Joint module and robot

Abstract

The utility model provides a joint module and robot relates to joint module field, and joint module includes shell assembly and is located in the hollow axle, motor, transmission mechanism and double encoder of shell assembly, shell assembly forms first chamber, second chamber and third chamber along the axial distribution in proper order, and the hollow axle penetrates first chamber and second chamber, is equipped with double encoder in first chamber, is equipped with motor in second chamber, and the motor includes the rotor of sleeveing on the hollow axle and the stator of being equipped with in the inside of rotor, transmission mechanism includes transmission connection primary reducer subassembly, secondary reducer subassembly and tertiary reducer subassembly in proper order, and primary reducer subassembly and secondary reducer subassembly are equipped with in second chamber, and tertiary reducer subassembly is equipped with in third chamber, and the input end of primary reducer subassembly is linked with rotor. The utility model has realized the compact layout of tertiary planetary reducer structure and double encoder in the same axial space, has realized high torque output and high accuracy detection.

Description

Technical Field

[0001] This utility model relates to the field of joint module technology, and in particular to a joint module and robot. Background Technology

[0002] The joint module is the core power component of a robot and a key factor determining its motion performance. Most existing robot joint modules employ single-stage reduction mechanisms, resulting in low reduction ratios and low torque density at the joint output. Furthermore, joint modules typically have a single encoder installed at the motor end. While this can detect the rotor's motion, backlash and elastic deformation in the transmission chain cause significant deviations between the encoder data and the actual output position, making direct closed-loop control of the output motion impossible. Adding a second encoder at the output end requires additional design and cabling, complicating the joint module structure and affecting its overall dimensions. Therefore, there is an urgent need to develop a new type of joint module. Utility Model Content

[0003] Based on this, the purpose of this utility model is to provide a joint module and robot, which aims to solve the technical problems that most existing joint modules adopt a single-stage reduction mechanism, resulting in low torque density of joint output, and generally install a single encoder at the motor end, causing significant deviation between encoder data and actual output end position, making it impossible to achieve direct closed-loop control of output end motion.

[0004] One aspect of this utility model is to provide a joint module, including a housing assembly and a hollow shaft, a motor, a transmission mechanism and a dual encoder disposed within the housing assembly. The housing assembly forms a first chamber, a second chamber and a third chamber arranged sequentially along the axial direction, and the hollow shaft passes through the first chamber and the second chamber. The first chamber is equipped with the dual encoder, and the second chamber is equipped with the motor. The motor includes a rotor sleeved on the hollow shaft and a stator disposed inside the rotor. The transmission mechanism includes a first-stage reducer assembly, a second-stage reducer assembly, and a third-stage reducer assembly connected in sequence. The first-stage reducer assembly and the second-stage reducer assembly are located in the second chamber, and the third-stage reducer assembly is located in the third chamber. The input end of the first-stage reducer assembly is connected to the rotor.

[0005] In addition, the joint module according to the present invention may also have the following additional technical features: Furthermore, the housing assembly includes a front housing, a rear housing, and a cover connected sequentially along the axial direction. The front housing is detachably connected to an outer shell and a fixing plate at one end away from the rear housing. The front housing and the rear housing enclose the second chamber, the rear housing and the cover enclose the first chamber, and the front housing, the outer shell, and the fixing plate enclose the third chamber.

[0006] Furthermore, a connecting seat is provided in the second chamber, one axial end of the connecting seat is fixedly connected to the front housing, the other axial end of the connecting seat is provided with the stator, and the first-stage reducer assembly and the second-stage reducer assembly are provided inside the connecting seat; The rear housing is provided with a first ball bearing in the middle, and the rotor is interference-fitted with the inner ring of the first ball bearing through a connecting cover; The connecting seat has a bearing seat at one end where the stator is located. The bearing seat contains a first thin-walled bearing, and the rotor is interference-fitted with the inner ring of the first thin-walled bearing through a connecting cover.

[0007] Furthermore, the dual encoder includes a circuit board, and an input encoder and an output encoder disposed on the circuit board. The circuit board is spaced apart from the motor, the input encoder is disposed opposite to the motor, and the output encoder is disposed at the eccentric end of the input shaft of the transmission mechanism. The magnetic induction element in the output encoder is disposed opposite to the main and auxiliary magnetic wheels installed at the eccentric end of the input shaft.

[0008] Furthermore, the first-stage reducer assembly includes a first-stage sun gear sleeved on the hollow shaft, a plurality of first-stage planet gears disposed around the first-stage sun gear, and a first-stage planet carrier for mounting the first-stage planet gears. The first-stage sun gear is connected to the output end of the rotor, and the inner wall of the connecting seat is provided with a first gear ring portion that meshes with the first-stage planet gears.

[0009] Furthermore, the secondary reducer assembly includes a secondary sun gear sleeved on the hollow shaft, a plurality of secondary planet gears disposed around the secondary sun gear, and a secondary planet carrier for mounting the secondary planet gears. The secondary sun gear is connected to the primary planet carrier, and the inner wall of the connecting seat is provided with a second gear ring portion that meshes with the secondary planet gears.

[0010] Furthermore, a second ball bearing is installed in the middle of the secondary planetary carrier, and the inner ring of the second ball bearing is interference-fitted with the end of the secondary sun gear away from the primary sun gear; the circumferential outer wall of the secondary planetary carrier is clearance-fitted with the inner wall of the through hole of the connecting seat or the front housing through a first crossed roller bearing; a bearing baffle is provided on the side of the secondary planetary carrier away from the secondary planet gear.

[0011] Furthermore, the third chamber is provided with an internal gear ring, and the three-stage reducer assembly includes a three-stage sun gear connected to one end of the hollow shaft away from the cover, a plurality of three-stage planet gears disposed around the three-stage sun gear, and a three-stage planet carrier for mounting the three-stage planet gears. The three-stage planet gears mesh with the internal gear ring, and the fixed plate is provided on the side of the three-stage planet carrier away from the three-stage planet gears. The third-stage sun gear is provided with a second thin-walled bearing at the end away from the hollow shaft. The inner ring of the second thin-walled bearing is interference-fitted with the outer wall of the end of the third-stage sun gear, and the outer ring of the second thin-walled bearing is clearance-fitted with the through hole in the middle of the third-stage planetary carrier.

[0012] Furthermore, the third chamber is also provided with a second crossed roller bearing, the inner ring of the second crossed roller bearing being interference-fitted with the circumferential outer wall of the third-stage planetary carrier, and the outer ring of the second crossed roller bearing being clearance-fitted with the inner wall of the outer shell.

[0013] Another aspect of this utility model is to provide a robot including the aforementioned joint module.

[0014] Compared to existing technologies, the advantages of this utility model's joint module and robot are as follows: This application achieves a compact layout of a three-chamber partitioned structure formed by the shell assembly and a through-type hollow shaft design, realizing a three-stage planetary reducer structure and dual encoders in the same axial space. This achieves high torque output, high-precision detection, and untangled internal pipeline passage, meeting the stringent performance requirements of high-end application scenarios for joint modules. Specifically, the shell assembly forms a first chamber, a second chamber, and a third chamber distributed along the axial direction. The hollow shaft passes through the first and second chambers. The first chamber houses dual encoders, including an input encoder located at the front end of the motor and an output encoder located at the eccentric end of the input shaft of the transmission mechanism. The output encoder directly detects the real-time position of the reducer input shaft. Combined with the precise mounting structure of the main and auxiliary magnetic wheels, this cleverly avoids the spatial conflict problem of adding an encoder at the load end. It can achieve real-time compensation for transmission chain backlash and elastic deformation without significantly increasing the module volume or complexity, establishing a quasi-closed-loop control mechanism for the output end motion, and completely solving the problem of single encoder feedback distortion. The second chamber houses the motor, and the first-stage and second-stage reducer assemblies are integrated inside the connecting seat within the second chamber. The first and second gear rings on the inner wall serve as fixed gear rings, achieving high transmission efficiency in a compact space. The third chamber houses the three-stage reducer assembly, effectively breaking through the torque density bottleneck of traditional single-stage reduction. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the joint module of this utility model; Figure 2 This is a cross-sectional view of the joint module of this utility model; Figure 3 This is a schematic diagram of the transmission mechanism in the joint module of this utility model.

[0016] The above-mentioned figures include the following reference numerals: 11-Front housing; 12-Rear housing; 13-Cover; 14-Outer shell; 15-Fixing plate; 21-Circuit board; 22-Input encoder; 23-Output encoder; 31-Rotor; 32-Stator; 33-Bearing housing; 41-Hollow shaft; 42-Connecting seat; 51-First stage reducer assembly; 511-First stage sun gear; 512-First stage planetary gear; 513-First stage planetary carrier; 52-Second stage reducer assembly; 521-Second stage sun gear; 522-Second stage planetary gear; 523-Second stage planetary carrier; 53-Third stage reducer assembly; 531-Third stage sun gear; 532-Third stage planetary gear; 533-Third stage planetary carrier; 61-First ball bearing; 62-Second ball bearing; 63-First thin-walled bearing; 64-Second thin-walled bearing; 65-First crossed roller bearing; 66-Second crossed roller bearing; 67-Bearing baffle.

[0017] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation

[0018] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0019] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Please see Figures 1 to 3The diagram shows the joint module of this utility model, including a housing assembly and a hollow shaft 41, a motor, a transmission mechanism, and dual encoders disposed within the housing assembly. The housing assembly forms a first chamber, a second chamber, and a third chamber arranged sequentially along the axial direction. The hollow shaft 41 passes through the first and second chambers, providing a channel for internal wiring. Specifically, in this embodiment, the housing assembly includes a front housing 11, a rear housing 12, and a cover 13 that are tightly connected sequentially along the axial direction. The end of the front housing 11 away from the rear housing 12 is detachably connected to an outer shell 14 and a fixing plate 15. The front housing 11 and the rear housing 12 enclose the second chamber, the rear housing 12 and the cover 13 enclose the first chamber, and the front housing 11, the outer shell 14, and the fixing plate 15 enclose the third chamber. The arrangement of the three chambers achieves the partitioning and electromagnetic and thermal isolation of the core components.

[0022] More specifically, the first chamber is equipped with dual encoders for accurately feeding back the position information of the motor rotor 31 and the input shaft of the transmission mechanism. In this embodiment, the dual encoders include a supporting circuit board 21 and an input encoder 22 and an output encoder 23 mounted on the circuit board 21. The circuit board 21 is fixed to the circumferential inner wall of the cover 13 and spaced apart from the motor to effectively reduce electromagnetic and thermal interference. The input encoder 22 is located at the front end of the motor to detect the speed and angle of the motor rotor 31. The output encoder 23 is located at the eccentric end of the input shaft of the transmission mechanism. The magnetic induction element in the output encoder 23 is arranged opposite to the main and auxiliary magnetic wheels mounted at the eccentric end to accurately detect the actual position of the load. The rotor 31 position information provided by the input encoder 22 and the input end position information detected by the output encoder 23 are combined to form the high-precision dual closed-loop feedback system of the joint module of this application. In this embodiment, two mounting holes are provided on the rear housing 12 near the central shaft. These two mounting holes are spaced apart circumferentially along the central shaft to position and mount the main magnetic wheel and the auxiliary magnetic wheel, respectively.

[0023] The second chamber houses a motor, which includes a rotor 31 sleeved on a hollow shaft 41 and a stator 32 located inside the rotor 31. The transmission mechanism includes a first-stage reducer assembly 51, a second-stage reducer assembly 52, and a third-stage reducer assembly 53 connected in sequence. The first-stage and second-stage reducer assemblies 51 and 52 are located in the second chamber, while the third-stage reducer assembly 53 is located in the third chamber. The input end of the first-stage reducer assembly 51 is connected to the power output end of the rotor 31. Specifically, in this embodiment, the second chamber houses a connecting seat 42. One axial end of the connecting seat 42 is fixedly connected to the front housing 11, and the other axial end of the connecting seat 42 houses the stator 32. The connecting seat 42 contains the first-stage reducer assembly 51 and the second-stage reducer assembly 52, achieving a compact integration of the two-stage reduction structure with the motor stator 32. To ensure the stability and power transmission reliability of the rotor 31 and hollow shaft 41 under high-speed operation, a first ball bearing 61 is provided in the middle of the rear housing 12. The rotor 31 forms an interference fit with the inner ring of the first ball bearing 61 through the connecting cover to provide a firm support for the rotor 31 at the rear end, i.e., near the first chamber end. At the same time, a bearing seat 33 is also provided at one end of the stator 32 on the connecting seat 42. A first thin-walled bearing 63 is provided in the bearing seat 33. The rotor 31 is supported at the front end, i.e., near the third chamber end, through the interference fit between the connecting cover and the inner ring of the first thin-walled bearing 63. The design of the two-end support structure improves the overall rigidity of the rotor 31-central control shaft system, effectively suppresses radial runout and reduces vibration during high-speed operation.

[0024] Furthermore, the first-stage reducer assembly 51 includes a first-stage sun gear 511, multiple first-stage planetary gears 512, and a first-stage planetary carrier 513. The first-stage sun gear 511 is directly sleeved and fixed on the hollow shaft 41, rotating synchronously with the hollow shaft 41 and the rotor 31. The multiple first-stage planetary gears 512 are evenly arranged circumferentially along the first-stage sun gear 511 and mesh with the external teeth of the first-stage sun gear 511. The first-stage planetary carrier 513 rotatably mounts the multiple first-stage planetary gears 512 via the first-stage planetary gear shaft. Furthermore, the input end of the first-stage sun gear 511, i.e., its end closest to the rotor 31, is directly connected to the output end of the rotor 31 to receive the original torque input from the motor. The inner wall of the connecting seat 42 is integrally machined or fixedly installed with a first gear ring for meshing with multiple first-stage planetary gears 512, thereby forming a first-stage planetary reduction structure: the first-stage sun gear 511 inputs power, drives the first-stage planetary gears 512 to rotate on their own axis and revolve around the first-stage sun gear 511, and the first-stage planetary gears 512 mesh with the fixed first gear ring, forcing the first-stage planetary carrier 513 to output the decelerated rotational motion.

[0025] Furthermore, the secondary reducer assembly 52 includes a secondary sun gear 521, multiple secondary planetary gears 522, and a secondary planetary carrier 523. The secondary sun gear 521 is sleeved on the hollow shaft 41. The multiple secondary planetary gears 522 are evenly arranged around the circumference of the secondary sun gear 521 and mesh with the external teeth of the secondary sun gear 521. The secondary planetary carrier 523 rotatably mounts the multiple secondary planetary gears 522 via the secondary planetary gear shaft. Further still, the secondary sun gear 521 is directly connected to the output end of the primary planetary carrier 513, thereby receiving power output from the primary reducer assembly 51. The inner wall of the connecting seat 42 is integrally formed or fixedly mounted with a second gear ring portion for meshing with the multiple secondary planetary gears 522, thus constituting a secondary planetary reducer: the primary planetary carrier 513 drives the secondary sun gear 521 to rotate, the secondary sun gear 521 drives the secondary planetary gears 522 to rotate, and the secondary planetary gears 522 mesh with the fixed second gear ring portion, causing the secondary planetary carrier 523 to output further reduced rotational motion.

[0026] Furthermore, to ensure that the secondary planetary carrier 523 can stably transmit power and withstand working loads, a second ball bearing 62 is installed at the middle position of the secondary planetary carrier 523. The inner ring of the second ball bearing 62 forms an interference fit with the outer wall of the end of the secondary sun gear 521 away from the primary sun gear 511, so that the end of the secondary sun gear 521 provides precise radial limiting and support to the center position of the secondary planetary carrier 523 through the second ball bearing 62. At the same time, the circumferential outer wall of the secondary planetary carrier 523 forms a clearance fit with the inner wall of the corresponding through hole on the connecting seat 42 or the front housing 11 through the first crossed roller bearing 65. The main function of the first crossed roller bearing 65 is to efficiently withstand the radial load and possible overturning moment generated by the secondary planetary carrier 523 during operation, and to transmit these loads to the connecting seat 42 or the front housing 11. In addition, a ring-shaped bearing baffle 67 is provided on the side of the secondary planetary carrier 523 away from the secondary planetary gear 522, that is, on the side facing the third chamber. The bearing baffle 67 is used to limit the axial position of the first crossed roller bearing 65 on the secondary planetary carrier 523 and prevent it from moving axially or coming off.

[0027] Furthermore, an internal gear ring is provided in the third chamber, which is fixedly installed on the inner wall of the outer casing 14. The three-stage reducer assembly 53 includes a three-stage sun gear 531, multiple three-stage planetary gears 532, and a three-stage planetary carrier 533. The three-stage sun gear 531 is fixedly connected to the end of the hollow shaft 41 away from the cover 13, i.e., the output end. Therefore, its rotational speed and direction of rotation directly represent the final output of the joint module. The multiple three-stage planetary gears 532 are evenly arranged around the circumference of the three-stage sun gear 531 and mesh with the external teeth of the three-stage sun gear 531, while also meshing with the internal gear ring. The three-stage planetary carrier 533 rotatably mounts the multiple three-stage planetary gears 532 through the three-stage planetary gear shaft and serves as the final torque output carrier. The side of the three-stage planetary carrier 533 facing away from the three-stage planetary gears 532 is connected to or closely abuts against the fixed plate 15. The fixed plate 15 serves as a direct interface for external loads, thereby realizing torque output. To improve the bending stiffness and operational stability of the third-stage sun gear 531 under large meshing loads, a second thin-walled bearing 64 is provided at the free end of the third-stage sun gear 531 away from the connection with the hollow shaft 41, that is, the end that extends into the central hole of the third-stage planetary carrier 533. The inner ring of the second thin-walled bearing 64 forms an interference fit with the outer wall of the end of the third-stage sun gear 531, so that it rotates synchronously with the third-stage sun gear 531. The outer ring of the second thin-walled bearing 64 forms a clearance fit with the inner wall of the through hole in the middle of the third-stage planetary carrier 533 through which the sun gear passes, thereby providing auxiliary radial support for the free end of the third-stage sun gear 531 and effectively reducing its bending deformation.

[0028] Furthermore, to facilitate internal wiring, the motor rotor 31, the first-stage planetary carrier 513, the second-stage planetary carrier 523, and the third-stage planetary carrier 533 are each provided with a central through hole to allow the hollow shaft 41 to pass through. The third-stage sun gear 531 and the fixing plate 15 are also designed with central through holes to form a continuous hollow channel extending from the first chamber to the outside of the third chamber, together with the inner hole of the hollow shaft 41 that passes through the first and second chambers. This channel allows cables, air pipes, or hydraulic pipes to pass directly through the joint module, effectively avoiding the problem of external wiring entanglement and improving the robot's flexibility and reliability.

[0029] Furthermore, in order to support the third-stage planetary carrier 533, a second crossed roller bearing 66 is also provided in the third chamber. The inner ring of the second crossed roller bearing 66 forms an interference fit with the circumferential outer wall of the third-stage planetary carrier 533, and the outer ring of the second crossed roller bearing 66 forms a clearance fit with the inner wall of the outer casing 14.

[0030] This utility model also provides a robot, which includes the joint module in the above embodiments.

[0031] Compared with the prior art, the advantages of the joint module and robot of this utility model are as follows: This application achieves a compact layout of a three-chamber partition layout formed by the shell component and a through-hole hollow shaft design, which realizes the three-stage planetary reducer structure and dual encoders in the same axial space, and achieves high torque output, high-precision detection and non-entanglement of internal pipelines, meeting the stringent requirements of high-end application scenarios for the performance of the joint module. Specifically, the housing assembly forms a first chamber, a second chamber, and a third chamber distributed axially. A hollow shaft passes through the first and second chambers. The first chamber houses dual encoders, including an input encoder located at the front end of the motor and an output encoder located at the eccentric end of the input shaft of the transmission mechanism. The output encoder directly detects the real-time position of the reducer input shaft. Combined with the precise mounting structure of the main and auxiliary magnetic wheels, it cleverly avoids the spatial conflict problem of adding an encoder at the load end. It can achieve real-time compensation for transmission backlash and elastic deformation without significantly increasing the module size or complexity, establishing a quasi-closed-loop control mechanism for the output end motion, and completely solving the problem of single encoder feedback distortion. The second chamber houses the motor, and the first-stage and second-stage reducer assemblies are integrated inside the connecting seat in the second chamber. The first and second gear rings on its inner wall serve as fixed gear rings, achieving high transmission efficiency in a compact space. The third chamber houses a three-stage reducer assembly, effectively breaking through the torque density bottleneck of traditional single-stage reduction.

[0032] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0033] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this utility model application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model application should be determined by the appended claims.

Claims

1. An articulating module, comprising: The device includes a housing assembly and a hollow shaft, a motor, a transmission mechanism, and dual encoders disposed within the housing assembly. The housing assembly forms a first chamber, a second chamber, and a third chamber arranged sequentially along the axial direction. The hollow shaft passes through the first chamber and the second chamber. The first chamber is equipped with the dual encoder, and the second chamber is equipped with the motor. The motor includes a rotor sleeved on the hollow shaft and a stator disposed inside the rotor. The transmission mechanism includes a first-stage reducer assembly, a second-stage reducer assembly, and a third-stage reducer assembly connected in sequence. The first-stage reducer assembly and the second-stage reducer assembly are located in the second chamber, and the third-stage reducer assembly is located in the third chamber. The input end of the first-stage reducer assembly is connected to the rotor.

2. The joint module according to claim 1, characterized in that, The housing assembly includes a front housing, a rear housing, and a cover connected sequentially along the axial direction. The front housing is detachably connected to an outer shell and a fixing plate at one end away from the rear housing. The front housing and the rear housing enclose the second chamber, the rear housing and the cover enclose the first chamber, and the front housing, the outer shell, and the fixing plate enclose the third chamber.

3. The joint module according to claim 2, characterized in that The second chamber is provided with a connecting seat, one axial end of which is fixedly connected to the front housing, and the other axial end of which is provided with the stator. The connecting seat is provided with the first-stage reducer assembly and the second-stage reducer assembly. The rear housing is provided with a first ball bearing in the middle, and the rotor is interference-fitted with the inner ring of the first ball bearing through a connecting cover; The connecting seat has a bearing seat at one end where the stator is located. The bearing seat contains a first thin-walled bearing, and the rotor is interference-fitted with the inner ring of the first thin-walled bearing through a connecting cover.

4. The joint module of claim 1, wherein The dual encoder includes a circuit board, and an input encoder and an output encoder disposed on the circuit board. The circuit board is spaced apart from the motor. The input encoder is disposed opposite to the motor. The output encoder is disposed at the eccentric end of the input shaft of the transmission mechanism. The magnetic induction element in the output encoder is disposed opposite to the main and auxiliary magnetic wheels installed at the eccentric end of the input shaft.

5. The joint module according to claim 3, characterized in that, The first-stage reducer assembly includes a first-stage sun gear sleeved on the hollow shaft, a plurality of first-stage planet gears disposed around the first-stage sun gear, and a first-stage planet carrier for mounting the first-stage planet gears. The first-stage sun gear is connected to the output end of the rotor, and the inner wall of the connecting seat is provided with a first gear ring portion that meshes with the first-stage planet gears.

6. The joint module of claim 5, wherein, The secondary reducer assembly includes a secondary sun gear sleeved on the hollow shaft, a plurality of secondary planet gears disposed around the secondary sun gear, and a secondary planet carrier for mounting the secondary planet gears. The secondary sun gear is connected to the primary planet carrier, and the inner wall of the connecting seat is provided with a second gear ring portion that meshes with the secondary planet gears.

7. The joint module of claim 6, wherein, A second ball bearing is installed in the middle of the secondary planetary carrier, and the inner ring of the second ball bearing is interference-fitted with the end of the secondary sun gear away from the primary sun gear; the circumferential outer wall of the secondary planetary carrier is clearance-fitted with the inner wall of the through hole of the connecting seat or the front housing through a first crossed roller bearing; a bearing baffle is provided on the side of the secondary planetary carrier away from the secondary planet gear.

8. The joint module of claim 2, wherein, The third chamber is provided with an internal gear ring. The three-stage reducer assembly includes a three-stage sun gear connected to the end of the hollow shaft away from the cover, a plurality of three-stage planet gears arranged around the three-stage sun gear, and a three-stage planet carrier for mounting the three-stage planet gears. The three-stage planet gears mesh with the internal gear ring. The fixed plate is provided on the side of the three-stage planet carrier away from the three-stage planet gears. The third-stage sun gear is provided with a second thin-walled bearing at the end away from the hollow shaft. The inner ring of the second thin-walled bearing is interference-fitted with the outer wall of the end of the third-stage sun gear, and the outer ring of the second thin-walled bearing is clearance-fitted with the through hole in the middle of the third-stage planetary carrier.

9. The joint module according to claim 8, characterized in that, The third chamber is also provided with a second crossed roller bearing. The inner ring of the second crossed roller bearing is interference-fitted with the circumferential outer wall of the third-stage planetary carrier, and the outer ring of the second crossed roller bearing is clearance-fitted with the inner wall of the outer shell.

10. A robot, characterized in that The robot includes the joint module as described in any one of claims 1 to 9.

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