INTEGRATED JOINT MODULE FOR COMPACT ROBOT AND COMPACT ROBOT

摘要

Disclosed are an integrated joint module for a compact robot and a compact robot. The integrated joint module comprises a single cycloidal pin-wheel speed reducer (1), a housing (2), a shaft (3), an electromagnetic actuator (4), a movable pin (5), an integrated circuit module (6), an end cover (7), a cable sheath (8), a claw brake disc (9), a cable (10), a photoelectric encoder reading head (11), a photoelectric encoding disc (12), an electric motor stator (13) and an electric motor rotor (14), wherein the single cycloidal pin-wheel speed reducer (1) is fixed to a front end of the housing (2), the electric motor stator (13) is fixed in the housing (2), and the electric motor rotor (14) is fixedly connected to the shaft (3); a front end of the shaft (3) is fixedly connected to an input end of the single cycloidal pin-wheel speed reducer (1), and a rear end of the shaft (3) is sequentially fixedly connected to the photoelectric encoding disc (12) and a brake device; the photoelectric encoder reading head (11) is fixed inside the housing (2) and is located opposite the photoelectric encoding disc (12); and the end cover is fixed to a rear end of the housing (2).