Planetary column type joint module and robot with same

Abstract

The planetary column type joint module comprises a shell, a planetary reducer assembly, a motor assembly and an electrical cabin, the planetary reducer assembly, the motor assembly and the electrical cabin are arranged in the shell, a hollow shaft and an inner gear ring are arranged in the shell, and the planetary reducer assembly and the motor assembly are arranged in the shell in series. An output end magnetic ring and a motor end magnetic ring are arranged on the hollow shaft, the two magnetic rings are installed in an embedded mode, signals of the two magnetic rings can be detected through one code disc reading head, and the motion of the output end of the planetary reducer assembly is transmitted to an electric cabin of the joint through the hollow shaft. The signals of the motor end and the output end can be detected at the same time without additionally installing an output end encoder assembly, and the control precision of the joint output end is improved; the planetary reducer assembly adopts multi-stage speed reduction, the speed reduction ratio is large, the torque density of the joint is high, the rotational inertia is small, and the overall integration degree is high.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a planetary column joint module and a robot equipped with the module. Background Art

[0002] The joint module is the core power component of the robot and the key factor in determining the robot's motion performance.

[0003] Most of the joint modules used in existing robots use a single-stage deceleration, which has a relatively small deceleration ratio and a low torque density of the joint. In addition, the joint module generally has an encoder fixed on the motor end. The encoder can only detect and feedback the state of the motor end, but cannot detect the state of the output end, resulting in low control accuracy of the joint output end and failure to achieve the zero-position memory function. If an output end encoder assembly is installed, it is necessary to additionally design the installation structure and arrange the cables, which makes the joint module structure complex and affects the overall size of the joint. In addition, current robots require external cables when installing joints, which will affect the cable life and make the wiring of the slewing unit complicated, affecting the appearance of the robot.

[0004] Therefore, the joint modules used in robots still have many defects, and it is urgent to propose a new technical solution to solve the problems existing in the existing technology. Utility Model Content

[0005] The present application provides a planetary column joint module and a robot equipped with the module to solve the problem of low control accuracy at the output end of the current joint module.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] On the one hand, the present application provides a planetary column joint module, including a housing and a planetary reducer assembly, a motor assembly and an electrical compartment arranged in the housing; the housing includes a shell and a front cover and a rear cover arranged at two ends of the shell, a hollow shaft and an inner gear ring are arranged in the shell, and the central axis of the hollow shaft coincides with the central axis of the shell;

[0008] The planetary reducer assembly includes an input-stage reducer and an output-stage reducer. The input-stage reducer includes an input-stage sun gear arranged on a hollow shaft and an input-stage intermediate transmission member for drivingly connecting the input-stage sun gear with an inner gear ring. The output-stage reducer includes a plurality of output-stage planetary gears meshing with the inner gear ring for transmission. The plurality of output-stage planetary gears are drivingly connected to the input-stage reducer through the output-stage sun gear.

[0009] The motor assembly includes a motor stator fixed on the inner wall of the housing, a motor shaft installed on the hollow shaft, and a motor rotor arranged between the motor stator and the motor shaft, the motor rotor is fixedly connected to the motor shaft, one end of the motor shaft is connected to the input stage sun gear, and the other end is provided with a motor end magnetic ring, and an installation space for installing the output end magnetic ring is formed between the motor end magnetic ring and the hollow shaft;

[0010] An electrical compartment is formed in the rear end cover, and a code disc reading head is arranged in the electrical compartment. The code disc reading head is used to obtain information from the motor end magnetic ring and the output end magnetic ring.

[0011] Further in the above technical solution, the input-stage intermediate transmission component includes an input-stage planetary carrier, an input-stage bearing, an input-stage planetary shaft and an input-stage planetary gear; the input-stage planetary carrier is installed on the inner gear ring through the input-stage bearing, a plurality of input-stage planetary shafts are arranged on the input-stage planetary carrier, each input-stage planetary shaft is installed with an input-stage planetary gear, the plurality of input-stage planetary gears are meshed with the input-stage sun gear for transmission, and a through hole adapted to be installed with the hollow shaft is arranged at the center of the input-stage sun gear.

[0012] Furthermore, the output stage reducer also includes an output stage planetary shaft, an output stage bearing and an output stage planetary carrier; the output stage planetary carrier is a ring body arranged outside the hollow shaft, and the center of the output stage sun gear is provided with a through hole allowing the hollow shaft to pass through, one end of the output stage sun gear is installed with the output stage bearing, and is connected to the output stage planetary carrier through the output stage bearing, and the other end of the output stage sun gear is fixedly connected to the input stage planetary carrier; a plurality of output stage planetary shafts are arranged on the output stage planetary carrier, each output stage planetary shaft is arranged with an output stage planetary gear, a plurality of output stage planetary gears are meshed with the output stage sun gear for transmission, and a plurality of output stage planetary gears are meshed with the inner gear ring for transmission.

[0013] Furthermore, a cross roller bearing is installed at one end of the output stage planet carrier, the inner ring of the cross roller bearing is adapted to be installed with the output stage planet carrier, and the outer ring of the cross roller bearing is adapted to be installed with the inner gear ring.

[0014] Furthermore, the output-stage planetary gear is adapted and installed with the output-stage planetary shaft through a bearing; and a plurality of output-stage planetary gears are evenly distributed along the circumference of the output-stage planetary carrier.

[0015] Furthermore, a mounting hole for adapting and mounting with the hollow shaft is provided on the motor shaft, and a sealing structure is provided on the hole wall of the mounting hole.

[0016] Furthermore, one end of the motor shaft is provided with a connecting hole seat for adapting and installing with one end of the input stage sun gear, and a first motor bearing is provided outside the connecting hole seat, and the motor shaft is adapted and installed with the housing through the first motor bearing; the other end of the motor shaft is provided with a second motor bearing, and the motor shaft is adapted and installed with the rear end cover through the second motor bearing.

[0017] Furthermore, a motor end magnetic ring is installed at the end of the motor shaft facing the rear end cover, one end of the motor end magnetic ring protrudes outward relative to the end of the motor shaft and abuts against the code disk reading head, the protruding part of the motor end magnetic ring and the outer wall of the hollow shaft form an installation space for installing the output end magnetic ring, and the code disk reading head is fixed on the rear end cover.

[0018] Furthermore, the planetary reducer assembly and the motor assembly are arranged adjacent to each other in the housing and are connected in series through the motor shaft and the input stage sun gear.

[0019] Furthermore, a circle of connecting flange is formed at one end of the hollow shaft facing the front end cover, the connecting flange is fixedly connected to the output stage planetary carrier, and the other end of the hollow shaft is rotatably connected to the rear end cover.

[0020] Furthermore, one end of the rear end cover forms a first mounting seat adapted to be installed with the motor bearing in the motor assembly, and the other end forms a second mounting seat for installing the tail cover. The tail cover and the rear end cover form an electrical compartment; the tail cover is provided with a bearing and a bearing end cover for installing the hollow shaft.

[0021] Furthermore, a driving board fixedly connected to the rear end cover is provided in the electrical compartment, and a heating chip on the driving board is in contact with the rear end cover via a thermally conductive adhesive.

[0022] On the other hand, based on the planetary column joint module provided above, the present application provides a robot equipped with the planetary column joint module.

[0023] Compared with the prior art, this application has at least the following beneficial effects:

[0024] The present application provides a planetary column joint module, in which a hollow shaft and an inner gear ring are arranged in a shell, and the planetary reducer assembly in the shell is transmission-connected with the hollow shaft and the inner gear ring, and the hollow shaft transmits the movement of the output end of the planetary reducer assembly to the electrical compartment in the shell of the joint module to realize dual-coding detection of the output end and the motor end, thereby improving the control accuracy of the joint output end; the hollow shaft can be used for wiring to avoid external cables. At the same time, since the movement of the output end of the planetary reducer assembly is transmitted through the hollow shaft, the present application arranges an output end magnetic ring and a motor end magnetic ring on the hollow shaft, and the two magnetic rings are embeddedly installed, and the signals of the two magnetic rings can be detected by a code disk reading head. It can be seen that the present application does not need to additionally install an output end encoder assembly to simultaneously detect the signals of the motor end and the output end. The present application as a whole has the characteristics of simple structure, high integration, small size, high reduction ratio, high torque density, strong versatility, high transmission efficiency, small moment of inertia, good back-drive performance, impact resistance, low cost, and easy wiring. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be understood that the specific shapes and structures shown in the drawings should not usually be regarded as limiting conditions for implementing the present application; for example, based on the technical concepts and exemplary drawings disclosed in the present application, those skilled in the art are able to easily make routine adjustments or further optimizations to the increase / decrease / attribution division, specific shapes, positional relationships, connection methods, and dimensional ratios of certain units (components).

[0026] Figure 1 This is a schematic diagram of the cross-sectional structure of a planetary column joint module provided by the present application in one embodiment;

[0027] Figure 2 This is a schematic diagram of the installation structure of the motor shaft and the hollow shaft of the planetary column joint module provided in the present application in an embodiment, mainly showing the labyrinth sealing structure arranged on the motor shaft.

[0028] Description of reference numerals:

[0029] 101, housing; 102, rear end cover; 103, tail cover; 104, bearing end cover; 105, bearing; 106, hollow shaft; 107, front end cover;

[0030] 201, inner gear ring; 202, cross roller bearing; 203, output stage planetary gear; 204, output stage planetary shaft; 205, output stage sun gear; 206, output stage bearing; 207, output stage planetary carrier; 208, input stage planetary carrier; 209, input stage sun gear; 210, input stage bearing; 211, input stage planetary shaft; 212, input stage planetary gear;

[0031] 301, motor stator; 302, motor rotor; 303, motor shaft; 304, first motor bearing; 305, second motor bearing;

[0032] 401, driving board; 402, code disc reading head; 403, output end magnetic ring; 404, motor end magnetic ring. DETAILED DESCRIPTION

[0033] The present application is further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0034] In the description of this application: unless otherwise specified, "plurality" means two or more. The terms "first", "second", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0035] The terms such as "upper", "lower", "left", "right", "middle", etc. used in this application are usually used to facilitate intuitive understanding by comparing with the accompanying drawings, and are not absolute limitations on the positional relationship in the actual product. Without departing from the technical concept disclosed in this application, changes in these relative positional relationships should also be regarded as the scope of this application.

[0036] In order to solve the problems existing in the prior art, the present application provides a planetary column joint module, in which the motor assembly and the planetary reducer assembly are arranged in series, the planetary reducer assembly adopts a multi-stage planetary reducer, and the motor assembly and the planetary reducer assembly are both installed on a hollow shaft, and the hollow shaft can not only realize hollow wiring, but also transmit the motion of the output end to the electrical compartment of the joint module, which is convenient for encoder detection; further, the present application adopts a dual encoder integrated design, two magnetic rings (motor end magnetic ring and output end magnetic ring) are embedded and installed, and a code disk reading head can detect two magnetic rings, and detection feedback components include but are not limited to photoelectric encoders, Hall sensors, magnetic encoders, capacitive encoders, rotary transformers, potentiometers, etc. Therefore, the planetary column joint module provided by the present application designs an integrated double-coding scheme and a hollow shaft structure, and an integrated driver is designed, with high torque density, high integration, strong versatility, high transmission efficiency, small moment of inertia, good anti-drive performance, impact resistance, low cost and other advantages. The structure of the planetary column joint module is described below.

[0037] like Figure 1 As shown, the planetary column joint module mainly includes a housing, a planetary reducer assembly, a motor assembly and an electrical compartment. The following describes the four parts separately.

[0038] The housing mainly includes a housing 101 located in the middle and a front cover 107 and a rear cover 102 arranged at both ends of the housing 101. The housing 101 is a cylindrical shape with openings at both ends. The front cover 107 and the rear cover 102 are respectively adapted and installed corresponding to the openings at both ends of the housing 101. The connecting parts used for installation include screws, sealing rings, etc. One end of the rear cover 102 is adapted and connected to the housing 101, and the other end is detachably installed with a tail cover 103. The tail cover 103 and the front cover 107 are arranged opposite to each other. The housing in this application mainly plays the role of structural installation and component protection.

[0039] The planetary reducer assembly is fixed in the housing 101. The planetary reducer assembly in the present application can be a two-stage planetary reducer, a three-stage planetary reducer, a four-stage planetary reducer, a five-stage planetary reducer, or other multi-stage planetary reducers. The number of stages of the planetary reducer is mainly customized according to specific application requirements.

[0040] In one embodiment of the present application, the planetary reducer assembly adopts a two-stage planetary reducer. Specifically, the two-stage planetary reducer includes an input-stage reducer and an output-stage reducer, and the input-stage reducer and the output-stage reducer are both installed in the housing 101. A hollow shaft 106 and an inner gear ring 201 are arranged in the housing 101, and the central axis of the hollow shaft 106 coincides with the central axis of the housing 101. In the present application, the input-stage reducer and the output-stage reducer share the same inner gear ring 201, and the overall structure is compact and small in size. The input-stage reducer includes an input-stage sun gear 209 arranged on the hollow shaft 106 and an input-stage intermediate transmission member for connecting the input-stage sun gear 209 to the inner gear ring 201. The output-stage reducer includes a plurality of output-stage planetary gears 203 meshing with the inner gear ring 201 for transmission, and the plurality of output-stage planetary gears 203 are connected to the input-stage reducer through the output-stage sun gear 205. Therefore, the hollow shaft in this application is connected to the planetary reducer assembly in a transmission manner, and the movement of the output end can be transmitted to the electrical compartment of the joint module. After that, through the integrated design of the dual encoders, one reading head can detect the two magnetic rings. Therefore, this application does not need to install an output encoder assembly to collect the output end signal. Through structural improvement, the output end movement is transmitted to one end of the hollow shaft, and the two magnetic rings are integrated to realize the synchronous collection of the motor end signal and the output end signal. The overall structure is simple, the hollow shaft is convenient for wiring, the torque density is high, and the integration is high.

[0041] In one embodiment of the present application, the input stage reducer includes an input stage planet carrier 208, an input stage sun gear 209, an input stage bearing 210, an input stage planet shaft 211, and an input stage planet gear 212. Specifically, the input stage planet carrier 208 is mounted on the inner gear ring 201 through the input stage bearing 210. A plurality of input stage planet shafts 211 are arranged on the input stage planet carrier 208. For example, three input stage planet shafts 211 are arranged on the input stage planet carrier 208, and an input stage planet gear 212 is mounted on each input stage planet shaft 211. The three input stage planet gears 212 are meshed and driven with the input stage sun gear 209, and a through hole adapted to be mounted with the hollow shaft 106 is arranged at the center of the input stage sun gear 209.

[0042] In one embodiment of the present application, the output stage reducer includes an output stage planetary gear 203, an output stage planetary shaft 204, an output stage sun gear 205, an output stage bearing 206, an output stage planetary carrier 207, and a cross roller bearing 202. Figure 1, the output stage planet carrier 207 outputs torque outward, the inner ring of the cross roller bearing 202 is fixed to the output stage planet carrier 207 and the hollow shaft 106, and the outer ring is fixed to the inner gear ring 201 and the front end cover 107. The cross roller bearing 202 supports the output stage planet carrier 207 and bears the bending moment and axial force from the load. The output stage planetary gear 203 is on the output stage planetary shaft 204 through the bearing (needle roller, ball roller, sliding), and the bearing can reduce the resistance during the transmission process. The output stage planetary shaft 204 is fixed to the output stage planet carrier 207 through a tight fit. In this embodiment, there are three groups of output stage planetary gears 203, which are evenly distributed along the circumference of the output stage planet carrier 207 and mesh with the inner gear 201. One end of the output stage sun gear 205 is installed on the central axis of the output stage planet carrier 207 through the output stage bearing 206, and the other end is fixed to the input stage planet carrier 208 to transmit the torque from the input stage planetary reducer. The output stage sun gear 205 meshes with the three groups of output stage planetary gears 203 to transmit and increase torque. The output stage sun gear 205 has a through hole in its center, through which the hollow shaft 106 can pass. It should be further explained that the structural forms of the gears used in the planetary reducer assembly of the present application include but are not limited to spur gears, helical gears, etc., the number of groups of planetary reducers includes but is not limited to 1 stage, 2 stages, 3 stages, etc., and the number of single-stage planetary gears includes but is not limited to 1, 2, 3, 4, 5, etc.

[0043] In one embodiment of the present application, Figure 1 As shown, the motor assembly 3 mainly includes a motor stator 301, a motor rotor 302, a motor shaft 303, and a bearing 304. The motor stator 301 is fixed to the housing 101 by special glue. The motor rotor 302 is bonded to the motor shaft 303 by glue, and the motor shaft 303 is adapted and installed with the housing 101 through the first motor bearing 304, and the motor shaft 303 is adapted and installed with the rear end cover 102 through the second motor bearing 305, that is, the present application adopts an inner rotor motor. The motor shaft 303 is fixed to the input stage sun gear 209 of the reducer to transmit the power of the motor to the reducer, that is, the motor assembly and the reducer assembly in the present application are arranged in series. In addition, a labyrinth seal is designed for the motor shaft 303 in the present application, such as Figure 2 As shown, prevent the reducer grease from entering the electrical compartment.

[0044] In one embodiment of the present application, Figure 1As shown, the tail cover 103 and the rear end cover 102 form an electrical cabin, and the electrical cabin 4 is mainly provided with a drive plate 401, a code disc reading head 402, an output end magnetic ring 403, a motor end magnetic ring 404, etc. The code disc reading head 402 is fixed on the rear end cover 102, and the motor end magnetic ring 404 is fixed on the motor shaft 303, which is used to detect the speed and rotation angle of the motor and realize current commutation. The output end magnetic ring 403 is fixed on the hollow shaft 106, one end of the hollow shaft 106 is fixed on the output stage planetary carrier 207, and the other end is fixed on the tail cover 103 through the bearing 105 and the bearing end cover 104, which can transmit the movement of the output end to the electrical cabin for detecting the speed and rotation angle of the output end. In this application, the code disc adopts an integrated design, the output end magnetic ring 403 is embedded in the inside of the motor end magnetic ring 404, and the code disc reading head 402 can read the output end magnetic ring 403 and the motor end magnetic ring 404 at the same time, which greatly saves internal space. The drive board 401 is fixed on the rear cover 102, wherein the heat generating chip contacts the rear cover 103 through the heat conductive adhesive, and transfers the heat to the structural parts of the joint to play a role in heat dissipation. The rear cover 103 covers the electrical compartment to protect the drive board and the encoder.

[0045] In summary, the present application provides a planetary column joint module for a robot, which transmits the movement of the output end to the electrical compartment of the joint through a hollow shaft, which is convenient for encoder detection, and the wiring can be routed inside the hollow shaft, without the need for external cables, which can protect the cables; further, an output end magnetic ring and a motor end magnetic ring are arranged on the hollow shaft, and the two magnetic rings are embedded and installed, and one reading head can detect the two magnetic rings. Dual magnetic ring detection is achieved through structural design, thereby improving the control accuracy of the joint output end; in addition, in the planetary column joint module with a hollow shaft proposed in the present application, the motor and the reducer are arranged in series, a two-stage planetary reducer is adopted, and an integrated double-encoding scheme and a hollow shaft structure are combined, and a driver is integratedly designed, so that the planetary column joint module provided by the present application has the characteristics of high torque density, high integration, strong versatility, high transmission efficiency, small moment of inertia, good back-drive performance, impact resistance, and low cost.

[0046] The technical features of the above embodiments may be arbitrarily combined (as long as there is no contradiction in the combination of these technical features). To make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

[0047] The above is a relatively specific and detailed description of the present application through general description and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not deviate from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. A planetary column joint module, characterized in that: It comprises a housing and a planetary reducer assembly, a motor assembly and an electrical compartment arranged in the housing; The housing comprises a shell (101) and a front end cover (107) and a rear end cover (102) arranged at two ends of the shell (101) relative to each other, and a hollow shaft (106) and an inner gear ring (201) are arranged in the shell; The planetary reducer assembly comprises an input-stage reducer and an output-stage reducer, wherein the input-stage reducer comprises an input-stage sun gear (209) arranged on a hollow shaft (106) and an input-stage intermediate transmission member for drivingly connecting the input-stage sun gear (209) with an inner gear ring (201); the output-stage reducer comprises a plurality of output-stage planetary gears (203) meshing with the inner gear ring (201) for transmission, and the plurality of output-stage planetary gears (203) are drivingly connected to the input-stage reducer via the output-stage sun gear (205); The motor assembly comprises a motor stator (301) fixed on the inner wall of a housing (101), a motor shaft (303) mounted on a hollow shaft (106), and a motor rotor (302) arranged between the motor stator (301) and the motor shaft (303), wherein the motor rotor (302) is fixedly connected to the motor shaft (303), one end of the motor shaft (303) is connected to the input stage sun gear (209), and the other end is provided with a motor end magnetic ring (404), and an installation space for installing an output end magnetic ring (403) is formed between the motor end magnetic ring (404) and the hollow shaft (106); The electrical compartment is formed in the rear end cover (102), and a code disc reading head (402) is arranged in the electrical compartment. The code disc reading head (402) is used to obtain information from the motor end magnetic ring (404) and the output end magnetic ring (403).

2. The planetary column joint module according to claim 1, characterized in that: The input-stage intermediate transmission component comprises an input-stage planet carrier (208), an input-stage bearing (210), an input-stage planet shaft (211) and an input-stage planet gear (212); The input-stage planet carrier (208) is mounted on the inner gear ring (201) via the input-stage bearing (210); a plurality of input-stage planet shafts (211) are arranged on the input-stage planet carrier (208); an input-stage planet gear (212) is mounted on each of the input-stage planet shafts (211); the plurality of input-stage planet gears (212) are meshed with the input-stage sun gear (209) for transmission; a through hole adapted to be mounted on the hollow shaft (106) is arranged at the center of the input-stage sun gear (209).

3. The planetary column joint module according to claim 2, characterized in that: The output stage reducer further comprises an output stage planetary shaft (204), an output stage bearing (206) and an output stage planetary carrier (207); The output-stage planet carrier (207) is a ring body arranged outside the hollow shaft (106); a through hole is arranged at the center of the output-stage sun gear (205) for allowing the hollow shaft (106) to pass through; one end of the output-stage sun gear (205) is installed with the output-stage bearing (206) and is transmission-connected to the output-stage planet carrier (207) via the output-stage bearing (206); the other end of the output-stage sun gear (205) is fixedly connected to the input-stage planet carrier (208); The output-stage planetary carrier (207) is provided with a plurality of output-stage planetary shafts (204), each of the output-stage planetary shafts (204) is provided with an output-stage planetary gear (203), the plurality of output-stage planetary gears (203) are meshed with the output-stage sun gear (205) for transmission, and the plurality of output-stage planetary gears (203) are meshed with the inner gear ring (201) for transmission.

4. The planetary column joint module according to claim 3, characterized in that: A cross roller bearing (202) is installed at one end of the output stage planet carrier (207), the inner ring of the cross roller bearing (202) is adapted to be installed with the output stage planet carrier (207), and the outer ring of the cross roller bearing (202) is adapted to be installed with the inner gear ring (201); The output-stage planetary gear (203) is adapted and installed with the output-stage planetary shaft (204) via a bearing; a plurality of the output-stage planetary gears (203) are evenly distributed along the circumference of the output-stage planetary carrier (207).

5. The planetary column joint module according to claim 1, characterized in that: The motor shaft (303) is provided with a mounting hole for adapting and mounting with the hollow shaft (106), and a sealing structure is provided on the hole wall of the mounting hole; One end of the motor shaft (303) is provided with a connection hole seat for being adapted to be installed with one end of the input-stage sun gear (209); a first motor bearing (304) is provided outside the connection hole seat, and the motor shaft (303) is adapted to be installed with the housing (101) via the first motor bearing (304); the other end of the motor shaft (303) is provided with a second motor bearing (305), and the motor shaft (303) is adapted to be installed with the rear end cover (102) via the second motor bearing (305); The motor end magnetic ring (404) is installed at the end of the motor shaft (303) facing the rear end cover (102), one end of the motor end magnetic ring (404) protrudes outward relative to the end of the motor shaft (303) and abuts against the code disk reading head (402), the protruding part of the motor end magnetic ring (404) and the outer wall of the hollow shaft (106) form an installation space for installing the output end magnetic ring (403), and the code disk reading head (402) is fixed on the rear end cover (102).

6. The planetary column joint module according to claim 1 or 5, characterized in that: The planetary reducer assembly and the motor assembly are disposed adjacent to each other in the housing and are connected in series via the motor shaft and the input stage sun gear.

7. The planetary column joint module according to claim 3, characterized in that: A circle of connecting flange is formed at one end of the hollow shaft (106) facing the front end cover (107), and the connecting flange is fixedly connected to the output stage planetary carrier (207). The other end of the hollow shaft (106) is rotatably connected to the rear end cover (102), and the central axis of the hollow shaft (106) coincides with the central axis of the housing (101).

8. The planetary column joint module according to claim 7, characterized in that: One end of the rear end cover (102) forms a first mounting seat adapted to be mounted on a motor bearing in the motor assembly, and the other end forms a second mounting seat for mounting a tail cover (103); the tail cover (103) and the rear end cover (102) form the electrical compartment; the tail cover (103) is provided with a bearing (105) and a bearing end cover (104) for mounting the hollow shaft (106).

9. The planetary column joint module according to claim 8, characterized in that: A driving board (401) fixedly connected to the rear end cover (102) is arranged in the electrical compartment, and a heat generating chip on the driving board (401) is in contact with the rear end cover (103) via heat conductive adhesive.

10. A robot, characterized in that: A planetary column joint module as described in any one of claims 1 to 9 is installed thereon.

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