Planetary reducer, joint module and robot

Abstract

The invention discloses a planetary reducer, a joint module and a robot. The planetary reducer comprises a multi-stage planetary reduction assembly, a crossed roller bearing and an output disc. The crossed roller bearing has a raceway, and includes an outer ring, an inner ring, and a plurality of rollers. And the outer ring is connected with an inner gear ring of the multi-stage planetary speed reduction assembly. A first raceway groove is formed in the outer ring. The inner ring is arranged on the inner side of the outer ring and can rotate relative to the outer ring. A second roller path groove is formed in the side, close to the outer ring, of the inner ring, and the second roller path groove is opposite to the first roller path groove to form a roller path. The inner ring comprises a first sub inner ring and a second sub inner ring which are connected. The first sub inner ring is connected with the output end of the multi-stage planetary speed reduction assembly. The rollers are arranged in the roller paths in a rolling mode. And the output disc is connected with the second sub inner ring.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, and in particular, to a planetary reducer, a joint module and a robot. BACKGROUND

[0002] A robot, such as a humanoid robot, refers to an intelligent machine system that has human morphological features (such as a head, a torso, and limbs) and can imitate human motion and interaction capabilities. A humanoid robot not only looks like a human, but also has the ability to perceive the environment, make autonomous decisions, and perform complex tasks, and is a carrier for the interaction between artificial intelligence and the physical world.

[0003] With the continuous expansion of the application scenarios of humanoid robots, the requirements for their motion stability, work flexibility, and service life are becoming increasingly stringent. As the core executive component of a humanoid robot, the stability, reliability, and service life of a joint module need to be further improved to accurately match the use requirements of various complex working conditions. SUMMARY

[0004] In a first aspect, a planetary reducer is provided. The planetary reducer includes a multi-stage planetary reduction assembly, a cross-roller bearing, and an output disc. An input end of the multi-stage planetary reduction assembly is configured to be connected with a power source. The cross-roller bearing has a raceway and includes an outer ring, an inner ring, and a plurality of rollers. The outer ring is connected with an inner gear ring of the multi-stage planetary reduction assembly. The outer ring is formed with a first raceway groove. The inner ring is disposed on an inner side of the outer ring and is rotatable relative to the outer ring. A side of the inner ring close to the outer ring is formed with a second raceway groove opposite the first raceway groove to form the raceway. The inner ring includes a first sub-inner ring and a second sub-inner ring. The first sub-inner ring is connected with an output end of the multi-stage planetary reduction assembly. The second sub-inner ring is connected with the first sub-inner ring. The plurality of rollers are rollably disposed in the raceway. The output disc is connected with the second sub-inner ring.

[0005] In some embodiments, the planetary reducer satisfies at least one of the following: the output end of the multi-stage planetary reduction assembly and the first sub-inner ring are an integral piece; the second sub-inner ring and the output disc are an integral piece; and the inner gear ring of the multi-stage planetary reduction assembly and the outer ring are an integral piece.

[0006] In some embodiments, the multi-stage planetary reduction assembly includes a first-stage planetary reduction assembly and a second-stage planetary reduction assembly. A first input end of the first-stage planetary reduction assembly is the input end of the multi-stage planetary reduction assembly. A second input end of the second-stage planetary reduction assembly is connected with a first output end of the first-stage planetary reduction assembly, and a second output end of the second-stage planetary reduction assembly is the output end of the multi-stage planetary reduction assembly.

[0007] In some embodiments, the primary planetary reduction assembly includes a primary sun gear, a primary planet carrier, a plurality of primary planet gears, and a primary inner ring gear. The primary sun gear is the first input. The primary planet carrier is the first output. The plurality of primary planet gears are disposed on the primary planet carrier. The plurality of primary planet gears surround the primary sun gear and are in meshing engagement with the primary sun gear. The primary sun gear, the primary planet carrier, and the plurality of primary planet gears are located inside the primary inner ring gear, and the plurality of primary planet gears are in meshing engagement with the primary inner ring gear.

[0008] In some embodiments, the secondary planetary reduction assembly includes a secondary sun gear, a secondary planet carrier, a plurality of secondary planet gears, and a secondary inner ring gear. The secondary sun gear is the second input. The secondary planet carrier is the second output. The plurality of secondary planet gears are disposed on the secondary planet carrier. The plurality of secondary planet gears surround the secondary sun gear and are in meshing engagement with the secondary sun gear. The secondary inner ring gear is connected to the primary inner ring gear. The secondary sun gear, the secondary planet carrier, and the plurality of secondary planet gears are located inside the secondary inner ring gear, and the plurality of secondary planet gears are in meshing engagement with the secondary inner ring gear. The primary inner ring gear and the secondary inner ring gear together form an inner ring gear of the multi-stage planetary reduction assembly.

[0009] In some embodiments, the primary inner ring gear and the secondary inner ring gear are a unitary piece.

[0010] In some embodiments, a radial wall thickness of either of the primary inner ring gear and the secondary inner ring gear is - any value in a range of 0.5mm to 2mm, is a face modulus.

[0011] In a second aspect, a joint module is provided. The joint module includes a motor and a planetary reducer of any of the above embodiments. The planetary reducer is connected to the motor.

[0012] In some embodiments, the motor includes a housing, a stator, a rotor, a shaft, and a pair of bearings. The housing is connected with an inner ring of the multi-stage planetary reduction assembly in the planetary reducer. The housing has an opening. The stator is disposed in the housing. The rotor is located at an inner side of the stator and is coaxially disposed with the stator. The rotor is rotatable relative to the stator. The shaft is connected with an inner side of the rotor and is coaxially disposed with the rotor. An end of the shaft close to the planetary reducer extends out of the housing through the opening and is connected with an input end of the multi-stage planetary reduction assembly in the planetary reducer. The shaft is configured to rotate along with the rotor. The pair of bearings are located at the opening and are disposed between a side wall of the housing provided with the opening and the shaft. The pair of bearings are configured to support the shaft, and the pair of bearings include a first bearing and a second bearing that are paired.

[0013] In some embodiments, the motor further includes a pre-tightening member. The pre-tightening member is located at a side of the pair of bearings close to the planetary reducer and is connected with the shaft. The pre-tightening member abuts against the pair of bearings.

[0014] In some embodiments, the shaft includes a shaft body, a connecting portion, and a limiting portion. A first end of the shaft body is connected with the input end of the multi-stage planetary reduction assembly. The connecting portion connects a second end of the shaft body and the rotor. The limiting portion is disposed at a side of the connecting portion close to the pair of bearings and abuts against a side of the pair of bearings away from the planetary reducer.

[0015] In some embodiments, the housing includes a housing body, a cover, and an extension. The housing body has a receiving cavity, and a side of the housing body close to the planetary reducer is provided with the opening. The cover is disposed at a side of the housing body away from the planetary reducer to close the receiving cavity. The extension is connected with the housing body. The extension is a side wall of the housing provided with the opening.

[0016] In some embodiments, the housing further includes a shoulder. The shoulder is disposed at the extension. The shoulder is located between an outer ring of the first bearing and an outer ring of the second bearing and abuts against the outer ring of the first bearing and the outer ring of the second bearing.

[0017] In some embodiments, the motor further includes a retainer. The retainer is disposed between an inner ring of the first bearing and an inner ring of the second bearing and abuts against the inner ring of the first bearing and the inner ring of the second bearing.

[0018] In some embodiments, the motor further comprises a bracket and a controller. The bracket is disposed in the housing and located at a side of the rotation shaft away from the planetary reducer. The controller is disposed in the bracket.

[0019] In some embodiments, the motor further comprises a code stator and a first code rotor. The code stator is connected to the bracket and located at a side of the rotation shaft away from the planetary reducer. The first code rotor is connected to the rotation shaft and located close to the code stator.

[0020] In some embodiments, the motor further comprises a connecting shaft, a third bearing and a second code rotor. The connecting shaft is coaxially disposed with the rotation shaft and the inner ring of the cross roller bearing. The inner ring of the cross roller bearing, the multi-stage planetary reduction assembly, the rotation shaft and the code stator are located outside the connecting shaft. A first end of the connecting shaft is connected to the first inner ring, and a second end of the connecting shaft penetrates through the inner ring of the cross roller bearing, the multi-stage planetary reduction assembly, the rotation shaft and the code stator. The third bearing is disposed between the connecting shaft and the rotation shaft and configured to support the connecting shaft. The second code rotor is connected to the connecting shaft, and the second code rotor and the first code rotor are located at two sides of the code stator respectively.

[0021] In some embodiments, the motor further comprises at least one of a first shaft sleeve and a second shaft sleeve. The first shaft sleeve is connected between the first code rotor and the rotation shaft. The second shaft sleeve is sleeved outside the connecting shaft.

[0022] In some embodiments, the second shaft sleeve comprises a sleeve part and a support part. The sleeve part is sleeved outside the connecting shaft. The support part is connected to the sleeve part and located at an end of the sleeve part away from the bracket. The second code rotor is disposed at a side of the support part close to the bracket.

[0023] In a third aspect, a robot is provided. The robot comprises a robot body and the joint module in any of the above embodiments. The outer ring of the cross roller bearing in the planetary reducer is connected to a hip part of the robot body, and the output disc of the planetary reducer is connected to a leg part of the robot body. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present disclosure, the drawings needed to be used in some embodiments of the present disclosure will be briefly introduced. However, the drawings in the following description are only the drawings of some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art according to these drawings. In addition, the drawings in the following description can be regarded as schematic diagrams, and are not limited to the actual size, actual process, actual timing of signals, etc. of the products involved in the embodiments of the present disclosure.

[0025] Figure 1 is a block diagram of a robot according to some embodiments; Figure 2 is a structural diagram of a joint module according to some embodiments; Figure 3 is a sectional view along the line A-A in Figure 2 Figure 4 is a structural diagram of a cross roller bearing in Figure 3 Figure 5 is a partial enlarged view of circle B in Figure 4 Figure 6 is a structural diagram of a multi-stage planetary reduction assembly in Figure 3 Figure 7 is an exploded view of a multi-stage planetary reduction assembly according to some embodiments; Figure 8 is an exploded view of a primary planetary wheel according to some embodiments; Figure 9 is a structural diagram of a motor in Figure 3 Figure 10 is a partial enlarged view of circle C in Figure 9 Figure 11 is another partial enlarged view of circle C in Figure 9 Figure 12 is a structural diagram of a joint module according to some embodiments from another perspective.

[0026] Reference signs: robot 1; joint module 1000; robot body 2000; ​​​​​​​Motor 100; housing 11; opening 111; shell body 112; accommodating cavity 1121; cover body 113; extension 114; shaft shoulder 115; stator 12; rotor 13; rotating shaft 14; shaft body 141; connecting part 142; first sub connecting part 1421; second sub connecting part 1422; third sub connecting part 1423; limiting part 143; counter bearing 15; first bearing 151; second bearing 152; check ring 16; pre-tightening part 17; support 18; controller 19; encoding stator 101; first encoding rotor 102; connecting shaft 103; fixing part 1031; third bearing 104; second encoding rotor 105; first shaft sleeve 106; second shaft sleeve 107; sleeve part 1071; support part 1072; first interface 108; second interface 109; second through hole 110; third through hole 120; Planetary reducer 200; multi-stage planetary reduction assembly 20; first-stage planetary reduction assembly 21; first-stage sun gear 211; first-stage planet carrier 212; first-stage planet gear 213; first-stage inner ring gear 214; second-stage planetary reduction assembly 22; second-stage sun gear 221; second-stage planet carrier 222; second-stage planet gear 223; second-stage inner ring gear 224; planet pin 2131; gear 2132; needle roller 2133; gasket 2134; cross-roller bearing 30; outer ring 31; first raceway groove 311; inner ring 32; first sub inner ring 321; first raceway surface 3211; matching part 3212; second sub inner ring 322; second raceway surface 3221; second raceway groove 323; roller 33; raceway 34; connecting hole 35; first sealing groove 36; second sealing groove 37; output disc 40; First through hole 300. DETAILED DESCRIPTION

[0027] The technical solutions in some embodiments of the present disclosure will be described clearly and completely in combination with the drawings. However, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments provided in the present disclosure, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present disclosure.

[0028] Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise," "comprising," and the like are to be construed in an open, inclusive sense, as opposed to a closed or exclusive sense, so that, for example, the term "comprising" will be understood to mean "including but not limited to." In the description of the specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example" or "some examples" are not necessarily referring to the same embodiment or example. Furthermore, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example" or "some examples" mean that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the disclosure. The appearances of the above terms in various places in the specification are not necessarily referring to the same embodiment or example.

[0029] Hereinafter, the terms "first" and "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0030] In describing some embodiments, the term "connected" and / or variants thereof are used. The term "connected" is used in a broad sense and can be, for example, fixedly connected, detachably connected, or integrated; directly connected, or indirectly connected through an intermediate medium. The embodiments disclosed herein are not necessarily limited to the content herein.

[0031] "A, B, and C at least one of" has the same meaning as "at least one of A, B, or C", and includes the following combinations of A, B, and C: only A, only B, only C, a combination of A and B, a combination of A and C, a combination of B and C, and a combination of A, B, and C.

[0032] The use of "adapted to" or "configured to" herein means open and inclusive language that does not exclude devices adapted to or configured to perform additional tasks or steps.

[0033] As used herein, "about," "approximately," or "around" includes the value recited and the average value within an acceptable range of deviation, as determined by one of ordinary skill in the art considering the measurement in question and the error intended to be introduced to the particular quantity being measured (i.e., the limitations of the measurement system).

[0034] As used herein, "parallel," "perpendicular," "equal" includes the recited condition and conditions approximating the recited condition, the approximation being within an acceptable range of deviation, as determined by one of ordinary skill in the art considering the measurement in question and the error intended to be introduced to the particular quantity being measured (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallel and near-parallel, where near-parallel can be within an acceptable deviation of, for example, 5°; "perpendicular" includes absolute perpendicular and near-perpendicular, where near-perpendicular can also be within an acceptable deviation of, for example, 5°. "Equal" includes absolute equality and near-equality, where near-equality can be within an acceptable deviation of, for example, less than or equal to 5% of either of the two quantities being compared.

[0035] A robot is an intelligent machine capable of semi-autonomous or fully autonomous work. A robot can perform tasks such as work or movement through programming and automatic control.

[0036] Robots can include industrial robots and special-purpose robots. Industrial robots refer to multi-joint manipulators (or robotic arms) or multi-degree-of-freedom robots for industrial fields. For example, industrial robots include collaborative robots, which are industrial robots capable of directly interacting with humans in a shared workspace. Special-purpose robots are various robots other than industrial robots, for non-manufacturing industries and serving humans, such as service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc.

[0037] Robots can also be classified by shape into humanoid robots, wheeled robots, legged robots, crawling robots, and flying robots. For ease of description, the following mainly describes robots as humanoid robots, however, this should not be understood as a limitation of the present disclosure.

[0038] A humanoid robot is an intelligent robot that imitates the appearance and behavior of humans. The basic principle of the humanoid robot is to achieve similar movement, operation, and interaction capabilities as humans through the combination of mechanical structures, sensors, control systems, and artificial intelligence technologies.

[0039] The humanoid robot includes mechanical structures, drive systems, perception systems, and control systems, etc.

[0040] The mechanical structure includes joint modules, limbs, and a torso, and is configured to simulate human motion. The joint module is the core component of the humanoid robot for flexible motion, and generally includes a motor, a reducer, and a sensor.

[0041] The drive system includes high-precision servo motors or hydraulic drive devices, and is configured to provide power output to the humanoid robot.

[0042] The perception system integrates various sensors such as vision, touch, and hearing, and is configured to achieve environmental perception and interaction.

[0043] The control system is a system based on algorithm for motion planning and dynamic balance control. For example, the control system can combine artificial intelligence technology to improve autonomous decision-making capabilities.

[0044] The application fields of humanoid robots are wide. For example, in the industrial field, humanoid robots can be used for precision assembly and dangerous environment operation; in the medical field, humanoid robots can assist surgery or rehabilitation training; in the home scenario, humanoid robots can provide companionship, cleaning, and other services.

[0045] However, the wide application of humanoid robots still faces many technical challenges. Compared with harmonic reducers, planetary reducers are more impact-resistant and more suitable for the working conditions of alternating loads when the humanoid robot walks, so the rotary joints (such as joint modules) of the legs of the humanoid robot usually use a combination structure of planetary reducers and motors. The output end of the planetary reducer is connected to the leg components of the robot to output power, and due to space limitations, the output end of the planetary reducer is usually supported by a standard thin-wall cross-roller bearing or a thin-wall deep groove ball bearing.

[0046] When a thin-wall deep groove ball bearing is used to support the output end of the planetary reducer, the thin-wall deep groove ball bearing can withstand less axial force, and the wall thickness of the thin-wall deep groove ball bearing is thin, which is easily damaged during assembly. When the robot frequently walks sideways, the output end of the planetary reducer is frequently subjected to axial force, and the thin-wall deep groove ball bearing is easily damaged in a short period of time. And due to space limitations, corresponding structural members cannot be set to control the axial and radial clearances of the deep groove ball bearing, and the axial positioning of the deep groove ball bearing is usually guaranteed by its dimensional tolerance.

[0047] When the tolerance band of the deep groove ball bearing is too small, the pressure between the ball of the deep groove ball bearing and the inner ring and the outer ring of the deep groove ball bearing is too large, which causes the bearing to wear out quickly, thereby reducing the service life of the bearing. When the tolerance band of the deep groove ball bearing is too large, the inner ring and the outer ring of the bearing supporting the rotating shaft of the motor are prone to axial floating, which causes the bearing to wear out quickly, thereby reducing the service life of the bearing. When a structure of two deep groove ball bearings cooperating with a wave-shaped gasket is used to eliminate the axial gap, the structure requires a large installation space and is not convenient to apply to the leg joint of a robot with limited space.

[0048] When a standard thin-walled cross-roller bearing is used to support the output end of a planetary reducer, the service life of the standard thin-walled cross-roller bearing at the output end of the planetary reducer cannot meet the severe requirements of the complex working conditions of the robot, which is limited by the rated static load, the rated dynamic load and other parameters of the standard thin-walled cross-roller bearing. In addition, the cost of the standard thin-walled cross-roller bearing is high, which is not convenient for mass application. In addition, the size specifications of the standard thin-walled cross-roller bearing on the market are limited. In most cases, the joints of humanoid robots cannot match the thin-walled cross-roller bearing of the appropriate size, which limits the structural size design of the entire joint module to the size of the standard thin-walled cross-roller bearing, and the overall design of the machine cannot be reasonable.

[0049] To solve the above technical problems, some embodiments of the present disclosure provide a robot 1. For example, the robot 1 can be a collaborative robot, a service robot, an industrial robot, etc., and the present disclosure does not limit this.

[0050] As shown in Figure 1 , the robot 1 includes a robot body 2000 and a joint module 1000. The joint module 1000 is connected to the robot body 2000, and the joint module 1000 is configured to drive the robot body 2000 to move.

[0051] Here, the joint module 1000 is the core component for realizing movement in the robot 1, which can be equivalent to the “joint” of a human being. It integrates driving, transmission, sensing, control and other functions in one, enabling the robot 1 to complete precise and flexible movements.

[0052] For example, taking the joint module 1000 connected between the hip and leg components of the robot body 2000 as an example, the fixed end of the joint module 1000 is connected to the hip of the robot body 2000, and the output end of the joint module 1000 is connected to the leg component of the robot body 2000. In this way, the leg component of the robot 1 can be driven to rotate relative to the hip of the robot 1 through the joint module 1000.

[0053] In some embodiments, as shown in Figure 2 and Figure 3As shown, the joint module 1000 includes a motor 100 and a planetary reducer 200 connected to the motor 100.

[0054] The motor 100, as a power source of the joint module 1000, is configured to provide power to the planetary reducer 200, so that the planetary reducer 200 can drive the corresponding components of the robot body 2000 to rotate.

[0055] For example, the planetary reducer 200 is arranged at one side of the motor 100 in the axial direction, and an input end (e.g., a primary sun gear 211) of the planetary reducer 200 is connected to an output end (e.g., a rotating shaft 14 of the motor 100) of the motor 100.

[0056] The planetary reducer 200 in some embodiments of the present disclosure will be described in detail below.

[0057] In some embodiments, as shown in Figure 3 As shown, the planetary reducer 200 includes a multi-stage planetary reduction assembly 20, a cross-roller bearing 30, and an output disc 40.

[0058] The multi-stage planetary reduction assembly 20 is arranged at one side of the motor 100, and an input end (e.g., a primary sun gear 211) of the multi-stage planetary reduction assembly 20 is connected to a power source (e.g., a rotating shaft 14 of the motor 100).

[0059] As shown in Figure 3 and Figure 4 As shown, the cross-roller bearing 30 includes an outer ring 31, an inner ring 32, and a plurality of rollers 33.

[0060] The outer ring 31 of the cross-roller bearing 30 is connected to the inner ring (e.g., a primary inner ring 214 and a secondary inner ring 224) of the multi-stage planetary reduction assembly 20. For example, in the axial direction (refer to the first direction X in Figure 3 , the side of the outer ring 31 of the cross-roller bearing 30 close to the multi-stage planetary reduction assembly 20 is connected to the inner ring of the multi-stage planetary reduction assembly 20. The side of the outer ring 31 of the cross-roller bearing 30 away from the multi-stage planetary reduction assembly 20 is connected to the hip of the robot body 2000 as a fixed end of the joint module 1000. The inner wall surface of the outer ring 31 of the cross-roller bearing 30 is recessed to form a first raceway groove 311.

[0061] Here, the connection mode between the outer ring 31 of the cross-roller bearing 30 and the inner ring of the multi-stage planetary reduction assembly 20 includes but is not limited to welding, bolt connection, clamping, insertion, locking connection, magnetic connection, etc.

[0062] The inner ring 32 of the cross roller bearing 30 is connected with the output end of the multi-stage planetary reduction assembly 20 (a second stage carrier 222 as described below) and the output disc 40. The inner ring 32 of the cross roller bearing 30 is disposed inside the outer ring 31 and rotatable relative to the outer ring 31 of the cross roller bearing 30. For example, the inner ring 32 of the cross roller bearing 30 is rotatable relative to the outer ring 31 of the cross roller bearing 30 about a predetermined axis L. The inner ring 32 of the cross roller bearing 30 is closer to the predetermined axis L than the outer ring 31.

[0063] Here, the predetermined axis L can be a central axis of the joint module 1000, a central axis of the multi-stage planetary reduction assembly 20, a central axis of the cross roller bearing 30, or a central axis of the motor 100 (a central axis of the rotating shaft 14, the rotor 13, the stator 12 or the connecting shaft 103 of the motor 100 as described below). The first direction X is a direction in which the predetermined axis L is located.

[0064] In some embodiments, the central axis of the joint module 1000, the central axis of the multi-stage planetary reduction assembly 20, the central axis of the cross roller bearing 30, or the central axis of the motor 100 can coincide.

[0065] The inner ring 32 of the cross roller bearing 30 includes a first sub-inner ring 321 and a second sub-inner ring 322 connected with each other. The first sub-inner ring 321 and the second sub-inner ring 322 are oppositely disposed in the axial direction of the cross roller bearing 30, and the first sub-inner ring 321 is closer to the multi-stage planetary reduction assembly 20 than the second sub-inner ring 322. The first sub-inner ring 321 is connected with the output end of the multi-stage planetary reduction assembly 20, and the second sub-inner ring 322 is connected with the output disc 40.

[0066] For example, the second sub-inner ring 322 and the first sub-inner ring 321 can be connected with each other by a fastener (e.g., a bolt), and the side of the first sub-inner ring 321 away from the second sub-inner ring 322 is connected with the output end of the multi-stage planetary reduction assembly 20, and the side of the second sub-inner ring 322 away from the first sub-inner ring 321 is connected with the output disc 40.

[0067] Here, the connection between the first sub-inner ring 321 and the output end of the multi-stage planetary reduction assembly 20 includes but is not limited to welding, bolt connection, clamping, insertion, snap connection, or magnetic connection. The connection between the second sub-inner ring 322 and the output disc 40 includes but is not limited to welding, bolt connection, clamping, insertion, snap connection, or magnetic connection.

[0068] For example, the first sub-inner ring 321 and the second sub-inner ring 322 can be connected with each other by a fastener (e.g., a bolt), and the side of the first sub-inner ring 321 away from the second sub-inner ring 322 is connected with the output end of the multi-stage planetary reduction assembly 20, and the side of the second sub-inner ring 322 away from the first sub-inner ring 321 is connected with the output disc 40. Figure 4 and Figure 5As shown, the cross roller bearing 30 has a raceway 34, and the inner ring 32 (such as the first sub-inner ring 321 and the second sub-inner ring 322) of the cross roller bearing 30 is recessed on the side close to the outer ring 31 of the cross roller bearing 30 to form a second raceway groove 323. The second raceway groove 323 is opposite to the first raceway groove 311 to constitute the above-mentioned raceway 34.

[0069] For example, the first sub-inner ring 321 has a first raceway surface 3211, and the second sub-inner ring 322 has a second raceway surface 3221. The first raceway surface 3211 and the second raceway surface 3221 are connected. When the first sub-inner ring 321 and the second sub-inner ring 322 are connected, the first raceway surface 3211 and the second raceway surface 3221 are connected on the side close to each other, thereby forming the above-mentioned second raceway groove 323. A plurality of rollers 33 are rollingly arranged in the raceway 34 to enable the inner ring 32 of the cross roller bearing 30 to rotate relative to the outer ring 31 of the cross roller bearing 30. In addition, the center axes of two adjacent rollers 33 in the plurality of rollers 33 are perpendicular to each other. The center axis of the roller 33 can be understood as the axis around which the roller 33 rotates.

[0070] For example, the roller 33 can be in a cylindrical shape, in which case the center axis of the roller 33 is the center axis of the cylinder.

[0071] Of course, in some embodiments, the roller 33 can also be in other shapes such as a conical shape, a cylindrical-conical shape between a cylindrical shape and a conical shape, etc., and the present disclosure is not limited thereto.

[0072] In some embodiments of the present disclosure, by connecting the outer ring 31 and the inner ring 32 of the cross roller bearing 30 to corresponding structural members (such as the inner ring gear and the output end of the multi-stage planetary reduction assembly 20 and the output disc 40), the structural strength of the inner ring 32 and the outer ring 31 of the cross roller bearing 30 can be improved, the rigidity of the output end of the joint module 1000 can be improved, and thus it is convenient to design a cross roller bearing 30 with an arbitrary rated static load and a rated dynamic load according to actual needs within a theoretical range.

[0073] Compared with the structure using the standard thin-walled cross-roller bearing 30, the cross-roller bearing 30 in some embodiments of the present disclosure simplifies the fitting relationship of the inner ring 32 and the outer ring 31 with the structural members, simplifies the assembly process, thereby improving the coaxiality of the output disc 40 and the output end of the multi-stage planetary reducer assembly 20 with each component (such as the first-stage sun gear 211, the second-stage sun gear 221, the first-stage planet carrier 212, the first-stage inner ring gear 214, and the second-stage inner ring gear 224) in the planetary reducer 200, greatly improving the overall performance. Moreover, the structure of the joint module 1000 is compact, the outer diameter of the cross-roller bearing 30 and the inner ring gear of the multi-stage planetary reducer assembly 20 is reduced under the condition of the same performance, the outer diameter size of the joint module 1000 is reduced, and the installation space is saved. In addition, the number of parts of the joint module 1000 can also be reduced, the assembly process is simplified, the assembly cost is reduced, and the assembly efficiency is improved.

[0074] The foregoing describes embodiments in which the first sub-inner ring 321 and the output end of the multi-stage planetary reducer assembly 20 are separate parts, the second sub-inner ring 322 and the output disc 40 are separate parts, and the outer ring 31 of the cross-roller bearing 30 and the inner ring gear of the multi-stage planetary reducer assembly 20 are separate parts, but the present disclosure is not limited thereto.

[0075] In some embodiments, as shown in Figure 3 and Figure 4 , the first sub-inner ring 321 of the cross-roller bearing 30 and the output end of the multi-stage planetary reducer assembly 20 are integrated parts. For example, the first sub-inner ring 321 and the second-stage planet carrier 222 described below are integrated parts.

[0076] In some embodiments, as shown in Figure 3 and Figure 4 , the second sub-inner ring 322 of the cross-roller bearing 30 and the output disc 40 can also be integrated parts.

[0077] In some embodiments, as shown in Figure 3 and Figure 4 , the outer ring 31 of the cross-roller bearing 30 and the inner ring gear of the multi-stage planetary reducer assembly 20 are integrated parts.

[0078] In some embodiments of the present disclosure, by forming the outer ring 31 and the inner ring 32 of the cross-roller bearing 30 into integrated parts with the corresponding structural members (such as the inner ring gear and the output end of the multi-stage planetary reducer assembly 20, and the output disc 40), it is beneficial to improve the structural strength of the inner ring 32 and the outer ring 31 of the cross-roller bearing 30, improve the rigidity of the output end of the joint module 1000, thereby facilitating the design of the cross-roller bearing 30 with any rated static load and rated dynamic load within the theoretical range according to actual needs.

[0079] Compared with the structure using the standard thin-walled cross-roller bearing 30, the cross-roller bearing 30 in some embodiments of the present disclosure cancels the inner ring 32 and the cooperation relationship between the outer ring 31 and the structural member, simplifies the assembly process, thereby improving the coaxiality of the output disc 40 and the output end of the multi-stage planetary reducer assembly 20 and the components in the planetary reducer 200, greatly improving the overall performance. And, make the structure of the joint module 1000 compact, under the condition of the same performance, reduce the outer diameter of the cross-roller bearing 30 and the inner gear ring of the multi-stage planetary reducer assembly 20, reduce the outer diameter size of the joint module 1000, save the installation space. In addition, the number of parts of the joint module 1000 can also be reduced, the assembly is simplified, the assembly cost is reduced, and the assembly efficiency is improved.

[0080] In some embodiments, as shown in Figures 2 to 4 The cross-roller bearing 30 also includes a connecting hole 35. The connecting hole 35 is arranged on the outer ring 31 of the cross-roller bearing 30. The connecting hole 35 can cooperate with a fastener (such as a bolt), so that the outer ring 31 of the cross-roller bearing 30 can serve as a fixed end of the joint module 1000, realizing connection with the hip part of the robot body 2000.

[0081] In some embodiments, as shown in Figure 4 and Figure 5 The cross-roller bearing 30 also includes a first sealing groove 36 and a first sealing member (such as a sealing ring) arranged in the first sealing groove 36. The first sealing groove 36 is arranged on at least one of the first sub-inner ring 321 and the second sub-inner ring 322, and is located between the first sub-inner ring 321 and the second sub-inner ring 322. For example, Figure 4 The first sealing groove 36 is arranged on the side of the first sub-inner ring 321 close to the second sub-inner ring 322, as shown in In some examples, the first sealing groove 36 can also be arranged on the side of the second sub-inner ring 322 close to the first sub-inner ring 321. In some examples, the side of the first sub-inner ring 321 close to the second sub-inner ring 322 and the side of the second sub-inner ring 322 close to the first sub-inner ring 321 can also be respectively provided with the first sealing groove 36.

[0082] In this way, by arranging the first sealing groove 36 and the first sealing member at the connection between the first sub-inner ring 321 and the second sub-inner ring 322, and by cooperation of the first sealing groove 36 and the first sealing member, the sealing between the first sub-inner ring 321 and the second sub-inner ring 322 can be realized, so as to avoid leakage of lubricating liquid in the raceway 34 from the connection between the first sub-inner ring 321 and the second sub-inner ring 322, thereby improving the sealing performance of the cross-roller bearing 30 and prolonging the service life of the cross-roller bearing 30.

[0083] In some embodiments, as shown in Figure 4 and Figure 5As shown, the cross roller bearing 30 further comprises a second sealing groove 37 and a second sealing member (such as a sealing ring) arranged in the second sealing groove 37. A first part of the second sealing groove 37 is arranged in the outer ring 31, and a second part of the second sealing groove 37 is arranged in the inner ring 32 (such as the second sub-inner ring 322). For example, the second sealing groove 37 is arranged between the outer ring 31 and the inner ring 32, and is located at a side of the outer ring 31 and the inner ring 32 close to each other. The first part of the second sealing groove 37 is located at a side of the outer ring 31 close to the second sub-inner ring 322, and the second part of the second sealing groove 37 is located at a side of the second sub-inner ring 322 close to the outer ring 31.

[0084] In this way, by arranging the second sealing groove 37 and the second sealing member between the inner ring 32 and the outer ring 31, the gap between the inner ring 32 and the outer ring 31 can be sealed, so that the lubricating liquid in the raceway 34 can be prevented from leaking from the gap between the inner ring 32 and the outer ring 31, thereby facilitating to improve the sealing performance of the cross roller bearing 30 and prolong the service life of the cross roller bearing 30.

[0085] In some embodiments, the multi-stage planetary reduction assembly 20 is configured as a two-stage planetary reduction assembly. As shown in Figure 3 、 Figure 6 and Figure 7 The multi-stage planetary reduction assembly 20 comprises a first-stage planetary reduction assembly 21 and a second-stage planetary reduction assembly 22, and the second-stage planetary reduction assembly 22 is closer to the output disc 40 than the first-stage planetary reduction assembly 21.

[0086] The first input end of the first-stage planetary reduction assembly 21 is the input end of the multi-stage planetary reduction assembly 20 and is connected with the rotating shaft 14 of the motor 100. The first output end of the first-stage planetary reduction assembly 21 is connected with the second input end of the second-stage planetary reduction assembly 22. The second output end of the second-stage planetary reduction assembly 22 is the output end of the multi-stage planetary reduction assembly 20 and is connected with the first sub-inner ring 321.

[0087] In some embodiments, as shown in Figure 3 、 Figure 6 and Figure 7As shown, the first-stage planetary reduction assembly 21 includes a first-stage sun gear 211, a first-stage planet carrier 212, a first-stage internal gear ring 214, and multiple first-stage planetary gears 213. The first-stage sun gear 211 is the first input terminal mentioned above and is connected to the shaft 14 of the motor 100. The first-stage planet carrier 212 is the first output terminal mentioned above and is connected to the second input terminal of the second-stage planetary reduction assembly 22. The multiple first-stage planetary gears 213 are disposed on the first-stage planet carrier 212, surround the first-stage sun gear 211, and mesh with the first-stage sun gear 211. The first-stage internal gear ring 214 is located on one side of the motor 100 (as described below, on one side of the housing 11 of the motor 100). The first-stage sun gear 211, the first-stage planet carrier 212, and the multiple first-stage planetary gears 213 are all located inside the first-stage internal gear ring 214, and the multiple first-stage planetary gears 213 also mesh with the first-stage internal gear ring 214.

[0088] In some embodiments, such as Figure 3 , Figure 6 and Figure 7 As shown, the secondary planetary reduction gear assembly 22 includes a secondary sun gear 221, a secondary planet carrier 222, a secondary internal gear ring 224, and multiple secondary planetary gears 223. The secondary sun gear 221 is the second input terminal and is connected to the primary planet carrier 212. The secondary planet carrier 222 is the second output terminal and is connected to the first sub-inner ring 321. Multiple secondary planetary gears 223 are disposed on the secondary planet carrier 222. The multiple secondary planetary gears 223 surround the secondary sun gear 221 and mesh with it. The secondary internal gear ring 224 is connected to the primary internal gear ring 214. For example, the secondary internal gear ring 224 is connected to the side of the primary internal gear ring 214 away from the motor 100. The secondary sun gear 221, the secondary planet carrier 222, and the multiple secondary planetary gears 223 are all located inside the secondary internal gear ring 224, and the multiple secondary planetary gears 223 mesh with the secondary internal gear ring 224.

[0089] It should be noted that the first-stage internal gear ring 214 and the second-stage internal gear ring 224 are connected to form the internal gear ring of the aforementioned multi-stage planetary reduction assembly 20. This internal gear ring can serve as the outer shell of the planetary reducer 200 to protect its internal components. Here, the connection methods between the second-stage internal gear ring 224 and the first-stage internal gear ring 214 include, but are not limited to: welding, bolting, snap-fitting, plugging, locking, magnetic connection, etc.

[0090] The primary planetary carrier 212, multiple primary planetary gears 213, and a secondary sun gear 221 constitute the primary planetary carrier assembly. This primary planetary carrier assembly is not rigidly connected to any structural component in the multi-stage planetary reduction assembly 20, but is supported by gear meshing, thereby allowing multiple components within the primary planetary carrier assembly to be in a floating state.

[0091] Here, the "floating state" can be understood as that the plurality of structural members (such as the plurality of primary planetary gears 213, the primary planetary carrier 212, and the secondary sun gear 221) in the primary planetary carrier assembly are not equipped with rigid supports in the radial direction, so that the plurality of structural members can freely displace and slightly deflect within a certain range, thereby achieving automatic centering, so that the plurality of gears are uniformly loaded.

[0092] When the planetary reducer is used at the joint of the robot, since the reduction ratio of the leg rotation joint of the humanoid robot generally needs to reach about 13-25, and the maximum reduction ratio of the primary planetary reduction mechanism is generally within 10, the planetary reducer used in the leg rotation joint of the humanoid robot is generally a two-stage planetary reduction mechanism. In the two-stage planetary reduction mechanism, the primary planetary carrier and the secondary sun gear are connected as a primary planetary carrier assembly, and the two ends of the primary planetary carrier assembly are respectively supported by bearings. Such a supporting mode can theoretically ensure the correct meshing of the sun gear and the planetary gear, and the planetary gear and the inner gear ring. However, due to machining errors, assembly errors and other problems, different planetary gears in the plurality of planetary gears are easily subjected to uneven loads, resulting in the load sharing problem of the planetary gears. This problem easily leads to a large difference in the degree of wear of different planetary gears, thereby causing the planetary reducer to operate abnormally, the planetary reducer is prone to obvious vibration noise, and thus the service life of the reducer is affected.

[0093] In some embodiments of the present disclosure, by providing the primary planetary carrier assembly with a floating state, the problem of uneven load of the planetary gears caused by tooth profile deviation, tooth direction deviation, center distance deviation, assembly error of the gear machining can be avoided. In the case where the plurality of primary planetary gears 213 meshes with the primary sun gear 211, when only one planetary gear 213 is in the meshing state, the primary planetary carrier assembly can freely float when rotating, thereby compensating for the uneven load. And with the loading of the load, the plurality of primary planetary gears 213 can uniformly mesh with the primary sun gear 211.

[0094] In this way, by providing the primary planetary carrier assembly with a floating state, the load sharing performance of the plurality of primary planetary gears 213 when meshing can be improved, the load sharing coefficient of the planetary gear train (for example, the load sharing coefficient of the planetary gear train can be reduced from 1.2-1.3 to about 1.0) can be reduced, so that the plurality of primary planetary gears 213 uniformly bear the tangential force transmitted by the primary sun gear 211, reduce the stress concentration phenomenon of the tooth surface when the gears mesh, and thus improve the performance and service life of the planetary reducer 200.

[0095] In some embodiments, as shown in FIG. 1, the primary planetary carrier assembly 210 is provided with a plurality of primary planetary gears 213, and the plurality of primary planetary gears 213 are arranged in a circle around the primary sun gear 211. Figure 3 , Figure 6 and Figure 7As shown, the first-stage internal gear ring 214 and the second-stage internal gear ring 224 are integrated as a single unit. This simplifies the structure of the planetary reducer 200, facilitates assembly, and improves production efficiency. Furthermore, it enhances the structural strength of the internal gear ring of the planetary reducer 200 (i.e., the internal gear ring of the multi-stage planetary reduction assembly 20), making it easier to reduce the thickness of the internal gear ring, thereby contributing to the miniaturization of the joint module 1000.

[0096] In some embodiments, such as Figure 3 , Figure 6 and Figure 7 As shown, the primary internal gear ring 214, the secondary internal gear ring 224, and the outer ring 31 of the crossed roller bearing 30 are integrated into one piece. This further simplifies the structure of the planetary reducer 200, facilitating assembly and improving production efficiency. Furthermore, it enhances the structural strength of the internal gear ring of the planetary reducer 200 and the outer ring 31 of the crossed roller bearing 30, allowing for a reduction in the thickness of the internal gear ring and thus contributing to the miniaturization of the joint module 1000.

[0097] Of course, the primary internal gear ring 214, the secondary internal gear ring 224, and the outer ring 31 of the crossed roller bearing 30 can also be connected by welding or other means.

[0098] In some embodiments, the radial wall thickness of the primary internal gear ring 214 and the secondary internal gear ring 224 is... - Any value within the range, This refers to the end face module. For example, the radial wall thickness of the first-stage internal gear ring 214 and the second-stage internal gear ring 224 is... , , , , , , ,or Here, "radial wall thickness" can be understood as the radial distance between the root circle of the internal gear ring and the outer circle (such as the outer wall) of the internal gear ring.

[0099] The premise for the primary planetary carrier assembly to have the floating state is that the meshing side clearance between the primary sun gear 211 and the primary planetary gear 213, the meshing side clearance between the secondary sun gear 221 and the secondary planetary gear 223, and the meshing side clearance between the primary planetary gear 213 and the thin-walled inner ring gear 214 are small. When the meshing side clearance is small, the resistance of the gear transmission is increased, resulting in an increase in the power loss of the transmission. In some embodiments of the present disclosure, by providing the thin-walled inner ring gear, the elastic deformation of the thin-walled inner ring gear can reduce the resistance of the gear transmission, balance the power loss of the transmission, and further solve the load sharing problem of the planetary gears by the cooperation of the thin-walled inner ring gear and the primary planetary carrier assembly, greatly improve the performance of the planetary reducer 200, and prolong the service life of the planetary reducer 200.

[0100] In some embodiments, as shown in Figure 8 , the primary planetary gear 213 includes a planetary pin 2131, a gear 2132, a plurality of needle rollers 2133, and a plurality of spacers 2134.

[0101] As shown in Figure 7 and Figure 8 , the planetary pin 2131 is connected with the primary planetary carrier 212. The gear 2132 is sleeved on the outside of the planetary pin 2131. The plurality of needle rollers 2133 are arranged between the planetary pin 2131 and the gear 2132, so that the gear 2132 can rotate relative to the planetary pin 2131. The plurality of spacers 2134 are arranged on both sides of the gear 2132 in the first direction X (such as the axial direction of the gear 2132). In this way, by arranging the spacers 2134 between the two end faces of the gear 2132 and the primary planetary carrier 212, the axial displacement of the gear 2132 can be limited, and the friction and collision between the gear 2132 and the primary planetary carrier 212 can be reduced.

[0102] It should be noted that the structure of the secondary planetary gear 223 is similar to that of the primary planetary gear 213, which will not be described here.

[0103] In some embodiments, the plurality of primary planetary gears 213 can include four primary planetary gears 213, and the plurality of secondary planetary gears 223 can include four secondary planetary gears 223. Of course, the number of the plurality of primary planetary gears 213 and the plurality of secondary planetary gears 223 can also be other numbers, which are not limited by the present disclosure.

[0104] The motor 100 in some embodiments of the present disclosure is described below.

[0105] In some embodiments, as shown in Figure 3 and Figure 9 , the motor 100 includes a housing 11, a stator 12, a rotor 13, a rotating shaft 14, and a pair of bearings 15.

[0106] The outer shell 11 has an opening 111 at one end thereof facing the multi-stage planetary reduction assembly 20. An inner ring (e.g., a first-stage inner ring 214) of the multi-stage planetary reduction assembly 20 is connected to the outer shell 11.

[0107] The stator 12 is disposed in the outer shell 11 and connected to an inner wall of the outer shell 11.

[0108] The rotor 13 is located at an inner side of the stator 12 (i.e., a side of the stator 12 facing away from the outer shell 11) and coaxially disposed with the stator 12. The rotor 13 is rotatable relative to the stator 12. For example, the rotor 13 is farther away from the outer shell 11 than the stator 12, and the rotor 13 is rotatable relative to the stator 12 along a preset axis L.

[0109] The shaft 14 is connected to an inner side of the rotor 13 (i.e., a side of the rotor 13 facing away from the stator 12) and coaxially disposed with the rotor 13. An end of the shaft 14 close to the planetary reduction device 200 extends out of the outer shell 11 through the opening 111 to be connected to an input end of the multi-stage planetary reduction assembly 20. The shaft 14 is configured to rotate along with the rotor 13 to drive the output disc 40 to rotate through the planetary reduction device 200.

[0110] The matched bearing 15 is located at the opening 111 and disposed between a side wall of the outer shell 11 provided with the opening 111 and the shaft 14. The matched bearing 15 is configured to support the shaft 14. Here, the matched bearing 15 can be understood as a unit that two or more sets of bearings are precisely matched in axial pre-tightening amount or play before leaving the factory and delivered as a set.

[0111] The matched bearing 15 includes a first bearing 151 and a second bearing 152 spaced apart along an axial direction. The first bearing 151 and the second bearing 152 can be spaced apart by a predetermined distance and respectively close to two ends of the shaft 14 in a first direction X. In this way, by disposing the matched bearing 15 at the shaft 14, the stability of the shaft 14 can be improved, the abnormal sound of the motor 100 can be reduced, and the service life of the motor 100 can be prolonged.

[0112] In some embodiments, as shown in FIG. 1, the outer shell 11 includes a shell body 112, a cover 113, and an extension 114. Figure 9

[0113] The shell body 112 has a receiving cavity 1121 in which the stator 12, the rotor 13, the shaft 14, and the matched bearing 15 are accommodated. A side of the shell body 112 close to the planetary reduction device 200 is provided with the opening 111, and a side of the shell body 112 away from the planetary reduction device 200 is open to form an open end. Through the open end, it is convenient to install the components of the motor 100 in the outer shell 11. For example, the shell body 112 can be in a cylindrical shape.

[0114] ​The cover body 113 is arranged on the side of the shell body 112 away from the planetary reducer 200 to close the accommodation cavity 1121.

[0115] The extension part 114 is a side wall of the shell 11 provided with the opening 111 and connected with the shell body 112. The extension part 114 extends towards the direction away from the planetary reducer 200 (e.g. the first direction X).

[0116] In some embodiments, as shown in Figure 9 The shell 11 further includes a shoulder 115.

[0117] The shoulder 115 is arranged on the extension part 114 and located between the outer ring of the first bearing 151 and the outer ring of the second bearing 152. The shoulder 115 abuts against the outer ring of the first bearing 151 and the outer ring of the second bearing 152 on both sides in the first direction X.

[0118] Correspondingly, as shown in Figure 9 The motor 100 further includes a stop ring 16 which is arranged opposite to the shoulder 115 in the radial direction of the motor 100. The stop ring 16 is arranged between the inner ring of the first bearing 151 and the inner ring of the second bearing 152, and abuts against the inner ring of the first bearing 151 and the inner ring of the second bearing 152 on both sides in the first direction X.

[0119] In some embodiments of the present disclosure, the outer ring of the paired bearing 15 is axially limited by the fixed shoulder 115, and the inner ring of the paired bearing 15 is constrained by the stop ring 16. In this way, the play of the paired bearing 15 can be controlled by changing the dimensional tolerance of the stop ring 16 in the axial direction (i.e. the first direction X), so that the play of the paired bearing 15 can be designed according to different use conditions, thereby improving the applicability of the joint module 1000.

[0120] In some embodiments, as shown in Figure 9 The shaft 14 includes a shaft body 141, a connecting part 142 and a limiting part 143.

[0121] The shaft body 141 extends along the first direction X. The first end of the shaft body 141 is connected with the input end of the multi-stage planetary reduction assembly 20, and the second end of the shaft body 141 is connected with the first end of the connecting part 142. The first end of the connecting part 142 can be connected on the outside of the shaft body 141 close to the end thereof, in which case the first end of the connecting part 142 and the second end of the shaft body 141 can be spaced apart by a predetermined distance in the axial direction.

[0122] The first bearing 151 and the second bearing 152 of the mating bearings 15 are respectively disposed near the two ends of the shaft body 141. The second end of the connecting part 142 is connected to the rotor 13. The limiting part 143 is disposed on the side of the connecting part 142 near the mating bearings 15 and abuts against the side of the mating bearings 15 (such as the first bearing 151) away from the planetary reducer 200. The limiting part 143 may be a limiting step.

[0123] For example, the connecting portion 142 includes a first sub-connecting portion 1421, a second sub-connecting portion 1422, and a third sub-connecting portion 1423. The first sub-connecting portion 1421, the second sub-connecting portion 1422, and the third sub-connecting portion 1423 are connected sequentially.

[0124] The first sub-connecting portion 1421 extends along the second direction, and the end of the first sub-connecting portion 1421 away from the second sub-connecting portion 1422 is connected to the second end of the shaft body 141. A limiting portion 143 is provided on the side of the first sub-connecting portion 1421 near the mating bearing 15. Here, the second direction is perpendicular to the first direction X, and the second direction can be the radial direction of the joint module 1000, the multi-stage planetary reduction assembly 20, the rotor 13, the rotating shaft 14, or the stator 12.

[0125] The second sub-connecting part 1422 extends along the first direction X and is connected to (such as abutting or fitting against) the inner wall of the rotor 13.

[0126] The third sub-connecting portion 1423 extends along the second direction and is connected to the end of the rotor 13 near the planetary reducer 200. For example, the third sub-connecting portion 1423 and the first sub-connecting portion 1421 are respectively provided at both ends of the second sub-connecting portion 1422 along the axial direction, the extending direction of the third sub-connecting portion 1423 is parallel to the extending direction of the first sub-connecting portion 1421, and both extend in a direction away from the second sub-connecting portion 1422.

[0127] In this way, by setting the bent connecting part 142, when the rotating shaft 14 is subjected to a force (such as axial force) along the first direction X, the third sub-connecting part 1423 that abuts against the rotor 13 can provide a reaction force, thereby helping to improve the axial dynamic performance and stability of the joint module 1000.

[0128] In some embodiments, such as Figure 9 As shown, the motor 100 also includes a preload member 17. The preload member 17 is located on the side of the mating bearing 15 (such as the second bearing 152) near the planetary reducer 200 and is connected to the shaft 14. The preload member 17 abuts against the mating bearing 15 in the axial direction to provide preload force, thereby eliminating axial clearance of the mating bearing 15.

[0129] For example, the pre-tightening member 17 can be a nut, and the outer sidewall of the rotating shaft 14 is provided with a thread, so that the pre-tightening member 17 and the rotating shaft 14 can be connected through the cooperation of the nut and the thread. Thus, by rotating the pre-tightening member 17, the position of the pre-tightening member 17 in the axial direction of the rotating shaft 14 can be adjusted, so that different pre-tightening forces can be applied to the counter bearing 15 by the pre-tightening member 17, and the axial clearance of the counter bearing 15 can be adjusted.

[0130] Since the rotating speed of the input end of the planetary reducer 200 is high, when the input end of the planetary reducer 200 rotates at a high speed, the meshing part of the input end (such as the primary sun gear 211) and the gear (such as the primary planetary gear 213) is prone to vibration and abnormal noise.

[0131] In some embodiments of the present disclosure, by arranging the counter bearing 15 and the pre-tightening member 17, and the shaft shoulder 115, the retainer ring 16 and the limiting portion 143 cooperating with them, the counter bearing 15 can be axially pre-tightened, so as to improve the stability of the rotating shaft 14 while reducing or even eliminating the axial clearance. In this way, the torque fluctuation of the motor 100 can be reduced, the runout and axial inclination of the input end of the planetary reducer 200 can be reduced, so as to facilitate the input end of the planetary reducer 200 to have a good meshing state, and thus the vibration and noise of the entire joint module 1000 can be reduced or even avoided.

[0132] In some embodiments, as shown in Figure 9 The motor 100 further includes a bracket 18 and a controller 19. The bracket 18 is arranged in the housing 11. For example, the bracket 18 is connected between the side of the shell body 112 away from the planetary reducer 200 and the cover body 113, and at least partially located in the accommodating cavity 1121. Moreover, the bracket 18 is located at the side of the rotating shaft 14 away from the planetary reducer 200.

[0133] The controller 19 is arranged in the bracket 18. The controller 19 can include a processor, which can include a central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), and can be configured to perform the corresponding operations described in the controller 19 (such as controlling the rotation of the rotor 13) when the processor executes the program stored in the non-transitory computer readable medium of the controller 19.

[0134] The non-transitory computer-readable storage medium can include a magnetic storage device (e.g., hard disk, floppy disk, or magnetic tape), smart card, or flash memory device (e.g., Erasable Programmable Read-only Memory (EPROM), card, stick, or key drive).

[0135] In some embodiments, as shown in Figure 9 and Figure 10 , the motor 100 further includes an encoding stator 101 and a first encoding rotor 102.

[0136] The encoding stator 101 is connected to the bracket 18 and is located on the side of the rotating shaft 14 away from the planetary reducer 200. For example, the encoding stator 101 is connected to the bracket 18 and is located between the rotating shaft 14 and the controller 19.

[0137] The first encoding rotor 102 is connected to the rotating shaft 14 and is close to the encoding stator 101. For example, in the first direction X, the first encoding rotor 102 is connected to the end of the rotating shaft 14 away from the planetary reducer 200, and the first encoding rotor 102 is located on the side of the encoding stator 101 close to the rotating shaft 14.

[0138] The first encoding rotor 102 and the encoding stator 101 cooperate to form a first encoder to detect the rotation of the high-speed end (i.e., the rotating shaft 14) of the joint module 1000. For example, the first encoder can be an optical encoder, a magnetic encoder, an inductive encoder, or a Hall encoder. Taking the first encoder as a Hall encoder as an example, one of the first encoding rotor 102 and the encoding stator 101 is a magnet, and the other is a Hall sensor.

[0139] Since the rotating speed of the rotating shaft 14 is higher than that of the secondary planetary carrier 222 (or the first sub-inner ring 321), the rotating shaft 14 can be referred to as the high-speed end of the joint module 1000, and the secondary planetary carrier 222 (or the first sub-inner ring 321) can be referred to as the low-speed end of the joint module 1000.

[0140] In this way, by arranging the first encoding rotor 102 on the rotating shaft 14, the rotating speed of the rotating shaft 14 can be detected, thereby detecting the high-speed end of the joint module 1000, and further accurately determining the rotation position of the high-speed end of the joint module 1000.

[0141] In some embodiments, as shown in Figure 9 and Figure 10 , the motor 100 further includes a connecting shaft 103, a third bearing 104, and a second encoding rotor 105.

[0142] The connecting shaft 103, the rotating shaft 14, and the inner ring 32 of the cross roller bearing 30 can be coaxially arranged. The inner ring 32 of the cross roller bearing 30, the multi-stage planetary reduction assembly 20, the rotating shaft 14, and the encoding stator 101 are located outside the connecting shaft 103. The first end of the connecting shaft 103 is connected with the first sub-inner ring 321, and the second end of the connecting shaft 103 sequentially passes through the inner ring 32 of the cross roller bearing 30, the multi-stage planetary reduction assembly 20, the rotating shaft 14, and the encoding stator 101.

[0143] In some embodiments, the first end of the connecting shaft 103 is provided with a fixing portion 1031 (as shown in FIG. 1), and the side of the first sub-inner ring 321 away from the motor 100 is provided with a matching portion 3212 (as shown in FIG. 1). Figure 9 Figure 4 Through the cooperation of the fixing portion 1031 and the matching portion 3212, the connection between the connecting shaft 103 and the first sub-inner ring 321 can be achieved.

[0144] For example, the connecting shaft 103 and the first sub-inner ring 321 are detachably connected. The fixing portion 1031 is a flange, and the matching portion 3212 is a step. The flange is arranged at the step and is connected with the first sub-inner ring 321 through a fastener (such as a bolt).

[0145] It can be understood that a sealing ring can be arranged at the connection between the connecting shaft 103 and the first sub-inner ring 321 to achieve the functions of dust prevention, leakage prevention, shock absorption and vibration reduction, error compensation, etc.

[0146] The third bearing 104 is arranged between the connecting shaft 103 and the rotating shaft 14 and is configured to support the connecting shaft 103.

[0147] The second encoding rotor 105 is connected with the connecting shaft 103, and in the first direction X, the second encoding rotor 105 is opposite to the first encoding rotor 102 and is located on both sides of the encoding stator 101, respectively. The second encoding rotor 105 is closer to the cover 113 than the first encoding rotor 102.

[0148] The second encoding rotor 105 and the encoding stator 101 cooperate to form a second encoder to detect the rotation of the low-speed end of the joint module 1000. The structure and function of the second encoder are similar to those of the first encoder described above, and will not be described here.

[0149] In this way, by arranging the connecting shaft 103 and the second encoding rotor 105, the rotation speed of the low-speed end of the joint module 1000 can be detected, so as to accurately determine the rotation position of the low-speed end of the joint module 1000.

[0150] ​It can be understood that, since the output disc 40, the first sub-inner ring 321 and the second sub-inner ring 322 are connected, the first end of the connecting shaft 103 can also be connected with the second sub-inner ring 322 or the output disc 40, as long as the connecting shaft 103 can transmit the rotation of the low-speed end of the joint module 1000 to the second encoding rotor 105.

[0151] In some embodiments of the present disclosure, by arranging two encoders (such as the combination of the first encoding rotor 102 and the encoding stator 101, and the combination of the second encoding rotor 105 and the encoding stator 101), the rotation of different rotating members in the joint module 1000 can be detected at the same time. In this way, the information detected by the two encoders can be compared and calibrated with each other, so as to realize closed-loop control, thereby facilitating the improvement of the detection accuracy and control accuracy of the motor 100. Moreover, by arranging the two encoders to share the same encoding stator 101, the structure of the joint module 1000 can be simplified, the assembly process can be reduced, and the miniaturization of the joint module 1000 can be facilitated.

[0152] It should be noted that the connecting shaft 103 is located at the inner side of the second-level sun gear 221, the first-level sun gear 211, the rotating shaft 14 and the encoding stator 101, and is arranged in a spaced manner with the second-level sun gear 221, the first-level sun gear 211, the rotating shaft 14 and the encoding stator 101. In this way, the rotation of the connecting shaft 103 can be avoided from affecting the rotation of the rotating shaft 14, the first-level sun gear 211 and the second-level sun gear 221, so that the connecting shaft 103 can smoothly transmit the rotation of the low-speed end of the joint module 1000 to the second encoding rotor 105.

[0153] In some embodiments, the motor 100 can further include at least one of a first shaft sleeve 106 and a second shaft sleeve 107.

[0154] As shown in Figure 11 , the first shaft sleeve 106 is connected between the first encoding rotor 102 and the rotating shaft 14. For example, the first encoding rotor 102 is arranged on the first shaft sleeve 106, and the first shaft sleeve 106 is connected with the rotating shaft 14.

[0155] As shown in Figure 10 and Figure 11 , the second shaft sleeve 107 is arranged on the outer side of the connecting shaft 103. For example, the second shaft sleeve 107 includes a sleeve portion 1071 and a support portion 1072 connected with each other, the support portion 1072 is located at one end of the sleeve portion 1071 close to the cover 113 (or one end of the sleeve portion 1071 away from the bracket 18), the sleeve portion 1071 is arranged on the outer side of the connecting shaft 103, and the second encoding rotor 105 is arranged on the side of the support portion 1072 away from the cover 113 (or the side of the support portion 1072 close to the bracket 18).

[0156] In this way, by arranging the first shaft sleeve 106 and the second shaft sleeve 107, the first encoding rotor 102 and the second encoding rotor 105 can be conveniently installed, and the first encoding rotor 102 and the second encoding rotor 105 and the corresponding connecting shaft 14 and the connecting shaft 103 can be protected.

[0157] In some embodiments, as shown in Figure 12 The motor 100 further includes a plurality of second through holes 110. The plurality of second through holes 110 are arranged on the cover 113 and penetrate the cover 113 along the thickness direction (e.g., the first direction X) of the cover 113. In this way, by arranging the plurality of second through holes 110, the motor 100 can be conveniently cooled.

[0158] In some embodiments, as shown in Figure 12 The motor 100 further includes a first interface 108 and a second interface 109, and the first interface 108 and the second interface 109 are electrically connected to the controller 19.

[0159] For example, the first interface 108 can be a power interface, and a power line of the joint module 1000 can be connected to the first interface 108 to supply power. The second interface 109 can be a control interface or a communication interface, and a communication line of the joint module 1000 can be connected to the second interface 109 to communicate.

[0160] Correspondingly, the cover 113 is provided with a third through hole 120 (e.g., a notch portion) corresponding to the first interface 108 and the second interface 109, so that the first interface 108 and the second interface 109 are exposed, thereby facilitating the connection of the external power line and the communication line to the first interface 108 and the second interface 109 inside the joint module 1000, respectively.

[0161] In some embodiments, as shown in Figure 2 and Figure 3 The joint module 1000 further includes a first through hole 300. The first through hole 300 penetrates the motor 100 and the planetary reducer 200 along the axial direction (e.g., the first direction X) of the joint module 1000.

[0162] For example, the first through hole 300 penetrates the cover 113 and the connecting shaft 103 along the first direction X in sequence. The power line and the communication line of the joint module 1000 can be routed through the first through hole 300, so that the power line and the communication line of the joint module 1000 can be routed inside the joint module 1000 to realize hidden wiring, ensure the appearance of the robot 1 is neat and avoid external cables interfering with each other, which is conducive to improving the compactness of the robot 1. In addition, the power line and the communication line can also be protected by the various components of the joint module 1000.

[0163] The working process of the joint module 1000 is described below.

[0164] When the rotor 13 of the motor 100 rotates, the rotor 13 drives the rotating shaft 14 to rotate, and the rotating shaft 14 drives the primary sun gear 211 to rotate. Since the plurality of primary planetary gears 213 are engaged with the primary sun gear 211 and the primary inner ring gear 214, the rotating primary sun gear 211 can drive the plurality of primary planetary gears 213 to rotate around the primary sun gear 211 while self-rotating. The plurality of primary planetary gears 213 rotating around the primary sun gear 211 drive the primary planet carrier 212 to rotate, so as to drive the secondary sun gear 221 to rotate through the primary planet carrier 212.

[0165] Since the plurality of secondary planetary gears 223 are engaged with the secondary sun gear 221 and the secondary inner ring gear 224, the rotating secondary sun gear 221 can drive the plurality of secondary planetary gears 223 to rotate around the secondary sun gear 221 while self-rotating. The plurality of secondary planetary gears 223 rotating around the secondary sun gear 221 drive the secondary planet carrier 222 to rotate, so as to drive the first sub-inner ring 321 and the second sub-inner ring 322 to rotate through the secondary planet carrier 222, so that the output disc 40 connected with the second sub-inner ring 322 rotates, and further drives the leg part of the robot 1 connected with the output disc 40 to rotate.

[0166] In some embodiments of the present disclosure, by connecting the outer ring 31 and the inner ring 32 of the cross roller bearing 30 with the corresponding structural members (such as the inner ring gear and the output end of the multi-stage planetary reduction assembly 20 and the output disc 40) respectively, the structural strength of the inner ring 32 and the outer ring 31 of the cross roller bearing 30 can be improved, the rigidity of the output end of the joint module 1000 is improved, and thus the cross roller bearing 30 with any rated static load and rated dynamic load can be designed according to actual needs within the theoretical range.

[0167] Compared with the structure using a standard thin-walled cross roller bearing 30, the cross roller bearing 30 in some embodiments of the present disclosure reduces or even eliminates the matching relationship between the inner ring 32 and the outer ring 31 and the structural members, simplifies the assembly process, improves the coaxiality of the output disc 40 and the output end of the multi-stage planetary reduction assembly 20 and the components in the planetary reducer 200, and greatly improves the overall performance. Moreover, the structure of the joint module 1000 is compact, the outer diameter of the cross roller bearing 30 and the inner ring gear of the multi-stage planetary reduction assembly 20 is reduced under the condition of the same performance, the outer diameter of the joint module 1000 is reduced, and the installation space is saved. In addition, the number of parts of the joint module 1000 can be reduced, the assembly process is simplified, and the assembly cost is reduced.

[0168] In addition, by arranging the primary planetary carrier assembly with the floating state, the problems of uneven load caused by tooth profile deviation, tooth direction deviation, machining error of planetary carrier pin hole position, and assembly error of gear machining can be avoided. In the case of meshing of multiple primary planetary gears 213 and the primary sun gear 211, when only one planetary gear is in the meshing state, the primary planetary carrier assembly can freely float when rotating, thereby compensating for uneven load. And with the loading of the load, multiple primary planetary gears 213 can be uniformly meshed with the primary sun gear 211. In this way, by the primary planetary carrier assembly, the load sharing performance of the primary planetary gear 213 when meshing can be improved, the load sharing coefficient of the planetary reducer 200 can be reduced (for example, the load sharing coefficient can be reduced from 1.2-1.3 to about 1.0), so that multiple primary planetary gears 213 uniformly bear the tangential force transmitted by the primary sun gear 211, reduce the stress concentration of the tooth surface when the gears mesh, and thus improve the performance of the planetary reducer 200 and prolong the service life of the planetary reducer 200.

[0169] In some embodiments of the present disclosure, by arranging the counter bearing 15 and the pre-tightening member 17, and the shaft shoulder 115, the retainer ring 16, and the limiting portion 143 cooperating therewith, the counter bearing 15 can be axially pre-tightened, thereby improving the stability of the rotating shaft 14 while eliminating the axial play. In this way, the torque fluctuation of the motor 100 can be reduced, the runout and axis tilt of the input end of the planetary reducer 200 can be reduced, the input end of the planetary reducer 200 can have a good meshing state, and thus the vibration and noise of the joint module 1000 can be avoided.

[0170] In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0171] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A planetary reduction gear, characterized in that, Comprising: a multi-stage planetary reduction assembly, an input end of the multi-stage planetary reduction assembly being configured to be connected with a power source; a cross roller bearing having a raceway, and the cross roller bearing comprising: an outer ring connected with an inner ring of the multi-stage planetary reduction assembly, the outer ring being formed with a first raceway groove; an inner ring disposed at an inner side of the outer ring, the inner ring being rotatable relative to the outer ring, a side of the inner ring close to the outer ring being formed with a second raceway groove, the second raceway groove being opposite to the first raceway groove to form the raceway; the inner ring comprising: a first sub-inner ring connected with an output end of the multi-stage planetary reduction assembly; and a second sub-inner ring connected with the first sub-inner ring; and a plurality of rollers rollably disposed in the raceway; and an output disc connected with the second sub-inner ring.

2. The planetary reducer of claim 1, wherein, The planetary reducer satisfies at least one of: the output end of the multi-stage planetary reduction assembly and the first sub-inner ring being an integral piece; the second sub-inner ring and the output disc being an integral piece; and the inner ring of the multi-stage planetary reduction assembly and the outer ring being an integral piece.

3. The planetary reduction gear according to claim 1 or 2, characterized in that The multi-stage planetary reduction assembly comprises: a first-stage planetary reduction assembly, a first input end of the first-stage planetary reduction assembly being the input end of the multi-stage planetary reduction assembly; and a second-stage planetary reduction assembly, a second input end of the second-stage planetary reduction assembly being connected with a first output end of the first-stage planetary reduction assembly, a second output end of the second-stage planetary reduction assembly being the output end of the multi-stage planetary reduction assembly.

4. The planetary reducer of claim 3, wherein, The first-stage planetary reduction assembly comprises: a first-stage sun gear, the first-stage sun gear being the first input end; a first-stage carrier, the first-stage carrier being the first output end; a plurality of first-stage planet gears, the plurality of first-stage planet gears being disposed on the first-stage carrier, the plurality of first-stage planet gears being arranged around the first-stage sun gear and being engaged with the first-stage sun gear; and a first-stage inner ring, the first-stage sun gear, the first-stage carrier, and the plurality of first-stage planet gears being located at an inner side of the first-stage inner ring, and the plurality of first-stage planet gears being engaged with the first-stage inner ring.

5. The planetary reduction gear of claim 4, wherein The second-stage planetary reduction assembly comprises: a second-stage sun gear, the second-stage sun gear being the second input end; a second-stage carrier, the second-stage carrier being the second output end; a plurality of second-stage planet gears, the plurality of second-stage planet gears being disposed on the second-stage carrier, the plurality of second-stage planet gears being arranged around the second-stage sun gear and being engaged with the second-stage sun gear; and a second-stage inner ring, the second-stage sun gear, the second-stage carrier, and the plurality of second-stage planet gears being located at an inner side of the second-stage inner ring, and the plurality of second-stage planet gears being engaged with the second-stage inner ring; wherein the first-stage inner ring and the second-stage inner ring jointly form the inner ring of the multi-stage planetary reduction assembly.

6. The planetary reducer of claim 5, wherein, The first-stage inner ring and the second-stage inner ring are an integral piece.

7. The planetary reduction gear according to claim 5 or 6, characterized in that The radial wall thickness of either of the primary inner ring gear and the secondary inner ring gear is - any value within the range, is the face module.

8. An articulating module, comprising: Comprising: a motor; and a planetary reducer connected with the motor, the planetary reducer being the planetary reducer according to any one of claims 1 to 7. The motor comprises:

9. The joint module of claim 8, wherein, a housing connected with the inner ring of the multi-stage planetary reduction assembly in the planetary reducer, the housing having an opening; ​ a stator disposed in the housing; a rotor located inside the stator and coaxially disposed with the stator, the rotor being rotatable relative to the stator; a rotating shaft connected to the inside of the rotor and coaxially disposed with the rotor, one end of the rotating shaft close to the planetary reducer extending out of the housing through the opening and connected to the input end of the multi-stage planetary reduction assembly in the planetary reducer, the rotating shaft being configured to rotate along with the rotation of the rotor; and a pair of bearings located at the opening and disposed between the side wall of the housing provided with the opening and the rotating shaft, the pair of bearings being configured to support the rotating shaft, and the pair of bearings comprising a first bearing and a second bearing matched with each other.

10. The joint module of claim 9, wherein, The motor further comprises: a pre-tightening member located on the side of the pair of bearings close to the planetary reducer and connected to the rotating shaft, the pre-tightening member abutting against the pair of bearings.

11. The joint module of claim 10, wherein, The rotating shaft comprises: a shaft body, a first end of the shaft body being connected to the input end of the multi-stage planetary reduction assembly; a connecting portion connecting a second end of the shaft body and the rotor; and a limiting portion provided on the side of the connecting portion close to the pair of bearings and abutting against the side of the pair of bearings away from the planetary reducer.

12. The joint module of claim 11, wherein, The housing comprises: a housing body having a receiving cavity, the housing body being provided with the opening on the side close to the planetary reducer; a cover body provided on the side of the housing body away from the planetary reducer to close the receiving cavity; and an extension portion connected to the housing body, the extension portion being the side wall of the housing provided with the opening.

13. The joint module of claim 12, wherein, The housing further comprises: a shaft shoulder provided on the extension portion, the shaft shoulder being located between and abutting against the outer rings of the first bearing and the second bearing.

14. The joint module according to any one of claims 10 to 13, characterized in that, The motor further comprises: a retainer ring provided between and abutting against the inner rings of the first bearing and the second bearing.

15. The joint module according to any one of claims 9 to 14, characterized in that, The motor further comprises: a bracket provided in the housing and located on the side of the rotating shaft away from the planetary reducer; and a controller provided in the bracket.

16. The joint module of claim 15, wherein, The motor further comprises: an encoder stator connected to the bracket and located on the side of the rotating shaft away from the planetary reducer; and a first encoder rotor connected to the rotating shaft and close to the encoder stator.

17. The joint module of claim 16, wherein, The motor further comprises: a connecting shaft coaxially disposed with the rotating shaft and the inner ring of the cross roller bearing, the inner ring of the cross roller bearing, the multi-stage planetary reduction assembly, the rotating shaft, and the encoder stator being located outside the connecting shaft, a first end of the connecting shaft being connected to the first sub-inner ring, a second end of the connecting shaft penetrating the inner ring of the cross roller bearing, the multi-stage planetary reduction assembly, the rotating shaft, and the encoder stator; a third bearing provided between the connecting shaft and the rotating shaft and configured to support the connecting shaft; and a fourth bearing provided between the connecting shaft and the encoder stator and configured to support the connecting shaft. A second encoding rotor is connected with the connecting shaft, and the first and second encoding rotors are respectively located on two sides of the encoding stator.

18. The joint module of claim 17, wherein, The motor further comprises at least one of: A first shaft sleeve is connected between the first encoding rotor and the rotating shaft; and A second shaft sleeve is sleeved outside the connecting shaft.

19. The joint module of claim 18, wherein, The second shaft sleeve comprises: A sleeve portion is sleeved outside the connecting shaft; and A supporting portion is connected with the sleeve portion and located at an end of the sleeve portion away from the bracket; the second encoding rotor is arranged on a side of the supporting portion close to the bracket.

20. A robot, characterized in that Comprise: A robot body; And A joint module, the joint module is the joint module according to any one of claims 8 to 19, the outer ring of the crossed roller bearing in the planetary reducer is connected with the hip part of the robot body, and the output disc of the planetary reducer is connected with the leg part of the robot body.

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