the pin tooth frame 5 to rotate circumferentially relative to the pin tooth housing 3. This circumferential rotation of the pin tooth frame 5 is converted into radial movement of the pin teeth 4 through the annular groove 51, thus adjusting the meshing clearance. The structure of the two nuts 62 abutting against both sides of the first connecting part 32 allows the operator to achieve bidirectional adjustment by tightening and loosening them, enabling both reduction and enlargement of the clearance when needed, improving the flexibility of adjustment.

[0051] This embodiment of the application utilizes a structure where two pin tooth frames 5 are arranged in opposite directions and the annular grooves 51 are inclined in opposite directions, so that both ends of the pin teeth 4 are simultaneously constrained and bear bidirectional loads. The first connecting part 32 extends axially to both ends of the pin tooth housing 3 and is symmetrically arranged with the second connecting parts 52 on the upper and lower pin tooth frames 5, achieving synchronous reverse rotation of the upper and lower pin tooth frames 5. An adjusting device 6, which is fixedly connected to the second connecting part 52 by a screw 61, moves through the first connecting part 32, and abuts against both sides of the first connecting part 32 by two nuts 62, achieves precise control of the relative angle between the pin tooth frame 5 and the pin tooth housing 3. The above structures work together to allow the operator to precisely adjust the meshing clearance between the cycloidal wheel 2 and the pin teeth 4 by simply turning the nuts 62. This solves the technical problems of inconvenient and inaccurate transmission clearance adjustment and difficulty in eliminating the meshing clearance of the pin wheel pair in the prior art, achieving the technical effects of improving adjustment accuracy, simplifying adjustment operation, and enhancing structural reliability.

[0052] In some embodiments, a scale K is provided on the end face of the needle housing 3 where the first connecting part 32 is located. The scale K is set at a specific position on the end face of the needle housing 3, corresponding to the first connecting part 32, so that the operator can directly observe the scale K mark when adjusting the gap. The existence of the scale K provides the operator with a visual reference, so that the gap adjustment process is no longer a blind trial and error operation.

[0053] The scale K is used to indicate the radial displacement of the pin tooth 4. Since there is a strict geometric correspondence between the circumferential rotation angle of the pin tooth holder 5 relative to the pin tooth housing 3 and the radial displacement of the pin tooth 4 along the guide hole 31, the operator can directly read the current radial displacement of the pin tooth 4 based on the scale K value, thus accurately controlling the adjustment range for each step, without the need for additional measuring tools. This design allows the operator to know the movement distance of the pin tooth 4 without the need for additional measuring tools, greatly reducing the complexity of the adjustment operation and the requirement for operator experience.

[0054] During the adjustment process, the operator turns the nut 62 on the adjusting device 6, causing the pin tooth frame 5 to rotate circumferentially relative to the pin tooth housing 3. This rotation of the pin tooth frame 5 is converted into radial movement of the pin teeth 4 via the annular groove 51. At this time, the operator can observe the change in the scale K on the end face of the pin tooth housing 3 and determine whether the radial displacement of the pin teeth 4 has reached the expected adjustment target based on the scale K value. When the scale K shows that the displacement of the pin teeth 4 has reached the required value, the adjustment operation is stopped, thus completing a precise gap adjustment.

[0055] In some embodiments, the needle tooth 4 includes a guide portion 41 and an engagement portion 42. Both the guide portion 41 and the engagement portion 42 are cylindrical structures.

[0056] The guide portion 41 passes through the corresponding guide hole 31. As a sliding fit between the needle tooth 4 and the needle tooth housing 3, the guide portion 41's outer contour matches the inner contour of the guide hole 31, allowing the needle tooth 4 to slide freely along the radial direction of the guide hole 31 while restricting its movement in other directions. The guide portion 41 ensures that when the needle tooth 4 is subjected to the thrust of the annular groove 51, it can only undergo radial displacement in a predetermined direction, without deflection or tilting, thus guaranteeing the accuracy and reliability of the clearance adjustment.

[0057] The meshing part 42 is perpendicularly connected to the guide part 41 and meshes with both cycloidal wheels 2 simultaneously. The meshing part 42, as the part where the needle tooth 4 directly contacts the cycloidal wheel 2, has its outer surface meshing with the outer tooth profile of the cycloidal wheel 2. When the cycloidal wheel 2 moves under the drive of the eccentric part 11, continuous point contact meshing occurs between the outer tooth profile of the cycloidal wheel 2 and the meshing part 42, thereby achieving the function of deceleration and torque increase. The structure of the meshing part 42 being perpendicularly connected to the guide part 41 makes the needle tooth 4 T-shaped overall. This shape ensures that the meshing part 42 has sufficient strength to withstand the meshing force and allows the guide part 41 to slide smoothly in the guide hole 31.

[0058] The two ends of the meshing part 42 are connected to the annular grooves 51 of the two pin tooth frames 5, respectively. Since the two pin tooth frames 5 are respectively located at opposite ends of the pin tooth housing 3, and the inclination directions of the annular grooves 51 are opposite, the two ends of the meshing part 42 are simultaneously constrained by the two annular grooves 51. When the pin tooth frame 5 rotates circumferentially relative to the pin tooth housing 3, the annular grooves 51 push the two ends of the meshing part 42, causing the pin tooth 4 as a whole to move radially along the guide hole 31. The design that the two ends of the meshing part 42 are simultaneously subjected to force ensures the force balance of the pin tooth 4 during the movement, avoids the pin tooth 4 from being skewed due to force on one side, and improves the smoothness and accuracy of the clearance adjustment.

[0059] In this embodiment, the guide portion 41 passes through the guide hole 31 to achieve radial guidance of the needle tooth 4. The meshing portion 42 is perpendicularly connected to the guide portion 41 and simultaneously meshes with the two cycloidal wheels 2 to achieve power transmission. The two ends of the meshing portion 42 are respectively connected to the annular grooves 51 of the two needle tooth frames 5 to achieve dual-sided driving of the needle tooth 4. The above structure enables the needle tooth 4 to move smoothly radially along the guide hole 31 when it is pushed by the annular groove 51, while ensuring reliable meshing with the cycloidal wheels 2. This solves the technical problems of complex needle tooth 4 structure and unbalanced force leading to difficulty in gap adjustment in the prior art, and achieves the technical effects of simplifying the needle tooth 4 structure, improving adjustment smoothness and transmission reliability.

[0060] In some embodiments, the outer periphery of the needle tooth shell 3 is provided with an exhaust groove 33 that communicates with the guide hole 31. The exhaust groove 33 is formed on the outer surface of the needle tooth shell 3, and its internal channel communicates with the internal space of the guide hole 31.

[0061] At least one end of the exhaust groove 33 extends to the axial end of the needle tooth housing 3. One or both ends of the exhaust groove 33 extend to the edge of the end face of the needle tooth housing 3, so that the exhaust groove 33 is in communication with the internal environment of the housing 7.

[0062] The exhaust groove 33 serves a dual purpose. Firstly, during the radial movement of the needle tooth 4 along the guide hole 31, a sliding fit is formed between the guide part 41 and the guide hole 31. The exhaust groove 33 can expel the gas inside the guide hole 31, preventing air resistance caused by gas compression or suction, and ensuring smooth sliding of the guide part 41. Secondly, when the needle tooth housing 3 is installed inside the housing 7, a tight fit is formed between the outer periphery of the needle tooth housing 3 and the inner wall of the housing 7. Without the exhaust groove 33, the contact area between the needle tooth housing 3 and the housing 7 would form a sealed space. When the needle tooth housing 3 makes a small displacement inside the housing 7, it would be affected by gas resistance, making radial movement of the needle tooth 4 difficult.

[0063] The second embodiment of this application discloses a joint module for use in robot joints. (See attached document.) Figure 5-7 As shown, the assembly includes a motor 8 and the adjustable-gap cycloidal reducer disclosed in the aforementioned embodiments. The joint module integrates the reducer and motor 8 into a single unit, eliminating intermediate transmission links and improving transmission efficiency and structural compactness. The motor 8 serves as a power source, providing driving torque to the entire joint module.

[0064] The motor 8 is fixedly mounted on the end of the housing 7 furthest from the output flange F. The motor 8 is installed on the input side of the reducer, with the output flange F located at opposite ends of the housing 7, ensuring a clear and direct power transmission path. The output end of the motor 8 connects to the input end of the reducer, and the rotational power generated by the motor 8 is directly transmitted to the reducer for speed reduction and torque amplification, ultimately outputting through the output flange F.

[0065] The motor 8 includes a stator 81 and a rotor 82. The stator 81 is fixedly installed inside the housing 7, providing a fixed magnetic field for the motor 8. The stator 81 typically consists of an iron core and windings, generating a rotating magnetic field when energized. The rotor 82 is located radially inside the stator 81. Under the influence of the rotating magnetic field generated by the stator 81, the rotor 82 produces electromagnetic torque, realizing the conversion of electrical energy into mechanical energy. The arrangement of the rotor 82 inside the stator 81 makes the motor 8 compact and achieves high magnetic field utilization.

[0066] The end of the input shaft 1 furthest from the eccentric part 11 is fixedly connected to the rotor 82. The input shaft 1, serving as the input end of the reducer, is directly connected to the rotor 82 of the motor 8, transmitting the rotational power generated by the rotor 82 to the eccentric part 11 and the cycloidal wheel 2 inside the reducer. The fixed connection between the input shaft 1 and the rotor 82 ensures the reliability of power transmission and avoids power loss or transmission errors caused by loose connections.

[0067] In the above structure, after the motor 8 starts, the rotor 82 drives the input shaft 1 to rotate. The two eccentric parts 11 on the input shaft 1 drive the two cycloidal wheels 2 to perform eccentric motion. The cycloidal wheels 2 mesh with the pin teeth 4 to achieve deceleration, and finally output the decelerated torque through the output flange F. When the meshing clearance between the cycloidal wheels 2 and the pin teeth 4 increases due to long-term operation of the reducer, the operator can adjust the clearance through the adjustment device 6 to restore the transmission accuracy without disassembling the motor 8 or replacing parts.

[0068] In some embodiments, the housing 7 includes a first housing 71 and a second housing 72. The first housing 71 is cylindrical, and the pin tooth housing 3 is detachably fixed inside the first housing 71. The first housing 71 serves as the main load-bearing structure of the reducer, providing installation space and protection for core reducer components such as the pin tooth housing 3, the pin tooth frame 5, and the cycloidal wheel 2. The cylindrical design of the first housing 71 provides sufficient internal space and facilitates coaxial assembly with other components. The detachable fixing of the pin tooth housing 3 inside the first housing 71 allows the pin tooth housing 3 to be separated from the first housing 71, providing the necessary conditions for subsequent clearance adjustment operations.

[0069] The second housing 72 is detachably connected to the end of the first housing 71 furthest from the output flange F. The second housing 72 and the first housing 71 are detachably connected, allowing them to be securely joined together to form a complete housing 7, or easily separated when needed. The end of the second housing 72 furthest from the output flange F is located on the input side of the reducer, corresponding to the position of the motor 8.

[0070] The motor 8 is fixedly mounted inside the second housing 72. Serving as the power source for the joint module, the motor 8 is installed within the internal space of the second housing 72. The second housing 72 provides the mounting base and protection for the motor 8, allowing the motor 8 and the reducer to form a compact integrated structure. This fixed mounting arrangement of the motor 8 within the second housing 72 makes the motor 8 and the second housing 72 an independent power module.

[0071] In some embodiments, the pin tooth shell 3 is fixed inside the first housing 71 using a non-bolt connection. Since the pin tooth shell 3 has a protruding first connecting portion 32 on its outer periphery, and the first connecting portion 32 has a flange structure along the axial direction of the pin tooth shell 3, this embodiment uses a recessed groove 711 provided axially inside the first housing 71 to mate with the flange structure. In this way, the first housing 71 and the second housing 72 are rigidly fixed in advance using bolts or threads. Then, the assembled reducer portion is inserted from the end of the first housing 71 away from the second housing 72, so that the first connecting portion 32 on the pin tooth shell 3 and the recessed groove 711 engage. This locks the circumferential constraint between the pin tooth shell 3 and the first housing 71, thereby fixing the relative position of the entire reducer portion inside the first housing 71. The opening end of the first housing 71 is sealed by the first end cap D1, thus preventing the reducer portion from detaching from the first housing 71.

[0072] When gap adjustment is required, the operator only needs to remove the first housing 71 and the first end cover D1 to remove the first housing 71 from the outside of the second housing 72 and the motor 8. At this time, the needle tooth shell 3, needle tooth frame 5, cycloidal wheel 2 and other components inside the first housing 71 are fully exposed, and the adjustment device 6 is in an operable state. The motor 8 remains fixed inside the second housing 72 and is unaffected by the disassembly operation, requiring no disassembly or rewiring of the motor 8. This design makes gap adjustment simple and quick, significantly reducing maintenance difficulty and time costs.

[0073] This embodiment of the application splits the housing 7 into a first housing 71 and a second housing 72. The first housing 71 is cylindrical and houses reducer components such as the pin gear housing 3. The second housing 72 is detachably connected to the end of the first housing 71 away from the output flange F and houses the motor 8. This allows the first housing 71 to be removed simply by disassembling the first housing 71 and the first end cover D1 when the transmission clearance needs to be adjusted. The motor 8 remains unaffected within the second housing 72, and the operator can easily operate the adjustment device 6. The above structure solves the technical problems of the prior art where the joint module needs to be disassembled for clearance adjustment, resulting in cumbersome operation and high maintenance costs. It achieves the technical effects of simplifying maintenance operations, reducing maintenance difficulty, and improving maintenance efficiency.

[0074] In some embodiments, the joint module further includes a second end cap D2 and a transmission accuracy detection device 9.

[0075] The second end cap D2 is fixedly disposed at the end of the second housing 72 away from the first housing 71. The second end cap D2 serves as a closed component on the input end side of the joint module, used to close the opening end of the second housing 72 and prevent external impurities from entering the motor 8 and the reducer.

[0076] The transmission accuracy detection device 9 is located on the outside of the second end cover D2 and is used to detect the angle signals at both the input and output ends of the reducer. Specifically, the transmission accuracy detection device 9 can simultaneously acquire the angle signal of the reducer input shaft 1 and the angle signal of the output flange F. By comparing and analyzing the two sets of angle signals, the transmission error of the reducer in the current state can be calculated.

[0077] During the operation of the joint module, the transmission accuracy detection device 9 monitors the rotation angles of the input shaft 1 and the output flange F in real time. Since the reducer has a fixed theoretical reduction ratio, the theoretical angular relationship between the input shaft 1 and the output flange F is known. The transmission accuracy detection device 9 compares the actually detected angle of the output flange F with the theoretical output angle calculated based on the angle of the input shaft 1 and the theoretical reduction ratio; the difference between the two is the transmission error. When the transmission error exceeds a preset threshold, it indicates that the meshing clearance between the cycloidal wheel 2 and the needle tooth 4 is too large, and clearance adjustment is required.

[0078] As some embodiments, the transmission accuracy detection device 9 includes a central shaft 91, a high-speed gear 92, a low-speed gear 93, a high-speed encoder gear 94, a low-speed encoder gear 95, an encoder 96, and a protective cover 97.

[0079] The central shaft 91 passes through the input shaft 1, with one end fixedly connected to the output flange F and the other end fixedly connected to the low-speed gear 93. The central shaft 91 serves as the signal transmission element for the output end, transmitting the rotational motion of the output flange F to the end where the second end cover D2 is located. Since the central shaft 91 passes inside the input shaft 1, the two are coaxially arranged, fully utilizing the central space of the input shaft 1 without requiring additional radial space. The end of the input shaft 1 furthest from the output flange F passes through the second end cover D2 and is connected to the high-speed gear 92. The input shaft 1 directly transmits its rotational motion to the end where the second end cover D2 is located, ensuring that both the high-speed gear 92 and the low-speed gear 93 are located at the same end of the joint module.

[0080] High-speed encoder gear 94 and low-speed encoder gear 95 are rotatably mounted on the second end cover D2. High-speed encoder gear 94 meshes with high-speed gear 92, and low-speed encoder gear 95 meshes with low-speed gear 93. High-speed encoder gear 94 follows the rotation of high-speed gear 92, and its rotational speed is proportional to the rotational speed of input shaft 1; low-speed encoder gear 95 follows the rotation of low-speed gear 93, and its rotational speed is proportional to the rotational speed of output flange F. Both high-speed encoder gear 94 and low-speed encoder gear 95 are mounted on the second end cover D2, forming a meshing transmission relationship with high-speed gear 92 and low-speed gear 93.

[0081] The encoder 96 is used to acquire the rotation signals of the high-speed encoder gear 94 and the low-speed encoder gear 95. By detecting the rotation angle and speed of the high-speed encoder gear 94 and the low-speed encoder gear 95, the encoder 96 indirectly obtains the rotation signals of the input shaft 1 and the output flange F. By comparing the two sets of signals, the encoder 96 can calculate the transmission error of the reducer in the current state.

[0082] The protective cover 97 is fixed to the end of the second end cover D2 away from the second housing 72, and encapsulates the high-speed gear 92, low-speed gear 93, high-speed encoder gear 94, low-speed encoder gear 95, and encoder 96 within the space formed by the protective cover 97 and the second end cover D2. The protective cover 97 protects the internal gears and encoder 96, preventing external impurities from entering, and also avoiding safety hazards caused by moving parts to the outside world.

[0083] In the above structure, the high-speed gear 92, low-speed gear 93, high-speed encoder gear 94, low-speed encoder gear 95, and encoder 96 are all centrally located at the same end where the second end cover D2 is located, i.e., the same end of the joint module. This centralized layout ensures that all detection elements are located in the same position, eliminating the need for separate detection devices at both ends of the reducer, significantly shortening the signal transmission path and reducing errors that may be introduced by intermediate links. Simultaneously, all detection elements share the same encoder 96 and protective cover 97, reducing the number and types of parts, lowering manufacturing costs and assembly complexity. The protective cover 97 encapsulates these components within a compact space, forming an independent detection module, facilitating overall installation and maintenance.

[0084] In this embodiment, a central shaft 91 passes through the input shaft 1 to transmit the output signal to one end of the second end cover D2. A high-speed gear 92 connects to the input shaft 1, and a low-speed gear 93 connects to the central shaft 91. The high-speed encoder gear 94 and the low-speed encoder gear 95 are centrally located on the second end cover D2. An encoder 96 acquires two sets of rotation signals, and a protective cover 97 encapsulates all detection elements within the same space. This structure allows the angle signal detection at both the input and output ends to be completed at the same end, achieving a centralized layout of the detection elements. This solves the technical problems of the prior art where the detection devices are scattered, resulting in a loose structure and large space occupation. It achieves the technical effects of a compact structure, saving axial space, facilitating installation and maintenance, and improving detection accuracy.

[0085] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cycloidal reducer with adjustable gap, characterized in that, include: An input shaft, one end of which is provided with two eccentric portions that are 180° out of phase along the axial direction; Two cycloidal wheels are respectively mounted on the corresponding eccentric parts via the first bearing; A needle tooth shell is sleeved around the two cycloidal wheels, and the needle tooth shell is provided with a plurality of radially extending guide holes spaced circumferentially. Multiple needle teeth, each of which slides through the corresponding guide hole and simultaneously meshes with the two cycloidal wheels; A needle tooth frame is rotatably disposed at the end of the needle tooth shell. The needle tooth frame is provided with an annular groove that mates with the ends of each needle tooth. The extending direction of the annular groove is inclined relative to the circumferential direction of the needle tooth shell. An adjustment device is connected between the needle tooth housing and the needle tooth frame, used to drive the needle tooth frame to rotate relative to the needle tooth housing, so that the annular groove pushes the needle tooth to move radially along the guide hole.

2. The cycloidal reducer with adjustable gap as described in claim 1, characterized in that, Also includes: The housing, wherein the needle tooth shell is detachably fixed inside the housing; The first end cap is fixedly installed at the opening end of the housing; An output flange is located at one end of the housing, and the output flange is supported on the first end cover by a second bearing. Multiple pins, one end of which is fixedly connected to the output flange, and the other end of which moves sequentially through the two cycloidal wheels and is in clearance fit with the cycloidal wheels.

3. The cycloidal reducer with adjustable gap as described in claim 2, characterized in that, The needle tooth frame includes two needle tooth frames, which are rotatably disposed at opposite ends of the needle tooth shell, and the inclination directions of the annular grooves on the two needle tooth frames are opposite. The outer periphery of the needle tooth shell is provided with a plurality of first connecting parts spaced apart in the circumferential direction, and the first connecting parts extend axially to both ends of the needle tooth shell; both needle tooth frames are provided with a number of second connecting parts in the circumferential direction that are the same as the number of the first connecting parts, and the second connecting parts on the two needle tooth frames are arranged in a centrally symmetrical manner with respect to the first connecting parts. Each of the first connecting parts is connected to a corresponding second connecting part at both ends by an adjustment device. The adjustment device includes a screw and two nuts threaded onto the screw. One end of the screw is fixedly connected to the second connecting part, and the other end moves through the first connecting part. The two nuts abut against both sides of the first connecting part.

4. The cycloidal reducer with adjustable gap as described in claim 3, characterized in that, The end face of the needle tooth shell where the first connecting part is located is provided with a scale, which is used to indicate the radial displacement of the needle tooth.

5. The cycloidal reducer with adjustable gap as described in claim 3, characterized in that, The needle teeth include: The guide portion passes through the corresponding guide hole; The meshing part is perpendicularly connected to the guide part and meshes with the two cycloidal wheels simultaneously. The two ends of the meshing part are respectively connected to the annular grooves of the two needle teeth.

6. The cycloidal reducer with adjustable gap as described in claim 5, characterized in that: The outer periphery of the needle tooth shell is provided with an exhaust groove that communicates with the guide hole, and at least one end of the exhaust groove extends to the axial end of the needle tooth shell.

7. A joint module, characterized in that: The invention includes a cycloidal reducer with adjustable clearance as described in any one of claims 2-6 and a motor, wherein the motor is fixedly disposed at the end of the housing away from the output flange, the motor includes a stator and a rotor, the stator is fixedly disposed inside the housing, the rotor is disposed radially inside the stator, and the end of the input shaft away from the eccentric portion is fixedly connected to the rotor.

8. The joint module as described in claim 7, characterized in that, The housing includes a first housing and a second housing. The first housing is cylindrical. The needle-tooth housing is detachably fixed inside the first housing. The second housing is detachably connected to the end of the first housing away from the output flange. The motor is fixedly installed inside the second housing.

9. The joint module as described in claim 8, characterized in that, It also includes a second end cover and a transmission accuracy detection device. The second end cover is fixedly installed at the end of the second housing away from the first housing. The transmission accuracy detection device is installed on the second end cover and is used to detect the angle signals at the input and output ends of the reducer.

10. The joint module as described in claim 9, characterized in that, The transmission accuracy detection device includes a central shaft, a high-speed gear, a low-speed gear, a high-speed encoder gear, a low-speed encoder gear, an encoder, and a protective cover. The central shaft passes through the input shaft, with one end fixedly connected to the output flange and the other end fixedly connected to the low-speed gear. The end of the input shaft away from the output flange passes through the second end cover and is connected to the high-speed gear. The high-speed encoding gear and the low-speed encoding gear are respectively rotatably mounted on the second end cover. The high-speed encoding gear meshes with the high-speed gear, and the low-speed encoding gear meshes with the low-speed gear. The encoder is used to acquire rotation signals of both high-speed and low-speed coded gears; The protective cover is fixed to the end of the second end cover away from the second housing, and encapsulates the high-speed gear, low-speed gear, high-speed encoder gear, low-speed encoder gear and encoder in the space formed by the protective cover and the second end cover.

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