6140results about "Gearing details" patented technology

The application relates to the technical field of automobile parts, in particular to a transmission gear structure and a folding device for a vehicle visual device. The transmission gear structure comprises a gear body, the inner ring surface of the gear body is provided with a guide column in the radial direction or is provided with a guide groove in the circumferential direction; the guide groove comprises a first horizontal section and an inclined section, and the inclined section is smoothly connected with the first horizontal section at one end. The folding device for the vehicle visual device comprises a shell, a mounting shaft, a driving unit, a transmission part mounted on the mounting shaft and a transmission gear structure rotatably mounted on the shell; a guide groove or a guide column is arranged on the outer wall of the transmission part, and the guide column is slidingly matched with the guide groove. The transmission gear structure and the folding device for the vehicle visual device have the advantages of low operation noise, small axial size, low starting load and long service life.

An electric drivetrain having an axial flux electric motor disposed along a drivetrain axis, the axial flux electric motor disposed to rotate a hollow motor output shaft extending along the drivetrain axis, which hollow motor output shaft engages a first planetary gearset. The first planetary gearset may be engaged and disengaged with a second planetary gearset that is coupled to a differential which, in turn, drives first and second main driveshafts, each of which also extends along the drivetrain axis. The first main driveshaft drives a first wheel hub assembly and the second main driveshaft passes coaxially through the planetary gearsets, the hollow motor output shaft and the axial flux electric motor to drive a second wheel hub assembly.

The invention provides a compound uniform-load and shunt load shedding type planetary gear gearbox with a face gear. The compound uniform-load and shunt load shedding type planetary gear gearbox comprises an input planet carrier integrated assembly, a first-stage compound uniform-load planet row, an inter-stage flexible connection structure, a second-stage planet row and a face gear steering output assembly. The input planet carrier integrated assembly is connected with the first-stage compound uniform-load planet row, the inter-stage flexible connection structure is arranged between the first-stage compound uniform-load planet row and the second-stage planet row, and a first-stage floating sun gear in the first-stage compound uniform-load planet row and the main shaft planet carrier structure are coaxially arranged. The first-stage floating sun gear is installed in a floatable mode through a first-stage sun gear supporting shaft, self-adjustment can be achieved in the radial direction and the axial direction, and the first-stage floating sun gear is meshed with the first planet gear and the second planet gear in a double-side mode. The energy conversion efficiency can be improved, uneven load distribution is improved, and the system integration degree is improved.

The present application provides a reverse-type integrated miniature linear servo electric cylinder. An open end of a rotor housing in a power transmission mechanism is fixedly connected to a planetary carrier by means of a coupling, the planetary carrier is directly driven by means of integration of the motor rotor housing and the planetary carrier, and after power transmission via the planetary carrier, an output end is directly driven to achieve linear motion without adding a gear reduction mechanism to a power transmission system of the electric cylinder, thereby significantly reducing the internal space of the electric cylinder occupied by the power transmission mechanism, allowing the electric cylinder to develop to have a more miniaturized and compact structure, saving costs; moreover, the energy utilization rate of the electric cylinder is improved, the electric energy consumption of the electric cylinder is reduced, and relatively good economic benefits can be yielded.

The invention discloses a mining chain wheel repaired based on an intelligent optical tracking technology and a technology. The repairing technology comprises the following steps that S1, an optical scanning device is used for scanning a worn chain wheel, surface point cloud data of the chain wheel are obtained, and an actual three-dimensional model of the chain wheel to be repaired is generated according to the point cloud data; s2, Boolean operation is carried out on the actual three-dimensional model generated in the step S1 and a preset chain wheel standard digital model, so that a relative wear model only representing a chain nest wear area is extracted; s3, based on the relative wear model, automatically generating a robot welding path for filling a wear area, and generating a repair program; and S4, the welding robot is controlled to execute the repairing program generated in the step S3, and self-adaptive surfacing repairing is conducted on the abrasion area of the chain nest. According to the method, through a digital closed loop of accurate scanning, model comparison, automatic programming and robot repairing, accurate repairing of irregular abrasion of each chain nest is achieved, the repairing quality is improved, and the maintenance period is shortened.

The invention relates to a planetary gear (10) for a planetary transmission (1), wherein a gear ring (12) of the planetary gear (10) has such elasticity that the gear ring (12) of the planetary gear (10) is designed to be radially spring-loaded simultaneously by a ring gear (14) and a sun gear (16), wherein the gear ring (12) of the planetary gear (10) is designed to form a double-flank contact with the ring gear (14) and the sun gear (16) in response to the radial spring-loading. The invention further relates to a steering gear for a steering system of a motor vehicle.

The invention provides an assembling and meshing precision adjusting method for a harmonic reducer, and relates to the technical field of reducers, the harmonic reducer comprises a flexible gear and a rigid gear with specific tooth profiles, and the tooth profile of the flexible gear comprises a first arc tooth top and a first arc tooth root; the tooth profile of the rigid gear comprises a second planar tooth top, transition arcs located at the vertex angles of the two sides of the second planar tooth top and a second arc-shaped tooth root. The elliptical wave generator is used for driving the flexible gear; the wave height of the wave generator is defined as the difference between a long half shaft and a short half shaft; the method comprises the following steps: acquiring a tooth profile parameter set of a flexible gear and a rigid gear, wherein the tooth profile parameter set comprises a first tooth crest arc radius, a first tooth root arc radius, a second tooth crest plane width and a second tooth root arc radius; based on the tooth profile parameter set, according to a preset matching relation used for optimizing the meshing performance, cooperatively determining a target wave height matched with the tooth profile parameter; and according to the target wave height, a corresponding wave generator is selected to complete the assembly of the harmonic reducer.

The utility model provides a double-rigid-gear harmonic speed reducer with a torque sensing function, which relates to the technical field of speed reducers and comprises a wave generator, a flexible bearing, a flexible gear, an output end rigid gear, a crossed roller bearing and a fixed end rigid gear. The crossed roller is arranged between the bearing outer ring and the output end rigid wheel, the output end rigid wheel serves as an inner ring of the crossed roller bearing, and the fixed end rigid wheel is detachably and fixedly connected with the bearing outer ring; the two end faces of the fixed end rigid wheel are each provided with a receding groove coaxial with the fixed end rigid wheel, a connecting wall is formed between the bottoms of the two receding grooves, and a plurality of strain gauges arranged in a circumferential array mode are installed at the position, close to one side of the output end rigid wheel, of the bottom of the receding groove. The elastic strain gauge is embedded in the rigid fixed end rigid wheel, so that the fixed end rigid wheel has a torque sensing function, the axial thickness of the harmonic speed reducer is not increased, and the use requirements of more occasions are met.

An arrangement for fixing a housing of a wind turbine gearbox in a nacelle, including a housing-fixing means, a nacelle-fixing means, and at least two spring devices. The spring devices support the housing-fixing means against the nacelle-fixing means in opposite directions along a support axis. The spring devices are arranged on different sides of a plane extending parallel to an axis of rotation of an input shaft of the wind turbine gearbox.

A moving part of the short flexible cylinder active complex parallel radial harmonic transmission is composed of a thin-wall composite short flexible cylinder and two rolling wave generators with roller pins or ball-retainer assemblies. A flexible bearing low-speed moving ring raceway is integrated on one side of the gear, and a full-cylinder-length gear is arranged on the other side of the gear; the two semi-short shafts are fixedly connected to the two ends of a motor rotor respectively, are integrated with flexible bearing high-speed moving ring raceways and are the same in structure size, and a semi-short shaft at one end needs to be coplanar with a semi-long shaft at the other end, so that the two ends of the semi-short shafts generate time-varying radial antisymmetric deformation; the static part is composed of end covers which are fixedly connected to the two ends of the motor stator and provided with rigid gears. A double-convex-arc raceway of a high-speed moving ring of the flexible needle bearing is designed, a convexity needle roller with the middle concave structure dynamically constraining the axial movement amount of a short flexible cylinder and a retainer and various structures facilitating rolling body assembly are used, and a waveform raceway calculation formula of a wave generator for the needle roller is given; therefore, the radial size and the axial size of the active complex radial harmonic transmission can be reduced on the basis of ensuring the transmission precision and the bearing capacity.

The invention relates to the technical field of photovoltaic tracking driving, and provides a reverse self-locking speed reduction driving device which comprises a transmission shaft, a shell, a first gear, two output shafts and a third gear, the two output shafts are symmetrically installed at the two ends of the transmission shaft, the output shafts are coaxial with the axis of the transmission shaft, the first gear is eccentrically installed on the transmission shaft, and the second gear is eccentrically installed on the shell. Comprising a first gear and a second gear which are different in tooth number, a second gear meshed with the first gear is formed on each output shaft, a third gear is eccentrically meshed with the second gear, and the eccentric directions of the two first gears meshed with the two output shafts are conjugated. Large reduction ratio output can be achieved through two-stage speed reduction, multi-tooth meshing bearing is achieved through cooperation of arc teeth, the bearing torque is increased, sliding friction transmission is adopted between teeth, and reverse large-torque self-locking of the output shaft is achieved.

The invention provides a drilling rig for geological exploration, and relates to the technical field of drilling, the drilling rig comprises a motor mounted on a lifting frame, the extending end of the motor is connected to an inner rod, an outer wheel is coaxially arranged outside the inner rod, a plurality of fixing rods are arranged at the upper end of the outer wheel at equal intervals, and the fixing rods are connected to the inner rod. The drilling device has the most prominent advantage that the drilling device has a unique anti-jamming protection mechanism, when a sampling pipe is jammed by a hard stratum or foreign matters in the drilling process, the sampling pipe can be prevented from being blocked by the anti-jamming protection mechanism, and the sampling pipe can be prevented from being blocked by the anti-jamming protection mechanism, so that the sampling pipe can be prevented from being blocked by the anti-jamming protection mechanism. Power transmission between the motor and the sampling pipe is not rigid connection any more, controlled separation is achieved through a designed combination of a gear system and a friction disc, the motor continues to operate, but not all torque is directly transmitted to the clamped sampling pipe, part of energy is converted into surrounding motion through a rotating wheel system, and therefore the sampling pipe can be separated. And the risk of burnout of the motor due to overload is effectively avoided.

An electric drive assembly for operation with a work vehicle component using an SAE standard hydraulic pump / motor mount includes an electric machine with a shaft and a mounting flange. An adapter housing defines an interior space between a component mounting flange and an electric machine mounting flange. The electric machine mounting flange is sized and configured to mate with the electric machine mounting flange. The component mounting flange has a bolt hole pattern and mounting pad that are complementary in size and configuration to those of the SAE standard hydraulic pump / motor mount. A gear set, located at least partially within the interior of the adapter housing, is configured to effect a change in gear ratio and transmit power between the electric machine shaft and a drive shaft.

Described herein is an axle system wherein the attachment locations of trumpet arms are isolated from the side cover side walls and gearbox housing side walls. In one embodiment, the axle system comprises a gearbox housing comprising lateral ribs / webs, compression tubes extending from one side to an opposite side of the gearbox housing, and couple holes positioned around a perimeter of the gearbox housing, a first side cover coupled to the gearbox housing via bolts and fasteners, a first trumpet arm coupled to the first side cover and the gearbox housing via fasteners, an attachment location of the first trumpet arm being isolated from the side walls of the gearbox housing and the side walls of the first side cover, and a second trumpet arm coupled to the gearbox housing via fasteners, the attachment location of the second trumpet arm being isolated from the side walls of the gearbox housing.

A symmetrical link servo driving device, relating to the technical field of servo motors. The symmetrical link servo driving device comprises a driving mechanism, an electric motor, a gear reduction mechanism and a servo shaft rocker arm mechanism, wherein the gear reduction mechanism is in transmission connection with an output shaft of the electric motor, a servo shaft rocker arm mechanism is provided on the side of the gear reduction mechanism facing away from the electric motor, the servo shaft rocker arm mechanism comprises a base body, a servo shaft is rotationally connected to an inner cavity of the base body, and a crank is provided at a shaft body of the servo shaft; a self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body; and a driving mechanism is provided on one side of the electric motor, the driving mechanism comprises a housing, a lead screw is rotationally connected in the housing, and the lead screw is correspondingly in transmission connection with an output gear of the gear reduction mechanism. The present invention has a simple structure, and the electric motor and the driving mechanism are arranged in parallel to effectively reduce the overall volume, such that the whole device is compact and small. The self-locking mechanism capable of locking the servo shaft is provided at the bottom of the inner cavity of the base body, that is, when the servo shaft stops rotating, the servo shaft can be locked by means of the self-locking mechanism, thereby preventing an external force from being transmitted to the driving mechanism by means of the servo shaft.

A strain wave gearing (1) is configured to have a unitized structure having a main bearing (5) that supports an internally toothed gear (2) and an externally toothed gear (3) in a manner that allows relative rotation, and an output flange (6) that is linked to the externally toothed gear (3). The externally toothed gear (3) is formed in the shape of a wine glass and ensures a large hollow diameter, which is required in cases where the externally toothed gear (3) is incorporated into a robot joint part or the like. A strain gauge (101) of a torque sensor (100) is attached to an outward-facing end surface portion of the output flange (6) linked to the externally toothed gear (3). The torque sensor (100) is capable of precisely detecting rotational torque without being affected by flexing of the externally toothed gear (3), and elements such as the strain gauge (101) are not exposed to oil, grease, or the like.

A unit includes: a rotary electric machine; a first gear connected downstream of the rotary electric machine; a second gear configured to mesh with the first gear; and a shaft connected downstream of the second gear. The shaft includes a first output end and a second output end. The rotary electric machine and the first gear are arranged on a first axis. The second gear, the shaft, the first output end, and the second output end are arranged on a second axis. The second gear is disposed to be sandwiched between the first output end and the second output end.

The invention relates to a transmission device, a transmission system, a wind generating set and a maintenance method, the transmission device comprises a shafting assembly and an interference magnitude adjusting device, the shafting assembly comprises a main shaft and a bearing, the bearing is arranged around the main shaft, an inner ring of the bearing is in interference fit with the main shaft, and the main shaft is provided with a hollow cavity. The interference magnitude adjusting device is arranged in the hollow cavity and used for applying acting force to the inner wall face, defined by the main shaft, of the hollow cavity, so that the main shaft deforms to adjust the interference fit amount between the main shaft and the inner ring of the bearing. The bearing ring running probability can be reduced, and the power generation benefit of the wind generating set is guaranteed.

According to the reverse type integrated miniature linear servo electric cylinder, the open end of a rotor shell in a power transmission mechanism is fixedly connected with a planet retainer through a coupler, and the planet retainer is directly driven by adopting integrated treatment of the motor rotor shell and the planet retainer; after power transmission of the planet retainer, the output end is directly driven to realize linear motion without adding a speed reducing mechanism in a power transmission system of the electric cylinder, so that the internal space, occupied by the power transmission mechanism, of the electric cylinder is greatly reduced, the electric cylinder can be developed to a smaller and more compact structure, and the cost can also be saved; and moreover, the energy utilization rate of the electric cylinder is improved, the electric energy consumption of the electric cylinder is saved, and better economic benefits can be generated.

The invention relates to the technical field of reducer vibration noise optimization, and discloses a planet row coaxial reducer vibration noise optimization method, which comprises the steps of obtaining initial assembly parameters of a reducer, collecting load measurement signals of planet wheels of the reducer under an order frequency sweeping working condition, converting the load measurement signals into equivalent meshing loads based on a calibration curve, and calculating the equivalent meshing loads according to the equivalent meshing loads. Calculating a load imbalance coefficient according to the equivalent meshing load, and taking a peak value of the load imbalance coefficient as a first evaluation index; shell radial acceleration and sound pressure signals are synchronously collected under the order frequency sweeping working condition, the side-band ratio is calculated, and the peak value of the side-band ratio is taken as a second evaluation index; and performing diagnosis shunting based on the first evaluation index and the second evaluation index, determining an assembly parameter which is adjusted preferentially, executing iterative adjustment, and outputting a final assembly parameter after iteration is completed. According to the method, uniform load unbalance caused by assembly errors and side band amplification caused by geometric eccentricity can be effectively separated and solved, and vibration and noise of the speed reducer are reduced fundamentally.

To provide a work vehicle with a hybrid transmission that shifts power from an engine to output to a front traveling unit which can extend forward, while unnecessitating shape change of a transmission case and preventing circulation of lubricant between an electrically-driven transmission chamber and a gearwheel transmission chamber, a front transmission shaft from the gearwheel transmission part.SOLUTION: A work vehicle comprises: an electrically-driven transmission chamber 16; a transmission case 11 which forms a gearwheel transmission chamber 17 positioned at the rear side of the electrically-driven transmission chamber 16 and is to be a partition between the gearwheel transmission chamber 17 and the electrically-driven transmission chamber 16; a front transmission shaft 70 which extends forward from the gearwheel transmission part to perform power transmission to a front traveling device; and a cylindrical member 73 which is arranged in the transmission case 11 to form a power transmission path 74 separated from the electrically-driven transmission chamber 16 passing through the electrically-driven transmission chamber 16 in a cross direction in which the front transmission shaft 70 passes through the power transmission path 74.SELECTED DRAWING: Figure 3

A drive module assembly for use in a vehicle includes a housing defining a housing interior, and an electric machine including a rotor and a stator. The drive module assembly also includes a differential rotatably coupled to the rotor, a first input shaft rotatably coupled to the differential, a second input shaft rotatably coupled to the differential, a first counter shaft rotatably coupled to the first input shaft, a second counter shaft rotatably coupled to the second input shaft, a first output shaft rotatably coupled to the first counter shaft, and a second output shaft rotatably coupled to the second counter shaft. The differential is configured to receive rotational torque from the electric machine and configured to transmit rotational torque from the electric machine to the first and second input shafts.

An electric axle assembly includes a banjo axle housing, first and second half shafts, and an electric drive unit. The banjo axle housing has a central portion that defines a receiving space and first and second openings providing access to the receiving space, first and second beams extending from the central portion in opposite first and second axial directions, and defining first and second beam hollows in communication with the receiving space. The half shafts extend within the first and second beam hollows. The electric drive unit includes a motor, a differential, and a housing having first and second housing components. At least one of the first and second housing components defines a motor housing region, the first and second housing components define a gearbox region, and the first and second housing components define first and second apertures that provide access for coupling the half shafts with the differential.

The invention discloses a self-clearance-eliminating cycloidal pin gear speed reducer, and aims to solve the double pain points that in the prior art, an assembly clearance is difficult to control, and the clearance cannot be compensated after abrasion. The speed reducer comprises a machine shell, a main bearing, an output flange, a cycloidal gear, a conical pin and an elastic pressing piece, and is characterized in that the conical pin, cycloidal teeth of the cycloidal gear and a pin groove of the machine shell are all provided with the same taper, the elastic pressing piece is installed on the machine shell and exerts pre-compression force on the pin, and the elastic pressing piece, the conical pin and the pin are made to be tightly attached to eliminate an initial gap; after abrasion, the elastic pressing piece can push the conical pin needle to conduct self-adaptive gap compensation along the conical surface, and the meshing stability is guaranteed through the taper self-locking characteristic. Meanwhile, the structure can be flexibly matched with three transmission modes of'a first-stage planetary gear and a second-stage cycloid ', 'single-stage cycloid cam shaft driving' and'single-stage cycloid cam shaft and a cross slide block ', the effects of reducing machining and assembling cost, maintaining transmission precision for a long time and reducing maintenance loss are achieved, and the structure is suitable for the field of precision transmission.

The invention discloses an NGW planetary speed change device and a speed change gear shifting method. The device comprises an input shaft, a sliding gear sleeve, a multi-stage planetary transmission gear pair and an output gear ring. The multi-stage planetary transmission gear pair and the output gear ring are sequentially connected, a planet carrier of the multi-stage planetary transmission gear pair is fixedly connected with the outside, the sliding gear sleeve is provided with an inner spline and an outer spline, one end of the input shaft is connected with the input motor, and the other end of the input shaft is connected with a spline inner hole of the sliding gear sleeve. An outer spline of the sliding gear sleeve is connected with the input end of the multi-stage planetary transmission gear pair in a matched mode, and the output end of the multi-stage planetary transmission gear pair is connected with the output gear ring in a matched mode. The input motor drives the input shaft and the sliding gear sleeve to be connected with different levels of planetary transmission gear pairs, so that the transmission route of torque in the planetary speed change device is changed, and gear shifting and speed changing are achieved. The gear shifting mechanism has the advantages of compact structure, simple gear shifting mode, stable performance and the like, and meanwhile, the defect that hydraulic elements are difficult to manufacture is avoided.

A drive unit has first and second electrical machines arranged axially parallel, a manual gearbox arranged axially parallel to the electrical machines, a differential, a drive shaft, an output shaft, and a positive-locking shift unit having a first shift element, a second shift element, and a sliding sleeve displaceable via a first actuator into one of three shift positions. In a first shift position, the first shift element is closed and the second electrical machine is connected to the drive shaft with an actuating effect; in a second shift position, both shift elements are open and the second electrical machine is decoupled from the gearbox; in a third shift position, the second shift element is closed and the second electrical machine is connected to the output shaft with an actuating effect. The drive shaft is hollow, and the output shaft is arranged within the drive shaft.

The present invention relates to a transmission arrangement (2) for a machine tool comprising a bevel gear stage (11), a spur gear stage (8), and a transmission housing (29). The spur gear stage (8) has a drive pinion (9) and a spur gear (10). The bevel gear stage (11) has a bevel gear shaft (12) and a ring gear (13). The transmission housing (29) has a housing element (14). The drive pinion (9) forms a drive. The spur gear (10) and the bevel gear shaft (12) are permanently and rotationally fixed to one another. The ring gear (13) forms an output. The spur gear (10) and the bevel gear shaft are mounted in the housing element (14). The housing element (14) has a journal (17) on which the ring gear (13) is mounted. The pin (17) has a recess (23) through which the bevel gear shaft (12) can be guided into its mounting position.Furthermore, the invention relates to a gearbox housing (29) for a gearbox arrangement (2) and a working machine.

The utility model discloses a machine tool magazine speed reducer with low noise and low abrasion, which relates to the technical field of speed reducers, and comprises a box body and a transmission component, the transmission component comprises a motor, a first gear, a second gear, a third gear, a worm, a fourth gear and a worm gear, an output shaft of the motor extends into the box body, and the output shaft of the motor extends into the box body. The first gear is connected to an output shaft of the motor in a sleeved mode, the second gear is provided with a connecting shaft, the second gear is rotatably connected into the box body through the connecting shaft, the third gear is connected to the connecting shaft in a sleeved mode and meshed with the first gear, and the third gear is connected to the second gear in a sleeved mode. The worm is sleeved with the fourth gear, the fourth gear is meshed with the second gear, the diameter of the second gear, the diameter of the first gear, the diameter of the fourth gear and the diameter of the third gear are sequentially increased, and the threaded part of the worm is meshed with the worm gear; the utility model is more convenient to produce, low in noise and low in abrasion during operation, reduces the generated heat, and reduces the volume.

The invention discloses a transmission system of a wind turbine generator, which comprises a main shaft system comprising a main bearing seat and a main shaft, and the main shaft is arranged in the main bearing seat through a front bearing and a rear bearing respectively; the wind power gear box comprises a first-stage planet assembly, a front middle box body, a second-stage planet assembly, a rear middle box body, a third-stage planet assembly and a motor bearing seat which are sequentially arranged, the first-stage planet assembly comprises a first-stage planet carrier and a first-stage inner gear ring, at least one part of the first-stage planet carrier is installed in the front middle box body, and the upwind direction end face of the first-stage planet carrier is connected with a main shaft; an outer spigot is arranged on the downwind end face in the circumferential direction, and an inner spigot is arranged in the front middle box body in the circumferential direction. On the other hand, the invention further discloses an assembling method of the transmission system of the wind turbine generator. According to the transmission system, the outer seam allowance and the inner seam allowance are formed in the first-stage planet carrier and the front middle box body, the first-stage planet carrier is supported, and the risk that a first-stage planet assembly directly falls on a first-stage inner gear ring, and consequently the tooth surface is crushed is avoided.

The invention relates to the technical field of robots, in particular to a joint module and a robot, and solves the problem that the axial size of the joint module is large and cannot meet user requirements. The joint module comprises a fixing assembly, a motor assembly, a first-stage sun gear, a plurality of first-stage planet gears, a first-stage planet carrier, a second-stage sun gear, a plurality of second-stage planet gears and a second-stage planet carrier. The fixing assembly comprises an inner gear ring. The inner gear ring, the first-stage sun gear, the multiple first-stage planet gears and the first-stage planet carrier form a first-stage speed reduction structure, and the inner gear ring, the second-stage sun gear, the multiple second-stage planet gears and the second-stage planet carrier form a second-stage speed reduction structure. The motor assembly is arranged on the outer ring of the inner gear ring in a sleeving mode, that is, the first-stage speed reduction structure and the second-stage speed reduction structure are both embedded in the inner ring of the motor assembly, and the axial size of the joint module is reduced.