Joint module and robot
By designing the drive module and deceleration module of the joint module separately, and making the outer diameter of the deceleration module smaller than that of the drive module, the problem of large overall module size and weight in the prior art is solved, achieving the effect of lightweighting and compactness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 智元创新(上海)科技股份有限公司
- Filing Date
- 2025-09-15
- Publication Date
- 2026-06-19
AI Technical Summary
In existing joint modules, the drive and deceleration components are designed as a single unit, resulting in a larger overall module size and increased weight.
The drive module and the reduction module are designed as separate structures, with the outer diameter of the reduction module being smaller than that of the drive module, and the overall size and weight are reduced through a specific connection method.
This achieves lightweighting and compactness of the joint module, reducing the overall size and weight.
Smart Images
Figure CN121157092B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of robotics technology, and in particular relates to a joint module and a robot. Background Technology
[0002] In related technologies, the drive and deceleration parts in a joint module are usually designed as a single unit, sharing a common housing. This structure results in a larger overall size of the joint module, thus affecting its overall weight. Summary of the Invention
[0003] One objective of this application is to provide a joint module and a robot.
[0004] According to a first aspect of the embodiments of this application, a joint module is provided, comprising:
[0005] A drive module, comprising a drive component and a first housing, wherein the drive component is disposed inside the first housing;
[0006] A deceleration module, comprising a deceleration component and a second housing, the second housing comprising a first part and a second part, the first part being circumferentially disposed on the outer wall of the second part, and at least a portion of the deceleration component being disposed inside the second part;
[0007] The first part is connected to the first housing, and the deceleration component is connected to the drive component;
[0008] The outer diameter of the second part is smaller than the outer diameter of the first part, and the outer diameter of the first part is smaller than the outer diameter of the first shell.
[0009] Optionally, the reduction component includes a primary reduction assembly, which includes a primary planetary gear.
[0010] The inner wall of the second part is provided with a first meshing part, and the first-stage planetary gear meshes with the first meshing part.
[0011] Optionally, the drive component includes a stator assembly and a rotor assembly. The rotor assembly is disposed inside the first housing. The stator assembly is arranged around the rotor assembly and connected to the inner wall of the first housing. In the axial direction of the joint module, the stator assembly protrudes from the rotor assembly at one end near the reduction module to form a receiving area.
[0012] The second part is partially embedded in the receiving area, and the second part and the rotor assembly are spaced apart along the axial direction of the joint module.
[0013] Optionally, portions of the first meshing portion and portions of the first-stage planetary gear are both located in the receiving area.
[0014] Optionally, the outer diameter of the second portion is smaller than the inner diameter of the stator assembly.
[0015] Optionally, the reduction component further includes a secondary reduction assembly connected to the primary reduction assembly, the secondary reduction assembly including a secondary planetary gear;
[0016] The inner wall of the second part is provided with a second meshing part, which is arranged along the axial direction of the joint module with the first meshing part, and the secondary planetary gear meshes with the second meshing part.
[0017] Optionally, the first engaging portion and the second engaging portion are an integral structure.
[0018] Optionally, the second housing further includes an end cap, a third part, and a connector. The third part is circumferentially disposed on the outer wall of the second part. The third part and the first part are spaced apart along the axial direction of the joint module. The end cap is disposed on the side of the second part away from the drive module. The connector passes through the third part and connects to the end cap on the side of the third part away from the end cap.
[0019] Optionally, the connector includes a first segment and a second segment, the outer diameter of the first segment is larger than the outer diameter of the second segment, the first segment abuts against the third part, and the second segment passes through the third part and connects to the end cap.
[0020] Optionally, the joint module further includes an encoder module, which is located on the rotor assembly.
[0021] Optionally, the encoder module includes a first gear, a second gear, a magnetic ring assembly, and a reading assembly. The first gear is connected to the rotor assembly, the second gear is rotatably connected to the first housing, and the second gear meshes with the first gear. The magnetic ring assembly is disposed on the second gear, and the reading assembly is disposed on the first housing.
[0022] According to a second aspect of the embodiments of this application, a robot is provided, including the joint module described above.
[0023] One technical advantage of this application embodiment is that the outer diameter of the deceleration module is smaller than the outer diameter of the drive module, thereby reducing the overall size of the joint module and making the weight of the joint module lighter.
[0024] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description
[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.
[0026] Figure 1 This is a schematic diagram of the joint module structure according to an embodiment of this application;
[0027] Figure 2 for Figure 1 Sectional view at point AA;
[0028] Figure 3 This is a schematic diagram of the joint module structure according to an embodiment of this application;
[0029] Figure 4 for Figure 3 Sectional view at BB in the middle;
[0030] Figure 5 This is a schematic diagram of the joint module structure according to an embodiment of this application;
[0031] Figure 6 for Figure 5 Sectional view at CC in the middle;
[0032] Figure 7 for Figure 5 Sectional view at DD in the middle;
[0033] Figure 8 This is an exploded view of the joint module according to an embodiment of this application.
[0034] Explanation of reference numerals in the attached drawings: Joint module 100; Drive module 1; Drive component 11; Stator assembly 111; Receiving area 1111; Rotor assembly 112; Rotor 1121; Rotor bushing 1122; First housing 12; Reduction module 2; Reduction component 21; First-stage reduction assembly 211; First-stage sun gear 2111; First-stage planetary gear 2112; First-stage planetary carrier 2113; Second-stage reduction assembly 212; Second-stage sun gear 2121; Second-stage planetary gear 2122; Second-stage planetary carrier 2123; Second housing 22; First part 221; Second part 222; First meshing part 2221; Second meshing part 2222; Third part 223; End cover 224; Connector 225; First section 2251; Second section 2252; Output disk 23; Encoder module 3; First gear 31; Second gear 32; Drive plate 4. Detailed Implementation
[0035] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
[0036] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.
[0037] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.
[0038] In all the examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.
[0039] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.
[0040] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0041] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the 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, and therefore should not be construed as a limitation of this invention.
[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0043] like Figures 1-8As shown, according to a first aspect of the embodiments of this application, a joint module 100 is provided, including a drive module 1 and a deceleration module 2; the drive module 1 includes a drive component 11 and a first housing 12, the drive component 11 being disposed inside the first housing 12; the deceleration module 2 includes a deceleration component 21 and a second housing 22, the second housing 22 including a first portion 221 and a second portion 222, the first portion 221 being circumferentially disposed on the outer wall of the second portion 222, and at least a portion of the deceleration component 21 being disposed inside the second portion 222; the first portion 221 being connected to the first housing 12, and the deceleration component 21 being connected to the drive component 11; the outer diameter of the second portion 222 being smaller than the outer diameter of the first portion 221, and the outer diameter of the first portion 221 being smaller than the outer diameter of the first housing 12.
[0044] like Figure 1 As shown, the joint module 100 includes a drive module 1 and a deceleration module 2.
[0045] To further explain, such as Figure 2 and Figure 4 As shown, drive module 1 includes a drive component 11 and a first housing 12. A first receiving cavity is formed inside the first housing 12. The drive component 11 is disposed within the first receiving cavity and includes an output section, which is a rotor assembly 112. Reduction module 2 includes a reduction component 21 and a second housing 22. The second housing 22 includes a first part 221 and a second part 222. The first part 221 is arranged around the outer wall of the second part 222. The outer diameter of the first part 221 is larger than the outer diameter of the second part 222. The inner diameter of the second part 222... The first housing 12 is formed with a second receiving cavity. The deceleration component 21 is at least partially disposed in the second receiving cavity. This can be understood as the entire deceleration component 21 being located in the second receiving cavity, or a portion of the deceleration component 21 being disposed in the second receiving cavity and another portion being located outside the second receiving cavity (which may protrude from the second receiving cavity and extend into the first receiving cavity). The deceleration component 21 includes an input portion, which is a first-stage sun gear 2111. Specifically, the first housing 12 is connected to the second part 222, and the input portion of the deceleration component 21 is connected to the output portion of the drive component 11.
[0046] To further explain, the outer diameter of the second part 222 is smaller than the outer diameter of the first part 221, and the outer diameter of the first part 221 is smaller than the outer diameter of the first housing 12; that is, the outer diameter of the deceleration module 2 is smaller than the outer diameter of the drive module 1, thereby reducing the overall size of the joint module 100 and making the weight of the joint module 100 lighter.
[0047] In one specific embodiment, the first portion 221 is embedded in the first receiving cavity, and along the radial direction of the joint module 100, screws pass through the first housing 12 and the first portion 221, thereby connecting the first housing 12 and the second housing 22 together. In this embodiment, while installing the first housing 12 and the second housing 22 together, the wall thickness of the first housing 12 can be reduced, thereby reducing the radial dimension of the joint module 100 and reducing the weight of the joint module 100.
[0048] In another specific embodiment, along the axial direction of the joint module 100, the first portion 221 abuts against the first housing 12, and along the axial direction of the joint module 100, a screw passes through the first portion 221 and the first housing 12, thereby connecting the first housing 12 and the second housing 22 together.
[0049] like Figure 2 and Figure 4 As shown, in an optional embodiment, the deceleration component 21 includes a first-stage deceleration assembly 211, which includes a first-stage planetary gear 2112; the inner wall of the second part 222 is provided with a first meshing part 2221, and the first-stage planetary gear 2112 meshes with the first meshing part 2221; in this embodiment, the second part 222 can be used as an internal gear ring in the deceleration module 2, thereby eliminating the need for an internal gear ring in the joint module 100, thereby shortening the radial direction of the joint module 100, making the structure of the joint module 100 more compact, and reducing the volume of the joint module 100.
[0050] like Figure 2 , Figure 4 and Figure 6As shown, in an optional embodiment, the drive component 11 includes a stator assembly 111 and a rotor assembly 112. The rotor assembly 112 is disposed inside the first housing 12, and the stator assembly 111 is arranged around the rotor assembly 112 and connected to the inner wall of the first housing 12. In the axial direction of the joint module 100, the stator assembly 111 protrudes from the rotor assembly 112 near the end of the reduction module 2 to form a receiving area 1111. Specifically, the stator assembly 111 is disposed in the first receiving cavity of the first housing 12, and the stator assembly 111 is connected to the inner wall of the first housing 12, thereby enabling the stator assembly 111 to be fixed on the first housing 12. The stator assembly 111 is annular. The outer ring of stator assembly 111 is connected to the inner wall of the first housing 12, and the inner ring of stator assembly 111 forms a receiving space; rotor assembly 112 is disposed in the first receiving cavity of the first housing 12, and stator assembly 111 is disposed around rotor assembly 112, that is, rotor assembly 112 is located in the receiving space; in the axial direction of joint module 100, the end of stator assembly 111 near reduction module 2 protrudes from rotor assembly 112, that is, in the receiving space of stator assembly 111, rotor assembly 112 occupies part of the receiving space, and the part of stator assembly 111 protruding from rotor assembly 112 is the receiving area 1111, which is closer to reduction module 2 than rotor assembly 112, and the receiving area 1111 is part of the receiving space.
[0051] To further explain, a portion of the second part 222 is embedded in the receiving area 1111, and the second part 222 and the rotor assembly 112 are spaced apart along the axial direction of the joint module 100; a portion of the second part 222 of the second housing 22 is located within the receiving area 1111. Specifically, the portion of the second part 222 near the drive module 1 is embedded in the receiving area 1111, so that a portion of the deceleration module 2 and a portion of the stator assembly 111 partially overlap in the radial direction of the joint module 100, thereby reducing the axial dimension of the joint module 100 and making more reasonable use of the receiving space, so that the structure of the joint module 100 is more compact and the volume of the joint module 100 is reduced.
[0052] like Figure 2 and Figure 4 As shown, in an optional embodiment, a portion of the first engagement portion 2221 and a portion of the first-stage planetary gear 2112 are both located in the receiving area 1111; specifically, in the axial direction of the joint module 100, a portion of the first engagement portion 2221 and a portion of the first-stage planetary gear 2112 extend into the receiving area 1111 to reduce the axial dimension of the joint module 100.
[0053] like Figure 2 , Figure 4 and Figure 6 As shown, in an optional embodiment, the rotor assembly 112 includes a rotor 1121 and a rotor bushing 1122. The rotor 1121 is mounted on the rotor bushing 1122, and the rotor bushing 1122 is rotatably connected to the first housing 12 via bearings. The first-stage reduction assembly 211 also includes a first-stage sun gear 2111 and a first-stage planetary carrier 2113. The first-stage sun gear 2111 is connected to the rotor bushing 1122, the first-stage planetary gear 2112 meshes with the first-stage sun gear 2111, and the first-stage planetary gear 2112 is connected to the first-stage planetary carrier 2113. Therefore, the first-stage sun gear 2111 is the input part of the first-stage reduction assembly 211 and also the input part of the reduction component 21. The first-stage planetary carrier 2113 is the output part of the first-stage reduction assembly 211.
[0054] In one alternative embodiment, the outer diameter of the second portion 222 is smaller than the inner diameter of the stator assembly 111; specifically, the inner diameter of the stator assembly 111 is the radial dimension of the receiving space of the stator assembly 111 in the joint module 100; in this embodiment, the outer diameter of the second portion 222 is smaller than the inner diameter of the stator assembly 111, so that when a portion of the second portion 222 is embedded in the receiving area 1111 of the stator assembly 111, a certain gap is ensured between the second portion 222 and the stator assembly 111 in the radial direction of the joint module 100, so as to avoid wear between them during installation.
[0055] like Figure 2 and Figure 4As shown, in an optional embodiment, the deceleration component 21 further includes a secondary deceleration assembly 212, which is connected to the primary deceleration assembly 211. The secondary deceleration assembly 212 includes a secondary planetary gear 2122. A second meshing portion 2222 is provided on the inner wall of the second part 222. The second meshing portion 2222 and the first meshing portion 2221 are arranged along the axial direction of the joint module 100, and the secondary planetary gear 2122 meshes with the second meshing portion 2222. Specifically, the secondary deceleration assembly 212 is connected to the primary deceleration assembly 211, and the primary deceleration assembly 211 can transmit power to the secondary deceleration assembly 212. A second meshing portion 2122 is also provided on the inner wall of the second part 222. The second meshing part 2222 and the first meshing part 2221 are arranged adjacent to or spaced apart along the axial direction of the joint module 100. The second-stage planetary gear 2122 of the second-stage reduction assembly 212 meshes with the second meshing part 2222. In this embodiment, the second part 222 is used as an internal gear ring in the reduction module 2. The first-stage reduction assembly 211 and the second-stage reduction assembly 212 share an internal gear ring, thereby eliminating one internal gear ring and shortening the axial dimension of the joint module 100, making the structure of the joint module 100 more compact and reducing the volume of the joint module 100. Since one internal gear ring is reduced, the total number of parts is reduced, thereby simplifying the assembly process and reducing manufacturing costs and assembly error risks.
[0056] like Figure 2 and Figure 4 As shown, in an optional embodiment, the secondary reduction assembly 212 further includes a secondary sun gear 2121 and a secondary planetary carrier 2123. The secondary sun gear 2121 is connected to the primary planetary carrier 2113, the secondary planetary gear 2122 meshes with the secondary sun gear 2121, and the secondary planetary gear 2122 is connected to the secondary planetary carrier 2123. The secondary sun gear 2121 is the input part of the secondary reduction assembly 212, and the secondary planetary carrier 2123 is the output part of the secondary reduction assembly 212.
[0057] like Figure 2 , Figure 3 and Figure 4 As shown, in an optional embodiment, the deceleration component 21 further includes an output disk 23, which is connected to the secondary planetary carrier 2123. The output disk 23 is the output part of the deceleration component 21 and also the output part of the joint module 100. The output disk 23 is used to connect to external components.
[0058] In an optional embodiment, the first engaging portion 2221 and the second engaging portion 2222 are integrally formed in the axial direction of the joint module 100. Specifically, the first engaging portion 2221 and the second engaging portion 2222 are integrally formed on the inner wall of the second portion 222. That is, the first engaging portion 2221 and the second engaging portion 2222 can be processed simultaneously during processing, thereby simplifying the processing difficulty. Furthermore, when the second portion 222 is assembled with the first-stage reduction assembly 211 and the second-stage reduction assembly 212, the assembly accuracy and assembly difficulty can be reduced.
[0059] like Figure 2 , Figure 4 and Figure 5 As shown, in an optional embodiment, the second housing 22 further includes an end cap 224, a third portion 223, and a connector 225. The third portion 223 is circumferentially disposed around the outer wall of the second portion 222, and the third portion 223 and the first portion 221 are spaced apart along the axial direction of the joint module 100. The end cap 224 is disposed on the side of the second portion 222 away from the drive module 1. The connector 225 passes through the third portion 223 and connects to the end cap 224 on the side of the third portion 223 away from the end cap 224. Specifically, the third part 223 is arranged around the outer wall of the second part 222. The outer diameter of the third part 223 is larger than that of the second part 222. The third part 223 and the first part 221 are spaced apart along the axial direction of the joint module 100. The first part 221 is closer to the drive module 1 than the third part 223. The end cover 224 is located on the side of the second part 222 away from the drive module 1. The end cover 224 is rotatably connected to the deceleration component 21. The end cover 224 abuts against the third part 223. The end of the end cover 224 away from the third part 223 faces the output end of the deceleration module 2.
[0060] To further explain, since the end cap 224 away from the third part 223 faces the output end of the deceleration module 2, and the output end of the deceleration module 2 is used to connect other components, in this embodiment, the connector 225 passes through the third part 223 and connects to the end cap 224 on the side of the third part 223 away from the end cap 224, thereby connecting the end cap 224 and the third part 223 together. While ensuring the connection strength between the third part 223 and the end cap 224, the radial dimension of the deceleration module 2 can be reduced to the maximum extent, which means the radial dimension of the joint module 100 can be reduced.
[0061] In one alternative embodiment, the end cap 224 has a clearance hole, the axis of which is the same as the axis of the joint module 100. The clearance hole is used to allow the output disk 23 to pass through, so that the output disk 23 can be connected to an external component.
[0062] like Figure 2 As shown, in an optional embodiment, the connector 225 includes a first segment 2251 and a second segment 2252. The outer diameter of the first segment 2251 is larger than the outer diameter of the second segment 2252. The first segment 2251 abuts against the third part 223, and the second segment 2252 passes through the third part 223 and connects to the end cap 224. Specifically, the third part 223 has a first through hole, and the end cap 224 has a second through hole. The axial direction of the first through hole is the same as the axial direction of the joint module 100, and the axial direction of the second through hole is the same as the axial direction of the joint module 100. The second segment 2252 of the connector 225 passes through the first through hole and the second through hole, and the first segment 2251 of the connector 225 abuts against the third part 223. In this embodiment, the first segment 2251 is located on the side of the third part 223 away from the end cap 224, so there is no need to provide clearance space for the first segment 2251 of the connector 225, thereby simplifying the processing difficulty of the second housing 22.
[0063] Among them, the connector 225 is a screw, bolt or bolt, etc.; taking a screw as an example, the first section 2251 of the connector 225 is the torque application part of the screw, and the second section 2252 of the connector 225 is the screw rod.
[0064] In one alternative embodiment, the joint module 100 further includes an encoder module 3 disposed on the rotor assembly 112.
[0065] like Figure 2 and Figure 7 As shown, in an optional embodiment, the encoder module 3 includes a first gear 31, a second gear 32, a magnetic ring assembly, and a reading assembly. The first gear 31 is connected to the rotor assembly 112, the second gear 32 is rotatably connected to the first housing 12, and the second gear 32 meshes with the first gear 31. The magnetic ring assembly is disposed on the second gear 32, and the reading assembly is disposed on the first housing 12. Specifically, the first gear 31 is disposed on the rotor assembly 112, and the rotation of the rotor assembly 112 drives the first gear 31 to rotate. The second gear 32 meshes with the first gear 31 and is disposed on and rotatably connected to the first housing 12. The magnetic ring assembly is disposed on the second gear 32, and the reading assembly is disposed on the first housing 12. The reading assembly and the magnetic ring assembly are spaced apart along the axial direction of the joint module 100.
[0066] like Figure 2 As shown, in an optional embodiment, the joint module 100 further includes a drive plate 4. The encoder module 3 is spaced apart from the drive plate 4 along the axial direction of the joint module 100, and the reading assembly is electrically connected to the drive plate 4.
[0067] According to a second aspect of the embodiments of this application, a robot is provided, including the joint module 100 described above.
[0068] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.
Claims
1. A joint module, characterized in that, include: A drive module, comprising a drive component and a first housing, wherein the drive component is disposed inside the first housing; A deceleration module, comprising a deceleration component and a second housing, the second housing comprising a first part and a second part, the first part being circumferentially disposed on the outer wall of the second part, and at least a portion of the deceleration component being disposed inside the second part; The first part is connected to the first housing, and the deceleration component is connected to the drive component; The outer diameter of the second part is smaller than the outer diameter of the first part, and the outer diameter of the first part is smaller than the outer diameter of the first shell. The second housing further includes an end cap, a third part, and a connector. The third part is circumferentially disposed on the outer wall of the second part, and the outer diameter of the third part is larger than the outer diameter of the second part. The third part and the first part are spaced apart along the axial direction of the joint module. The end cap is disposed on the side of the second part away from the drive module. The connector passes through the third part and connects to the end cap on the side of the third part away from the end cap.
2. The joint module according to claim 1, characterized in that, The deceleration component includes a primary deceleration assembly, which includes a primary planetary gear. The inner wall of the second part is provided with a first meshing part, and the first-stage planetary gear meshes with the first meshing part.
3. The joint module according to claim 2, characterized in that, The drive component includes a stator assembly and a rotor assembly. The rotor assembly is disposed inside the first housing. The stator assembly is arranged around the rotor assembly and connected to the inner wall of the first housing. In the axial direction of the joint module, the stator assembly protrudes from the rotor assembly at one end near the reduction module to form a receiving area. The second part is partially embedded in the receiving area, and the second part and the rotor assembly are spaced apart along the axial direction of the joint module.
4. The joint module according to claim 3, characterized in that, Both the portion of the first meshing part and the portion of the first-stage planetary gear are located in the receiving area.
5. The joint module according to claim 3, characterized in that, The outer diameter of the second part is smaller than the inner diameter of the stator assembly.
6. The joint module according to claim 3, characterized in that, The deceleration component further includes a secondary deceleration assembly, which is connected to the primary deceleration assembly. The secondary deceleration assembly includes a secondary planetary gear. The inner wall of the second part is provided with a second meshing part, which is arranged along the axial direction of the joint module with the first meshing part, and the secondary planetary gear meshes with the second meshing part.
7. The joint module according to claim 6, characterized in that, The first engaging part and the second engaging part are an integral structure.
8. The joint module according to claim 1, characterized in that, The connector includes a first section and a second section. The outer diameter of the first section is larger than the outer diameter of the second section. The first section abuts against the third part, and the second section passes through the third part and connects to the end cap.
9. The joint module according to claim 3, characterized in that, The joint module also includes an encoder module, which is located on the rotor assembly.
10. The joint module according to claim 9, characterized in that, The encoder module includes a first gear, a second gear, a magnetic ring assembly, and a reading assembly. The first gear is connected to the rotor assembly, the second gear is rotatably connected to the first housing, and the second gear meshes with the first gear. The magnetic ring assembly is disposed on the second gear, and the reading assembly is disposed on the first housing.
11. A robot, characterized in that, Includes the joint module as described in any one of claims 1-10.