CN112247973A

CN112247973A - Built-in robot integrated joint module

Info

Publication number: CN112247973A
Application number: CN202011151545.4A
Authority: CN
Inventors: 朱幕松
Original assignee: Individual
Current assignee: Jiangsu Kaixuan Intelligent Technology Co ltd
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2021-01-22
Anticipated expiration: 2040-10-26
Also published as: CN112247973B

Abstract

A built-in robot integrated joint module is characterized in that a cycloidal pin wheel speed reducer is arranged on the periphery of an outer rotor brushless motor, a shell is arranged at the rear end of the cycloidal pin wheel speed reducer, an electromagnetic brake, a photoelectric encoder reading head, a photoelectric encoding disc, a brushless motor control module and a signal acquisition control module are arranged in the shell, the integrated joint module is high in integration level and small in size, and the load-weight ratio is greatly improved; the slender outer rotor brushless motor has short reactive coil end, long active coil, high power density and high efficiency; the outer circle of the outer rotor is provided with a front eccentric sleeve, a rear eccentric sleeve, a brake gear ring and a photoelectric coding disc, so that the axial size of the built-in robot integrated joint module is small, the diameter of a needle wheel rim is large, the reduction ratio of a cycloid needle wheel speed reducer is increased, the rotating speed of the outer rotor brushless motor is increased, and the efficiency is improved; the front and rear load threaded holes for connecting the load and the upper and lower arc-shaped cover plates for installation and maintenance make the design, installation, use and maintenance of the robot more convenient.

Description

Built-in robot integrated joint module

Technical Field

The invention relates to the technical field of robots, in particular to a built-in robot integrated joint module.

Background

The cooperative robot is an important direction for the development of the robot and is an important component for the cooperative work of man and machine. The cooperative robot generally adopts a modular design, and an integrated joint module is the most important module of the cooperative robot. The universality, the load dead weight ratio and the structural size of the integrated joint module greatly influence the performance and the application field of the cooperative robot.

The existing robot integrated joint module is generally formed by simply connecting a harmonic reducer, a motor, a brake, a photoelectric encoder and a force sensor in series, the axial size of the existing robot integrated joint module is long, and the bearing capacity and the dynamic performance of the existing robot integrated joint module are limited. The patent publication discloses an invention patent application with the name of 'compact robot integrated joint module and compact robot', and the application number is '2018100580749', the invention patent application is composed of a cycloidal pin wheel speed reducer, a brake, a photoelectric encoder, a motor and an integrated circuit module which are simply connected in series, the axial size of the invention is longer, the universality, the load dead weight ratio and the structural size of the integrated joint module are almost the same as those of the existing robot integrated joint module, and no breakthrough change is caused.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the current integrated joint module is completely changed into a structure form of simple series combination of the cycloid pin wheel speed reducer, the brake, the photoelectric encoder, the motor and the integrated circuit module, and the structure form of parallel combination of the cycloid pin wheel speed reducer, the brake, the photoelectric encoder, the integrated circuit module and the motor is used for realizing the built-in robot integrated joint module, so that the load weight ratio of the integrated joint module is greatly improved.

Interior concealed robot integration joint module, including cycloid pinwheel reduction gear, casing, center pin, external rotor brushless motor, electromagnetic braking ware, brake pin, braking ring gear, brushless motor control module, signal acquisition control module, photoelectric encoder read head and photoelectric encoding dish, its characterized in that: the outer rotor brushless motor is a slender 4-pole permanent magnet direct current motor, the axial dimension of the built-in robot integrated joint module is equal to that of the outer rotor brushless motor, a cycloid pin wheel speed reducer is arranged on the periphery of the outer rotor brushless motor, a shell is arranged at the rear end of the cycloid pin wheel speed reducer, and an electromagnetic brake, a photoelectric encoder reading head, a photoelectric encoding disc, a brushless motor control module and a signal acquisition control module are arranged in the shell; the outer rotor brushless motor is provided with a central shaft, the middle of the central shaft is thick, the two ends of the central shaft are thin, a stator core is arranged on the thick shaft in the middle of the central shaft, a plurality of core teeth are arranged on the circumference of the stator core, a plurality of coil grooves are formed among the core teeth, a plurality of coils are wound in the coil grooves, the coils are averagely divided into 3 coil groups, the electric angle among the 3 coil groups is 120 degrees, the 3 coil groups are connected into a Y-shaped circuit to form 3-phase coils, and 3 Hall sensors are respectively arranged in the coil grooves among the 3-phase coils; the front end of the central shaft is provided with a front bearing, the excircle of the front bearing is provided with a front end cover, the excircle of the front end cover is provided with a magnetic conduction cylinder, the front end cover and the magnetic conduction cylinder are integrally manufactured and molded, the inner circle of the magnetic conduction cylinder is provided with a permanent magnet ring, the permanent magnet ring consists of 4 arc permanent magnets, the arc permanent magnets are strong magnets made of rare earth materials, the magnetic pole directions are radial, the polarities of the adjacent arc permanent magnets are opposite to each other, the excircle of the stator core and the inner circle of the permanent magnet ring are provided with uniform air gaps, and the front end and the rear end of the stator core are consistent with the; the rear end of the central shaft is provided with a rear bearing, the excircle of the rear bearing is provided with a rear end cover, the excircle of the rear end cover is provided with a helicoid, the excircle of the helicoid is provided with external threads, the inner circle of the rear end of the magnetic conduction cylinder is provided with internal threads, and the helicoid of the rear end cover is screwed into the internal threads at the rear end of the magnetic conduction cylinder for connection and fixation; the rear end of the central shaft is provided with a central hole, the front end of the central hole is provided with an inclined hole, the output lines of the 3-phase coils and the output lines of the 3 Hall sensors are combined into a motor line, and the motor line penetrates out of the machine from the inclined hole and the central hole; the outer circle of the thin shaft at the front end of the central shaft is provided with coupling front teeth, the shell is provided with a front coupling end cover, the front coupling end cover is provided with a central hole, the inner circle of the central hole is provided with coupling inner teeth, and the coupling inner teeth are meshed with the coupling front teeth; the outer circle of a thin shaft at the rear end of the central shaft is provided with coupling rear teeth, the shell is provided with a rear coupling end cover, the rear coupling end cover is provided with a central hole, the inner circle of the central hole is provided with coupling inner teeth, the coupling inner teeth are meshed with the coupling rear teeth, the thin shaft at the rear end of the central shaft is provided with a screw cap, the screw cap fastens the rear coupling end cover at the rear end of the central shaft, the front end of the outer circle of the rear coupling end cover is provided with a shell barrel, the shell barrel and the rear coupling end cover are integrally manufactured and molded, the periphery of the front end of the shell barrel is provided with a plurality of nut holes, a plurality of screw rods are arranged in the plurality of nut holes, the periphery of the front coupling end cover is provided with a plurality of screw holes, the plurality of screw holes correspond to the plurality of nut holes, connecting sleeves are arranged between the plurality of screw holes and the plurality of nut holes, the plurality of, the outer rotor brushless motor is positioned in the center of the shell barrel and rotates; the cycloidal pin wheel speed reducer is provided with a front eccentric sleeve and a rear eccentric sleeve, the eccentric directions of the front eccentric sleeve and the rear eccentric sleeve are opposite to each other, the front eccentric sleeve and the rear eccentric sleeve are arranged on the excircle at the front end of the magnetic conduction cylinder, the front eccentric sleeve and the rear eccentric sleeve are integrally manufactured and molded with the magnetic conduction cylinder, the excircle of the front eccentric sleeve is provided with a front cycloidal bearing, the excircle of the front cycloidal bearing is provided with a rear cycloidal bearing, the excircle of the rear cycloidal bearing is provided with a rear cycloidal wheel, the excircles of the front cycloidal wheel and the rear cycloidal wheel are respectively provided with a plurality of cycloidal teeth, a plurality of equant stop holes are respectively arranged on the excircle annular surface between the cycloidal bearing of the front cycloidal wheel and the cycloidal wheel excircle of the rear cycloidal wheel, the specifications and the sizes of the front cycloidal wheel and the rear cycloidal wheel are the same, a plurality of screw holes and a plurality of nut holes are respectively corresponding to a plurality of stop holes, the diameters of the stop holes are respectively, the front cycloid wheel and the rear cycloid wheel swing alternately along with the front eccentric sleeve and the rear eccentric sleeve, and the front stop holes and the rear stop holes swing alternately in the stop range of the connecting sleeves; the outer circle of the front coupling end cover is provided with a front ultrathin bearing, the outer circle of the front end of the shell barrel is provided with a rear ultrathin bearing, the outer circles of the front and rear ultrathin bearings are provided with a needle ring rim, the inner circles of the front and rear ends of the needle ring rim are provided with a front bearing frame and a rear bearing frame, the front and rear bearing frames are respectively matched and installed with the outer circles of the front and rear ultrathin bearings to enable the needle ring rim to be positioned forwards and backwards and rotate leftwards and rightwards, the circumference of the middle part of the inner circle of the needle ring rim is provided with a plurality of needle gear grooves, needle gear rods are respectively arranged in the plurality of needle gear grooves to form the needle ring rim, the number of the plurality of needle gear rods is one more than that of cycloid teeth, when the plurality of cycloid teeth are meshed with the needle gear rods at the left and right ends of the needle gear ring, the number of the cycloid needle gear speed reducer is 1, the needle gear ring diameter of the built-in robot integrated joint is large, and the number of, therefore, the reduction ratio of the cycloidal pin gear speed reducer is very large; a connecting ring is arranged on the excircle of the pin wheel ring, a plurality of front load threaded holes are formed in the circumference of the connecting ring, and the front load threaded holes are used for connecting loads; the upper end of the shell cylinder is provided with a square hole, the 4 sides of the square hole are provided with steps, an upper arc-shaped cover plate is arranged in the square hole, the front lower end of the upper arc-shaped cover plate is provided with an electromagnetic brake, the center hole of the electromagnetic brake is provided with a brake pin, the upper arc-shaped cover plate is provided with a spring hole, the spring hole corresponds to the center hole of the electromagnetic brake, a spring is arranged in the spring hole, the lower end of the spring is pressed on the brake pin, a brake gear ring is installed on the excircle of the magnetic conduction cylinder, the lower end of the brake pin is pressed on teeth of the brake gear ring, the brake pin is pressed on the teeth to play a braking role, when the electromagnetic brake generates suction force; the rear lower end of the upper arc-shaped cover plate is provided with a photoelectric encoder reading head, the photoelectric encoder reading head is provided with a transmitting head and a receiving head, a photoelectric encoding disk is arranged between the transmitting head and the receiving head, the photoelectric encoding disk is arranged at the rear end of the outer circle of the magnetic conduction cylinder, and the photoelectric encoder reading head and the photoelectric encoding disk form a photoelectric encoder; the front end of the electromagnetic brake is provided with a signal acquisition control module, the signal acquisition control module is connected with the photoelectric encoder read head and the electromagnetic brake, the middle part of the upper arc-shaped cover plate is provided with an upper wire hole, and output wires of the electromagnetic brake, the photoelectric encoder read head and the signal acquisition control module are combined into a cable and led out from the upper wire hole; the casing section of thick bamboo lower extreme is equipped with the square hole, and 4 limits in square hole are equipped with the step, and the square hole is equipped with down the arc apron, and the preceding upper end of arc apron is equipped with brushless motor control module down, and arc apron middle part is equipped with down the line hole down, and brushless motor control module's output line is drawn forth from the line hole down, and brushless motor control module's output line connection external rotor brushless motor's motor line, go up the arc apron and be equipped with a plurality of countersunk head screws, down the arc apron is equipped with a plurality of countersunk head screws down, and upper and lower countersunk head screws fasten upper arc apron and lower arc apron respectively on the upper and lower step on 4 limits in square hole, back coupling end cover circumference is equipped with a plurality of back load screw holes, and back load screw hole is used.

The beneficial effect of interior concealed robot integration joint module lies in: the built-in robot integrated joint module combines a cycloidal pin wheel speed reducer, an electromagnetic brake, a photoelectric encoder, various integrated circuit modules and an outer rotor brushless motor in parallel into an integrated compact structural form, has high integration level and small volume, and greatly improves the load-weight ratio of the integrated joint module; the slender outer rotor brushless motor has short reactive coil end, long active coil, high power density and high efficiency; the outer circle of the outer rotor is provided with a front eccentric sleeve, a rear eccentric sleeve, a brake gear ring and a photoelectric coding disc, so that the axial size of the built-in robot integrated joint module is small, the diameter of a needle wheel rim is large, the reduction ratio of a cycloid needle wheel speed reducer is increased, the rotating speed of the outer rotor brushless motor is increased, and the efficiency is improved; the front and rear load threaded holes for connecting the load and the upper and lower arc-shaped cover plates for installation and maintenance make the design, installation, use and maintenance of the robot more convenient.

Drawings

Fig. 1 is a left side sectional view of the built-in robot integrated joint module in a braking state.

Fig. 2 is a left side sectional view of the built-in robot integrated joint module in a non-braking state.

Detailed Description

In fig. 1 and fig. 2, the external rotor brushless motor is a slender 4-pole permanent magnet dc motor, the axial dimension of the built-in robot integrated joint module is equal to the axial dimension of the external rotor brushless motor, a cycloidal pin gear reducer is arranged on the periphery of the external rotor brushless motor, a housing is arranged at the rear end of the cycloidal pin gear reducer, and an electromagnetic brake, a photoelectric encoder reading head, a photoelectric encoding disc, a brushless motor control module and a signal acquisition control module are arranged in the housing; the outer rotor brushless motor is provided with a central shaft 1, the middle of the central shaft is thick, the two ends of the central shaft are thin, a stator core 2 is arranged on the thick shaft in the middle of the central shaft, a plurality of core teeth are arranged on the circumference of the stator core, a plurality of coil grooves are formed among the core teeth, a plurality of coils are wound in the coil grooves, the plurality of coils are averagely divided into 3 coil groups, the electric angle among the 3 coil groups is 120 degrees, the 3 coil groups are connected into a Y-shaped circuit, and 3 Hall sensors 4 are respectively arranged in the coil grooves among the 3-phase coils 3 and the 3-phase coils; the front end of the central shaft is provided with a front bearing 5, the excircle of the front bearing is provided with a front end cover 6, the excircle of the front end cover is provided with a magnetic conduction cylinder 7, the front end cover and the magnetic conduction cylinder are integrally manufactured and molded, the inner circle of the magnetic conduction cylinder is provided with a permanent magnet ring 8, the permanent magnet ring consists of 4 arc permanent magnets, the arc permanent magnets are strong magnets made of rare earth materials, the magnetic pole directions are radial, the polarities of the adjacent arc permanent magnets are opposite, the excircle of the stator core and the inner circle of the permanent magnet ring are provided with uniform air gaps, and the front end and the rear end of the stator core are consistent with the front end and; the rear end of the central shaft is provided with a rear bearing 9, the excircle of the rear bearing is provided with a rear end cover 10, the excircle of the rear end cover is provided with a helicoid 11, the excircle of the helicoid is provided with an external thread, the inner circle of the rear end of the magnetic conduction cylinder is provided with an internal thread, and the helicoid of the rear end cover is screwed into the internal thread of the rear end of the magnetic conduction cylinder for connection and; the rear end of the central shaft is provided with a central hole 12, the front end of the central hole is provided with an inclined hole 13, the output lines of the 3-phase coil and the output lines of the 3 Hall sensors are combined into a motor line 14, and the motor line penetrates out of the machine from the inclined hole and the central hole; a coupling front tooth 15 is arranged on the outer circle of a thin shaft at the front end of the central shaft, a front coupling end cover 16 is arranged on the shell, a central hole is formed in the front coupling end cover, a coupling inner tooth is arranged on the inner circle of the central hole, and the coupling inner tooth is meshed with the coupling front tooth; the outer circle of a thin shaft at the rear end of a central shaft is provided with coupling rear teeth 17, a shell is provided with a rear coupling end cover 18, the rear coupling end cover is provided with a central hole, the inner circle of the central hole is provided with coupling inner teeth which are meshed with the coupling rear teeth, the thin shaft at the rear end of the central shaft is provided with a screw cap 19, the screw cap fastens the rear coupling end cover at the rear end of the central shaft, the front end of the outer circle of the rear coupling end cover is provided with a shell barrel 20, the shell barrel and the rear coupling end cover are integrally manufactured and molded, the periphery of the front end of the shell barrel is provided with a plurality of nut holes, a plurality of screw rods 21 are arranged in the plurality of nut holes, the periphery of the front coupling end cover is provided with a plurality of screw holes which correspond to the plurality of nut holes, connecting sleeves 22 are arranged between the plurality of screw holes and the plurality of nut holes, the plurality of screw rods fasten the front coupling end cover and the shell barrel through the plurality of, the outer rotor brushless motor is positioned in the center of the shell barrel and rotates; the cycloidal pin wheel speed reducer is provided with a front eccentric sleeve 23 and a rear eccentric sleeve 24, the eccentric directions of the front eccentric sleeve and the rear eccentric sleeve are opposite to each other, the front eccentric sleeve and the rear eccentric sleeve are arranged on the excircle at the front end of a magnetic conduction cylinder, the front eccentric sleeve and the rear eccentric sleeve are integrally manufactured and molded with the magnetic conduction cylinder, the excircle of the front eccentric sleeve is provided with a front cycloidal bearing 25, the excircle of the front cycloidal bearing is provided with a front cycloidal wheel 26, the excircle of the rear eccentric sleeve is provided with a rear cycloidal bearing 27, the excircle of the rear cycloidal bearing is provided with a rear cycloidal wheel 28, the excircles of the front cycloidal wheel and the rear cycloidal wheel are respectively provided with a plurality of cycloidal teeth, a plurality of equant stop holes are respectively arranged on the annular surface between the excircles of the cycloidal bearing of the front cycloidal wheel and the rear cycloidal wheel, the specifications and the sizes of the front cycloidal wheel and the rear cycloidal wheel are the same, a plurality of screw holes and a plurality of, when the outer rotor brushless motor rotates, the front cycloid wheel and the rear cycloid wheel swing alternately along with the front eccentric sleeve and the rear eccentric sleeve, and the front stop holes and the rear stop holes swing alternately in the stop ranges of the connecting sleeves; the outer circle of the front coupling end cover is provided with a front ultrathin bearing 29, the outer circle of the front end of the shell barrel is provided with a rear ultrathin bearing 30, the outer circles of the front ultrathin bearing and the rear ultrathin bearing are provided with a needle wheel ring 31, the inner circles of the front end and the rear end of the needle wheel ring are provided with a front bearing frame and a rear bearing frame, the front bearing frame and the rear bearing frame are respectively installed in a close fit mode with the outer circles of the front ultrathin bearing and the rear ultrathin bearing to enable the needle wheel ring to be positioned front and back and rotate left and right, a plurality of needle gear rod grooves are formed in the middle circumference of the inner circle of the needle wheel ring, needle gear rods 32 are arranged in the needle gear rod grooves to form the needle wheel ring, the number of the needle gear rods is one more than that of cycloid teeth, when the plurality of cycloid teeth are meshed with the needle gear rods at the left end and the right end of the needle wheel ring, the cycloid gear reducer is separated from the needle gear rods at the left end and the right end of the needle wheel ring, The number of pin gear rods is large, so that the reduction ratio of the cycloidal pin gear speed reducer is large; a connecting ring 33 is arranged on the outer circle of the pin wheel ring, a plurality of front load threaded holes 34 are formed in the circumference of the connecting ring, and the front load threaded holes are used for connecting loads; the upper end of the shell barrel is provided with a square hole, the 4 sides of the square hole are provided with an upper step 35, an upper arc-shaped cover plate 36 is arranged in the square hole, the front lower end of the upper arc-shaped cover plate is provided with an electromagnetic brake 37, the center hole of the electromagnetic brake is provided with a brake pin 38, the upper arc-shaped cover plate is provided with a spring hole, the spring hole corresponds to the center hole of the electromagnetic brake, a spring 39 is arranged in the spring hole, the spring is pressed at the upper end of the brake pin, the outer circle of the magnetic conduction barrel is provided with a brake gear ring 40, the lower end of the brake pin is pressed on teeth of the brake gear ring, the brake pin is pressed on the teeth to play a brake role, when the electromagnetic brake generates; the rear lower end of the upper arc-shaped cover plate is provided with a photoelectric encoder reading head, the photoelectric encoder reading head is provided with a transmitting head 41 and a receiving head 42, a photoelectric encoding disk 43 is arranged between the transmitting head and the receiving head, the photoelectric encoding disk is arranged at the rear end of the outer circle of the magnetic conduction cylinder, and the photoelectric encoder reading head and the photoelectric encoding disk form a photoelectric encoder; a signal acquisition control module 44 is arranged at the front end of the electromagnetic brake, the signal acquisition control module is connected with the photoelectric encoder reading head and the electromagnetic brake, an upper wire hole 45 is arranged in the middle of the upper arc-shaped cover plate, and output wires of the electromagnetic brake, the photoelectric encoder reading head and the signal acquisition control module are combined into a cable 46 and led out from the upper wire hole; the casing section of thick bamboo lower extreme is equipped with the square hole, and 4 limits in square hole are equipped with lower step 47, and arc apron 48 is down equipped with down in the square hole, and the preceding upper end of arc apron is equipped with brushless motor control module 49 down, and arc apron middle part is equipped with down line hole 50 down, and brushless motor control module's output line 51 is drawn forth from the down line hole, and brushless motor control module's output line connection external rotor brushless motor's motor line, go up the arc apron and be equipped with a plurality of countersunk screw 52 of going up, lower arc apron is equipped with a plurality of countersunk screw 53 down, goes up, countersunk screw with last arc apron and lower arc apron and fasten respectively on the upper and lower step on 4 limits in square hole, back coupling end cover circumference is equipped with a plurality of back load screw holes 54, and the back load screw hole is used.

The built-in robot integrated joint module combines a cycloidal pin wheel speed reducer, an electromagnetic brake, a photoelectric encoder, various integrated circuit modules and an outer rotor brushless motor in parallel into an integrated compact structural form, has high integration level and small volume, and greatly improves the load-weight ratio of the integrated joint module; the slender outer rotor brushless motor has short reactive coil end, long active coil, high power density and high efficiency; the outer circle of the outer rotor is provided with a front eccentric sleeve, a rear eccentric sleeve, a brake gear ring and a photoelectric coding disc, so that the axial size of the built-in robot integrated joint module is small, the diameter of a needle wheel rim is large, the reduction ratio of a cycloid needle wheel speed reducer is increased, the rotating speed of the outer rotor brushless motor is increased, and the efficiency is improved; the front and rear load threaded holes for connecting the load and the upper and lower arc-shaped cover plates for installation and maintenance make the design, installation, use and maintenance of the robot more convenient.

Claims

1. The utility model provides an interior concealed robot integration joint module, includes cycloid pinwheel reduction gear, casing, center pin, external rotor brushless motor, electromagnetic braking ware, brake pin, braking ring gear, brushless motor control module, signal acquisition control module, photoelectric encoder read head and photoelectric encoding dish, its characterized in that: the outer rotor brushless motor is a slender 4-pole permanent magnet direct current motor, the axial dimension of the built-in robot integrated joint module is equal to that of the outer rotor brushless motor, a cycloid pin wheel speed reducer is arranged on the periphery of the outer rotor brushless motor, a shell is arranged at the rear end of the cycloid pin wheel speed reducer, and an electromagnetic brake, a photoelectric encoder reading head, a photoelectric encoding disc, a brushless motor control module and a signal acquisition control module are arranged in the shell; the outer rotor brushless motor is provided with a central shaft (1), the middle of the central shaft is thick, the two ends of the central shaft are thin, a stator core (2) is arranged on the thick shaft in the middle of the central shaft, a plurality of iron core teeth are arranged on the circumference of the stator core, a plurality of coil grooves are formed among the iron core teeth, a plurality of coils are wound in the coil grooves, the plurality of coils are averagely divided into 3 coil groups, the electric angle among the 3 coil groups is 120 degrees, the 3 coil groups are connected into a Y-shaped circuit to form a 3-phase coil (3), and 3 Hall sensors (4) are respectively arranged in the coil grooves among the 3-phase coils; the front end of the central shaft is provided with a front bearing (5), the excircle of the front bearing is provided with a front end cover (6), the excircle of the front end cover is provided with a magnetic conduction cylinder (7), the front end cover and the magnetic conduction cylinder are integrally manufactured and molded, the inner circle of the magnetic conduction cylinder is provided with a permanent magnet ring (8), the permanent magnet ring consists of 4 arc permanent magnets, the arc permanent magnets are strong magnets made of rare earth materials, the magnetic pole directions are radial, the polarities of the adjacent arc permanent magnets are opposite, the excircle of the stator core and the inner circle of the permanent magnet ring are provided with uniform air gaps, and the front end and the rear end of the stator core are consistent with the front end and; the rear end of the central shaft is provided with a rear bearing (9), the excircle of the rear bearing is provided with a rear end cover (10), the excircle of the rear end cover is provided with a helicoid (11), the excircle of the helicoid is provided with external threads, the inner circle of the rear end of the magnetic conduction cylinder is provided with internal threads, and the helicoid of the rear end cover is screwed into the internal threads of the rear end of the magnetic conduction cylinder for connection and fixation; the rear end of the central shaft is provided with a central hole (12), the front end of the central hole is provided with an inclined hole (13), the output lines of the 3-phase coil and the output lines of the 3 Hall sensors are combined into a motor line (14), and the motor line penetrates out of the machine from the inclined hole and the central hole; a coupling front tooth (15) is arranged on the thin shaft excircle at the front end of the central shaft, a front coupling end cover (16) is arranged on the shell, a central hole is formed in the front coupling end cover, a coupling inner tooth is arranged in the central hole, and the coupling inner tooth is meshed with the coupling front tooth; the outer circle of the thin shaft at the rear end of the central shaft is provided with coupling rear teeth (17), the shell is provided with a rear coupling end cover (18), the rear coupling end cover is provided with a central hole, coupling inner teeth are arranged in the inner circle of the central hole and are meshed with the coupling rear teeth, the thin shaft at the rear end of the central shaft is provided with a screw cap (19), the screw cap fastens the rear coupling end cover at the rear end of the central shaft, the front end of the outer circle of the rear coupling end cover is provided with a shell barrel (20), the shell barrel and the rear coupling end cover are integrally manufactured and molded, the periphery of the front end of the shell barrel is provided with a plurality of nut holes, a plurality of screw rods (21) are arranged in the plurality of nut holes, the periphery of the front coupling end cover is provided with a plurality of screw holes, the plurality of screw holes correspond to the plurality of nut holes, connecting sleeves (22) are arranged between the plurality of screw holes and the plurality of nut holes, the plurality of screw rods fasten, The outer rotor brushless motor is positioned in the center of the shell barrel and rotates; the cycloidal pin wheel speed reducer is provided with a front eccentric sleeve (23) and a rear eccentric sleeve (24), the eccentric directions of the front eccentric sleeve and the rear eccentric sleeve are opposite to each other, the front eccentric sleeve and the rear eccentric sleeve are arranged on the excircle at the front end of the magnetic conductive cylinder, the front eccentric sleeve and the rear eccentric sleeve are integrally manufactured and molded with the magnetic conductive cylinder, the excircle of the front eccentric sleeve is provided with a front cycloidal bearing (25), the excircle of the front cycloidal bearing is provided with a front cycloidal wheel (26), the excircle of the rear eccentric sleeve is provided with a rear cycloidal bearing (27), the excircle of the rear cycloidal bearing is provided with a rear cycloidal wheel (28), the excircles of the front cycloidal wheel and the rear cycloidal wheel are both provided with a plurality of cycloidal teeth, a plurality of stop holes which are equally distributed are arranged on the annular surface between the excircles of the cycloidal bearings of the front cycloidal wheel and the cycloidal wheel, the specifications and the sizes of the rear cycloidal wheel are the same, a plurality of screw holes, the plurality of connecting sleeves penetrate through the plurality of stop holes, when the outer rotor brushless motor rotates, the front cycloid wheel and the rear cycloid wheel swing along with the front eccentric sleeve and the rear eccentric sleeve in a mutual mode, and the front stop holes and the rear stop holes swing in a mutual mode within the stop range of the plurality of connecting sleeves; the outer circle of the front coupling end cover is provided with a front ultrathin bearing (29), the outer circle of the front end of the shell barrel is provided with a rear ultrathin bearing (30), the outer circles of the front ultrathin bearing and the rear ultrathin bearing are provided with a needle wheel ring (31), the inner circles of the front end and the rear end of the needle wheel ring are provided with a front bearing frame and a rear bearing frame, the front bearing frame and the rear bearing frame are respectively installed in close fit with the outer circles of the front ultrathin bearing and the rear ultrathin bearing to enable the needle wheel ring to be positioned front and back and rotate left and right, a plurality of needle gear rod grooves are formed in the middle of the inner circle of the needle wheel ring, needle gear rods (32) are arranged in the needle gear rod grooves to form the needle wheel ring, the number of the needle gear rods is one more than that of cycloid teeth, when the cycloid teeth are meshed with the needle gear rods at the upper end and the lower end of the needle wheel ring, the cycloid teeth are separated from the needle gear rods at the left end and the right end of the needle wheel ring, the reduction ratio of, The number of pin gear rods is large, so that the reduction ratio of the cycloidal pin gear speed reducer is large; a connecting ring (33) is arranged on the outer circle of the needle wheel ring, a plurality of front load threaded holes (34) are formed in the circumference of the connecting ring, and the front load threaded holes are used for connecting loads; the upper end of the shell barrel is provided with a square hole, the 4 sides of the square hole are provided with upper steps (35), an upper arc cover plate (36) is arranged in the square hole, the front lower end of the upper arc cover plate is provided with an electromagnetic brake (37), the center hole of the electromagnetic brake is provided with a brake pin (38), the upper arc cover plate is provided with a spring hole, the spring hole corresponds to the center hole of the electromagnetic brake, a spring (39) is arranged in the spring hole, the spring is pressed at the upper end of the brake pin, the outer circle of the magnetic conduction barrel is provided with a brake gear ring (40), the lower end of the brake pin is pressed on teeth of the brake gear ring, the brake pin is pressed on the teeth to play a role of braking, when the electromagnetic brake generates suction force, the brake pin; the rear lower end of the upper arc-shaped cover plate is provided with a photoelectric encoder reading head, the photoelectric encoder reading head is provided with a transmitting head (41) and a receiving head (42), a photoelectric encoding disk (43) is arranged between the transmitting head and the receiving head, the photoelectric encoding disk is arranged at the rear end of the outer circle of the magnetic conduction cylinder, and the photoelectric encoder reading head and the photoelectric encoding disk form a photoelectric encoder; a signal acquisition control module (44) is arranged at the front end of the electromagnetic brake, the signal acquisition control module is connected with the photoelectric encoder read head and the electromagnetic brake, an upper wire hole (45) is formed in the middle of the upper arc-shaped cover plate, and output wires of the electromagnetic brake, the photoelectric encoder read head and the signal acquisition control module are combined into a cable (46) and led out from the upper wire hole; the casing section of thick bamboo lower extreme is equipped with the square hole, and 4 limits in square hole are equipped with down step (47), arc apron (48) down are equipped with down in the square hole, and the preceding upper end of arc apron is equipped with brushless motor control module (49) down, and arc apron middle part is equipped with down line hole (50) down, and brushless motor control module's output line (51) are drawn forth from the down line hole, and brushless motor control module's output line connection external rotor brushless motor's motor line, go up the arc apron and be equipped with a plurality of countersunk head screws (52) of going up, lower arc apron is equipped with a plurality of countersunk head screws (53) down, and upper and lower countersunk head screws fasten arc apron and lower arc apron respectively on the upper and lower step on 4 limits in square hole, back coupling end cover circumference is equipped with a plurality of back load screw holes (54), and the back.

2. The concealed robot-integrated joint module according to claim 1, wherein: the built-in robot integrated joint module combines a cycloidal pin wheel speed reducer, an electromagnetic brake, a photoelectric encoder, various integrated circuit modules and an outer rotor brushless motor in parallel into an integrated compact structural form, has high integration level and small volume, and greatly improves the load-weight ratio of the integrated joint module; the slender outer rotor brushless motor has short reactive coil end, long active coil, high power density and high efficiency; the outer circle of the outer rotor is provided with a front eccentric sleeve, a rear eccentric sleeve, a brake gear ring and a photoelectric coding disc, so that the axial size of the built-in robot integrated joint module is small, the diameter of a needle wheel rim is large, the reduction ratio of a cycloid needle wheel speed reducer is increased, the rotating speed of the outer rotor brushless motor is increased, and the efficiency is improved; the front and rear load threaded holes for connecting the load and the upper and lower arc-shaped cover plates for installation and maintenance make the design, installation, use and maintenance of the robot more convenient.