A robot joint module and a robot thereof

Abstract

The application discloses a kind of robot joint module and its robot, joint module includes motor, reducer and driver three main parts, reducer includes primary planetary system and secondary planetary system.The primary sun wheel and stator frame are integrated in the application design, and the primary planetary system is all hidden into stator frame;In the output end shell, two-level inner gear is made, so that two-level inner gear also realizes hidden design;Motor type adopts outer rotor motor, and rotor spindle is installed into the bearing mounting seat of stator frame through first rotor bearing.By a variety of structure cooperation and means, the axial length of joint module is greatly reduced, the whole module maximizes sharing parts, reduces the volume of joint module, reduces the weight of joint module, significantly improves the integration, miniaturization and light weight degree of joint module.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robot joint module and a robot comprising such a robot joint module. Background Technology

[0002] With the continuous development of robotics technology, the industry is now placing higher demands on the miniaturization, lightweighting, and integration of robots, hoping that they can provide better mobility while maintaining a more streamlined structure. A robot's autonomous movement capability mainly relies on various joint power modules to control the movements of different parts, which requires the robot's joint modules to have a higher degree of integration, as well as smaller size and a lighter form factor.

[0003] Most robot joint modules typically consist of three main parts: a driver, a motor, and a reducer. Currently, commercially available robot joint modules usually employ a stacked arrangement, meaning the driver, motor, and reducer are mounted axially on top of each other. The driver is located on the stator side of the motor, and the reducer is on the rotor side. Thus, the overall length of the joint module is roughly equal to the sum of the axial dimensions of these three components. Adding various housings and connecting elements further increases the axial dimension of the joint module. However, with increasingly stringent requirements for robot motion performance and miniaturization, such joint modules are excessively long, bulky, and heavy, appearing bloated and redundant, and are no longer suitable for current technological demands. When applied to robots, this affects the robot's flexibility and coordination, and is also highly unsuitable for use in small robots in certain specific fields. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, one objective of the present invention is to provide a robot joint module, and another objective is to provide a robot containing such a joint module, which can solve the problems of large size, large volume, and large weight of existing robot joint modules.

[0005] This invention is achieved using the following technical solution:

[0006] A robot joint module includes: an external rotor motor, comprising a rotor and a stator, the stator including a stator base, the stator base having a hollow cavity-shaped bearing chamber, a first-stage internal gear ring machined on the inner sidewall of the middle section of the bearing chamber; a first-stage planetary system, including a first-stage sun gear, a first-stage planetary gear, and a first-stage planet carrier connected by transmission; one end of the first-stage sun gear is fixed to or integrally formed with the rotor, and the other end meshes with the first-stage planetary gear; the first-stage planetary gear meshes with the first-stage internal gear ring, and the first-stage planet carrier is housed in the bearing chamber of the base, so that the rotor... The primary planetary system is housed within the bearing chamber of the stator housing; the secondary planetary system includes a secondary sun gear, a secondary planetary gear, a secondary planetary carrier, and an output end housing, all connected by a transmission; the output end housing is axially tightly abutted against the stator housing, and a secondary internal gear ring is machined on the inner wall of the output end housing; the primary planetary carrier is fixed to the secondary sun gear to allow the secondary planetary carrier to rotate and output power; the rotor includes a rotor spindle, and one side of the rotor is rotatably mounted to the stator housing via a first rotor bearing, which is housed within the bearing chamber of the stator housing.

[0007] Furthermore, the robot joint module also includes: a connecting rear cover; the connecting rear cover is fixed to the side of the stator base, and the connecting rear cover has a rear cover bearing chamber; a second rotor bearing is sleeved on the side of the rotor main shaft opposite to the first rotor bearing, and the second rotor bearing is accommodated in the rear cover bearing chamber of the connecting rear cover.

[0008] Furthermore, the robot joint module also includes a driver; the driver is fixed to the side of the connecting back cover facing away from the stator base.

[0009] Furthermore, a first annular rib is protruding on one side of the stator frame facing the stator frame, and a first stop structure is recessed on the output end housing; the first annular rib is embedded in the first stop structure.

[0010] Furthermore, a second annular rib is protruding on the side of the connecting back cover facing the stator frame, and a stepped structure is formed on the outer periphery of the second annular rib; a plurality of strip ribs are protruding on the inner side wall of the stator frame, and the ends of the strip ribs abut against the stepped structure so that the second annular rib is accommodated in the stator frame.

[0011] Furthermore, the robot joint module also includes: an output flange; the output flange is disposed on the side of the secondary internal gear ring facing away from the stator base; the output flange has an inner hole and is sleeved on the outer side of the secondary planetary carrier.

[0012] Furthermore, the robot joint module also includes: an output end bearing; the inner and outer rings of the output end bearing are respectively attached to the secondary planetary carrier and the output flange; the output end housing has a third stop structure on the side facing the output flange, and the output flange has a fourth stop structure on the side facing the output end housing, with both sides of the output end bearing respectively embedded in the third stop structure and the fourth stop structure.

[0013] Furthermore, the stator also includes a wound stator core, which is circumferentially arranged around the outer side of the machine base bearing chamber.

[0014] Furthermore, the first-stage sun gear includes an integrally connected first inner portion and a first external gear portion; the first inner portion is embedded in the rotor main shaft, and the first external gear portion is machined with an external gear to mesh with and drive the first-stage planetary gear; the second-stage sun gear includes an integrally connected second inner portion and a second external gear portion; the second inner portion is embedded in the first-stage planetary carrier, and the second external gear portion is machined with an external gear to mesh with and drive the second-stage planetary gear.

[0015] A robot comprising any one of the robot joint modules described in the previous one.

[0016] Compared with existing technologies, the beneficial effects achieved by this invention are as follows:

[0017] When in operation, the motor starts, the first-stage sun gear rotates, driving the first-stage planetary gears to rotate in a planetary manner within the first-stage internal gear ring; the first-stage planetary carrier, fixed on the first-stage planetary gears, rotates synchronously, driving the second-stage sun gear to rotate, the second-stage planetary gears to rotate in a planetary manner within the second-stage internal gear ring, and the second-stage planetary carrier, fixed on the second-stage planetary gears, rotates, and the second-stage planetary carrier outputs power to the joint module through rotational motion.

[0018] In the existing technology, robot joint modules using single-stage planetary reducers have the problem of insufficient reduction ratio, while robot joint modules using two-stage planetary reducers have the problem of excessive axial dimension. This invention provides a joint module solution that integrates the motor, reducer and driver. First, the problem of insufficient reduction ratio is solved by using a two-stage planetary reducer. Then, the axial dimension, volume and weight of the joint module are reduced by the following methods: (1) By integrating the first-stage sun gear and stator base, and directly machining the first-stage internal gear ring in the base bearing seat of the stator base, the first-stage planetary gears and the first-stage planetary carrier are housed in the base bearing seat. That is, the first-stage planetary system is completely hidden in the stator base, so that the first-stage planetary system does not occupy the axial length of the joint module, thus reducing the axial dimension of the joint module. (2) A second-stage internal gear ring is machined in the output end housing, which is equivalent to making the second-stage internal gear ring and the module housing into one piece. The second-stage internal gear ring also achieves a hidden design, does not occupy the axial length of the joint module, and reduces the axial dimension of the joint module. (3) The motor type of the present invention adopts an external rotor motor, which has the characteristic of small axial dimension; furthermore, the rotor main shaft is installed into the bearing mounting seat of the stator frame through the first rotor bearing, which is equivalent to accommodating a part of the length of the rotor main shaft into the bearing mounting seat, and also reducing the overall axial length dimension of the joint module. (4) The entire module maximizes the sharing of components. For example, the first-stage internal gear ring and the stator frame share a component, and the second-stage internal gear ring and the output end housing share a component, so that the joint module has the advantages of simple structure, light weight, small size, low cost, and convenient manufacturing and assembly. Attached Figure Description

[0019] Figure 1 The image shown is a schematic diagram of the joint module.

[0020] Figure 2 The image shown is a schematic diagram of the joint module from another perspective.

[0021] Figure 3 The image shown is an exploded view of the joint module.

[0022] Figure 4 The image shown is an exploded view of the joint module from another perspective;

[0023] Figure 5 The image shown is an internal cross-sectional view of the joint module.

[0024] Figure 6 The image shown is an internal cross-sectional view of the joint module after the cover, driver, and wound stator core have been removed.

[0025] Figure 7 As shown Figure 6 Enlarged view of section A in the image;

[0026] Figure 8 As shown Figure 6 Enlarged view of section B in the image;

[0027] Figure 9 As shown Figure 6 Enlarged view of section C in the image;

[0028] Figure 10 The diagram shown is a structural schematic of the stator frame;

[0029] Figure 11 The diagram shown is a schematic of the rotor structure;

[0030] Figure 12 The diagram shown is a structural schematic of the rotor from another perspective;

[0031] Figure 13 The diagram shown is a structural schematic of the connection to the back cover;

[0032] Figure 14 The diagram shows the assembly of the first-stage sun gear inside the stator frame.

[0033] Figure 15 The diagram shows the assembly of the second-stage sun gear within the first-stage planetary carrier.

[0034] In the diagram: 10. Motor; 11. Rotor; 111. Rotor spindle; 112. First rotor bearing; 113. Second rotor bearing; 12. Stator; 121. Stator frame; 1211. Frame bearing housing; 1212. First annular rib; 1213. Strip rib; 122. Winded stator core; 20. First-stage planetary system; 21. First-stage sun gear; 211. First inner part; 212. First outer gear; 22. First-stage planetary gears; 23. First-stage planetary carrier; 24. 30. Secondary internal gear ring; 31. Secondary planetary gear system; 32. Secondary sun gear; 33. Secondary external gear; 34. Secondary internal gear ring; 45. Output end housing; 46. First stop structure; 47. Third stop structure; 58. Connecting rear cover; 59. Rear cover bearing chamber; 50. Secondary annular rib; 60. Driver; 71. Cover; 82. Output flange; 83. Fourth stop structure; 94. Output end bearing. Detailed Implementation

[0035] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0036] In the description of this invention, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] This invention discloses a robot joint module for outputting rotational power to a robot. (See also...) Figures 1-6 The joint module consists of three main parts: a motor 10, a reducer, and a driver 60. The reducer specifically includes a primary planetary system 20 and a secondary planetary system 30 that are connected by a transmission.

[0040] The motor 10 is a compact external rotor motor with a compact axial dimension; the motor 10 includes a rotor 11 and a stator 12, see reference. Figure 10 The stator 12 includes a stator frame 121, within which is a hollow cavity-shaped bearing chamber 1211, located at the center of the stator frame 121. A ring-shaped external gear structure is machined on the inner wall of the middle section of the bearing chamber 1211, serving as the primary internal gear ring 24 of the primary planetary system 20.

[0041] See Figures 3-5The primary planetary system 20 includes a primary sun gear 21, primary planetary gears 22, and a primary planetary carrier 23. One end of the primary sun gear 21 is fixedly connected to the rotor 11 or integrally formed, and the other end meshes with each of the primary planetary gears 22. Each of the primary planetary gears 22 simultaneously meshes with a primary internal gear ring 24. The primary planetary gears 22 are fixedly connected to the primary planetary carrier 23, and the primary planetary carrier 23 is housed within the bearing housing 1211. Since the primary internal gear ring 24 is located within the bearing housing 1211, the primary planetary gears 22 meshing with it are also housed within the bearing housing 1211. Thus, the entire primary planetary system 20 is housed within the bearing housing 1211, and from an axial perspective, the entire primary planetary system 20 achieves a concealed installation without occupying any axial length of the joint module.

[0042] See Figures 3-5 The secondary planetary system 30 includes a secondary sun gear 31, secondary planetary gears 32, a secondary planetary carrier 33, and an output end housing 40. The output end housing 40 has a ring-shaped external gear structure machined on its inner wall to serve as the secondary internal gear ring 34 of the secondary planetary system 30. The output end housing 40 is tightly abutted against one side of the stator base 121 in the axial direction. The secondary sun gear 31 is fixed to the primary planetary carrier 23 and meshes with each of the secondary planetary gears 32. Each of the secondary planetary gears 32 meshes with the secondary internal gear ring 34. The secondary planetary carrier 33 is fixed to the secondary planetary gears 32. The joint module outputs power through the rotational movement of the secondary planetary carrier 33.

[0043] See Figure 6 , Figures 11-12 The rotor 11 includes a rotor main shaft 111. One side of the rotor 11 is rotatably mounted in the stator frame 121 by a first rotor 11 bearing. The first rotor 11 bearing is housed in the frame bearing chamber 1211. The outer ring and inner ring of the first rotor 11 bearing are respectively attached to the frame bearing chamber 1211 and the rotor main shaft 111.

[0044] See Figure 5 When working, the motor 10 starts, the first-stage sun gear 21 rotates, driving the first-stage planet gear 22 to rotate in a planetary manner within the first-stage internal gear ring 24; the first-stage planet carrier 23, fixed on the first-stage planet gear 22, rotates synchronously, driving the second-stage sun gear 31 to rotate, the second-stage planet gear 32 to rotate in a planetary manner within the second-stage internal gear ring 34, and the second-stage planet carrier 33, fixed on the second-stage planet gear 32, rotates, and the second-stage planet carrier 33 outputs power to the joint module through rotational motion.

[0045] In existing technologies, robot joint modules using single-stage planetary reducers suffer from a low reduction ratio, while those using two-stage planetary reducers suffer from an excessively large axial dimension. This invention provides a joint module solution that integrates the motor 10, reducer, and driver 60. Firstly, the use of a two-stage planetary reducer solves the problem of insufficient reduction ratio. Secondly, the axial dimension, volume, and weight of the joint module are reduced through the following methods:

[0046] (1) By integrating the first-stage sun gear 21 and the stator frame 121 into one design, and directly machining the first-stage internal gear ring 24 in the frame bearing housing of the stator frame 121, the first-stage planetary gear 22 and the first-stage planetary carrier 23 are both housed in the frame bearing housing, that is, the first-stage planetary system 20 is completely hidden in the stator frame 121, so that the first-stage planetary system 20 does not occupy the axial length of the joint module at all, thus reducing the axial dimension of the joint module.

[0047] (2) A secondary internal gear ring 34 is machined inside the output end housing 40, which is equivalent to making the secondary internal gear ring 34 and the module housing into one piece, so that the secondary internal gear ring 34 also achieves a hidden design, does not occupy the axial length of the joint module, and reduces the axial dimension of the joint module.

[0048] (3) The motor 10 of the present invention adopts an external rotor motor, which has the characteristic of small axial dimension; furthermore, the rotor main shaft 111 is installed in the bearing mounting seat of the stator frame 121 through the first rotor 11 bearing, which is equivalent to accommodating a part of the length of the rotor main shaft 111 in the bearing mounting seat, and also reducing the overall axial length dimension of the joint module.

[0049] (4) The entire module shares components to the greatest extent. For example, the first-stage internal gear ring 24 and the stator frame 121 share one component, and the second-stage internal gear ring 34 and the output end housing 40 share one component, giving the joint module the advantages of simple structure, light weight, small size, low cost, and convenient manufacturing and assembly.

[0050] Preferably, see Figure 13 and Figure 6The invention also includes a connecting rear cover 50, which is fixed to the stator frame 121 on the side facing away from the secondary planetary carrier 33. The rotor 11 is also rotatably mounted on the connecting rear cover 50. Specifically, the connecting rear cover 50 has a rear cover bearing chamber 51, and the rotor main shaft 111 is rotatably mounted in the rear cover bearing chamber 51 via a second rotor 11 bearing, which is housed within the rear cover bearing chamber 51 of the connecting rear cover 50. This effectively accommodates a portion of the rotor main shaft 111 within the rear cover bearing chamber 51, meaning that both sides of the rotor main shaft 111 are respectively housed within the stator frame 121 and the connecting rear cover 50, allowing for a concealed installation of most of the rotor 11's length and further compressing the radial length dimension of the joint module.

[0051] For further optimization, please refer to [link / reference]. Figure 5 The driver 60 is fixed to the side of the connecting rear cover 50 facing away from the stator frame 121. The driver 60 integrates an encoder, a temperature controller, etc. The present invention may also include a cover 70, which covers the driver 60 for protection.

[0052] To further reduce the radial length of the joint module and enhance its structural compactness and stability, preferably, see [reference needed]. Figure 6 and Figure 7 A first annular rib 1212 is protruding on one side of the output end housing 40. Correspondingly, a matching first stop structure 41 is recessed on the output end housing 40. The output end housing 40 is fixedly connected to the side of the stator base 121. At the same time, the first annular rib 1212 is embedded in the first stop structure 41.

[0053] Further preferred, see Figure 6 and Figure 9 The connecting back cover 50 has a second annular rib 52 protruding on the side facing the stator base 121, and the outer periphery of the second annular rib 52 forms a stepped structure. Several strip-shaped ribs 1213 protrude from the inner wall of the stator base 121, with the ends of the strip-shaped ribs 1213 abutting against the stepped structure, thereby allowing the second annular rib 52 to be accommodated inside the stator base 121. Through this implementation, the reinforcing rib structure of the connecting back cover 50 itself is hidden inside the stator base 121, further reducing the radial length dimension of the joint module while ensuring its structural stability and protective performance.

[0054] Preferably, see Figure 6 The present invention also includes an output flange 80, which is disposed on the side of the secondary internal gear ring 34 facing away from the stator frame 121; the output flange 80 has an inner hole and is sleeved on the outer side of the secondary planetary carrier 33.

[0055] Further preferably, the present invention also includes an output bearing 90. The inner and outer rings of the output bearing 90 are respectively fitted to the secondary planetary carrier 33 and the output flange 80; see reference Figure 6 and Figure 8 The output end housing 40 has a third stop structure 42 on the side facing the output flange 80, and the output flange 80 has a fourth stop structure 81 on the side facing the output end housing 40. The two sides of the output end bearing 90 are respectively embedded in the third stop structure 42 and the fourth stop structure 81. Through this implementation, the second planetary carrier and the output end bearing 90 are compactly housed inside the module housing. The cooperation of the two stop structures allows the output end bearing 90 to be hidden in the axial direction without occupying the overall axial length of the joint module, further enhancing the structural compactness of the joint module.

[0056] Specifically, see Figure 5 The stator 12 also includes a wound stator core 122, which is circumferentially arranged on the outer side of the frame bearing housing 1211. The stator frame 121 has an annular cavity structure formed on the outer periphery of the frame bearing housing 1211, and the wound stator core 122 is housed in the annular cavity.

[0057] Preferably, see Figure 14 The first-stage sun gear 21 includes an integrally connected first inner portion 211 and a first external gear portion 212. The first inner portion 211 is embedded within the rotor main shaft 111, and the first external gear portion 212 is machined with external teeth to mesh with the first-stage planetary gear 22. Through this implementation, a portion of the length of the first-stage sun gear 21 is accommodated within the rotor main shaft 111, achieving integration and reducing the axial dimension of the joint module. Similarly, see [reference needed]. Figure 15 The secondary sun gear 31 includes an integrally connected second inner portion 311 and a second external gear portion 312. The second inner portion 311 is embedded in the primary planetary carrier 23, and the second external gear portion 312 is machined with an external gear for meshing and driving the secondary planetary gear 32. Through this embodiment, a portion of the length of the secondary sun gear 31 is accommodated in the primary planetary carrier 23, thereby reducing the axial dimension of the joint module.

[0058] It is understood that the present invention, through the above-mentioned diverse structural combinations and means, such as multiple hidden installation structures, shared components, and compact fitting structures, minimizes the axial length of the joint module, reduces the volume of the joint module, and lowers the weight of the joint module. It significantly improves the integration, miniaturization, and lightweighting of the joint module, which is more in line with the current requirements of the robotics field for joint modules and is more conducive to application in small robots in some specific fields.

[0059] This invention also discloses a robot comprising the aforementioned joint module. Any robot employing the same or substantially the same joint module should be within the scope of protection of this invention.

[0060] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A robot joint module, characterized in that, include: An external rotor motor includes a rotor and a stator. The stator includes a stator frame. The stator frame is provided with a hollow cavity bearing chamber. A first-stage internal gear ring is machined on the inner side wall of the middle section of the bearing chamber. The first-stage planetary system includes a first-stage sun gear, a first-stage planetary gear, and a first-stage planetary carrier, which are connected by transmission. One end of the first-stage sun gear is fixed to or integrally formed with the rotor, and the other end meshes with the first-stage planetary gear. The first-stage planetary gear meshes with the first-stage internal gear ring, and the first-stage planetary carrier is housed in the bearing chamber of the base, so that the first-stage planetary system is housed in the bearing chamber of the base. The secondary planetary system includes a transmission connection of a secondary sun gear, a secondary planetary gear, a secondary planetary carrier, and an output end housing; the output end housing is axially tightly abutted against the stator base, and a secondary internal gear ring is machined on the inner sidewall of the output end housing; the primary planetary carrier is fixed to the secondary sun gear so that the secondary planetary carrier rotates to output power; The rotor includes a rotor spindle, and one side of the rotor is rotatably mounted on the stator frame via a first rotor bearing, the first rotor bearing being housed in the bearing chamber of the frame.

2. The robot joint module as described in claim 1, characterized in that, The robot joint module further includes: a connecting rear cover; the connecting rear cover is fixed to the side of the stator base, and the connecting rear cover has a rear cover bearing chamber; a second rotor bearing is sleeved on the side of the rotor main shaft opposite to the first rotor bearing, and the second rotor bearing is accommodated in the rear cover bearing chamber of the connecting rear cover.

3. The robot joint module as described in claim 2, characterized in that, The robot joint module also includes a driver; the driver is fixed to the side of the connecting back cover facing away from the stator base.

4. The robot joint module as described in claim 1, characterized in that, The stator base has a first annular rib protruding on one side facing the stator base, and the output end housing has a first stop structure recessed therein; the first annular rib is embedded in the first stop structure.

5. The robot joint module as described in claim 2, characterized in that, The connecting cover has a second annular rib protruding on the side facing the stator frame, and the outer periphery of the second annular rib forms a stepped structure; the inner wall of the stator frame has several strip ribs protruding, and the ends of the strip ribs abut against the stepped structure so that the second annular rib is accommodated in the stator frame.

6. The robot joint module as described in claim 1, characterized in that, The robot joint module further includes: an output flange; the output flange is located on the side of the secondary internal gear ring facing away from the stator base; the output flange has an inner hole and is sleeved on the outer side of the secondary planetary carrier.

7. The robot joint module as described in claim 6, characterized in that, The robot joint module further includes: an output end bearing; the inner and outer rings of the output end bearing are respectively attached to the secondary planetary carrier and the output flange; the output end housing has a third stop structure on the side facing the output flange, and the output flange has a fourth stop structure on the side facing the output end housing; the two sides of the output end bearing are respectively embedded in the third stop structure and the fourth stop structure.

8. The robot joint module as described in claim 1, characterized in that, The stator further includes a wound stator core, which is circumferentially arranged around the outer side of the machine base bearing chamber.

9. The robot joint module as described in claim 1, characterized in that, The first-stage sun gear includes an integrally connected first inner portion and a first outer gear portion; the first inner portion is embedded in the rotor main shaft, and the first outer gear portion is machined with an external gear to mesh with and drive the first-stage planetary gear; the second-stage sun gear includes an integrally connected second inner portion and a second outer gear portion; the second inner portion is embedded in the first-stage planetary carrier, and the second outer gear portion is machined with an external gear to mesh with and drive the second-stage planetary gear.

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

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