Joint power module and humanoid robot

Abstract

According to the joint power module and the humanoid robot, through compact and integrated design, the space utilization rate of the robot and the dynamic performance of the robot can be effectively improved. The harmonic reducer steel wheel assembly comprises a harmonic reducer steel wheel and a crossed roller bearing, and the harmonic reducer steel wheel and the crossed roller bearing are integrally formed. The motor assembly is installed in the joint shell, the motor assembly is arranged in the harmonic reducer flexible gear, the motor assembly is connected with the wave generator, the wave generator is connected with the harmonic reducer flexible gear, the harmonic reducer flexible gear is connected with the harmonic reducer steel wheel assembly, and the harmonic reducer steel wheel assembly is connected with the harmonic reducer steel wheel assembly. The harmonic reducer steel wheel assembly is connected with the output flange; a placing area is arranged between the harmonic reducer steel wheel assembly and the output flange, and the high-speed end encoder and the low-speed end encoder are placed in the placing area.

Description

Technical Field

[0001] This application relates to the field of intelligent machinery technology, and particularly to a joint power module and a humanoid robot. Background Art

[0002] In the field of robots, as a core component, the performance of the joint power module directly affects the operating efficiency, precision, and reliability of the entire robot. Traditional joint power modules include components such as harmonic reducers, motors, and drivers. The coordinated work of these components realizes the precise control and efficient power transmission of the robot joints.

[0003] However, currently, the joint power module generally adopts the method of separately assembling the harmonic reducer and the crossed roller bearing. This split assembly method not only increases the complexity and cost of assembly, but also may affect the overall rigidity and precision of the joint due to the fitting clearance between components. Moreover, the motor is installed outside the joint power module, resulting in a relatively large overall size and increased weight of the robot joint, making the overall adaptability of the robot low and unable to perform highly responsive actions, directly affecting the dynamic performance of the robot. Summary of the Invention

[0004] This application provides a joint power module and a humanoid robot to solve the above technical problems.

[0005] In a first aspect of this application, a joint power module is provided, including: a joint housing, a motor assembly, a wave generator, a harmonic reducer flexspline, a harmonic reducer steel gear assembly, an output flange, a high-speed encoder, and a low-speed encoder; The harmonic reducer steel gear assembly includes a harmonic reducer steel gear and a crossed roller bearing, and the harmonic reducer steel gear and the crossed roller bearing are integrally formed; The motor assembly is installed in the joint housing, the motor assembly is arranged inside the harmonic reducer flexspline, the motor assembly is connected to the wave generator, the wave generator is connected to the harmonic reducer flexspline, the harmonic reducer flexspline is connected to the harmonic reducer steel gear assembly, and the harmonic reducer steel gear assembly is connected to the output flange; A placement area is provided between the harmonic reducer steel gear assembly and the output flange, and the high-speed encoder and the low-speed encoder are placed in the placement area.

[0006] Optionally, the joint power module further includes a joint rear cover, a skeleton oil seal, and a hollow tube. The joint rear cover is arranged on one side of the joint housing, the harmonic reducer steel gear assembly is arranged on the other side of the joint housing, the hollow tube is arranged in the joint housing, and the skeleton oil seal is arranged on one side of the hollow tube.

[0007] Optionally, the hollow tube is inserted into the flexible gear of the harmonic reducer. A support bearing and a high-speed support bearing are arranged in the flexible gear of the harmonic reducer. The support bearing and the high-speed support bearing are arranged outside the hollow tube, and a preset distance is arranged between the support bearing and the high-speed support bearing.

[0008] Optionally, the motor assembly includes a motor stator and a motor rotor. Both the motor stator and the motor rotor are arranged in the flexible gear of the harmonic reducer. Both the motor stator and the motor rotor are arranged around the hollow tube. The motor rotor is arranged in the motor stator, and the motor rotor is connected to the wave generator.

[0009] Optionally, the motor stator is installed in the flexible gear of the harmonic reducer through a motor stator fixing member.

[0010] Optionally, an encoder drive board is installed in the placement area. The encoder drive board is connected to the high-speed encoder and the low-speed encoder.

[0011] Optionally, a joint drive board is installed in the joint rear cover.

[0012] Optionally, the connection between the output flange and the harmonic reducer steel gear assembly is a detachable connection, and an O-ring seal is arranged between the output flange and the harmonic reducer steel gear assembly.

[0013] Optionally, the joint power module further includes a torque sensor, and the torque sensor is connected to the output flange.

[0014] In a second aspect of the present application, a humanoid robot is provided, and the joint power module as described in the first aspect and any one of the first aspects is installed on the humanoid robot.

[0015] It can be seen from the above technical solutions that the present application has the following advantages: 1. By integrally forming the harmonic reducer steel gear and the crossed roller bearing, and by placing the motor assembly inside the flexible gear of the harmonic reducer, the overall size and weight of the joint power module can be effectively reduced. The compact design enables the joint power module to output a larger torque while having a smaller volume and weight, thereby improving the output torque density of the joint power module.

[0016] 2. The integrally formed harmonic reducer steel gear assembly can reduce the fitting clearance between components, improve the rigidity and stability of the joint, effectively reduce the influence of the deformation and vibration of the flexible gear cup of the harmonic reducer on the torque sensor, thereby reducing the noise of the torque output signal, enabling the joint module to respond to commands faster, and improving the dynamic performance of the robot.

[0017] 3. Compact integration of key components such as the motor assembly, wave generator, flexible gear of the harmonic reducer, and steel wheel assembly of the harmonic reducer within the joint housing effectively reduces the volume of the joint power module, and the highly integrated structure improves the utilization rate of the internal space of the joint power module.

[0018] 4. Through compact and integrated design, this application effectively improves the space utilization rate of the robot and the dynamic performance of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the overall mechanism of the joint power module provided by this application; Figure 2 It is a schematic cross-sectional view of the structure of the joint power module provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] In this application, the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. are based on the orientation or positional relationships shown in the drawings, and are only used to illustrate the relative positional relationships between various components or constituent parts, without particularly limiting the specific installation orientations of various components or constituent parts.

[0022] Moreover, in addition to being able to represent orientation or positional relationships, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0023] In addition, the terms "installed", "set", "provided with", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements, or constituent parts. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0024] In addition, the structures, proportions, sizes, etc. depicted in the drawings of the present application are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present application. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the efficacy and purpose that the present application can achieve, should still fall within the scope covered by the technical content disclosed in the present application.

[0025] Next, the technical solutions in the present application will be clearly and completely described with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0026] Currently, the joint power modules generally adopt the method of separately assembling the harmonic reducer and the crossed roller bearing. This split-type assembly method not only increases the complexity and cost of assembly, but also may affect the overall rigidity and accuracy of the joint due to the fitting clearance between components. Moreover, the motor is externally installed in the joint power module, resulting in a relatively large overall size and increased weight of the robot's joint, making the overall adaptability of the robot lower and unable to perform highly responsive actions, directly affecting the dynamic performance of the robot.

[0027] Based on this, the present application provides a joint power module and a humanoid robot, which can effectively improve the space utilization rate of the robot and the dynamic performance of the robot through compact and integrated design.

[0028] Please refer to Figures 1 to 2 , the first aspect of the present application provides a joint power module, including: a joint housing 1, a motor assembly, a wave generator 13, a harmonic reducer flexspline 15, a harmonic reducer steel gear assembly 14, an output flange 9, a high-speed encoder 7, and a low-speed encoder 8; the harmonic reducer steel gear assembly 14 includes a harmonic reducer steel gear and a crossed roller bearing, and the harmonic reducer steel gear and the crossed roller bearing are integrally formed; the motor assembly is installed in the joint housing 1, the motor assembly is disposed inside the harmonic reducer flexspline 15, the motor assembly is connected to the wave generator 13, the wave generator 13 is connected to the harmonic reducer flexspline 15, the harmonic reducer flexspline 15 is connected to the harmonic reducer steel gear assembly 14, the harmonic reducer steel gear assembly 14 is connected to the output flange 9; a placement area is provided between the harmonic reducer steel gear assembly 14 and the output flange 9, and the high-speed encoder 7 and the low-speed encoder 8 are placed in the placement area.

[0029] First, introduce the functions and roles of each component of this application: Joint housing 1: As the protective housing and support structure of the entire joint power module, it facilitates the connection and integration of the joint power module with other components.

[0030] Motor assembly: It is the power source of the joint power module, responsible for converting electrical energy into mechanical energy, generating torque through rotation. The torque output of the motor assembly is transmitted to the harmonic reducer through the wave generator 13 to drive the entire joint power module to work.

[0031] Wave generator 13: It is one of the key components of the harmonic reducer, responsible for converting the rotational motion of the motor assembly into harmonic motion. The special shape of the wave generator 13 causes the flexible gear 15 of the harmonic reducer to produce elastic deformation, so as to generate relative motion with the steel gear assembly 14 of the harmonic reducer, achieving the deceleration effect.

[0032] Flexible gear 15 of harmonic reducer: It works in cooperation with the wave generator 13 to transmit torque through elastic deformation. The flexible design of the flexible gear 15 of the harmonic reducer enables the joint power module to maintain high precision and stability while transmitting torque.

[0033] Steel gear assembly 14 of harmonic reducer: It includes a steel gear of the harmonic reducer and a crossed roller bearing, which are integrally formed. Among them, the steel gear of the harmonic reducer is used as the fixed component of the harmonic reducer, and it cooperates with the flexible gear 15 of the harmonic reducer to achieve speed reduction transmission. The crossed roller bearing provides radial and axial support to ensure the stable operation of the steel gear of the harmonic reducer.

[0034] Among them, after the steel gear of the harmonic reducer and the crossed roller bearing are integrally formed, the mating clearance between components can be effectively reduced, improving the rigidity and stability of the joint power module. At the same time, the load-bearing capacity of the crossed roller bearing can determine the maximum load capacity of the entire joint power module.

[0035] Output flange 9: Connects the steel gear assembly 14 of the harmonic reducer and the external load, and transmits torque to the load.

[0036] High-speed encoder 7 and low-speed encoder 8: They are used to detect the rotational speed and position of the motor assembly and the output flange 9. Among them, the encoder provides accurate feedback signals for the closed-loop control and precision adjustment of the joint power module. The high-speed encoder 7 monitors the rotational speed and position of the motor assembly to ensure that the motor assembly operates along a predetermined trajectory. The low-speed encoder 8 monitors the rotational speed and position of the output flange 9 to reflect the actual motion state of the joint power module.

[0037] In practical applications, after the motor assembly is powered on, it rotates and generates torque. The torque is transmitted to the flexible gear 15 of the harmonic reducer through the wave generator 13, causing the flexible gear 15 of the harmonic reducer to undergo elastic deformation. The deformation of the flexible gear 15 of the harmonic reducer interacts with the rigid gear of the harmonic reducer. Since the rigid gear of the harmonic reducer is fixed, it forces the flexible gear 15 of the harmonic reducer to generate a rotational motion relative to the rigid gear, thereby achieving speed reduction transmission. The reduced torque is transmitted to the external load through the output flange 9 to drive the load to perform a predetermined motion.

[0038] Among them, the high-speed encoder 7 and the low-speed encoder 8 respectively detect the rotational speed and position of the motor assembly and the output flange 9, and transmit the detection signals to the control system. The control system adjusts the rotational speed and torque of the motor assembly according to the feedback signals to achieve precise closed-loop control. For example, when it is detected that there is a deviation between the rotational speed of the output flange 9 and the predetermined value, the control system will adjust the rotational speed of the motor to correct the deviation.

[0039] This application compactly integrates key components such as the motor assembly, the wave generator 13, the flexible gear 15 of the harmonic reducer, and the rigid gear assembly 14 of the harmonic reducer within the joint housing 1, effectively reducing the volume and weight of the joint power module, improving the space utilization rate, and enabling the joint to achieve more functions within a limited space.

[0040] Moreover, the integrally formed rigid gear assembly 14 of the harmonic reducer reduces the fitting clearance between components, improves the rigidity and stability of the joint power module, and reduces vibration and noise caused by the clearance. Therefore, through the compact and integrated design, the joint power module achieves the functions of low noise and high efficiency.

[0041] Optionally, the joint power module further includes a joint rear cover 19, a skeleton oil seal 10, and a hollow tube 11. The joint rear cover 19 is disposed on one side of the joint housing 1, the rigid gear assembly 14 of the harmonic reducer is disposed on the other side of the joint housing 1, the hollow tube 11 is disposed within the joint housing 1, and the skeleton oil seal 10 is disposed on one side of the hollow tube 11.

[0042] In the embodiment of this application, the joint rear cover 19 is disposed on one side of the joint housing 1 and forms a closed structure with the joint housing 1, and can be connected to the joint housing 1 through fasteners to ensure the firmness and sealing performance of the connection. The skeleton oil seal 10 is disposed on one side of the hollow tube 11, at the connection between the joint housing 1 and the hollow tube 11. The skeleton oil seal 10 is an effective sealing element that can prevent the lubricant from leaking out of the joint power module and at the same time prevent external contaminants from entering the module interior. Thus, the skeleton oil seal 10 can maintain the effective distribution of the lubricant between various components, reduce friction and wear, and extend the service life of the joint power module.

[0043] The hollow tube 11 is arranged in the joint housing 1 and penetrates through the joint housing 1. Herein, the hollow tube 11 serves as a channel for the internal cables of the joint power module, providing an orderly channel for the internal cables of the joint power module, avoiding cable chaos and entanglement, and improving the neatness and reliability of the module.

[0044] Optionally, the hollow tube 11 is inserted into the harmonic reducer flexspline 15. A support bearing 4 and a high-speed support bearing 42 are arranged in the harmonic reducer flexspline 15. The support bearing 4 and the high-speed support bearing 42 are arranged outside the hollow tube 11, and a preset distance is set between the support bearing 4 and the high-speed support bearing 42.

[0045] In the embodiment of the present application, the hollow tube 11 is inserted into the harmonic reducer flexspline 15, thereby ensuring a tight connection between the hollow tube 11 and the harmonic reducer flexspline 15, while maintaining the relative movement flexibility between the two.

[0046] The connection between the hollow tube 11 and the harmonic reducer flexspline 15 makes the structure of the joint power module more compact, reduces external connection components, and improves the overall aesthetics and reliability.

[0047] Among them, in the harmonic reducer flexspline 15, the support bearing 4 and the high-speed support bearing 42 are arranged outside the hollow tube 11. The support bearing 4 is used to bear the radial load and maintain the stable position of the hollow tube 11, while the high-speed support bearing 42 is used to bear higher rotational speeds and smaller friction to ensure the smoothness of the hollow tube 11 during high-speed rotation. The support bearing 4 and the high-speed support bearing 42 jointly bear the radial and axial loads of the hollow tube 11, ensuring the stable support of the hollow tube 11 in the joint power module.

[0048] Correspondingly, a preset distance is set between the support bearing 4 and the high-speed support bearing 42. The preset distance provides a flow space for the lubricant between the support bearing and the high-speed support bearing 42, which helps the uniform distribution and heat dissipation of the lubricant, and extends the service life of the support bearing 4 and the high-speed support bearing 42.

[0049] It should be noted that the distance between the support bearing 4 and the high-speed support bearing 42 can be set according to actual conditions and will not be specifically limited herein.

[0050] Optionally, the motor assembly includes a motor stator 17 and a motor rotor 16. Both the motor stator 17 and the motor rotor 16 are disposed in the harmonic reducer flexspline 15. Both the motor stator 17 and the motor rotor 16 are arranged around the hollow tube 11. The motor rotor 16 is disposed in the motor stator 17. The motor rotor 16 is connected to the wave generator 13. The motor stator 17 is installed in the harmonic reducer flexspline 15 through the motor stator 17 fixing member 5.

[0051] In the embodiment of the present application, the motor assembly is composed of two parts, namely a motor stator 17 and a motor rotor 16. Both the motor stator 17 and the motor rotor 16 are disposed inside the harmonic reducer flexspline 15. Among them, both the motor stator 17 and the motor rotor 16 are arranged around the hollow tube 11, so as to ensure the close fit between the motor assembly, the harmonic reducer flexspline 15 and the hollow tube 11.

[0052] The motor stator 17 is installed in the harmonic reducer flexspline 15 through the motor stator 17 fixing member 5. The motor stator 17 fixing member 5 ensures the stable position of the motor stator 17 in the harmonic reducer flexspline 15 and prevents it from moving or shaking during operation. By fixedly installing the motor stator 17, a stable magnetic field environment is provided for the motor rotor 16 to ensure the normal operation of the motor.

[0053] The motor rotor 16 is placed inside the motor stator 17. A certain gap is maintained between the motor rotor 16 and the motor stator 17 so that the motor rotor 16 can rotate freely under the action of the magnetic field. The output end of the motor rotor 16 is connected to the wave generator 13. The wave generator 13 is an important component of the harmonic reducer. The wave generator 13 converts the rotational motion of the motor rotor 16 into the input motion of the harmonic reducer, and then drives the output of the harmonic reducer flexspline.

[0054] By integrating the motor assembly into the harmonic reducer, seamless integration between the motor assembly and the harmonic reducer is achieved, thus greatly reducing the volume and weight of the joint power module.

[0055] Optionally, an encoder drive board 12 is installed in the placement area. The encoder drive board 12 is connected to the high-speed encoder 7 and the low-speed encoder 8.

[0056] In the embodiment of the present application, an encoder drive board 12 is installed in the placement area formed by the harmonic reducer rigid gear assembly 14 and the output flange 9. The encoder drive board 12 is connected to the high-speed encoder 7 and receives signals from the high-speed encoder 7. The high-speed encoder 7 is used to monitor the high-speed rotation state of the motor. The encoder drive board 12 is connected to the low-speed encoder 8. The low-speed encoder 8 is used to monitor the motion state after deceleration.

[0057] The connection between the encoder drive board 12 and the high-speed encoder 7 and the low-speed encoder 8 can be achieved through cables, connectors, wireless transmission, etc., and can be set according to the actual situation.

[0058] In practical applications, the encoder drive board 12 receives the original signals from the encoders, processes and decodes them, and converts them into digital signals or analog signals that can be recognized by the controller. The processed signals are transmitted to the motor through the encoder drive board 12 to provide accurate feedback information for the closed-loop control of the motor.

[0059] Among them, a joint drive board 18 is installed in the joint rear cover 19.

[0060] Optionally, the connection between the output flange 9 and the harmonic reducer steel wheel assembly 14 is a detachable connection, and an O-ring 6 is provided between the output flange 9 and the harmonic reducer steel wheel assembly 14.

[0061] In the embodiment of the present application, the connection between the output flange 9 and the harmonic reducer steel wheel assembly 14 is a detachable connection, such as by using bolts and screws, etc., which is not specifically limited herein. Through the detachable connection method, the output flange 9 can be conveniently installed and disassembled, facilitating the maintenance, repair or replacement of components of the joint power module.

[0062] Among them, an O-ring 6 is provided between the output flange 9 and the harmonic reducer steel wheel assembly 14. The O-ring 6 plays a sealing role, preventing lubricating oil or other liquids from leaking out from the connection part, and at the same time preventing external dust or impurities from entering the inside of the joint power module. The O-ring 6 has good sealing performance and can meet the sealing requirements of the joint power module.

[0063] Optionally, the joint power module further includes a torque sensor 3, and the torque sensor 3 is connected to the output flange 9.

[0064] In the embodiment of the present application, the torque sensor 3 is used to measure the torque magnitude at the output end of the joint power module, so that the joint power module can adjust the output torque according to the change of the external load to achieve precise force control. In practical applications, the torque sensor 3 can be used to achieve precise force control and position control, improving the operation accuracy and flexibility of the robot.

[0065] The second aspect of the present application provides a humanoid robot, and the joint power module as described in the first aspect and any one of the first aspect is installed on the humanoid robot.

[0066] In the embodiments of the present application, a humanoid robot generally consists of parts such as a head, a torso, and limbs, simulating the human body structure. The various parts are connected by joints to achieve the flexible movement of the robot.

[0067] As one of the core components of a humanoid robot, the joint power module is responsible for providing the power and control required for joint movement.

[0068] The joint power module described in the first aspect of the present application and any one of the first aspect has characteristics such as high precision, high stability, and high reliability. Components such as a motor, a reducer, and a torque sensor 3 are integrated in the joint power module to achieve precise control of joint movement. Through the feedback of the torque sensor 3, the output torque of the joint power module can be monitored in real time, and the motion strategy can be adjusted to ensure the stable movement of the robot.

[0069] The humanoid robot provided in the second aspect of the present application realizes precise control of the whole-body movement of the robot by adopting the joint power module described in the first aspect and any one of the first aspect, improving the flexibility, precision, and reliability of the robot.

[0070] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather should be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A joint power module, characterized in that: include: Joint housing, motor assembly, wave generator, harmonic reducer flexwheel, harmonic reducer steel wheel assembly, output flange, high-speed end encoder and low-speed end encoder; The harmonic reducer steel wheel assembly comprises a harmonic reducer steel wheel and a cross roller bearing, and the harmonic reducer steel wheel and the cross roller bearing are integrally formed; The motor assembly is installed in the joint housing, the motor assembly is arranged inside the harmonic reducer flexible wheel, the motor assembly is connected to the wave generator, the wave generator is connected to the harmonic reducer flexible wheel, the harmonic reducer flexible wheel is connected to the harmonic reducer steel wheel assembly, and the harmonic reducer steel wheel assembly is connected to the output flange; A placement area is provided between the harmonic reducer steel wheel assembly and the output flange, and the high-speed end encoder and the low-speed end encoder are placed in the placement area.

2. The joint power module according to claim 1, characterized in that: The joint power module also includes a joint rear cover, a skeleton oil seal and a hollow tube. The joint rear cover is arranged on one side of the joint housing, the harmonic reducer steel wheel assembly is arranged on the other side of the joint housing, the hollow tube is arranged in the joint housing, and the skeleton oil seal is arranged on one side of the hollow tube.

3. The joint power module according to claim 2, characterized in that: The hollow tube is inserted into the flexible wheel of the harmonic reducer. A support bearing and a high-speed support bearing are arranged in the flexible wheel of the harmonic reducer. The support bearing and the high-speed support bearing are arranged outside the hollow tube. A preset distance is set between the support bearing and the high-speed support bearing.

4. The joint power module according to claim 3, characterized in that: The motor assembly includes a motor stator and a motor rotor, wherein the motor stator and the motor rotor are both arranged in the flexible wheel of the harmonic reducer, and the motor stator and the motor rotor are both arranged around the hollow tube, and the motor rotor is arranged in the motor stator, and the motor rotor is connected to the wave generator.

5. The joint power module according to claim 4, characterized in that: The motor stator is installed in the harmonic reducer flexible wheel through a motor stator fixing member.

6. The joint power module according to claim 1, characterized in that: An encoder driving board is installed in the placement area, and the encoder driving board is connected to the high-speed end encoder and the low-speed end encoder.

7. The joint power module according to claim 2, characterized in that: A joint driving plate is installed in the joint rear cover.

8. The joint power module according to claim 1, characterized in that: The connection between the output flange and the harmonic reducer steel wheel assembly is a detachable connection, and an O-ring is provided between the output flange and the harmonic reducer steel wheel assembly.

9. The joint power module according to claim 1, characterized in that: The joint power module also includes a torque sensor, which is connected to the output flange.

10. A humanoid robot, characterized in that: The humanoid robot is equipped with a joint power module as described in any one of claims 1 to 9.

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