CN117584168A - Cycloidal needle joint module and robot - Google Patents

Abstract

The invention relates to the technical field of gear motors, in particular to a cycloidal needle joint module and a robot, wherein the cycloidal needle joint module comprises a cycloidal needle speed reduction module, a driving module and a braking module; the driving module is provided with a rotatable rotor; the cycloidal needle speed reducing module is used for being connected with one axial end of the driving module and connected with the rotor through the input end, so that the output end outputs a rotating speed lower than that of the rotor; the braking module is used for being connected with the other axial end of the driving module and braking the output end of the cycloidal needle speed reduction module; the cycloidal pin speed reducing module and the braking module can be detached relative to the driving module. According to the technical scheme, through the structural design that the cycloidal needle speed reducing module and the braking module can be detached relative to the driving module, the universality of the cycloidal needle joint module can be improved, the modules can be combined according to requirements, and the cycloidal needle joint module can be suitable for various different application scenes.

Description

Cycloidal needle joint module and robot

Technical Field

The invention relates to the technical fields of cooperative robots, industrial robots and service robots, in particular to a cycloidal needle joint module and a robot.

Background

The design of the reduction gearbox of the robot joint module at the present stage mostly adopts a planetary reduction design or a harmonic reduction design, wherein the working noise of the planetary reduction gearbox is high, and the shock resistance of the harmonic reduction gearbox is weak. In addition, the joint module generally includes a speed reducing mechanism, a driving mechanism for outputting power through the speed reducing mechanism, and a braking mechanism for braking an output end of the speed reducing mechanism. The three components of the reduction mechanism, the driving mechanism and the braking mechanism of the joint module are designed integrally, and can only be used together, and can not be adapted to different application situations according to needs, for example, the reduction or braking is not needed in certain application situations, and the joint module with the integral design can not be used in situations where the reduction or the braking is not needed, so improvement is needed in the situation.

Disclosure of Invention

In view of the above, the invention provides a cycloidal needle joint module and a robot, which mainly solve the technical problems that: how to improve the universality of the joint module, so that the joint module can be used in occasions without reducing speed or braking.

In order to achieve the above purpose, the present invention mainly provides the following technical solutions:

in a first aspect, embodiments of the present invention provide a cycloidal pin joint module comprising a cycloidal pin reduction module, a drive module, and a brake module;

the drive module has a rotatable rotor;

the cycloidal needle speed reduction module is used for being connected with one axial end of the driving module and connected with the rotor through the input end, so that the output end outputs a rotating speed lower than that of the rotor;

the braking module is used for being connected with the other axial end of the driving module and used for braking the output end of the cycloidal needle speed reduction module;

the cycloidal pin speed reducing module and the braking module can be detached relative to the driving module, and when the cycloidal pin speed reducing module is detached from the driving module, the braking module is used for braking the rotor.

In some embodiments, the drive module has a first housing and a stator, the stator and the rotor are both disposed on the first housing, the stator is used for driving the rotor to rotate, and the rotor has a shaft hole.

In some embodiments, the cycloidal pin reduction module has a housing on which both the input and output are disposed, the input being an eccentric shaft; the cycloidal pin speed reducing module is inserted into the shaft hole of the rotor through an eccentric shaft, and the eccentric shaft is circumferentially fixed with the shaft hole of the rotor; the cycloidal needle speed reduction module is connected with a first shell at one axial end of the driving module through a base;

the eccentric shaft can be detached relative to the rotor, and the base can be detached relative to the first casing.

In some embodiments, the eccentric shaft is in transition or interference fit with the shaft hole of the rotor, so that the eccentric shaft is circumferentially fixed with the shaft hole of the rotor, and the eccentric shaft can be detached relative to the rotor;

and/or the machine base is detachably connected with the first shell at one axial end of the driving module through a first screw.

In some embodiments, the braking module includes an electromagnetic brake, the braking module braking by the electromagnetic brake, the electromagnetic brake being detachably disposed on the first housing.

In some embodiments, the cycloidal pin reduction module has an output shaft connected to its output;

the braking module is sleeved on the output shaft through an electromagnetic brake so as to brake the output shaft through the electromagnetic brake.

In some embodiments, the cycloidal pin joint module has a middle through hole penetrating through both ends in an axial direction of the rotor, and the middle through hole penetrates through the output shaft; the output end of the cycloid pin speed reduction module is an output flange, the output flange is sleeved and fixed on the output shaft, the eccentric shaft is axially provided with through holes penetrating through the two ends, and the output shaft penetrates through the through holes and is in clearance fit with the through holes;

the output shaft also passes through the shaft hole of the rotor and is in clearance fit with the shaft hole of the rotor.

In some embodiments, when the cycloidal pin reduction module is removed from the drive module and the drive module has a first housing and a stator, both of which are disposed on the first housing, the stator is for driving the rotor to rotate, the rotor has a shaft bore,

the driving module further comprises a rotor shaft, and the rotor shaft is detachably sleeved and fixed in the shaft hole; the braking module is sleeved on the rotor shaft through an electromagnetic brake so as to brake the rotor shaft through the electromagnetic brake.

In some embodiments, the cycloidal pin joint module further comprises a first encoder and a second encoder;

the first encoder is used for detecting the rotating speed and the angle of the rotor;

the second encoder is used for detecting the rotating speed and the angle of the output end of the cycloidal pin speed reduction module.

In a second aspect, embodiments of the present invention also provide a robot that may include any of the cycloidal pin joint modules described above.

By means of the technical scheme, the cycloidal needle joint module and the robot have the following beneficial effects:

1. through the structural design that the cycloidal needle speed reducing module and the braking module can be detached relative to the driving module, the universality of the cycloidal needle joint module can be improved, the modules can be combined according to the requirements, and the cycloidal needle joint module can be suitable for various different application scenes.

2. The invention adopts the double-encoder design of the first encoder and the second encoder, the double-encoder has two pulse signals, can be in cross comparison, can detect the absolute angular positions of a plurality of circles, and can record how many circles the encoder rotates in total from the using day. In addition, by analyzing and comparing pulse signals of the two encoders and detecting parameters such as the reduction ratio of the cycloidal needle speed reduction module, the accurate absolute angular position and the rotating speed in the multi-rotation of the joint module can be obtained, and the accurate control of the joint motion can be realized through data analysis feedback;

3. through setting up the output shaft and can provide the line passageway for well through-hole, make the cable on the drive object of cycloid needle joint module can walk the line from the through-hole, so can prevent the cable winding, improved the security of walking the line.

The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a cycloidal pin joint module according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the assembly of a cycloidal pin reduction module with a drive module;

FIG. 3 is a cross-sectional view of the assembly of both the cycloidal pin reduction module and the drive module of FIG. 2;

FIG. 4 is a schematic diagram of an assembly of a drive module and a brake module;

FIG. 5 is a cross-sectional view of an assembly of both a drive module and a brake module;

FIG. 6 is a cross-sectional view of a cycloidal pin joint module;

fig. 7 is a schematic diagram reflecting the installation of the first encoder and the second encoder.

Reference numerals: 1. a cycloidal needle speed reducing module; 2. a driving module; 3. a brake module; 4. a first screw; 5. a second screw; 6. a third screw; 7. a first encoder; 8. a second encoder; 11. a base; 12. an eccentric shaft; 13. a flange; 14. an output shaft; 15. an output flange; 21. A rotor; 22. a stator; 23. a first housing; 24. an electric plate fixing seat; 25. a rotor shaft; 31. an electromagnetic brake; 32. a second housing; 100. a middle through hole; 121. a via hole; 131. a first positioning protrusion; 201. a first positioning groove; 211. a shaft hole; 321. a second positioning protrusion; 241. and a second positioning groove.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

As shown in fig. 1, one embodiment of the present invention provides a cycloidal pin joint module, which includes a cycloidal pin deceleration module 1, a driving module 2, and a braking module 3. The drive module 2 has a rotatable rotor 21. The cycloidal pin reduction block 1 has an input and an output. The cycloidal pin reduction module 1 is used for being connected with one axial end of the driving module 2 and is connected with the rotor 21 through an input end, so that the output end output is lower than the rotating speed of the rotor 21, namely the rotating speed of the output end of the cycloidal pin reduction module 1 is lower than the rotating speed of the rotor 21. The braking module 3 is used for being connected with the other axial end of the driving module 2 and used for braking the output end of the cycloidal pin speed reducing module 1. Wherein, cycloidal pin deceleration module 1 and braking module 3 are all detachable relative drive module 2.

In the above example, the present invention separately forms the cycloidal pin reduction module 1, the driving module 2 and the braking module 3 by integrally designing the whole joint module in a partitioned manner, and the three modules can be combined according to the needs, so that the cycloidal pin reduction module 1 can be detached from the driving module 2 when the reduction function is not needed, thereby forming a structure with only the driving module 2 and the braking module 3, and being suitable for application scenarios where no reduction is needed. When the braking function is not needed, the braking module 3 can be detached from the driving module 2 to form a structure only with the driving module 2 and the cycloidal pin reduction module 1, so that the cycloidal pin reduction module is suitable for application scenes where braking is not needed. When the functions of deceleration and braking are not needed, the cycloidal pin deceleration module 1 and the braking module 3 can be detached from the driving module 2, so that a structure only provided with the driving module 2 is formed, and the cycloidal pin deceleration device is suitable for application scenes in which deceleration and braking are not needed. When the cycloidal needle speed reduction module 1 and the brake module 3 are not disassembled to form a cycloidal needle speed reduction module 1, a driving module 2 and a brake module 3 which are matched with each other, the cycloidal needle speed reduction module can be applied to an application scene requiring speed reduction and braking.

The cycloidal pin joint module has the advantages that the cycloidal pin speed reduction module 1 and the brake module 3 can be detached from the driving module 2, so that the universality of the cycloidal pin joint module can be improved, the modules can be combined according to requirements, and the cycloidal pin joint module can be suitable for various application scenes.

In a specific application example, as shown in fig. 2 and 3, the aforementioned driving module 2 may have a first housing 23 and a stator 22. The stator 22 and the aforementioned rotor 21 are both provided on the first casing 23. The stator 22 is fixed to the first casing 23, and the rotor 21 is rotatable relative to the first casing 23. The stator 22 is for driving the rotor 21 to rotate, and the rotor 21 has a shaft hole 211. The structure of the stator 22 driving the rotor 21 to rotate is a prior art, and will not be described herein.

As shown in fig. 3, the cycloidal pin reduction module 1 has a housing 11, and both an input end and an output end of the cycloidal pin reduction module 1 are disposed on the housing 11. The input end of the cycloidal pin speed reducing module 1 is an eccentric shaft 12. The eccentric shaft 12 drives the output end to rotate through a cycloid needle speed reducing structure, and the output end can be an output flange 15 and the like. The cycloidal needle speed reducing structure is in the prior art, and is not described herein.

The cycloidal pin reduction module 1 is inserted into the shaft hole 211 of the rotor 21 through the eccentric shaft 12, and the eccentric shaft 12 is circumferentially fixed with the shaft hole 211 of the rotor 21, so that the rotor 21 can drive the eccentric shaft 12 to rotate to provide the power for the rotation of the eccentric shaft 12. The cycloidal pin reduction module 1 is also connected to a first housing 23 at one axial end of the drive module 2 via a housing 11. Wherein the eccentric shaft 12 is detachable with respect to the rotor 21 and the housing 11 is detachable with respect to the first housing 23 such that the cycloidal pin reduction module 1 is detachable with respect to the drive module 2.

In the above example, the cycloid pin reduction module 1 is connected to the driving module 2 through the eccentric shaft 12 and the housing 11, specifically, the cycloid pin reduction module 1 is inserted into the shaft hole 211 on the driving module 2 through the eccentric shaft 12 and is connected to the first casing 23 of the driving module 2 through the housing 11. Since the eccentric shaft 12 is detachable from the shaft hole 211 of the driving module 2 and the housing 11 is also detachable from the first casing 23, the entire cycloidal pin reduction module 1 is detachable from the driving module 2.

In a specific application example, the eccentric shaft 12 and the shaft hole 211 of the rotor 21 may be in transition or interference fit, so that the eccentric shaft 12 and the shaft hole 211 of the rotor 21 are circumferentially fixed, and the eccentric shaft 12 is detachable relative to the rotor 21. In order to facilitate the disassembly and assembly, it is preferable that the eccentric shaft 12 and the shaft hole 211 of the rotor 21 are in transition fit, so that friction resistance can be reduced, and the disassembly and assembly between the eccentric shaft 12 and the shaft hole 211 of the rotor 21 are facilitated.

As shown in fig. 3, the housing 11 is detachably connected to the first casing 23 at one axial end of the driving module 2 by a first screw 4. In a specific application example, the first casing 23 at one axial end of the driving module 2 is provided with a first threaded hole, and one end of the stand 11 is provided with a flange 13, and the flange 13 may be annular. The flange 13 is provided with a first screw via. The first screw 4 is used for penetrating through the first screw through hole and being in threaded connection with the first threaded hole.

In the above example, the housing 11 may be locked to the first casing 23 or the housing 11 may be unlocked from the first casing 23 by screwing the first screw 4. When assembling the cycloidal pin reduction module 1, firstly, the cycloidal pin reduction module 1 is inserted and fixed into the shaft hole 211 of the driving module 2 through the eccentric shaft 12, and then the base 11 of the cycloidal pin reduction module 1 is fixed on the first casing 23 of the driving module 2 through the first screw 4, so that the cycloidal pin reduction module 1 can be assembled on the driving module 2. When the cycloidal pin reduction module 1 is disassembled, the first screw 4 can be disassembled, and then the eccentric shaft 12 of the cycloidal pin reduction module 1 is withdrawn from the shaft hole 211 of the driving module 2, so that the cycloidal pin reduction module 1 can be disassembled.

As shown in fig. 3, a first positioning groove 201 may be formed in the first housing 23 at one axial end of the driving module 2, and the first screw hole may be formed in a bottom surface of the first positioning groove 201. The flange 13 is provided with a first positioning protrusion 131 extending in the axial direction of the eccentric shaft 12. The aforementioned first screw hole 121 passes through the first positioning protrusion 131 in the axial direction of the eccentric shaft 12. The first positioning protrusion 131 is configured to be inserted into the first positioning groove 201, and to face the first threaded through hole 121 to the first threaded hole.

In the above example, the first positioning protrusion 131 cooperates with the first positioning groove 201, and the cycloid pin reduction module 1 may be assembled to the driving module 2 to be positioned, so that the assembling accuracy of the two is improved.

As shown in fig. 4 and 5, the aforementioned brake module 3 may include an electromagnetic brake 31, and the brake module 3 is braked by the electromagnetic brake 31, and the electromagnetic brake 31 is detachably provided on the first casing 23. The electromagnetic brake 31 is a prior art, and is not described herein.

In the above example, the purpose of assembling the brake module 3 to the drive module 2 may be achieved when the electromagnetic brake 31 is mounted to the first housing 23, and the purpose of disassembling the brake module 3 from the drive module 2 may be achieved when the electromagnetic brake 31 is detached from the first housing 23. In other words: the braking module 3 is the electromagnetic brake 31.

In a specific example of application, as shown in fig. 6, the cycloidal pin reduction module 1 described above has an output shaft 14 connected to its output. The output end of the cycloidal pin speed reducing module 1 can be an output flange 15, the output shaft 14 is fixed on the output flange 15, and the output shaft 14 can rotate under the drive of the output flange 15. The braking module 3 is sleeved on the output shaft 14 through an electromagnetic brake 31, so as to brake the output shaft 14 through the electromagnetic brake 31.

What needs to be explained here is: the output shaft 14 passes through the shaft hole 211 of the driving module 2, and is in clearance fit with the shaft hole 211, and the output shaft 14 passes through the other end of the driving module 2 in the axial direction. In the installation of the electromagnetic brake 31, the electromagnetic brake 31 is sleeved on the other end of the output shaft 14 extending out of the axial direction of the driving module 2, and then the electromagnetic brake 31 is fixed on the first casing 23, so that the installation of the electromagnetic brake 31 can be realized. The disassembly step of the electromagnetic brake 31 is opposite to the installation step, that is, the electromagnetic brake 31 is unlocked from the first casing 23, and then the electromagnetic brake 31 is withdrawn from the output shaft 14, so that the purpose of disassembling the brake module 3 from the driving module 2 can be achieved.

In a specific application example, as shown in fig. 5, the aforementioned driving module 2 has a circuit board for controlling the rotation speed of the rotor 21 and a board holder 24 for providing support for the circuit board. The electric board fixing seat 24 is disposed on the first casing 23, for example, the electric board fixing seat 24 may be fixedly connected with the first casing 23 through screws. The electromagnetic brake 31 is connected with the first casing 23 through the electric plate fixing seat 24. Wherein, the electromagnetic brake 31 can be detachably connected with the electric plate fixing seat 24 through the second screw 5.

In the above example, when the electromagnetic brake 31 is mounted, the electromagnetic brake 31 is first sleeved on the output shaft 14, and then the second screw 5 is tightened, so that the electromagnetic brake 31 can be mounted. When the electromagnetic brake 31 is disassembled, the second screw 5 is unscrewed, and then the electromagnetic brake 31 is withdrawn from the output shaft 14, so that the electromagnetic brake 31 can be disassembled.

As shown in fig. 5, the brake module 3 may further include a second housing 32, where the second housing 32 is configured to be sleeved on the outer side of the electromagnetic brake 31, and the second housing 32 is configured to be detachably connected to the electric board fixing seat 24. In a specific application example, the second housing 32 is detachably connected to the electrical board holder 24 by the third screw 6. The second casing 32 may be provided with a second screw through hole, the electric board fixing seat 24 is provided with a second threaded hole, and the third screw 6 is used for threaded connection with the second threaded hole through the second screw through hole.

In the above example, the second housing 32 may provide housing protection for the electromagnetic brake 31.

As shown in fig. 5, one of the second housing 32 and the electric board fixing base 24 may be provided with a second positioning protrusion 321, and the other one is provided with a second positioning groove 241, and the second positioning protrusion 321 is in plug-fit with the second positioning groove 241. Wherein, the second positioning protrusion 321 cooperates with the second positioning groove 241, so as to position the assembly of the second housing 32, thereby improving the assembly accuracy of the second housing 32.

As shown in fig. 6, the aforementioned cycloidal pin joint module may have a middle through hole 100 penetrating both ends in the axial direction of the rotor 21, and the middle through hole 100 penetrates the aforementioned output shaft 14. The output end of the cycloidal pin speed reducing module 1 is an output flange 15, and the output flange 15 is sleeved and fixed on the output shaft 14 so as to drive the output shaft 14 to synchronously rotate. The electromagnetic brake 31 can brake the output flange 15 via the output shaft 14. The eccentric shaft 12 has a through hole 121 penetrating both ends in the axial direction. The output shaft 14 passes through the through hole 121 and is in clearance fit with the through hole 121. The output shaft 14 also passes through the shaft hole 211 of the rotor 21 and is clearance-fitted with the shaft hole 211 of the rotor 21.

In the above example, the output shaft 14 is provided to provide a routing channel for the middle through hole 100, so that the cable on the driving object of the cycloid pin joint module can be routed from the middle through hole 100, thus preventing the cable from winding and improving the routing safety.

In a specific application example, the braking module 3 may brake the rotor 21 when the cycloidal pin reduction module 1 is detached from the driving module 2. In other words, the braking module 3 can brake both the output end of the cycloidal pin reduction module 1 and the rotor 21 of the driving module 2. When the cycloidal pin reduction module 1 is assembled to the driving module 2, the braking module 3 brakes the output end of the cycloidal pin reduction module 1. When the cycloidal needle speed reducing module 1 is detached from the driving module 2 without a speed reducing function, the braking module 3 can brake the rotor 21 of the driving module 2, so that the braking module 3 can adapt to different occasions, and the universality is stronger.

As shown in fig. 5, when the driving module 2 has the first housing 23 and the stator 22, both the stator 22 and the rotor 21 are disposed on the first housing 23, the stator 22 is used for driving the rotor 21 to rotate, the rotor 21 has the shaft hole 211, and the braking module 3 includes the electromagnetic brake 31, the braking module 3 brakes by the electromagnetic brake 31, and the electromagnetic brake 31 is detachably disposed on the first housing 23, the driving module 2 further includes the rotor shaft 25, and the rotor shaft 25 is detachably sleeved in the shaft hole 211. The brake module 3 is sleeved on the rotor shaft 25 through an electromagnetic brake 31 so as to brake the rotor shaft 25 through the electromagnetic brake 31.

In the above example, the rotor shaft 25 of the drive module 2 is fitted into the shaft hole 211 or removed from the shaft hole 211 as appropriate. Specifically, when the cycloidal pin reduction module 1 is assembled to the driving module 2, the shaft is detached from the shaft hole 211, at this time, the eccentric shaft 12 of the cycloidal pin reduction module 1 is inserted into the shaft hole 211 of the driving module 2, and the braking module 3 is sleeved on the output shaft 14 through the electromagnetic brake 31, so that the electromagnetic brake 31 can brake the output shaft 14. When the cycloidal pin speed reducing module 1 is detached from the driving module 2 without a speed reducing function, the rotor shaft 25 is sleeved in the shaft hole 211 of the driving module 2, and the braking module 3 is sleeved on the rotor shaft 25 through the electromagnetic brake 31, so that the electromagnetic brake 31 can brake the rotor shaft 25.

As shown in fig. 7, the aforementioned cycloidal pin joint module may further include a first encoder 7 and a second encoder 8. The first encoder 7 is for detecting the rotational speed and angle of the rotor 21. The second encoder 8 is used for detecting the rotation speed and the angle of the output end of the cycloidal pin reduction module 1.

Wherein the single encoder has only one pulse signal, and only the absolute angular position of the feedback within 360 degrees of one circle can be detected. The invention adopts the double encoder design of the first encoder 7 and the second encoder 8, the double encoder has two pulse signals, can be in cross comparison, can detect the absolute angular position of a plurality of circles, and can record how many circles the encoder rotates in total from the using day.

The first encoder 7 has a magnetic seat a, a first magnetic ring and a first magnetic plate, wherein the magnetic seat a and the first magnetic ring are fixedly connected with the rotor 21, and the first magnetic plate is arranged at a position of 0.5mm-0.7 and mm above the first magnetic ring to detect the rotation speed and the angle of the motor rotor 21.

The second encoder 8 has a magnetic seat B, a second magnetic ring and a second magnetic plate, both of which are connected and fixed with the output end of the cycloidal needle detecting speed reducing module 1, such as the output shaft 14, and the second magnetic plate is disposed at the position 0.5mm-0.7 and mm below the second magnetic ring to detect the rotation speed and angle of the output shaft 14.

The accurate absolute angular position and the rotating speed in the multi-rotation of the joint module can be obtained by analyzing and comparing the pulse signals of the two encoders and detecting parameters such as the reduction ratio of the cycloidal needle reduction module 1, and the accurate control of the joint motion can be realized through data analysis feedback.

The embodiment of the invention also provides a robot which can comprise any cycloidal needle joint module. Specifically, the cycloidal pin joint module may be connected to a mechanical arm of the robot to drive the mechanical arm to rotate. When the cycloidal needle speed reducing module 1 is installed on the driving module 2, the cycloidal needle joint module is connected with the mechanical arm through the cycloidal needle speed reducing module 1 so as to drive the mechanical arm to rotate. When the cycloidal needle speed reducing module 1 is detached from the driving module 2, the cycloidal needle joint module is connected with the mechanical arm through the driving module 2 so as to drive the mechanical arm to rotate.

The working principle of the invention is as follows: after being electrified, the driving plate drives the motor rotor 21 to rotate and output the required rotating speed and torque in a mode of controlling the intensity and the on-off time of the three-phase current. The motor rotor 21 drives the eccentric shaft 12 of the cycloidal pin reduction module 1 to rotate, and the cycloidal pin reduction module 1 is output by an output end such as an output flange 15 after being decelerated, so that accurate angle rotation and force output are realized.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (10)

1. The cycloidal needle joint module is characterized by comprising a cycloidal needle speed reduction module (1), a driving module (2) and a braking module (3);

the drive module (2) has a rotatable rotor (21);

the cycloidal needle speed reduction module (1) is provided with an input end and an output end, the cycloidal needle speed reduction module (1) is used for being connected with one axial end of the driving module (2) and is connected with the rotor (21) through the input end, and the output end outputs a rotating speed lower than that of the rotor (21);

the braking module (3) is used for being connected with the other axial end of the driving module (2) and used for braking the output end of the cycloidal needle speed reduction module (1);

the cycloidal needle speed reduction module (1) and the braking module (3) can be detached relative to the driving module (2), and when the cycloidal needle speed reduction module (1) is detached from the driving module (2), the braking module (3) is used for braking the rotor (21).

2. The cycloidal pin joint module of claim 1 wherein,

the driving module (2) is provided with a first casing (23) and a stator (22), the stator (22) and the rotor (21) are both arranged on the first casing (23), the stator (22) is used for driving the rotor (21) to rotate, and the rotor (21) is provided with a shaft hole (211).

3. The cycloidal pin joint module of claim 2 wherein,

the cycloidal needle speed reduction module (1) is provided with a base (11), the input end and the output end are both arranged on the base (11), and the input end is an eccentric shaft (12); the cycloidal needle speed reduction module (1) is inserted into the shaft hole (211) of the rotor (21) through the eccentric shaft (12), and the eccentric shaft (12) is circumferentially fixed with the shaft hole (211) of the rotor (21); the cycloidal needle speed reduction module (1) is connected with a first shell (23) at one axial end of the driving module (2) through a base (11);

wherein the eccentric shaft (12) can be detached relative to the rotor (21), and the base (11) can be detached relative to the first casing (23).

4. The cycloidal pin joint module of claim 3 wherein,

the eccentric shaft (12) is in transition or interference fit with the shaft hole (211) of the rotor (21), so that the eccentric shaft (12) is circumferentially fixed with the shaft hole (211) of the rotor (21), and the eccentric shaft (12) can be detached relative to the rotor (21);

and/or the base (11) is detachably connected with the first casing (23) at one axial end of the driving module (2) through a first screw (4).

5. The cycloidal pin joint module of any one of claim 2 to 4 wherein,

the braking module (3) comprises an electromagnetic brake (31), the braking module (3) brakes through the electromagnetic brake (31), and the electromagnetic brake (31) is detachably arranged on the first casing (23).

6. The cycloidal pin joint module of claim 5 wherein,

the cycloidal needle speed reducing module (1) is provided with an output shaft (14) connected with the output end of the cycloidal needle speed reducing module;

the braking module (3) is sleeved on the output shaft (14) through an electromagnetic brake (31) so as to brake the output shaft (14) through the electromagnetic brake (31).

7. The cycloidal pin joint module of claim 6 wherein,

the cycloid needle joint module is provided with a middle through hole (100) penetrating through two ends along the axial direction of the rotor (21), and the middle through hole (100) penetrates through the output shaft (14); the output end of the cycloid pin speed reduction module (1) is an output flange (15), the output flange (15) is fixedly sleeved on the output shaft (14), the eccentric shaft (12) is axially provided with through holes (121) penetrating through the two ends, and the output shaft (14) penetrates through the through holes (121) and is in clearance fit with the through holes (121);

the output shaft (14) also passes through the shaft hole (211) of the rotor (21) and is in clearance fit with the shaft hole (211) of the rotor (21).

8. The cycloidal pin joint module of claim 5 wherein,

when the cycloidal pin reduction module (1) is detached from the driving module (2), and the driving module (2) is provided with a first casing (23) and a stator (22), the stator (22) and a rotor (21) are both arranged on the first casing (23), the stator (22) is used for driving the rotor (21) to rotate, and the rotor (21) is provided with a shaft hole (211),

the driving module (2) further comprises a rotor shaft (25), and the rotor shaft (25) is detachably sleeved and fixed in the shaft hole (211); the braking module (3) is sleeved on the rotor shaft (25) through an electromagnetic brake (31) so as to brake the rotor shaft (25) through the electromagnetic brake (31).

9. The cycloidal pin joint module of any one of claims 1-4, 6-8 further comprising a first encoder (7) and a second encoder (8);

the first encoder (7) is used for detecting the rotating speed and the angle of the rotor (21);

the second encoder (8) is used for detecting the rotating speed and the angle of the output end of the cycloidal pin speed reducing module (1).

10. A robot comprising the cycloidal pin joint module of any one of claims 1-9.