Joint module of integrated double-harmonic reducer

Abstract

The invention relates to the technical field of joint modules, in particular to a joint module integrated with a double-harmonic reducer. A high-speed shaft is arranged in the shell; the radial outer side of the high-speed shaft is sleeved with a middle power shaft and a second-stage high-speed harmonic shaft, and the second-stage high-speed harmonic shaft is fixedly connected with the middle power shaft; the lower end of the high-speed shaft is coaxially and fixedly connected with the primary high-speed harmonic shaft; the upper end of the high-speed shaft is connected with a driving mechanism; a first-stage wave generator, a first-stage flexible gear, a first-stage steel wheel and an output shaft are sequentially arranged in the radial direction of the first-stage high-speed harmonic shaft from inside to outside. Wherein the first-stage wave generator is connected with the first-stage high-speed harmonic shaft, the first-stage flexible wheel is fixedly connected with the middle power shaft, and the first-stage steel wheel is fixedly connected with the output shaft; a second-stage wave generator, a second-stage flexible gear and a second-stage steel wheel are sequentially arranged in the radial direction of the second-stage high-speed harmonic shaft from inside to outside; wherein the second-stage wave generator is connected with the second-stage high-speed harmonic shaft, the second-stage flexible wheel is fixedly connected with the output shaft, and the second-stage steel wheel is fixedly connected with the shell.

Description

Technical Field

[0001] This invention relates to the field of joint module technology, and more specifically to a joint module with an integrated dual harmonic reducer. Background Technology

[0002] In a joint module, electrical energy is converted into mechanical energy, generating torque and rotational speed to drive each joint to complete a specified action. Built-in sensors precisely control the position, speed, and torque of the movement. It also supports the connected moving components. This type of modular joint integrates multiple components such as motors, reducers, drivers, and encoders into a compact unit, typically characterized by high precision, high torque, compactness, lightweight design, and high rigidity. Joint modules can eliminate the need for extensive selection and design of mechanical and electronic components, significantly reducing R&D costs and shortening development cycles. They are widely used in robotics, aerospace, industrial automation, medical equipment, and other fields.

[0003] Each type of joint module based on different reducers has its own advantages and disadvantages. Synchronous belt-based joint modules are low-cost, low-noise, low-vibration, require no lubrication, are maintenance-free, offer flexible design, adjustable center distance, and overload protection. However, they have lower transmission and positioning accuracy, poor rigidity, are unsuitable for harsh industrial environments, and have limited torque transmission capacity. Planetary reducer-based joint modules have high rigidity, but large backlash and low repeatability. Achieving a large reduction ratio requires multiple planetary stages in series, significantly increasing axial dimensions and resulting in lower torque density. RV reducer-based joint modules offer high rigidity, high load capacity, high precision, and high torque density, but their complex structure, numerous parts, extremely high cost, and significant size and weight result in substantial costs.

[0004] Existing technologies propose joint modules based on harmonic reducers, which have advantages such as high precision, compactness, and lightweight design. Chinese invention patent CN120516747A discloses a joint module and a robot. The joint module includes: a rotation mechanism having a rotating shaft; a reduction mechanism including an output part, an input part, and a mating part, the input part being connected to the rotating shaft, the mating part being located between the output part and the rotating shaft to enable the output part to output low-speed rotation; and a torque sensing mechanism including a first housing, a sensing element, and a fixing part suspended within the first housing, the first housing being located between the rotation mechanism and the reduction mechanism, the fixing part being sleeved outside the rotating shaft, the fixing part being connected to the first housing via a support part, the fixing part being connected to the mating part, and the sensing element being adapted to sense the deflection angle of the fixing part.

[0005] Chinese invention patent CN113977625A discloses an electric joint module integrating dual reducer control, comprising: a joint housing with a first mounting end and a second mounting end respectively at both ends of the joint housing along its axial direction; a first harmonic reducer fixedly connected to the first mounting end; a frameless motor disposed inside the joint housing, with the outer stator of the frameless motor fixedly connected to the inner wall of the joint housing; a motor end cover fixedly connected to the second mounting end; a support bracket fixedly connected to the motor end cover; a second harmonic reducer fixedly connected to the support bracket; a motor shaft fixedly connected to the inner rotor of the frameless motor; and both ends of the motor shaft fixedly connected to the input ends of the first harmonic reducer and the second harmonic reducer respectively.

[0006] However, in order to achieve high torque output, existing technologies require larger flexible and steel wheels in harmonic reducers, which directly leads to an increase in module size and weight, and under the same power consumption, there will be insufficient low torque. Summary of the Invention

[0007] To meet the demands of various fields for lightweight and compact joint modules, high rigidity, high precision, low power consumption, and high torque, the purpose of this invention is to provide a joint module with an integrated dual harmonic reducer.

[0008] The technical solution provided by this invention is as follows: A joint module integrating dual harmonic reducers includes a housing and a first-stage harmonic reducer and a second-stage harmonic reducer installed inside the housing; A single-stage harmonic reducer includes a single-stage wave generator, a single-stage flexible wheel, and a single-stage steel wheel; a two-stage harmonic reducer includes a two-stage wave generator, a two-stage flexible wheel, and a two-stage steel wheel. A high-speed shaft is installed inside the housing; an intermediate power shaft is sleeved in the middle of the radial outer side of the high-speed shaft; a secondary high-speed harmonic shaft is sleeved in the upper radial outer side of the high-speed shaft, and the secondary high-speed harmonic shaft is fixedly connected to the intermediate power shaft; a primary harmonic reducer is located in the lower radial outer side of the high-speed shaft; the lower end of the high-speed shaft is coaxially fixedly connected to the primary high-speed harmonic shaft, and the upper end of the high-speed shaft is used to connect to the drive mechanism. The first-stage wave generator, the first-stage flexible wheel, the first-stage steel wheel, and the output shaft are arranged radially from the inside to the outside along the first-stage high-speed harmonic axis. The first-stage wave generator is connected to the first-stage high-speed harmonic axis, the first-stage flexible wheel is fixedly connected to the intermediate power shaft, and the first-stage steel wheel is fixedly connected to the output shaft. A secondary wave generator, a secondary flexible wheel, and a secondary steel wheel are arranged radially from the inside to the outside along the secondary high-speed harmonic axis. The secondary wave generator is connected to the secondary high-speed harmonic axis, the secondary flexible wheel is fixedly connected to the output shaft, and the secondary steel wheel is fixedly connected to the outer casing.

[0009] As an optional technical solution, along the axial direction of the joint module: the axial dimension of the output shaft is denoted as L1; the axial distance between the upper end face of the intermediate power shaft and the lower end face of the first-stage high-speed harmonic shaft is denoted as L2; ​​L1 = (0.85~1.2)L2.

[0010] As an optional technical solution, along the axial direction of the joint module: the axial distance between the upper end face of the high-speed shaft and the lower end face of the first-stage high-speed harmonic shaft is denoted as L4; the axial distance between the upper end face of the second-stage high-speed harmonic shaft and the lower end face of the intermediate power shaft is denoted as L5; the axial dimension of the first-stage harmonic reducer is denoted as L3; L4≥L5+L3.

[0011] Furthermore, along the axial direction of the joint module: the axial dimension of the secondary high-speed harmonic axis is denoted as L7; the axial dimension of the secondary harmonic reducer is denoted as L6; L7 > L6.

[0012] As an optional technical solution, a circular grating is installed on the radially outer side of the output shaft; a reading head is installed in the housing, and the reading head corresponds to the circular grating.

[0013] As an optional technical solution, a pair of angular contact ball bearings are installed between the upper radially outer part of the output shaft and the housing; the pair of angular contact ball bearings are arranged back to back.

[0014] Furthermore, a first end cover is installed at the lower end of the housing to seal the reading head; a first deep groove ball bearing is installed between the lower radially outer part of the output shaft and the first end cover; a third end cover is provided at the lower end of the first deep groove ball bearing, and the third end cover is connected to the first end cover.

[0015] As an optional technical solution, a plane parallel to the axial direction of the joint module is taken as the projection plane, and the projections of the first-stage high-speed harmonic shaft and the output shaft are respectively made along the radial direction of the joint module on the projection plane; the projection of the first-stage high-speed harmonic shaft on the projection plane falls within the projection range of the output shaft on the projection plane; a second end cap is provided on the radially outer side of the first-stage high-speed harmonic shaft, and the second end cap is fixedly connected to the first-stage steel wheel and / or the output shaft; a pair of second deep groove ball bearings are installed between the first-stage high-speed harmonic shaft and the second end cap.

[0016] As an optional technical solution, a pair of third deep groove ball bearings are installed between the intermediate power shaft and the output shaft; the pair of third deep groove ball bearings are located on the upper radial inner side of the output shaft.

[0017] As an optional technical solution, the drive mechanism is a motor; a motor cover is installed on the upper end of the housing, and the motor is fixedly connected to the motor cover; a fourth deep groove ball bearing is installed between the upper radially outer part of the secondary high-speed harmonic shaft and the motor cover.

[0018] Compared with the prior art, the technical solution provided by this invention has the following advantages: This invention employs a two-stage harmonic reducer while achieving a highly compact axial envelope design. This results in a compact joint module design that satisfies the requirements of lightweight construction, low power consumption, and high torque. Furthermore, the two-stage harmonic reducer design in this invention provides a higher reduction ratio than traditional series two-stage harmonic reducers. The module incorporates multiple shaft support designs to enhance product rigidity. Additionally, pairs of angular contact ball bearings are mounted back-to-back on the output shaft, further improving the shaft structure's rigidity and enabling it to resist axial loads. A photoelectric encoder is installed at the end of the output shaft to detect and provide real-time feedback on the output shaft speed, enabling servo control of the product. Attached Figure Description

[0019] Figure 1 This is a cross-sectional view of a joint module in one embodiment of this application; Figure 2 This is a schematic diagram of L6 and L7 in one embodiment of this application; Figure 3 This is a schematic diagram of L1 and L2 in one embodiment of this application; Figure 4 This is a schematic diagram of L3, L4, and L5 in one embodiment of this application; Figure 5 This is a schematic projection of the primary high-speed harmonic axis and output axis in one embodiment of this application; Figure 6 This is a perspective view of a joint module in one embodiment of this application.

[0020] Explanation of the labels in the diagram: Drive mechanism 1, motor cover 2, secondary high-speed harmonic shaft 3, high-speed shaft 4, secondary wave generator 5, secondary steel wheel 6, secondary flexible wheel 7, intermediate power shaft 8, primary flexible wheel 9, output shaft 10, primary wave generator 11, primary steel wheel 12, primary high-speed harmonic shaft 13, first deep groove ball bearing 14, first end cover 15, third end cover 16, second deep groove ball bearing 17, reading head 18, circular grating 19, angular contact ball bearing 20, third deep groove ball bearing 21, outer shell 22, fourth deep groove ball bearing 23, second end cover 24. Detailed Implementation

[0021] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings and embodiments.

[0022] The structures, proportions, and sizes illustrated in the accompanying drawings are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of implementation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0023] The fixed connection method proposed in this application can be a bolt connection or other fixed connection methods applicable to this field in the prior art, which will not be elaborated or limited here.

[0024] In one embodiment, such as Figures 1-6 As shown, this application proposes a joint module with an integrated dual harmonic reducer. The joint module includes a housing 22 and a first-stage harmonic reducer and a second-stage harmonic reducer installed in the housing 22. Specifically, the first-stage harmonic reducer includes a first-stage wave generator 11, a first-stage flexible wheel 9, and a first-stage steel wheel 12. The second-stage harmonic reducer includes a second-stage wave generator 5, a second-stage flexible wheel 7, and a second-stage steel wheel 6.

[0025] A high-speed shaft 4 is provided inside the housing 22. Generally, the housing has a cavity inside, and the central axis of the cavity is coaxial with the central axis of the high-speed shaft 4. The axial direction of the joint module is the same as the axial direction of the high-speed shaft 4, and the radial direction of the joint module is the same as the radial direction of the high-speed shaft 4.

[0026] The lower end of the high-speed shaft 4 is coaxially fixedly connected to the first-stage high-speed harmonic shaft 13, and the high-speed shaft 4 can drive the first-stage high-speed harmonic shaft 13 to rotate. The upper end of the high-speed shaft 4 is used to connect to the drive mechanism 1, that is, the drive mechanism 1 drives the high-speed shaft 4 and the first-stage high-speed harmonic shaft 13 to rotate together.

[0027] The drive mechanism 1 is connected to the upper end of the high-speed shaft 4, that is, the drive mechanism 1 is installed on the upper end of the joint module, and the lower end of the joint module serves as the output end.

[0028] Both the intermediate power shaft 8 and the high-speed harmonic shaft 3 are fitted radially outside the high-speed shaft 4. Specifically, both the intermediate power shaft 8 and the high-speed harmonic shaft 3 have through holes centered on them, and the central axis of the through holes is coaxial with the central axis of the high-speed shaft 4. The intermediate power shaft 8 is located in the middle of the radially outer side of the high-speed shaft 4, and the secondary high-speed harmonic shaft 3 is located above the radially outer side of the high-speed shaft 4. Simultaneously, the secondary high-speed harmonic shaft 3 is fixedly connected to the intermediate power shaft 8, enabling the secondary high-speed harmonic shaft 3 and the intermediate power shaft 8 to rotate at the same speed.

[0029] The first-stage harmonic reducer is located on the lower part of the radial outer side of the high-speed shaft 4. Specifically, the first-stage wave generator 11, the first-stage flexible wheel 9, the first-stage steel wheel 12, and the output shaft 10 are arranged in sequence from the inside to the outside along the radial direction of the first-stage high-speed harmonic shaft 13.

[0030] The primary wave generator 11 is connected to the primary high-speed harmonic shaft 13, the primary flexible wheel 9 is fixedly connected to the intermediate power shaft 8, and the primary steel wheel 12 is fixedly connected to the output shaft 10. When the high-speed shaft 4 drives the primary high-speed harmonic shaft 13 to rotate, the primary steel wheel 12 and the output shaft 10 rotate together.

[0031] Specifically, for a two-stage harmonic reducer, a two-stage wave generator 5, a two-stage flexible wheel 7, and a two-stage steel wheel 6 are arranged radially from the inside to the outside along the two-stage high-speed harmonic axis 3. Among them, the two-stage wave generator 5 is connected to the two-stage high-speed harmonic axis 3, the two-stage flexible wheel 7 is fixedly connected to the output shaft 10, and the two-stage steel wheel 6 is fixedly connected to the housing 22.

[0032] When the intermediate power shaft 8 is driven to rotate by the first-stage flexible wheel 9, the second-stage high-speed harmonic shaft 3 can rotate together. The connection method of the two-stage harmonic reducer proposed in this embodiment makes its reduction ratio larger than that of the traditional series two-stage harmonic reducer by i1+1 (where i1 is the transmission ratio of the first-stage harmonic reducer), while minimizing the axial envelope size, and realizing a lightweight, low-power, high-torque, and compact design.

[0033] As an optional implementation method, such as Figure 3 As shown, along the axial direction of the joint module, the axial dimension of the output shaft 10 is denoted as L1, and the axial distance between the upper end face of the intermediate power shaft 8 and the lower end face of the first-stage high-speed harmonic shaft 13 is denoted as L2. Wherein, L1 = (0.85~1.2)L2, for example, L1 = 0.85L2, or L1 = 0.9L2, or L1 = 0.94L2, or L1 = 0.98L2, or L1 = L2, or L1 = 1.2L2, etc. That is, take the plane parallel to the axial direction of the joint module as the projection plane, and make the projection of the output shaft 10 along the radial direction of the joint module, and make the projection between the upper end face of the intermediate power shaft 8 and the lower end face of the first-stage high-speed harmonic shaft 13. These two projections partially overlap or completely overlap.

[0034] Optionally, such as Figure 4As shown, the axial distance between the upper end face of the high-speed shaft 4 and the lower end face of the first-stage high-speed harmonic shaft 13 along the axial direction of the joint module is denoted as L4, the axial distance between the upper end face of the second-stage high-speed harmonic shaft 3 and the lower end face of the intermediate power shaft 8 is denoted as L5, and the axial dimension of the first-stage harmonic reducer is denoted as L3. Specifically, L4≥L5+L3, which makes the axial envelope of the joint module with the integrated dual-stage harmonic reducer proposed in this application very compact. Under the conditions of lightweight, low power consumption and high torque, the compact design of the joint module is realized.

[0035] In addition, such as Figure 2 As shown, along the axial direction of the joint module, the axial dimension of the secondary high-speed harmonic axis 3 is denoted as L7, and the axial dimension of the secondary harmonic reducer is denoted as L6, where L7 > L6. Simultaneously, taking a plane parallel to the axial direction of the joint module as the projection plane, projections of the secondary high-speed harmonic axis 3 and the secondary harmonic reducer are made along the radial direction of the joint module, with the two projections overlapping.

[0036] To detect and provide real-time feedback on the output shaft speed for servo control of the product, a photoelectric encoder is installed at the end of the output shaft. Specifically, a circular grating 19 is installed radially outward of the output shaft 10, located slightly below the radial outer edge of the output shaft 10. A reading head 18 is installed in the housing 22, corresponding to the circular grating.

[0037] To improve product rigidity, the joint module proposed in this application has axial support in multiple locations.

[0038] As an optional embodiment, a pair of angular contact ball bearings 20 are installed between the upper radially outer part of the output shaft 10 and the housing 22. Specifically, the pair of angular contact ball bearings 20 are arranged back to back. Installing a pair of angular contact ball bearings back to back on the output shaft enables the shaft system structure to improve rigidity while having the ability to resist axial loads.

[0039] A first end cap 15 is installed at the lower end of the housing 22, and the reading head 18 is closed by the first end cap 15.

[0040] Additionally, a first deep groove ball bearing 14 is installed between the lower radially outer part of the output shaft 10 and the first end cover 15. A third end cover 16 is provided at the lower end of the first deep groove ball bearing 14, and the third end cover 16 is connected to the first end cover 15.

[0041] By setting the first end cap 15 and the third end cap 16, it is easy to install and close the components.

[0042] In one optional implementation, a plane parallel to the axis of the joint module is taken as the projection plane, such as... Figure 5As shown, the projections of the first-stage high-speed harmonic axis 13 and the output axis 10 onto the projection plane are made along the radial direction of the joint module, wherein the projection of the first-stage high-speed harmonic axis 13 onto the projection plane falls within the projection range of the output axis 10 onto the projection plane.

[0043] A second end cap 24 is radially disposed on the outer side of the primary high-speed harmonic shaft 13. This second end cap 24 is fixedly connected to the primary steel wheel 12 and / or the output shaft 10. As shown in the figure, the second end cap 24 is fixedly connected to the primary steel wheel 12 and the output shaft 10; when the output shaft 10 rotates, the second end cap 24 rotates together. A pair of second deep groove ball bearings 17 are installed between the primary high-speed harmonic shaft 13 and the second end cap 24, thereby providing shaft support.

[0044] In addition, a pair of third deep groove ball bearings 21 are installed between the intermediate power shaft 8 and the output shaft 10. The pair of third deep groove ball bearings 21 are located on the upper radially inner side of the output shaft 10.

[0045] In one embodiment, the drive mechanism 1 is a motor. A motor cover 2 is mounted on the upper end of the housing 22, and the motor is fixedly connected to the motor cover 2. A fourth deep groove ball bearing 23 is installed between the upper radially outer part of the secondary high-speed harmonic shaft 3 and the motor cover 2. That is, the fourth deep groove ball bearing 23 is installed at the end near the motor, thereby providing shaft support at the input end.

[0046] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A joint module integrating dual harmonic reducers, comprising a housing (22) and a first-stage harmonic reducer and a second-stage harmonic reducer installed within the housing (22); in, The first-stage harmonic reducer includes a first-stage wave generator (11), a first-stage flexible wheel (9), and a first-stage steel wheel (12). The two-stage harmonic reducer includes a two-stage wave generator (5), a two-stage flexible wheel (7), and a two-stage steel wheel (6); Its features are: A high-speed shaft (4) is provided inside the outer casing (22); A middle power shaft (8) is fitted on the radial outer middle of the high-speed shaft (4); a second-stage high-speed harmonic shaft (3) is fitted on the radial outer upper part of the high-speed shaft (4), and the second-stage high-speed harmonic shaft (3) is fixedly connected to the middle power shaft (8); the first-stage harmonic reducer is located on the radial outer lower part of the high-speed shaft (4); The lower end of the high-speed shaft (4) is coaxially fixedly connected to the first-stage high-speed harmonic shaft (13), and the upper end of the high-speed shaft (4) is used to connect the drive mechanism (1). Along the radial direction of the first-stage high-speed harmonic axis (13), from the inside out, the first-stage wave generator (11), the first-stage flexible wheel (9), the first-stage steel wheel (12), and the output shaft (10) are arranged sequentially. Among them, the first-stage wave generator (11) is connected to the first-stage high-speed harmonic axis (13), the first-stage flexible wheel (9) is fixedly connected to the intermediate power shaft (8), and the first-stage steel wheel (12) is fixedly connected to the output shaft (10). Along the radial direction of the secondary high-speed harmonic axis (3), the secondary wave generator (5), the secondary flexible wheel (7), and the secondary steel wheel (6) are arranged from the inside to the outside in sequence; wherein, the secondary wave generator (5) is connected to the secondary high-speed harmonic axis (3), the secondary flexible wheel (7) is fixedly connected to the output shaft (10), and the secondary steel wheel (6) is fixedly connected to the outer shell (22).

2. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: Along the axial direction of the joint module: The axial dimension of the output shaft (10) is denoted as L1; The axial distance between the upper end face of the intermediate power shaft (8) and the lower end face of the first-stage high-speed harmonic shaft (13) is denoted as L2; L1 = (0.85~1.2)L2.

3. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: Along the axial direction of the joint module: The axial distance between the upper end face of the high-speed shaft (4) and the lower end face of the first-stage high-speed harmonic shaft (13) is denoted as L4; The axial distance between the upper end face of the secondary high-speed harmonic shaft (3) and the lower end face of the intermediate power shaft (8) is denoted as L5; The axial dimension of the single-stage harmonic reducer is denoted as L3; L4≥L5+L3.

4. The joint module of the integrated dual harmonic reducer according to claim 3, characterized in that: Along the axial direction of the joint module: The axial dimension of the secondary high-speed harmonic shaft (3) is denoted as L7; The axial dimension of the two-stage harmonic reducer is denoted as L6; L7 > L6.

5. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: A circular grating (19) is installed on the radially outer side of the output shaft (10). The housing (22) is equipped with a reading head (18), which corresponds to a circular grating.

6. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: A pair of angular contact ball bearings (20) are installed between the upper radially outer part of the output shaft (10) and the housing (22); the pair of angular contact ball bearings (20) are arranged back to back.

7. The joint module of the integrated dual harmonic reducer according to claim 6, characterized in that: The lower end of the outer casing (22) is fitted with a first end cap (15) to seal the reading head (18). A first deep groove ball bearing (14) is installed between the lower radially outer part of the output shaft (10) and the first end cover (15). The lower end of the first deep groove ball bearing (14) is provided with a third end cover (16), which is connected to the first end cover (15).

8. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: Take a plane parallel to the axis of the joint module as the projection plane, and project the first-level high-speed harmonic axis (13) and the output axis (10) onto the projection plane along the radial direction of the joint module. The projection of the first-order high-speed harmonic axis (13) onto the projection plane falls within the projection range of the output axis (10) onto the projection plane; The first-stage high-speed harmonic shaft (13) is provided with a second end cap (24) on its radially outer side. The second end cap (24) is fixedly connected to the first-stage steel wheel (12) and / or the output shaft (10). A pair of second deep groove ball bearings (17) are installed between the first-stage high-speed harmonic shaft (13) and the second end cover (24).

9. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: A pair of third deep groove ball bearings (21) are installed between the intermediate power shaft (8) and the output shaft (10). A pair of third deep groove ball bearings (21) are located on the upper radial inner side of the output shaft (10).

10. The joint module of the integrated dual harmonic reducer according to claim 1, characterized in that: The driving mechanism (1) is a motor; A motor cover (2) is installed on the upper end of the outer casing (22), and the motor is fixedly connected to the motor cover (2); A fourth deep groove ball bearing (23) is installed between the upper radial outer part of the secondary high-speed harmonic shaft (3) and the motor cover (2).

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