A joint module for a robot and a robot

Abstract

The present invention relates to a joint module for a robot and a robot, the joint module comprising: an outer rotor motor having a hollow area; a planetary reducer coaxially connected to the outer rotor motor and enabling the outer rotor motor to output power outward through the planetary reducer; a first encoder disposed in the hollow area of ​​the outer rotor motor and used to detect the output motion parameters of the outer rotor motor; an inner core shaft disposed in the planetary reducer and the outer rotor motor and comprising a first end connected to the planetary reducer and a second end penetrating into the hollow area of ​​the outer rotor motor; a second encoder disposed in the hollow area of ​​the outer rotor motor and capable of detecting the output motion parameters of the planetary reducer through the inner core shaft. The joint module has many advantages such as compact structure, small space occupation, high control accuracy, and strong power output.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robots. More specifically, the present invention relates to a joint module for a robot and a robot. Background Art

[0002] With the rapid development of science and technology, robotics technology has been widely used in many fields such as industrial automation, medical care, service and entertainment. In these applications, the robot's joint module, as one of its core components, plays a vital role in the robot's motion performance, control accuracy and overall stability.

[0003] The joint modules used in traditional robots are mostly ordinary integrated designs, that is, the motor, the planetary reducer connected to the motor, and the encoder for detecting the output motion parameters of the motor and / or the planetary reducer (such as speed and angle) are arranged in a row. This design not only leads to a large structure and occupies a large space, but also the motors used are mostly inner rotor motors, which have the defect of low output power. Therefore, there is an urgent need for a new type of joint module that can solve the above-mentioned problems of traditional joint modules and provide strong support for the performance improvement and application expansion of robots. Summary of the invention

[0004] In order to solve one or more of the technical problems mentioned above, the present invention provides a joint module for a robot and a robot including the joint module, which has many advantages such as compact structure, small space occupation, high control precision, strong power output, etc., providing strong support for the performance improvement and application expansion of the robot.

[0005] According to a first aspect of the present invention, a joint module for a robot is provided, comprising: an outer rotor motor having a hollow area; a planetary reducer coaxially connected to the outer rotor motor and enabling the outer rotor motor to output power outward through the planetary reducer; a first encoder, which is disposed in the hollow area of ​​the outer rotor motor and is used to detect the output motion parameters of the outer rotor motor; an inner core shaft, which is disposed in the planetary reducer and the outer rotor motor and comprises a first end connected to the planetary reducer and a second end penetrating into the hollow area of ​​the outer rotor motor and passing through the first encoder; a second encoder, which is disposed in the hollow area of ​​the outer rotor motor and can detect the output motion parameters of the planetary reducer through the inner core shaft.

[0006] According to a second aspect of the present invention, there is provided a robot comprising a joint module as described in the first aspect of the present invention.

[0007] In the joint module provided above and the robot including the joint module, the joint module cleverly integrates the outer rotor motor, the planetary reducer, the first encoder and the second encoder, and uses the hollow area of ​​the outer rotor motor for the built-in installation of the dual encoder, which greatly saves space, making the structure of the entire joint module compact and small in size, which is conducive to reducing its space occupancy rate. Compared with traditional technology, under the condition that the module volume remains consistent, the joint module of the outer rotor motor used shows a stronger power output than the inner rotor motor, which is conducive to meeting the miniaturization requirements of the robot. In addition, the configuration of the dual encoder used in the joint module ensures that the joint module can achieve high-precision control and instant feedback during operation, which can improve the control accuracy and stability of the robot's movement. Therefore, the joint module has many advantages such as compact structure, small footprint, high control accuracy, and strong power output, which can effectively provide strong support for the performance improvement and application expansion of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0009] Figure 1 A three-dimensional diagram of a joint module for a robot according to an embodiment of the present invention;

[0010] Figure 2 Shows Figure 1 An exploded view of the joint module shown;

[0011] Figure 3 Shows Figure 1 A full cutaway view of the joint module shown;

[0012] Figure 4 Shows Figure 1 A half-section view of the outer rotor motor and the inner core shaft of the joint module shown;

[0013] Figure 5 Shows Figure 1 A full cutaway view of the motor housing of the joint module shown;

[0014] Figure 6 Shows Figure 1 A half-section view of the planetary reducer and the inner core shaft of the joint module shown;

[0015] Figure 7 Shows Figure 1 Side view of the planetary reducer of the joint module shown.

[0016] Description of reference numerals: 1. outer rotor motor; 11. motor housing; 111. power section peripheral wall; 112. power section side wall; 1121. assembly port; 113. inner cylinder structure; 1131. first annular protrusion; 1132. second annular protrusion; 114. hollow area; 12. buckle cover; 13. inner stator; 14. outer rotor; 15. rotor frame; 16. first bearing; 17. second bearing; 3. first encoder; 31. first encoder magnetic part; 32. first encoder induction part; 321. first axial bolt; 4. second encoder; 41 , the second encoder magnetic part; 42, the second encoder sensing part; 5, the adapter sleeve; 51, the third axial bolt; 6, the adapter ring; 61, the second axial bolt; 7, the inner core shaft; 2, the planetary reducer; 21, the reducer housing; 211, the peripheral wall of the reduction section; 212, the side wall of the reduction section; 22, the output disk; 23, the sun gear; 24, the planetary carrier; 241, the first frame; 242, the second frame; 25, the planetary gear; 26, the inner ring gear; 27, the third bearing; 28, the fastening bolt; 29, the locking bolt; 30, the fourth bearing; 100, the joint module. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0018] Figure 1 A three-dimensional diagram of a joint module 100 for a robot according to an embodiment of the present invention; Figure 2 Shows Figure 1 FIG. 1 is an exploded view of the joint module 100. Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a joint module 100 for a robot, which is generally widely used in the arms and / or legs of humanoid robots and non-humanoid robots to provide power for the movement of the arms and / or legs to ensure that the robot can simulate various actions of humans or animals, such as walking, running, grasping, carrying, etc.

[0019] The joint module 100 includes an outer rotor motor 1, a planetary reducer 2, a first encoder 3, an inner core shaft 7 and a second encoder 4. The outer rotor motor 1 has a hollow area 114 to facilitate the storage task. The planetary reducer 2 is coaxially connected to the outer rotor motor 1, so that the outer rotor motor 1 can output power to the outside through the planetary reducer 2 to achieve the corresponding movement or action of the robot. The first encoder 3 is arranged in the hollow area 114 of the outer rotor motor 1, and is used to monitor the output motion parameters of the outer rotor motor 1. The inner core shaft 7 is arranged in the planetary reducer 2 and the outer rotor motor 1, and includes a first end connected to the planetary reducer 2 and a second end passing through the hollow area 114 of the outer rotor motor 1. The second encoder 4 is also arranged in the hollow area 114 of the outer rotor motor 1, and can detect the output motion parameters of the planetary reducer 2 through the inner core shaft 7.

[0020] According to the present invention, the joint module 100 integrates the outer rotor motor 1, the planetary reducer 2, the first encoder 3 and the second encoder 4 ingeniously, and utilizes the hollow area 114 of the outer rotor motor 1 to carry out the built-in installation of the first encoder 3 and the second encoder 4, which greatly saves space, making the whole joint module 100 compact and small in size, which is conducive to reducing its space occupancy rate. Compared with traditional technology, under the condition that the module volume remains consistent, the joint module 100 of the outer rotor motor 1 used shows a more powerful power output compared to the inner rotor motor, which is conducive to meeting the needs of robot miniaturization and compactness. In addition, the configuration of the first encoder 3 and the second encoder 4 used by the joint module 100 ensures that the joint module 100 can realize high-precision control and instant feedback when running, and can effectively improve the control accuracy and stability of the robot motion. Therefore, the joint module 100 has many advantages such as compact structure, small footprint, high control accuracy, strong power output, etc., which can effectively provide strong support for the performance improvement and application expansion of the robot.

[0021] Next, combine Figures 3 to 5 The specific structures of the outer rotor motor 1, the first encoder 3 and the second encoder 4 are exemplarily described. Figure 3 , Figure 4 and Figure 5As shown, the outer rotor motor 1 includes a motor housing 11, which includes a power section peripheral wall 111 connected to the planetary reducer 2, a power section side wall 112 connected to the end of the power section peripheral wall 111 away from the planetary reducer 2, and an inner cylinder structure 113 concentrically arranged in the power section peripheral wall 111 and connected to the power section side wall 112. The outer rotor motor 1 also includes an inner stator 13 arranged between the power section peripheral wall 111 and the inner cylinder structure 113 and fixedly connected to the inner cylinder structure 113, an outer rotor 14 arranged between the power section peripheral wall 111 and the inner stator 13 and rotatably sleeved outside the inner stator 13, and a rotor frame 15 sleeved outside the inner core shaft 7 and connected to the planetary reducer 2 and the outer rotor 14. Among them, the rotor frame 15 includes a shaft sleeve portion sleeved outside the inner core shaft 7 and connected to the planetary reducer 2, and a turntable portion extending radially outward from the shaft sleeve portion and fixedly connected to the outer rotor 14. Optionally, the turntable portion of the rotor frame 15 has at least one second weight-reducing hole. The inner cavity of the inner cylinder structure 113 is the hollow area 114 mentioned above. When in use, the inner stator 13 needs to be powered on to cause the inner stator 13 to generate a magnetic field and drive the outer rotor 14 to rotate relative to the inner stator 13, ensuring that the outer rotor 14 can drive the planetary reducer 2 to run through the rotor frame 15 and output kinetic energy to the outside.

[0022] like Figure 3 and Figure 4 As shown, the first encoder 3 mentioned above includes a first encoder magnetic part 31 that is rotatably sleeved outside the inner core shaft 7 and fixed on the sleeve part of the rotor frame 15, and a first encoder sensing part 32 that is sleeved outside the first encoder magnetic part 31 and fixedly connected to the inner cylinder structure 113 of the motor housing 11. The first encoder sensing part 32 mainly includes a Hall sensor or an equivalent sensing element, which can respond to the magnetic field changes of the first encoder magnetic part 31 and generate key information reflecting the speed and angle. When in use, the rotor frame 15 serves as the output side of the outer rotor motor 1, and the first encoder magnetic part 31 is directly or indirectly fixed on the sleeve part of the rotor frame 15, ensuring that the first encoder sensing part 32 can accurately sense the movement of the first encoder magnetic part 31 relative to it, and obtain the rotation parameters of the rotor frame 15 (equivalent to the output motion parameters of the outer rotor motor 1) based on the sensing results, such as the speed, angle and other key information.

[0023] As a preferred example, the joint module 100 also includes an adapter sleeve 5 rotatably sleeved on the outside of the inner core shaft 7, the adapter sleeve 5 includes a large diameter portion coaxially connected to the shaft sleeve portion of the rotor frame 15 and a small diameter portion coaxially connected to the large diameter portion, and the first encoder magnetic portion 31 is fixedly sleeved on the small diameter portion of the adapter sleeve 5. The stepped structure formed by the large diameter portion and the small diameter portion of the adapter sleeve 5 can achieve the purpose of optimizing the position and size of the first encoder 3, ensuring that the first encoder 3 can be installed in the hollow area 114 of the outer rotor motor 1 more compactly and efficiently, thereby further improving the structural compactness of the joint module 100.

[0024] like Figure 3 and Figure 4 As shown, the second encoder 4 includes a second encoder magnetic part 41 fixed on the second end of the inner core shaft 7, and a second encoder sensing part 42 fixed in the inner cylinder structure 113 of the motor housing 11. The second encoder magnetic part 41 and the second encoder sensing part 42 are arranged to be spaced apart in the radial or axial direction of the inner core shaft 7, so that the second encoder sensing part 42 can sense the movement of the second encoder magnetic part 41 relative to it, and obtain the rotation parameters of the inner core shaft 7 based on the sensing result. Since the inner core shaft 7 is connected to the planetary reducer 2 and can directly reflect the rotation of the output side of the planetary reducer 2, the second encoder 4 can detect the output motion parameters of the planetary reducer 2 through the inner core shaft 7, such as key information such as rotation speed and rotation angle.

[0025] In this embodiment, although the second encoder sensing part 42 can be directly arranged in the inner cylinder structure 113 of the motor housing 11, it is preferred to add an adapter ring 6 between the two to reduce the size requirements of the second encoder sensing part 42. Specifically, the joint module 100 may also include an adapter ring 6 fixedly connected to the inner cylinder structure 113 of the motor housing 11 and adjacent to the second end of the inner core shaft 7, the second encoder magnetic part 41 is arranged in the second end of the inner core shaft 7, and the second encoder sensing part 42 is arranged in the adapter ring 6 and opposite to the second encoder magnetic part 41. Preferably, the adapter ring 6 has at least one first weight-reducing hole, and at least one first weight-reducing hole is used to allow the wire assembly of the first encoder sensing part 32 to pass through it. The introduction of the adapter ring 6 is conducive to the wire assembly of the first encoder sensing part 32 being led out to the other side of the second encoder 4, or even to the outside of the motor housing 11, which can effectively avoid the need to separately open a wire hole on the inner cylinder structure 113 of the motor housing 11, which is conducive to reducing the manufacturing cost of the joint module 100.

[0026] like Figure 4 and Figure 5As shown, the power section side wall 112 of the motor housing 11 includes an assembly opening 1121 for opening the inner cavity of the inner cylinder structure 113, and the outer rotor motor 1 includes a buckle cover 12 provided on the power section side wall 112 of the motor housing 11 and at least buckled with the assembly opening 1121. The inner circumferential surface of the inner cylinder structure 113 of the motor housing 11 is provided with a first annular protrusion 1131 and a second annular protrusion 1132 closer to the assembly opening 1121 than the first annular protrusion 1131. The first encoder sensing part 32 is fixed to the side of the first annular protrusion 1131 facing the assembly opening 1121 by a first axial bolt 321 passing through the first annular protrusion 1131 and screwed into the first annular protrusion 1131. Similarly, the adapter ring 6 is fixed to the side of the second annular protrusion 1132 facing the assembly opening 1121 by a second axial bolt 61 passing through the second annular protrusion 1132 and screwed into the second annular protrusion 1132. On this basis, since the inner diameter of the second annular protrusion 1132 is larger than the inner diameter of the first annular protrusion 1131, on the one hand, it can ensure that the first encoder sensing part 32 and the adapter ring 6 for installing the second encoder sensing part 42 can be placed in the hollow area 114 of the joint module 100 in sequence, and on the other hand, it is convenient for assemblers to easily insert tools such as screwdrivers from the assembly port 1121 into the inner cavity of the inner tube structure 113, and easily and reliably install the first encoder sensing part 32 and the second encoder sensing part 42 into the joint module 100.

[0027] At the same time, the adapter sleeve 5 is fixed to the side of the rotor frame 15 facing the assembly opening 1121 by the third axial bolt 51 that passes through the shaft sleeve portion of the rotor frame 15 and is screwed into the large diameter portion of the adapter sleeve 5, and the first encoder sensing portion 32 is tightened to the outside of the adapter sleeve 5 by the radial bolt that is threadedly matched therewith. In other words, the head of the third axial bolt 51 is set to be away from the assembly opening 1121 of the power section side wall 112. The operator needs to install the third axial bolt 51 into the outer rotor motor 1 from the side where the rotor frame 15 is located, and use the third axial bolt 51 to complete the fixing of the adapter sleeve 5 on the rotor frame 15. This method ensures that the first encoder magnetic portion 31 can be fixed to the outside of the adapter sleeve 5 outside the outer rotor motor 1, and avoids the embarrassing situation of tightening the first encoder magnetic portion 31 to the outside of the adapter sleeve 5 in the outer rotor motor 1 without suitable tools.

[0028] In this embodiment, the outer rotor motor 1 may further include a first bearing 16 disposed between the sleeve portion of the rotor frame 15 and the inner core shaft 7, and a second bearing 17 disposed between the sleeve portion of the rotor frame 15 and the inner cylinder structure 113 of the motor housing 11. The first bearing 16 can improve the wear, vibration and noise of the sleeve portion of the rotor frame 15 and the inner core shaft 7 during the rotation process, and the second bearing 17 can improve the wear, vibration and noise of the rotor frame 15 during the rotation process. The cooperation of the two ensures that the outer rotor motor 1 can maintain excellent performance under high speed and high load conditions, and provides a stable and reliable power output for the joint module 100, thereby enhancing the overall motion control capability and work efficiency of the robot.

[0029] Next, combine Figure 3 , Figure 6 and Figure 7 The specific structure of the planetary reducer 2 is exemplified. Figure 3 and Figure 6 As shown, the planetary reducer 2 mainly includes a reducer housing 21, an output disc 22, a sun gear 23, a planet carrier 24, a plurality of planetary gears 25 and an inner gear ring 26. The reducer housing 21 includes a reduction section peripheral wall 211 that is connected to the power section peripheral wall 111 of the motor housing 11, and a reduction section side wall 212 that is connected to the side of the reduction section peripheral wall 211 away from the motor housing 11 and is annular. The output disc 22 serves as the output side of the planetary reducer 2, which is rotatably arranged in the reduction section side wall 212 of the reducer housing 21 and is coaxially connected to the inner core shaft 7. The sun gear 23 includes a main shaft portion and a sun gear body provided on the main shaft portion and having a tooth structure. The main shaft portion is rotatably sleeved outside the inner core shaft 7 and can be driven to be inserted into the shaft sleeve portion of the rotor frame 15. The planet carrier 24 is sleeved outside the main shaft of the sun gear 23, and includes a first frame 241 provided on one side of the sun gear 23 and a second frame 242 provided on the other side of the sun gear 23 and fixedly connected to the output disc 22. Each planetary gear 25 includes a planetary shaft and a planetary gear body rotatably mounted between the first frame 241 and the second frame 242 through the planetary shaft. The inner gear ring 26 is fixed to the inner circumference of the reduction section circumferential wall 211 of the reducer housing 21, and meshes with the planetary gear body of each planetary gear 25.

[0030] In order to realize the transmission of power from the outer rotor motor 1 to the planetary reducer 2, the connection between the main shaft portion of the sun gear 23 and the sleeve portion of the rotor frame 15 may include a key connection, or the cross section of the main shaft portion of the sun gear 23 and the sleeve portion of the rotor frame 15 at the mating position is polygonal or oblong. When in use, the rotor frame 15 of the outer rotor motor 1 can drive the sun gear 23 to rotate, and the sun gear 23 drives the planetary gear 25 and the planetary frame 24 to generate corresponding rotation in the reducer housing 21, and then the rotating planetary frame 24 drives the output disc 22 to rotate and use the output disc 22 to output kinetic energy outward.

[0031] At the same time, the planetary reducer 2 may also include a third bearing 27 and a fourth bearing 30. Among them, the third bearing 27 is preferably a cross roller bearing suitable for bearing both radial loads and axial loads, thereby effectively improving the load-bearing capacity and stability of the planetary reducer 2. The third bearing 27 is arranged between the output disc 22 and the reduction section side wall 212 of the reducer housing 21. The reduction section side wall 212 of the reducer housing 21 is connected to the inner gear ring 26 by fastening bolts 28, and an outer ring positioning groove for accommodating, positioning and clamping the third bearing 27 is provided at the joint between the two. A positioning step for accommodating and positioning the inner ring of the third bearing 27 is provided at the joint between the output disc 22 and the second frame 242, and a locking bolt 29 on the second frame 242 that can press the inner ring of the third bearing 27 against the positioning step is provided, see Figure 7 The fourth bearing 30 is disposed between the second frame body 242 of the planetary frame 24 and the main shaft portion of the sun gear 23 to enhance the supporting capacity and running stability of the entire system.

[0032] In an embodiment not shown, a robot is provided, which includes the joint module mentioned above and inherits the beneficial effects of the joint module, namely, it has many advantages such as compact structure, small space occupation, high control accuracy, and strong power output.

[0033] In the above description of the present application, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" and the like should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in the present application, those skilled in the art can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0034] According to the above description of the present application, those skilled in the art may also understand that the terms used below, such as "axial", "radial" and other terms indicating orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings of the present application, and are only for the purpose of facilitating the explanation of the scheme of the present invention and simplifying the description, rather than explicitly or implicitly indicating that the devices or elements involved must have the specific orientation, be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms cannot be understood or interpreted as limitations on the scheme of the present invention.

[0035] In addition, the terms "first" or "second" used in this application to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0036] Although multiple embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art may conceive of many changes, modifications, and alternatives without departing from the thought and spirit of the present invention. It should be understood that in the process of practicing the present invention, various alternatives to the embodiments of the present invention described herein may be adopted. The appended claims are intended to define the scope of protection of the present invention, and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A joint module for a robot, characterized in that: It includes: An outer rotor motor having a hollow region; A planetary reducer, which is coaxially connected to the outer rotor motor and enables the outer rotor motor to output power to the outside through the planetary reducer; A first encoder, which is disposed in a hollow area of ​​the outer rotor motor and is used to detect output motion parameters of the outer rotor motor; an inner core shaft, which is disposed in the planetary reducer and the outer rotor motor and includes a first end connected to the planetary reducer and a second end penetrating into a hollow area of ​​the outer rotor motor; as well as A second encoder is provided in the hollow area of ​​the outer rotor motor and can detect the output motion parameters of the planetary reducer through the inner core shaft; The outer rotor motor comprises: A motor housing, comprising a power section peripheral wall connected to the planetary reducer, a power section side wall connected to an end of the power section peripheral wall away from the planetary reducer, and an inner cylinder structure concentrically arranged in the power section peripheral wall and connected to the power section side wall, wherein the hollow area is an inner cavity of the inner cylinder structure; An inner stator is disposed between the peripheral wall of the power section and the inner cylinder structure and is fixedly connected to the inner cylinder structure; An outer rotor, which is disposed between the peripheral wall of the power section and the inner stator and is rotatably sleeved outside the inner stator; and The rotor frame comprises a shaft sleeve portion which is sleeved outside the inner core shaft and connected to the planetary reducer, and a turntable portion which extends outwardly from the shaft sleeve portion along a radial direction and is fixedly connected to the outer rotor.

2. The joint module according to claim 1, characterized in that: The first encoder includes a first encoder magnetic part that is rotatably mounted outside the inner core shaft and fixed on the shaft sleeve part of the rotor frame, and a first encoder sensing part that is mounted outside the first encoder magnetic part and fixedly connected to the inner cylinder structure of the motor housing, wherein the first encoder sensing part can sense the movement of the first encoder magnetic part relative to it, and obtain the output motion parameters of the outer rotor motor based on the sensing results.

3. The joint module according to claim 2, characterized in that: The second encoder includes a second encoder magnetic part fixed on the second end of the inner core shaft, and a second encoder sensing part fixed in the inner cylinder structure of the motor housing. The second encoder magnetic part and the second encoder sensing part are arranged to be spaced apart in the radial or axial direction of the inner core shaft, so that the second encoder sensing part can sense the movement of the second encoder magnetic part relative to it, and obtain the output motion parameters of the planetary reducer based on the sensing results.

4. The joint module according to claim 3, characterized in that: It also includes an adapter sleeve rotatably sleeved outside the inner core shaft, the adapter sleeve includes a large diameter portion coaxially connected to the shaft sleeve portion of the rotor frame and a small diameter portion coaxially connected to the large diameter portion, and the first encoder magnetic portion is fixedly sleeved on the small diameter portion of the adapter sleeve.

5. The joint module according to claim 4, characterized in that: It also includes an adapter ring fixedly connected to the inner cylinder structure of the motor housing and adjacent to the second end of the inner core shaft, the second encoder magnetic part is arranged in the second end of the inner core shaft, and the second encoder sensing part is arranged in the adapter ring and opposite to the second encoder magnetic part.

6. The joint module according to claim 5, characterized in that: The adapter ring has at least one first weight-reducing hole, and the at least one first weight-reducing hole is used to allow a wire assembly of the first encoder sensing part to pass therethrough.

7. The joint module according to claim 6, characterized in that: The power section side wall of the motor housing includes an assembly port for opening the inner cavity of the inner cylinder structure, and the outer rotor motor also includes a buckle cover arranged on the power section side wall of the motor housing and at least buckled with the assembly port. A first annular protrusion and a second annular protrusion closer to the assembly port than the first annular protrusion are provided on the inner circumferential surface of the inner cylinder structure of the motor housing. The first encoder sensing part is fixed to the side of the first annular protrusion facing the assembly port by a first axial bolt passing through itself and screwed into the first annular protrusion, and the adapter ring is fixed to the side of the second annular protrusion facing the assembly port by a second axial bolt passing through itself and screwed into the second annular protrusion, wherein the inner diameter of the second annular protrusion is larger than the inner diameter of the first annular protrusion, and the adapter sleeve is fixed to the side of the rotor frame facing the assembly port by a third axial bolt passing through the shaft sleeve portion of the rotor frame and screwed into the large diameter portion of the adapter sleeve, and the first encoder magnetic part is fixed to the outside of the adapter sleeve by a radial bolt threadedly matched therewith.

8. The joint module according to claim 1, characterized in that: The rotating disk portion of the rotor frame has at least one second weight-reducing hole.

9. The joint module according to claim 1, characterized in that: The outer rotor motor further includes a first bearing disposed between the shaft sleeve portion of the rotor frame and the inner core shaft.

10. The joint module according to claim 1, characterized in that: The outer rotor motor is also provided with a second bearing between the shaft sleeve portion of the rotor frame and the inner cylinder structure of the motor housing.

11. The joint module according to claim 1, characterized in that: The planetary reducer comprises: The reducer housing comprises a reduction section peripheral wall connected to the power section peripheral wall of the motor housing, and a reduction section side wall connected to a side of the reduction section peripheral wall away from the motor housing and presenting an annular shape; An output disc, which is rotatably disposed in the side wall of the reduction section of the reducer housing and is coaxially connected to the inner core shaft; A sun gear, comprising a main shaft portion which is sleeved outside the inner core shaft in a gap manner and can be driven to be inserted into the shaft sleeve portion of the rotor frame, and a sun gear body arranged on the main shaft portion; A planet carrier, which is sleeved outside the main shaft of the sun gear and includes a first carrier body arranged on one side of the sun gear and a second carrier body arranged on the other side of the sun gear and fixedly connected to the output disc; a plurality of planetary gears, each of which comprises a planetary shaft and a planetary gear body rotatably mounted between the first frame and the second frame via the planetary shaft and meshing with the sun gear body; and The inner gear ring is fixedly arranged on the inner circumferential surface of the peripheral wall of the reduction section of the reducer housing and meshes with the planetary gear bodies of each of the planetary gears.

12. The joint module according to claim 11, characterized in that: The planetary reducer also includes a third bearing arranged between the output disk and the side wall of the reduction section of the reducer housing, the side wall of the reduction section of the reducer housing is connected to the inner gear ring by fastening bolts, and a positioning groove for accommodating, positioning and clamping the outer ring of the third bearing is provided at the junction of the side wall of the reduction section of the reducer housing and the inner gear ring, a positioning step for accommodating and positioning the inner ring of the third bearing is provided at the junction of the output disk and the second frame, and the inner ring of the third bearing can be pressed against a locking bolt in the positioning step on the second frame, wherein the third bearing is a cross roller bearing.

13. The joint module according to claim 11, characterized in that: It also includes a fourth bearing disposed between the second frame and the main shaft portion of the sun gear.

14. The joint module according to claim 11, characterized in that: The cross section of the main shaft portion of the sun gear and the sleeve portion of the rotor frame at the matching position is polygonal or oblong.

15. A robot, characterized in that: Comprising a joint module as described in any one of claims 1 to 14.

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