Cycloidal reducer and its joint module

Abstract

This utility model belongs to the field of transmission equipment technology, specifically relating to a cycloidal reducer and its joint module. The joint module includes a cycloidal reducer and a drive motor. The cycloidal reducer includes a housing, an eccentric input shaft, a cycloidal wheel, an output shaft, a pin, a first bearing, a third flange, a fourth flange, a second bearing, and a guide tube. The housing has needle teeth, and the cycloidal wheel has a radially extending guide groove on its axial side. The drive motor has a guide groove. When the joint module is working, the centrifugal force generated by the rotation of the cycloidal wheel can guide the lubricating oil to the needle tooth meshing part through the guide groove, improving the lubrication effect. The fit structure between each bearing and the flange can reduce rotational friction and radial runout, ensuring transmission stability. The guide tube and guide groove are adapted to achieve concealed wiring, improving safety. This utility model has a reasonable structural design, high transmission efficiency, and is suitable for precision transmission fields such as automated equipment and robots.

Description

Technical Field

[0001] This utility model belongs to the field of transmission equipment technology, specifically relating to a cycloidal reducer and its joint module. Background Technology

[0002] In the field of industrial automation and intelligent equipment, joint modules, as core components for realizing mechanical motion, directly determine the overall performance of the equipment through their transmission accuracy, operational stability, and service life. Cycloidal reducers, with their advantages of large transmission ratio and stable torque output, have become a commonly used transmission structure in joint modules. Currently, in conventional cycloidal reducers, the internal lubricating medium often fails to evenly cover all meshing parts under high-speed operation, easily leading to insufficient local lubrication. This results in accelerated component wear, decreased transmission efficiency, and ultimately affects the overall operational reliability of the joint module. To address this issue, related technologies often focus on improving the material or filling method of the lubricating medium. However, there is still significant room for improvement in how to enhance the distribution efficiency of the lubricating medium through structural optimization of transmission components.

[0003] The methods described in this section are not necessarily methods that had been previously conceived or adopted. Unless otherwise specified, no method described in this section should be assumed to be prior art simply because it is included in this section. Similarly, unless otherwise specified, the issues mentioned in this section should not be considered to be accepted in any prior art. Utility Model Content

[0004] The purpose of this invention is to solve the problems of uneven distribution of internal lubricating oil, easy wear of core meshing components, and easy impact on transmission accuracy in existing cycloidal reducer type joint modules during operation.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A cycloidal reducer, comprising: The outer shell has several needle-like teeth arranged on its inner side; An eccentric input shaft is rotatably connected within the housing and is used for transmission connection with a drive motor; A cycloidal wheel is mounted to the eccentric input shaft and meshes with the needle teeth. The cycloidal wheel has a guide groove on its axial side that extends radially outward from the radially inner side of the cycloidal wheel. When the cycloidal wheel rotates, the guide groove guides the lubricating oil to flow from the radially inner side of the cycloidal wheel to the radially outer side of the needle teeth under the action of centrifugal force.

[0006] Furthermore, the guide grooves are circumferentially distributed around the axis of the cycloidal wheel.

[0007] Furthermore, the cycloidal wheel has guide grooves on both sides of its axial direction.

[0008] Furthermore, the guide groove is arc-shaped, and the curvature of the arc is consistent with the rotation direction of the cycloidal wheel, so as to adapt to the flow trajectory of the lubricating oil towards the needle teeth under the action of centrifugal force.

[0009] Furthermore, the cycloidal reducer also includes an output shaft and a pin disposed on the output shaft, the pin engaging with the pin hole of the cycloidal wheel to transmit power.

[0010] Furthermore, the housing includes: A needle-tooth shell, with several needle teeth arranged on its inner side; The first flange is used to fix the pin tooth housing to the drive motor; The second flange is fixedly connected to the needle tooth shell on one side and rotatably connected to the output shaft on the other side.

[0011] Furthermore, the inner side of the output shaft is rotatably connected to the outer side of the eccentric input shaft via a first bearing.

[0012] Furthermore, a third flange is fixedly connected to the side of the output shaft away from the cycloidal wheel, and the third flange is used to connect to an external load to transmit output power.

[0013] Furthermore, a fourth flange is fixedly connected to the outer edge of the third flange near the output shaft. The inner side of the fourth flange is rotatably connected to the outer side of the second flange through a second bearing to stabilize the outer edge of the third flange.

[0014] Furthermore, the third flange is fixedly connected to a cable guide that passes through the third flange, the output shaft, and the eccentric input shaft.

[0015] A joint module includes the cycloidal reducer described in any one of the above claims, and further includes a drive motor having a wire guide groove adapted to the wire guide spool.

[0016] The beneficial effects of this utility model are as follows: Significantly improved transmission smoothness: By setting two cycloidal wheels that are 180 degrees apart, the inertial force generated by the eccentric revolution can be effectively balanced, reducing vibration during transmission and ensuring the smoothness of power transmission. It is suitable for automated equipment, robots and other scenarios with high requirements for transmission smoothness.

[0017] Optimized lubrication efficiency and extended component life: A radially extending arc-shaped guide groove is set on the axial side of the cycloidal wheel. With the help of the centrifugal force generated by the rotation of the cycloidal wheel, the lubricating oil can be guided to flow precisely to the meshing part of the cycloidal wheel and the needle teeth. This solves the problem of uneven lubrication in traditional cycloidal reducers, reduces the wear of core meshing components, and extends the overall service life of the joint module.

[0018] Enhanced transmission efficiency and stability: The inner side of the output shaft is rotatably connected to the eccentric input shaft through the first bearing, which reduces the frictional resistance between the two relative to each other and improves transmission efficiency; the outer edge of the third flange is stably supported by the cooperation of the fourth flange and the second bearing, which can reduce radial runout during rotation and further ensure transmission accuracy and operational stability.

[0019] Convenient and safe assembly and wiring: The drive motor adopts a split structure, and its front end cover is reliably fixed to the first flange of the reducer, ensuring the coaxial assembly accuracy of the motor and the reducer and improving the overall assembly stability; the combination of the wire channel and the wire tube realizes the concealed wiring of the drive motor control circuit, avoiding the exposure and damage of the wires, and improving the safety and convenience of wiring.

[0020] With strong structural adaptability and wide applicability, the structural design of each component is flexible. The flange connection method, guide channel cross-sectional shape, bearing type, and cable tube structure can be adjusted according to actual working conditions. It can adapt to different specifications of drive motors, loads and operating environments, and meet the precise transmission needs of multiple fields such as automation equipment and robots. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of an embodiment of the joint module of this utility model; Figure 2 This is a cross-sectional structural diagram of an embodiment of the joint module of this utility model; Figure 3 for Figure 2 Enlarged structural diagram at point A; Figure 4 This is an exploded view of an embodiment of the joint module of this utility model; Figure 5 This is a schematic diagram of the cycloidal wheel in one embodiment of the joint module of this utility model.

[0022] The meanings of the labels in the attached diagram are as follows: Cycloidal reducer 1, housing 11, pin teeth 111, pin tooth housing 112, first flange 113, second flange 114, eccentric input shaft 12, cycloidal wheel 13, guide groove 13a, pin hole 13b, output shaft 14, pin shaft 141, first bearing 142, third flange 15, fourth flange 16, second bearing 17, wire guide spool 18, drive motor 2, wire guide groove 2a, motor body 21, stator 22, rotor 23, motor output end 24, front end cover 25, rear end cover 26. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Reference Figures 1-5 As shown, in this embodiment, the joint module is applied to fields such as automated equipment and robots that require precise transmission. Its core technical solution includes a cycloidal reducer 1 and a drive motor 2. The cycloidal reducer 1, as the core component for power reduction and torque amplification, is composed of multiple components such as a housing 11, an eccentric input shaft 12, and a cycloidal wheel 13. The drive motor 2 provides power input to the entire module, and the two work together to achieve stable power transmission.

[0025] The drive motor 2 includes a motor body 21, a stator 22, a rotor 23, a motor output end 24, a front cover 25, and a rear cover 26. The stator 22 is fixedly embedded in the inner wall of the motor body 21. The rotor 23 is rotatably disposed inside the stator 22, and the axis of the rotor 23 is fixedly connected to the motor output end 24. The motor output end 24 passes through the front cover 25 and is connected to the eccentric input shaft 12 for transmission. The front cover 25 is fixedly connected to the first flange 113 by a bolt group, thereby realizing the coaxial assembly of the drive motor 2 and the cycloidal reducer 1. The rear cover 26 covers the side of the motor body 21 away from the front cover 25 and has a wiring port for connecting an external power supply line. The motor output end 24 has a wire groove 2a adapted to the wire guide 18. The wire groove 2a connects the inside and outside of the motor body 21, allowing the control line of the drive motor 2 to pass through. In other embodiments, the front cover 25 and the first flange 113 can also be fixedly connected by welding or tenon and mortise joint, as long as the connection strength and coaxial assembly accuracy can be guaranteed.

[0026] The outer casing 11 has a split structure, including a pin tooth shell 112, a first flange 113, and a second flange 114. The inner side of the pin tooth shell 112 is arranged with several pin teeth 111, which are key meshing components for achieving speed reduction transmission. The first flange 113 is used to fix the pin tooth shell 112 to the front end cover 25 of the drive motor 2, ensuring stable assembly of the cycloidal reducer 1 and the drive motor 2. One side of the second flange 114 is fixedly connected to the pin tooth shell 112, and the other side provides rotational support for the output shaft 14, ensuring stable operation of the output shaft 14. In other embodiments, the outer casing 11 can also adjust the size ratio of each flange according to the actual application scenario to adapt to different specifications of drive motors 2 and loads.

[0027] The eccentric input shaft 12 is rotatably connected inside the housing 11. One end is connected to the motor output end 24 of the drive motor 2 to obtain power, and the other end is installed and engaged with two cycloidal wheels 13. The two cycloidal wheels 13 are set at 180 degrees to each other, which can balance the inertial force generated by the eccentric revolution and improve the smoothness of transmission. Both cycloidal wheels 13 mesh with needle teeth 111, and each of them has a guide groove 13a extending radially inward to radially outward on its axial side.

[0028] In this embodiment, the guide grooves 13a are circumferentially distributed around the axis of the cycloidal wheel 13. This distribution allows the guide grooves 13a to form a multi-directional lubrication guidance layout in the circumferential direction of the cycloidal wheel 13. When the cycloidal wheel 13 rotates at high speed, the circumferentially distributed guide grooves 13a can guide the lubricating oil to flow synchronously to the meshing area of ​​the gear teeth and needle teeth 111 from multiple angles with the help of centrifugal force. This allows the lubricating oil to cover the entire meshing surface more evenly, effectively avoiding wear caused by insufficient lubrication in local meshing parts, thereby improving the meshing stability of the cycloidal wheel 13 and the needle teeth 111 and extending the service life of the components. At the same time, this distribution is compatible with the revolution and rotation trajectory of the cycloidal wheel 13, and will not significantly affect the transmission accuracy of the cycloidal wheel 13, while also ensuring the smooth flow of lubricating oil.

[0029] In other embodiments, the distribution of the guide grooves 13a can be flexibly adjusted according to actual lubrication requirements and the structural characteristics of the cycloidal wheel 13, and is not limited to a uniform circumferential distribution. For example, a non-uniform circumferential distribution can be adopted, appropriately increasing the number of guide grooves 13a in areas corresponding to teeth with higher meshing frequencies and reducing the number of guide grooves 13a in areas with relatively lower meshing forces to achieve targeted lubrication; alternatively, the guide grooves 13a can be divided into several groups according to the size specifications of the cycloidal wheel 13, with each group distributed at intervals along the circumference, which can also achieve the effect of multi-directional guided lubrication. Different distribution methods are all feasible design schemes as long as they can adapt to the transmission conditions of the cycloidal wheel 13, meet the lubrication requirements of the core meshing parts, and do not significantly affect the structural strength and transmission accuracy of the cycloidal wheel 13.

[0030] In this embodiment, guide grooves 13a are provided on both sides of the cycloidal wheel 13 along its axial direction. This design can form a lubrication guiding channel in both directions along the axial direction of the cycloidal wheel 13, further expanding the lubrication coverage. When the cycloidal wheel 13 performs eccentric revolution and rotation, the guide grooves 13a on both sides can simultaneously guide the flow of lubricating oil with the help of centrifugal force. This can deliver lubricating oil to the meshing area between the cycloidal wheel 13 and the needle tooth 111, and also lubricate the axial gap between the two cycloidal wheels 13, reducing frictional loss between the end faces of the cycloidal wheels 13. At the same time, the bidirectional guide grooves 13a can create a more balanced oil flow environment around the cycloidal wheel 13, reducing the probability of oil accumulation or lubrication blind spots in local areas. This helps to improve the smoothness of the transmission process of the cycloidal wheel 13, and will not have a significant negative impact on the structural strength and meshing accuracy of the cycloidal wheel 13.

[0031] In other embodiments, the axial distribution of the guide grooves 13a can be flexibly adjusted according to actual working conditions, and does not necessarily have to be evenly distributed on both sides of the axial direction. For example, based on the force characteristics and lubrication requirements of the cycloidal wheel 13, guide grooves 13a can be provided only on the side where the cycloidal wheel 13 is in closer contact with other components and has a higher probability of friction, in order to achieve targeted lubrication; alternatively, guide grooves 13a of different numbers or different groove shapes and specifications can be provided on both sides to adapt to the lubrication requirements of different areas. Different axial distribution methods are all reasonable design choices as long as they can meet the lubrication requirements of the core transmission parts of the cycloidal wheel 13 and do not significantly affect its transmission performance and structural stability.

[0032] In this embodiment, the guide groove 13a is designed in an arc shape, and the curvature of the arc is consistent with the rotation direction of the cycloidal wheel 13. This design can better adapt to the flow trajectory of the lubricating oil towards the needle tooth 111 under the action of centrifugal force. When the cycloidal wheel 13 rotates and generates centrifugal force, the arc-shaped guide groove 13a can guide the oil along the natural flow trend, reduce the flow resistance of the lubricating oil in the groove, and allow the oil to converge more smoothly into the meshing area of ​​the cycloidal wheel 13 and the needle tooth 111, so as to lubricate in a timely and sufficient manner. This helps to reduce the friction and wear of the meshing parts, and at the same time, it reduces the energy consumption generated by the oil flow to a certain extent, without significantly affecting the transmission efficiency of the cycloidal wheel 13.

[0033] In other embodiments, the shape and bending direction of the guide groove 13a can be flexibly adjusted according to actual working conditions, and are not limited to an arc shape consistent with the rotation direction of the cycloidal wheel 13. For example, the guide groove 13a can be designed as a gently zigzag shape according to the viscosity characteristics of the lubricating oil, which can also guide the flow of oil; the curvature of the arc can also be appropriately adjusted according to the lubrication requirements of the meshing area, or an arc design with a small angle deviation from the rotation direction can be adopted. As long as it can adapt to the oil flow pattern under the action of centrifugal force, meet the lubrication requirements of the core meshing parts, and does not significantly affect the structural strength and transmission stability of the cycloidal wheel 13, it is a feasible design scheme.

[0034] In this embodiment, the cross-section of the guide channel 13a is rectangular. This cross-section has the advantages of regular structure and low processing difficulty, making it easy to achieve mass production through conventional machining processes. At the same time, the rectangular cross-section can provide a relatively balanced oil carrying space and flow channel, which can guide the lubricating oil to flow smoothly under the action of centrifugal force. It will not cause the oil flow to be obstructed due to the cross-section being too narrow, nor will it affect the overall structural strength of the cycloidal wheel 13 due to the structural design being too complex. In addition, the groove wall of the rectangular cross-section is relatively flat, which can reduce the eddy current loss of the lubricating oil during the flow process, and help the oil flow more smoothly to the meshing area between the cycloidal wheel 13 and the needle tooth 111, thus meeting the basic lubrication requirements of the core parts.

[0035] In other embodiments, the cross-sectional shape of the guide channel 13a can be flexibly adjusted according to the actual application scenario and is not limited to a rectangle. For example, a semi-circular cross-section can be selected based on the viscosity characteristics of the lubricating oil, as its smooth inner wall can further reduce the oil flow resistance and is suitable for lubricating oils with lower viscosity; a trapezoidal cross-section can also be used, and by adjusting the width ratio of the upper and lower bases, the oil capacity and the structural strength of the cycloidal wheel 13 can be balanced, which is especially suitable for transmission scenarios where the strength of the components is required; other cross-sectional forms such as elliptical cross-sections can also be selected according to the processing technology and cost budget. Different cross-sectional designs are all reasonable design choices as long as they can adapt to the oil flow requirements, ensure a certain lubrication efficiency, and do not significantly weaken the structural stability and transmission accuracy of the cycloidal wheel 13.

[0036] The cycloidal reducer 1 also includes an output shaft 14, on which a pin 141 is provided. The pin 141 passes through the pin holes 13b of the two cycloidal wheels 13 and engages with the pin holes 13b to synchronously transmit the rotational power of the two cycloidal wheels 13 to the output shaft 14, thereby achieving smooth power reduction output. The inner side of the output shaft 14 is rotatably connected to the outer side of the eccentric input shaft 12 through a first bearing 142. In this embodiment, the first bearing 142 is a deep groove ball bearing, which can reduce the frictional resistance when the two rotate relative to each other and improve the transmission efficiency. In other embodiments, the first bearing 142 can also be a needle roller bearing to adapt to the requirements of low-speed and heavy-load working conditions.

[0037] A third flange 15 is fixedly connected to the side of the output shaft 14 away from the cycloidal wheel 13. In this embodiment, the third flange 15 is fixed to the output shaft 14 by a key connection and bolt fastening. The third flange 15 is used to connect to an external load for convenient power transmission. To improve the rotational stability of the third flange 15, a fourth flange 16 is fixedly connected to the outer edge of the third flange 15 near the output shaft 14. The inner side of the fourth flange 16 is rotatably connected to the outer side of the second flange 114 through a second bearing 17, providing stable support for the outer edge of the third flange 15 and reducing radial runout during rotation. In other embodiments, the third flange 15 and the output shaft 14 can also be fixed by an interference fit, as long as the reliability of torque transmission can be guaranteed.

[0038] In addition, a cable tray 18 is fixedly connected to the third flange 15. The cable tray 18 passes sequentially through the third flange 15, the output shaft 14, and the eccentric input shaft 12. One end of the cable tray 18 is connected to the cable groove 2a of the drive motor 2, and the other end extends to the outside of the third flange 15. The control lines of the drive motor 2 pass through the cable groove 2a and enter the interior of the cable tray 18, achieving concealed wiring and preventing exposed and damaged lines. In this embodiment, the cable tray 18 is a one-piece structure made of engineering plastic, which has insulating and wear-resistant properties. In other embodiments, the cable tray 18 may also adopt a segmented structure or be made of metal to adapt to different usage environments and wiring requirements.

[0039] The specific usage of this joint module is as follows: When the drive motor 2 is started, the stator 22 is energized, generating a magnetic field that drives the rotor 23 to rotate. The rotor 23 drives the motor output end 24 to rotate synchronously, which in turn drives the eccentric input shaft 12 to rotate within the housing 11. The eccentric input shaft 12 drives two cycloidal wheels 13, which are set 180 degrees apart, to perform eccentric revolution synchronously. Both cycloidal wheels 13 mesh with the pin teeth 111 and simultaneously generate their own rotation. The centrifugal force generated during rotation drives the internal lubricating oil to flow radially from the inner side to the outer side along the guide grooves 13a on the two cycloidal wheels 13, precisely flowing to the meshing parts of each cycloidal wheel 13 and the pin teeth 111, achieving comprehensive and sufficient lubrication. In other embodiments, grease lubrication can also be used instead of oil bath lubrication, which is more suitable for long-term low-speed operation.

[0040] The rotational power of the cycloidal wheel 13 is synchronously transmitted to the output shaft 14 via the pin 141. The output shaft 14 drives the third flange 15 to rotate synchronously, driving the external load to complete the corresponding action. During this process, the two cycloidal wheels 13, which are set 180 degrees apart, balance the orbital inertial force. Combined with the support of the fourth flange 16 and the second bearing 17 on the outer edge of the third flange 15, the stability of the transmission process is further ensured. The wiring of the drive motor 2 is hidden inside the wire groove 2a and the wire drum 18, effectively avoiding wear from external forces.

[0041] In summary, the joint module of this embodiment balances the inertial force of eccentric transmission and improves transmission smoothness by setting two cycloidal wheels 13 at 180 degrees to each other; the structural design of the guide groove 13a solves the problem of uneven lubrication in traditional cycloidal reducers and reduces wear on core components; the cooperation of the first bearing 142, the fourth flange 16 and the second bearing 17 improves transmission efficiency and stability; the split structure design of the drive motor 2 and the cooperation of the wire groove 2a and the wire cylinder 18 improve the safety and convenience of wiring layout, while ensuring the coaxial assembly accuracy of the motor and reducer. The overall structural design is reasonable and can stably and reliably realize power transmission, meeting the needs of automation equipment, robots and other fields.

[0042] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0043] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0045] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature. In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0046] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A cycloidal speed reducer, characterized by, include: The outer shell has several needle-like teeth arranged on its inner side; An eccentric input shaft is rotatably connected within the housing and is used for transmission connection with a drive motor; A cycloidal wheel is mounted to the eccentric input shaft and meshes with the needle teeth. The cycloidal wheel has a guide groove on its axial side that extends radially outward from the radially inner side of the cycloidal wheel. When the cycloidal wheel rotates, the guide groove guides the lubricating oil to flow from the radially inner side of the cycloidal wheel to the radially outer side of the needle teeth under the action of centrifugal force.

2. The cycloidal speed reducer according to claim 1, characterized in that: The guide grooves are distributed circumferentially around the axis of the cycloidal wheel.

3. The cycloidal reducer according to claim 1, characterized in that: The cycloidal wheel has guide grooves on both sides of its axial direction.

4. The cycloidal reducer according to claim 1, characterized in that: The guide groove is arc-shaped, and the curvature of the arc is consistent with the rotation direction of the cycloidal wheel, so as to adapt to the flow trajectory of the lubricating oil towards the needle teeth under the action of centrifugal force.

5. The cycloidal reducer according to claim 2, characterized in that: The cycloidal reducer also includes an output shaft and a pin on the output shaft, the pin engaging with the pin hole of the cycloidal wheel to transmit power.

6. The cycloidal reducer according to claim 5, characterized in that, The outer casing includes: A needle-tooth shell, with several needle teeth arranged on its inner side; The first flange is used to fix the pin tooth housing to the drive motor; The second flange is fixedly connected to the needle tooth shell on one side and rotatably connected to the output shaft on the other side.

7. The cycloidal reducer according to claim 6, characterized in that, The inner side of the output shaft is rotatably connected to the outer side of the eccentric input shaft via a first bearing.

8. The cycloidal reducer according to claim 7, characterized in that: A third flange is fixedly connected to the side of the output shaft away from the cycloidal wheel, and the third flange is used to connect to an external load. A fourth flange is fixedly connected to the outer edge of the third flange near the output shaft. The inner side of the fourth flange is rotatably connected to the outer side of the second flange through a second bearing to stabilize the outer edge of the third flange.

9. The cycloidal reducer according to claim 8, characterized in that: The third flange is fixedly connected to a cable guide that passes through the third flange, the output shaft, and the eccentric input shaft.

10. A joint module, characterized in that, The cycloidal reducer of claim 9 further includes a drive motor having a wire guide groove adapted to the wire guide drum.

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