232 results about "Cycloid" patented technology

The invention relates to the technical field of oil field workover treatment, in particular to a rapid blowout wrecking device and method for minor repair operation. According to the technical scheme, a lifting mechanism is installed on workover treatment equipment through a fixing mechanism, a rotary speed reducer is installed at the upper end of the lifting mechanism, a blowout wrecking rotating arm is installed on the upper portion of the rotary speed reducer, the outer end of the blowout wrecking rotating arm is fixedly connected with a fixing base, a turbine is installed in the fixing base, and a rotating short section is installed in the center of the turbine. The lower end of the rotary short section is movably connected with a full-bore plug valve; the worm is installed on one side of the turbine, the worm is driven by the hydraulic cycloid motor to rotate, the worm drives the turbine and the rotary short section to rotate, then the full-bore plug valve is driven to be rotationally connected to an oil pipe of a wellhead, then the switch knob is closed, and blowout wrecking is completed. The full-bore plug valve is installed through mechanical rotation, the follow-up loading function is achieved, potential safety hazards caused by manual installation of the full-bore plug valve are avoided, and rapid blowout wrecking work of blowout is achieved.

The automobile part torsional fatigue test bench comprises a bench body, a driving mechanism is arranged at one end of the top surface of the bench body, a workpiece carrying structure is arranged at the other end of the top surface of the bench body, a force application structure is arranged at the position, close to the driving mechanism, of the top surface of the bench body, and the driving mechanism comprises a driving bin. The end, away from the force application structure, of the driving bin is fixedly connected with a servo motor, and the two sides of the middle of the interior of the driving bin are fixedly provided with a cycloidal-pin wheel speed reduction assembly and a planetary speed reduction assembly correspondingly. The driving mechanism is driven by the servo motor, a huge oil supply hydraulic system does not need to be used, the occupied area is small, the output torsion load can be switched through the cycloidal-pin wheel speed reduction assembly or the planetary speed reduction assembly, the load output through the planetary speed reduction assembly is low, constant loads can be repeatedly applied to a workpiece for a long time, and the working efficiency is improved. The output load of the cycloidal-pin wheel speed reduction assembly is high, destructive testing of the maximum load can be carried out, and two detection modes can be considered.

The invention discloses a double-cycloid speed reducer belonging to the technical field of speed reducers, which comprises an input shaft, a first cycloid mechanism and an output shaft, and is characterized in that a second cycloid mechanism is arranged between the first cycloid mechanism and the output shaft, the second cycloid mechanism is connected in series with the first cycloid mechanism through a transmission shaft, the transmission shaft is linked with the first cycloid mechanism, and the output shaft is connected with the output shaft. The input shaft rotates to drive the transmission shaft to rotate at a reduced speed through the first cycloid mechanism, and the transmission shaft rotates to drive the output shaft to rotate at a reduced speed through the second cycloid mechanism. The first cycloid mechanism and the second cycloid mechanism are arranged in series through the transmission shaft to form a two-stage speed reduction structure of the speed reducer, large-speed-ratio transmission of the speed reducer is achieved, and low noise, low temperature rise, high bearing capacity and high rigidity of the speed reducer in the operation process are kept.

The utility model provides a kind of light six-axis robot belongs to mechanical hand technical field.It solves the problem of slow start, brake and low response speed of six-axis robot in prior art due to its heavy weight.The utility model includes turbine box, driving arm seat, light driving arm, connecting rod, intermediate seat, driving wrist and forepaw assembly, turbine flange is installed at the top of turbine box, driving arm seat is connected and fixed with turbine box by turbine flange, the inside of light driving arm is hollow structure and the both ends of light driving arm are formed with large connecting seat and small connecting seat respectively, large connecting seat is connected with driving arm seat, the both ends of driving arm seat are fixedly connected with cycloidal reducer and servo motor, servo motor extends motor shaft, and motor shaft is connected with connecting rod transmission shaft, connecting rod lower end is connected with connecting rod transmission shaft, connecting rod is set along the direction of light driving arm, and the other end of connecting rod is connected with the bottom of intermediate seat, side plate is formed on the both sides of intermediate seat, and small connecting seat is connected with side plate.The utility model has the advantages of light weight and compact structure.

The invention relates to the technical field of hydraulic motors, in particular to a cycloid hydraulic motor integrating self-lubricating and cooling functions, which can establish an oil return channel inside to smoothly discharge leaked oil, can take away heat and scrap iron generated by friction of a thrust bearing, and can form oil film lubrication between the front end of a shaft and a shell to ensure normal operation of the motor. The motor comprises a motor body, the motor body is provided with a first oil port and a second oil port, the first oil port and the second oil port are communicated with an internal oil duct, an output shaft is arranged in the motor body, and a thrust bearing and a thrust gasket are arranged between the front end of the output shaft and a shell of the motor body. An oil return channel is arranged between the thrust bearing and a shell of the motor body, an oil return through hole communicated with the oil return channel and the in-shaft counter bore is formed in the output shaft, the oil return channel is communicated with the first oil port and provided with a first one-way valve, and the second oil port is communicated to the peripheral face of the front end of the output shaft through an inner flow channel. The oil return channel communicates with the inner flow channel and is provided with a second one-way valve.

The invention relates to an eVTOL nacelle tilting steering engine based on high reduction ratio transmission and a working method, and relates to the field of electric vertical take-off and landing aircrafts. According to the technical scheme, the design that the double-cycloid speed reducer is combined with the parallel shaft speed reduction gear set is adopted, the wiring harness passing ability problem from the aircraft end to the nacelle is solved, the single-point failure risk that a lead screw of a traditional linear steering engine is stuck is avoided, and the safety and reliability of the steering engine are improved; moreover, depending on the dual-redundancy winding, the dual-redundancy electromagnetic brake and the dual-redundancy rotating speed feedback of the dual-redundancy servo motor, the dual-redundancy design is realized from the electrical level, and the safety performance is further enhanced. In addition, external disturbance can be reduced through high-reduction-ratio transmission, the influence of aerodynamic load disturbance on nacelle actuation is reduced, and the tilting stability is greatly improved.

This invention belongs to the field of propulsion and control technology for vertical takeoff and landing (VTOL) aircraft, and discloses a cycloidal propeller control mechanism and method for driving trailing edge flap deflection using a dual four-bar linkage mechanism. Based on the traditional single four-bar linkage mechanism used to control the periodic pitch motion of the cycloidal blades, this mechanism adds a four-bar linkage mechanism with a similar structure and principle, specifically designed to independently drive the trailing edge flaps for periodic deflection. By separately setting the pitch eccentricity and pitch eccentricity angle of the pitch control four-bar linkage, and the deflection eccentricity and deflection eccentricity angle of the flap deflection four-bar linkage, the pitch motion of the blades and the deflection motion of the flaps can be independently controlled. Through numerical optimization design, a preset phase difference can be established and maintained between the deflection motion of the flaps and the pitch motion of the blades, and the maximum deflection angle of the flaps is constrained within the target amplitude range, thereby achieving effective improvement and active control of the cycloidal propeller's aerodynamic performance.

The utility model relates to the technical field of cycloid speed reducers, and discloses a large-torque stable cycloid speed reducer for stirring, which comprises a cycloid speed reducer main body, an output shaft is connected to the middle of the cycloid speed reducer main body, the output shaft penetrates through and is connected with a base, the base is positioned on one side of the cycloid speed reducer main body, and a lifting component is connected to the lower surface of the base. An oil inlet assembly is arranged on the surface of the cycloid speed reducer body. According to the large-torque stable cycloidal speed reducer for stirring, through mutual cooperation of a base, a screw, a nut and a lifting assembly, a worker can start a rotating motor by controlling a power source of the rotating motor, then a threaded rod is driven to rotate, a moving block moves on the threaded rod, and then a supporting rod B is driven to move; according to the cycloid speed reducer, the supporting plate drives the base and the cycloid speed reducer body to move up and down, so that a worker can conveniently adjust the height of the cycloid speed reducer and use the cycloid speed reducer, and after the cycloid speed reducer is used for a long time, the cycloid speed reducer cannot deviate.

The invention discloses a cycloidal gear tooth profile three-section modification method. The cycloidal gear tooth profile is divided into a tooth root section, a meshing area section and a tooth top section; according to the thickness of the lubricating oil film, the modification gap at the tooth root is obtained, and according to the contact deformation at the tooth crest, the modification gap at the tooth crest is obtained; and by taking the return difference and the minimum contact stress in the dynamic transmission chain precision interval as boundary conditions, the modification clearance of the meshing area is obtained, the modification clearances at the tooth root, the meshing area and the tooth top are combined, and the tooth profile of the cycloidal gear is obtained according to the modification clearance curve. Different modification gaps can be designed according to different return differences and dynamic transmission chain precision intervals. A cycloidal gear tooth profile with controllable return difference and dynamic transmission chain precision and minimum contact stress when lubrication and stable and uniform meshing of a gear pair are considered can be obtained; the method is a modification method with higher precision.

The application discloses a screw motor stator-rotor linear optimization method for directional drilling, relates to the technical field of directional drilling of oil and natural gas, and comprises the following steps: according to the design requirements of a screw motor for directional drilling, design parameters of an eccentricity, a rotor head number, a stator head number, a base circle diameter and a theoretical equidistance radius are determined, and an initial linear data set containing discrete data points is generated based on an internal or external cycloid equation; a non-uniform rational B-spline method is used to perform curve reconstruction on the initial linear data set, local fairing treatment is performed on regions with curvature mutations by adjusting control point weight factors and node vectors of the non-uniform rational B-spline curve, and a smooth linear parameter model is generated; and based on the smooth linear parameter model, a thermodynamic coupling simulation model based on a rubber viscoelastic constitutive relation is established to simulate periodic plunger movement of the screw motor under a rated working condition.

This invention discloses a water outlet assembly, including a main body with a cavity inside. The water inlet of the main body is connected to the cavity. A drive structure and a water outlet component are arranged sequentially in the direction of water flow within the cavity. The drive structure includes an impeller, a cycloidal wheel, and a transmission component, with the impeller and cycloidal wheel eccentrically positioned. A drive shaft is located below the cycloidal wheel to drive the transmission component to rotate. The transmission component drives the water outlet component to rotate. The water outlet component has an outlet that can discharge sheet-like water, allowing the sheet-like water to rotate and discharge, increasing the water flow rinsing range and improving the rinsing and showering effect without any jamming sensation.

The utility model relates to the technical field of hardness detection, and discloses a cycloidal gear speed reducer driving shaft hardness detection device, which comprises a detection table, the outer side of the detection table is fixedly connected with a linear transmission assembly, the top end of the linear transmission assembly is fixedly connected with a movable plate, the top end of the detection table is fixedly connected with a fixed plate, and the movable plate is fixedly connected with the fixed plate. Bearing plates are fixedly connected to the top ends of the fixed plate and the movable plate, rotating shells are rotatably connected to the inner sides of the bearing plates, clamping assemblies are fixedly connected to the inner sides of the rotating shells, a rotating assembly is fixedly connected to the outer side of the rotating shell on the right side, and a fixed frame is fixedly connected to the top end of the detection table. The cycloidal gear speed reducer driving shaft hardness detection device has the advantages that the position of the cycloidal gear speed reducer driving shaft can be conveniently fixed, the detection effect of the cycloidal gear speed reducer driving shaft is improved, the cycloidal gear speed reducer driving shaft can be subjected to multi-point detection, and the hardness detection accuracy is improved.

The utility model discloses a special winding machine for a wind power coil, which comprises an electric rotary table, a feeding reduction gearbox body is arranged at the top of the electric rotary table, an alternating current cycloidal pin gear speed reduction motor is arranged outside the feeding reduction gearbox body, a worm is arranged in the feeding reduction gearbox body, and the worm is fixed with the driving end of the alternating current cycloidal pin gear speed reduction motor; a worm gear and a gear a are arranged above the worm and in the feeding reduction gearbox body, the worm gear and the gear a are coaxial, and the worm gear is meshed with the worm; a supporting seat is arranged at the top of the feeding reduction gearbox body, a transmission shaft is arranged in the supporting seat, and a gear b meshed with the gear a is fixed on the transmission shaft; a special winding die is arranged above the supporting seat, a connecting plate is fixed on the transmission shaft, and the connecting plate is fixed with the bottom of the special winding die; a pay-off roller frame is arranged on one side of the electric rotary table, and three sets of roller frames playing a role of angle guide accessories are installed on the top of the pay-off roller frame. According to the utility model, the wound coils are stacked neatly and uniformly and have the same curvature, and the deformed surfaces of the coils are not damaged.

The invention discloses a universal cycloid spindle blade rotor lifting device, and relates to the technical field of unmanned aerial vehicles. The universal cycloid spindle paddle rotor wing lifting device comprises a shell, a main shaft, a main taper sleeve, a main paddle, an auxiliary paddle and a universal adjusting mechanism. The universal adjusting mechanism comprises a conical fluted disc, a paddle connecting shaft, a driven bevel gear, an electromagnetic telescopic sleeve A, an electromagnetic telescopic sleeve B and a driving control module; the main paddle and the auxiliary paddle are installed at the two ends of the paddle connecting shaft, each paddle is of a spindle-shaped structure with the surface being a cycloid curved surface, the middle of each paddle is thickened, and the edge of each paddle is provided with a flow guide edge protruding outwards. The driving control module controls the two groups of electromagnetic telescopic sleeves to synchronously push and pull to force the paddle connecting shaft to axially translate so as to drive the driven bevel gear to be instantly meshed with or separated from the bevel gear disc on the main shaft; transient micro-adjustment of the attack angle of the blade is achieved through a pure mechanical structure of rigid meshing of the electromagnetic clutch and the gear, the cycloid gradual change pneumatic curved surface is matched, response delay is effectively overcome, blade tip vortex is restrained, and the anti-crosswind stability and the heavy load structure rigidity under complex turbulence are improved.

The utility model discloses a kind of tool of inclination test swing distance measurement, wherein, tool of inclination test swing distance measurement includes pendulum and guide pipe, pendulum and guide pipe are connected by first cycloid, level pointer is provided on guide pipe, the pointing direction of level pointer is perpendicular to the central axis of guide pipe;Tool further includes test box body, test box body is provided with test liquid, upper cover is provided with guide port, the edge of guide port is provided with scale, pendulum can enter test box body inside via guide port, until being completely immersed by test liquid, at this time, level pointer and scale overlap intersection, when test box body is inclined, level pointer and scale can read out swing distance.The tool of inclination test swing distance measurement can accurately read swing distance, solve the problem of inaccurate measurement according to cycloid offset distance directly in traditional method, when testing, pendulum is completely immersed by test liquid, and damping effect makes measurement more stable.

The application discloses a low-abrasion cycloid reduction joint module for a robot and relates to the technical field of robot joint modules.The low-abrasion cycloid reduction joint module comprises a motor, a backing plate and a swing reduction assembly, the motor and the swing reduction assembly are both mounted on the backing plate, the motor output shaft drives the swing reduction assembly input shaft, the swing reduction assembly comprises a shell fixed on the side of the backing plate, a pad, a pin gear pin assembly, a low-speed output assembly and a cycloid wheel input assembly are coaxially arranged in the shell, the pin gear pin assembly is arranged outside the cycloid wheel input assembly, the cycloid wheel input assembly pushes the pin gear pin assembly to contract along the axial direction after being axially extruded, and the pin gear pin assembly comprises a plurality of bending plates arranged along the axial direction, and metal rings are connected between the coaxial bending plates.The application can enhance the support capacity of the joint module to the axial external force, reduce the possibility of damage of the output shaft when the joint module is subjected to external axial collision, and thus improve the ability of the joint module to cope with the axial external force.

The invention relates to a precision self-adaptive control system for a high-torque-density cycloid speed reducer joint, and belongs to the technical field of robot joint driving and control. The method comprises the steps that a robot joint is driven to reach a designated position through a communication device and a positioner, and collected joint posture data are transmitted to a main control device; through a joint encoder equipped on an angle driving framework, attitude data during equipment movement are analyzed based on the joint encoder, and precision self-adaptive adjustment in the joint angle direction is carried out according to the input attitude data; calculating the actual deviation between the cycloid speed reducer and the target joint through a backlash deviation model; based on the actual deviation, a motor is controlled to drive the framework to move in combination with the corresponding initial compensation parameters; and real-time precision evaluation is carried out on the collected joint postures through a precision evaluation framework, and the optimal compensation position and related posture data are recorded after the evaluation is passed. Under the same output capacity, the small size, the small weight and the large output torque are achieved.

The invention relates to the technical field of precise speed reducer manufacturing, and discloses a cycloidal gear tooth surface flexible modification method based on multi-parameter dynamic compensation, which comprises the following steps: establishing an elastic deformation calculation model based on a Hertz contact theory and dynamic load characteristics, and introducing contact rigidity, a dynamic coefficient and a rotating speed index to correct deformation; constructing a thermal deformation compensation model based on a thermal-mechanical coupling theory, and considering a material thermal expansion coefficient, a working temperature rise and a rotating speed influence factor; a modification curve is constructed by adopting a third-order Fourier series, and flexible regulation and control of the tooth surface profile are realized by optimizing a coefficient proportional relation; and a manufacturing error self-adaptive matrix is constructed based on measurement data of the laser interferometer, and the exponential attenuation function is adopted to distribute the compensation amount, so that the accurate regulation and control of the tooth surface microscopic contour are realized. According to the joint reducer, the contact stress can be reduced by 14% or above, the transmission return difference is controlled within 0.52 arcmin, the service life is prolonged to 66000 hours, and the requirements for high precision and high reliability of the joint reducer of the industrial robot are met.

The utility model relates to the technical field of cycloid hydraulic motors, in particular to a hydraulic cycloid motor which is characterized in that when the hydraulic cycloid motor is used, a motor body is mounted on a mounting seat assembly through a positioning plate, and then the motor body is secondarily processed by the positioning assembly, so that the mounting firmness is improved; comprising a motor body and a positioning plate, the motor body is fixedly sleeved with the positioning plate, the motor further comprises an installation base assembly and a positioning assembly, the motor body and the positioning plate are arranged on the installation base assembly in a matched mode, and the positioning assembly is installed on the installation base assembly and used for positioning and installing the motor body.

The utility model discloses a cycloid wire feeding device for plasterboard processing, particularly relates to the technical field of plasterboard production, and comprises a workbench, the top end of the workbench is fixedly connected with a first support frame, the inside of the first support frame is rotatably connected with a connecting rod, and the outer side of the connecting rod is fixedly connected with a plurality of filament coils. A second supporting frame is fixedly connected to the top end of the workbench, a first pressing roller and a second pressing roller are rotationally connected into the second supporting frame, the second pressing roller is installed on one side of the first pressing roller, two third supporting frames are fixedly connected to the top end of the workbench, tensioning assemblies are installed on the inner sides of the third supporting frames, and guiding mechanisms are installed on one sides of the third supporting frames. By arranging the tensioning assembly and the guide mechanism, the filaments are kept in a stable tensioning state in the conveying process, the problem that the filaments are broken due to tension fluctuation can be solved, meanwhile, a stable conveying path can be provided for the filament cycloid, and unstable conveying caused by deviation or swing of the filaments is reduced.

The invention discloses a cycloid type permanent magnet gear composite motor, which comprises a fixed pin shaft assembly, a stator and a rotor, and is characterized in that the stator comprises a stator iron core and a stator winding with ps antipode pairs, and the stator winding is located at the inner side of the stator iron core; and the fixed pin shaft assembly comprises a fixed disc and a fixed pin shaft. The cycloid type permanent magnet and the permanent magnet motor are combined into a whole, so that driving and speed changing are integrated, a mechanical gear transmission device is omitted, space is saved, low-speed large-torque transmission can be directly achieved, the structure is more compact, loss of an intermediate speed changing device is reduced, fundamental wave speed changing transmission is utilized, and generated magnetic field loss is small; the cycloid type permanent magnet motor has the advantages that torque is further improved, the cycloid type permanent magnet motor is more suitable for low-speed large-torque transmission, the torque density of the motor is higher, the cycloid type permanent magnet motor also inherits the advantage of large transmission ratio of the cycloid type permanent magnet, and electric energy consumption can be reduced by controlling the stator winding to be powered on at the position with the air gap smaller than 2 mm instead of being powered on completely.

The utility model relates to power device technical field, concretely is a kind of multifunctional hydraulic cycloid motor, its compact structure, small space occupation, low use cost, it includes motor body, hydraulic brake and hydraulic valve group, its characterized in that, the motor body with the hydraulic brake is integrated structure, the output shaft of the motor body passes through the hydraulic brake and end portion is equipped with output gear, hydraulic valve group is fixed on the motor body, the oil port on the motor body is directly with the oil port of hydraulic valve group butt joint, the hydraulic valve group is also connected the hydraulic brake by oil pipe, two working oil ports are set up on the hydraulic valve group.

The utility model discloses a variable diameter variable pitch screw rotor, including intermeshing left rotors and right rotors, the end face profile of left rotors with right rotors is same, all by 7 curves first and last connected closed, wherein 7 curves include involute section AB, circular arc section BC, dedendum circular arc section CD, circular arc section DE, cycloid equidistant curve section EF, dedendum circular arc section FG and circular arc conjugate curve section GA, the circular arc BC of left rotors is intermeshed with the circular arc conjugate curve A'G' of right rotors, and the rest line sections are sequentially intermeshed according to the rotating direction of left rotors and right rotors respectively, the screw pitch of left rotors and right rotors is segmented along the axial direction, the left rotors are conical along the air inlet end to the air outlet end, and the right rotors are conical along the air inlet end to the air outlet end. The utility model further provides a vacuum pump. The device provided by the utility model can effectively improve the internal compression ratio and efficiency of the vacuum pump.

The invention belongs to the technical field of aircraft design, and particularly relates to a helicopter rotor mechanism and an aircraft. The mechanism comprises a coaxial double-rotor assembly which comprises an upper rotor unit and a lower rotor unit; the coaxial double-rotor variable-pitch assembly is connected with the coaxial double-rotor assembly and used for adjusting the propeller pitch of the coaxial double-rotor assembly; the cycloidal propeller assembly is vertically mounted between the upper rotor wing unit and the lower rotor wing unit; and the cycloid propeller variable pitch assembly is connected with the cycloid propeller assembly and used for adjusting the propeller pitch of the cycloid propeller assembly, so that the stress of the helicopter in the horizontal direction is adjusted, the posture of the helicopter is adjusted, and control over the position in the air is achieved.

This utility model relates to a small-displacement, high-speed cycloidal hydraulic motor, belonging to the field of hydraulic transmission technology. The small-displacement motor features a grooved stepped hole at the end of the pressure balance plate that contacts the linkage shaft. The rotor-stator pair parameters are configured to ensure the motor's output displacement is less than 100 ml / r, the stator thickness is less than 10.5 mm, and the linkage shaft's meshing spline is a four-segment toothed structure. This utility model's small-displacement motor boasts a compact structure, stable and reliable small-displacement performance ensured by the rotor-stator pair parameters, and sufficient strength and good heat treatment processability thanks to the short spline of the linkage shaft.

The utility model discloses a big data host wiring frame belongs to big data host technical field, including placing shell, install the wire drum on the placing shell, the top of wire drum is equipped with the opening, be equipped with the cycloidal positioning mechanism in the placing shell, the inner wall of placing shell is rotatably connected with two -way screw rod, one end fixed mounting of two -way screw rod has the swivel block, two -way screw rod and cycloidal positioning mechanism transmission connection, one side of placing shell is installed with two wiring grooves, be equipped with the branch mechanism on the wiring groove, the inner wall on one side of placing shell installs the air -blower. Through the setting of the tooth -shaped guide plate, can be convenient to the multiple cable is placed separately, and through the sliding connection of the concave frame and tooth -shaped guide plate, to the cable can be pressed positioning.

The invention provides a shell output type integrated cycloidal-pin wheel speed reducer joint module. The shell output type integrated cycloidal-pin wheel speed reducer joint module comprises a speed reducer mechanism and a motion input mechanism. The speed reducer mechanism comprises a first shell, an eccentric input shaft and a speed reduction unit. The motion input mechanism comprises a center fixing shaft, a first support shell and a second support shell. The eccentric input shaft and the speed reduction unit are arranged on the inner side of the first shell. The eccentric input shaft is connected with the first shell through the speed reduction unit. The center fixing shaft is connected with the first support shell, and the first support shell is provided with a first magnetic circuit piece. The eccentric input shaft is connected with a second support shell, and the second support shell is provided with a second magnetic circuit piece which is magnetically coupled with the first magnetic circuit piece; when the first magnetic circuit piece and the second magnetic circuit piece generate electromagnetic interaction, the second support shell drives the eccentric input shaft to rotate, and the eccentric input shaft drives the first shell to rotate through the speed reduction unit. The technical problem that the output mode of an existing joint module is limited is solved, and shell movement output of the joint module is achieved.

The application provides an underwater screw propulsion mechanism, which comprises a head module, a power transmission module and a tail module, wherein the head module comprises a driving mechanism; the tail module comprises a tail mechanism, an internal gear and a swing mechanism; the first end of the swing mechanism is in transmission connection with the driving mechanism through the power transmission module; the second end of the swing mechanism is connected with the tail mechanism; the internal gear is arranged on the power transmission module; the application further comprises a cycloid module, which comprises a first driving gear and a cycloid output shaft; the first driving gear is arranged on the swing mechanism and is in mesh with the internal gear; the first end of the cycloid output shaft is eccentrically connected with the first driving gear; and the second end of the cycloid output shaft is connected with the swing mechanism. The underwater screw propulsion mechanism improves the efficiency of the underwater robot, realizes a more realistic bionic effect, improves the working efficiency and reliability of the underwater robot in a liquid with high viscosity, and has strong practicability.

The utility model discloses an input and output coaxial RV-C speed reducer transmission mechanism which comprises a planetary gear B, a duplicate gear, a duplicate gear pinion, a duplicate gear bull gear, pin teeth, an eccentric shaft, a left cycloidal gear, a right cycloidal gear, a planet carrier and a pin wheel housing, the duplicate gear bull gear is further meshed with a gear C, the gear C is coaxially connected with the gear B, the gear B is meshed with a gear A, and the gear A is coaxially connected with the eccentric shaft. A rotating shaft of the gear A is connected with an output shaft of a motor M. The duplicate gear large gear and the duplicate gear small gear are coaxially arranged, the duplicate gear small gear is meshed with the planet gear B, and the output shaft of the motor M and the rotating shaft of the gear A coincide with the axis of the planet carrier. Coaxial placement of the motor and the planet carrier can be achieved, the stability of a transmission system is improved, and the upper limit of the speed ratio interval of the speed reducer is improved.

The application discloses a robot joint module with an active heat dissipation function and a robot, which comprises a cycloidal speed reducer, a motor assembly, a driving plate and a heat dissipation mechanism; the cycloidal speed reducer and the motor assembly are connected through a hollow cycloidal wheel center shaft; the motor assembly comprises a motor stator and a motor rotor arranged on the inner periphery of the motor stator; the heat dissipation mechanism comprises a first semiconductor refrigeration piece and a second semiconductor refrigeration piece; the first semiconductor refrigeration piece is in a cylindrical shape matched with the hollow cavity of the cycloidal wheel center shaft and is assembled in the hollow cavity; and the second semiconductor refrigeration piece is connected to the end surface of the motor stator away from the cycloidal speed reducer. The joint module is simple and compact, the heat dissipation mechanism based on the semiconductor refrigeration piece is integrated in the joint module, the weight, volume, structural complexity and the like of the joint module are not additionally increased, and the heat dissipation efficiency is high.