Two-stage planetary reduction and bearing integrated robot joint module structure

Abstract

The invention discloses a two-stage planetary reduction and bearing integrated robot joint module structure, and belongs to the technical field of robot transmission. The structure comprises an auxiliary driving mechanism and a speed reducing mechanism, the input end of the speed reducing mechanism is connected with the output end of the auxiliary driving mechanism through a transmission mechanism, and a hollow shaft penetrates through the two mechanisms. The auxiliary driving mechanism comprises a hollow rotor and a transmission sleeve shaft, the hollow rotor is provided with a connecting insertion hole, transmission blocks are arranged on the inner wall at intervals, driven blocks are arranged on the outer wall of the transmission sleeve shaft, and the hollow rotor and the transmission sleeve shaft alternately penetrate to achieve transmission connection. The speed reduction mechanism comprises a first speed reduction assembly and a second speed reduction assembly, a two-stage planetary gear speed reduction structure is adopted, and each stage comprises a gear ring, a retainer, an output frame and a transmission gear. The technical problems that a traditional robot joint module is large in size and low in transmission efficiency are solved, and the robot joint module has the advantages of being compact in structure, high in transmission precision and high in bearing capacity and is mainly used for an industrial robot joint driving system.

Description

Technical Field

[0001] This invention relates to the field of robot joint transmission devices, and specifically to a robot joint module structure that integrates a two-stage planetary reducer with a bearing. Background Technology

[0002] With the rapid development of robotics technology, robot joint modules, as core components of robot motion systems, directly affect the robot's motion accuracy, load capacity, and service life. Traditional robot joint modules typically employ a separate design for the drive mechanism, reduction mechanism, and bearing components, achieving power transmission and motion control through independent connections.

[0003] In the prior art, various technical solutions for robot joint modules have been proposed. For example, Chinese patent application CN120755911A discloses a dual-motor coupled drive robot joint module based on a planetary reduction mechanism. This solution achieves a compact design of the joint module by driving the corresponding planetary reduction mechanism with a first motor and a second motor respectively. International patent application WO2025077941A1 discloses an actuator, a joint module, and a robot, wherein the reducer housing has a connecting flange and a connecting section, the planetary reducer is engaged with the connecting section through a gear ring flange, and the output end support bearing is connected by fasteners. Chinese patent application CN113357315A proposes a body driver that forms an internal gear ring on the inner wall of the mounting hole, and the sun gear and the internal gear ring maintain a high degree of concentricity to ensure mechanical transmission accuracy. Chinese invention patent CN222415863U discloses a planetary reducer for a robot joint module, which solves the problems of gear jamming and axial movement by setting cross bearings between adjacent reduction units. Chinese patent CN110185748B describes an integrated robot joint structure that combines an integrated motor and an RV reducer pin gear housing into a single unit.

[0004] However, existing technical solutions still have the following shortcomings: First, the input and output ends of traditional planetary reduction mechanisms are mostly connected to the drive mechanism using rigid bushings or couplings. This connection method not only increases the axial length and overall volume of the joint module, but also the connection gap easily leads to a decrease in transmission accuracy, resulting in backlash errors and affecting the robot's positioning accuracy. Second, the bearings of traditional joint modules are mostly independently assembled components. The lack of integrated design between the bearings and the drive and reduction mechanisms leads to cumbersome assembly processes and is prone to coaxiality deviations during assembly. This not only affects operational stability, increases noise and wear, and reduces service life, but also occupies internal space in the joint, which is not conducive to the miniaturization design of the module. Third, the hollow shaft design of existing joint modules is mostly used only for wiring or conduit insertion. The cooperation relationship between the hollow shaft and the drive and reduction mechanisms is simple. Either the fixed connection cannot meet the needs of multi-posture transmission, or the rotating connection lacks reliable support and positioning, resulting in limited load-bearing capacity of the hollow bearings, which are prone to shaking under high-speed operation or heavy-load conditions. In addition, the sealing structure design of some joint modules is not perfect. Under complex working conditions such as dust and humidity, dust and moisture can easily invade the internal components, which can aggravate the wear of key components such as gears and bearings, and affect the reliability and service life of the joint module.

[0005] Application content

[0006] To address the technical challenges of existing robot joint modules, such as large size, low transmission accuracy, complex assembly, limited load-bearing capacity, and poor sealing caused by discrete designs, and to achieve a compact structure, high transmission accuracy, convenient assembly, strong adaptability, and good protection, a robot joint module structure integrating a two-stage planetary reducer and bearings is provided.

[0007] The technical problem this invention aims to solve is to address the shortcomings of existing robot joint modules that use a separate design of "drive mechanism + reduction mechanism + bearing components": Traditional planetary reduction mechanisms often use rigid bushings or couplings to connect the input and output ends of the drive mechanism, increasing the axial length and overall volume of the joint module. Furthermore, the connection gaps lead to decreased transmission accuracy and backlash errors. Bearings in traditional joint modules are often independently assembled components, lacking integrated design with the drive and reduction mechanisms. This results in cumbersome assembly processes, prone to coaxiality deviations during assembly, affecting operational stability, increasing noise and wear, and reducing service life. The hollow shaft design of existing joint modules is often only used for wiring or conduit insertion. The interaction between the hollow shaft and the drive and reduction mechanisms is simplistic, with limited load-bearing capacity, making them prone to swaying under high-speed or heavy-load conditions. Finally, some joint modules have inadequate sealing structures, allowing dust and moisture to penetrate internal components under dusty or humid conditions, accelerating wear on key components such as gears and bearings.

[0008] The technical solution adopted by the present invention to solve its technical problem is: to provide a robot joint module structure integrating a two-stage planetary deceleration and bearing, including an auxiliary drive mechanism and a deceleration mechanism. The input end of the deceleration mechanism is connected to the output end of the auxiliary drive mechanism through a transmission mechanism. A hollow shaft is also provided through the deceleration mechanism and the auxiliary drive mechanism. A connecting slot is fixedly provided at the end of the hollow shaft located in the drive mechanism. The hollow shaft is rotatably or fixedly connected to the output end of the deceleration mechanism.

[0009] Preferably, the auxiliary drive mechanism includes a hollow rotor and a transmission sleeve shaft. Both the hollow rotor and the transmission sleeve shaft are mounted on the hollow shaft. A connecting hole is provided at one end of the hollow rotor. A plurality of transmission blocks are spaced apart on the inner wall of the connecting hole. A driven block is fixedly provided on the outer wall of the transmission sleeve shaft in the same number and opposite position as the plurality of transmission blocks. When the transmission sleeve shaft is inserted into the connecting hole, the transmission blocks and the driven blocks alternately insert into each other. A connecting ring plate is also fixedly provided at the end of the transmission sleeve shaft located outside the connecting hole. A transmission gear sleeve is provided on the connecting ring plate, and a first drive gear is fitted into the transmission gear sleeve.

[0010] Furthermore, the auxiliary drive mechanism includes a housing, an mounting ring plate is fixedly disposed on the inner wall of the housing, a rear cover is detachably disposed on one side of the housing end of the mounting ring plate, a control plate is fixedly disposed on the side of the mounting ring plate opposite to the rear cover, a support frame is fixedly disposed on the other side of the housing end of the mounting ring plate, a stator is fixedly disposed on the inner wall of the housing between the mounting ring plate and the support frame, and the hollow rotor is located inside the stator.

[0011] Furthermore, the deceleration mechanism includes a first deceleration component and a second deceleration component. The output end of the second deceleration component is connected to the input end of the first deceleration component. An output shaft is fixedly provided on the output end of the second deceleration component. A limit ring is fixedly provided on the second deceleration component outside the output shaft. The output shaft is located inside the limit ring. A sealing ring is also fitted on the output shaft. The sealing ring is used to seal the gap between the output shaft and the limit ring.

[0012] Furthermore, the first deceleration assembly includes a first mounting housing connected to an auxiliary drive mechanism. A first gear ring is fixedly disposed on the inner wall of the first mounting housing. A first retainer is disposed inside the first mounting housing on one side of the first gear ring, and a first output frame is disposed on the other side. At least three first transmission gears are rotatably disposed between the first retainer and the first output frame. The at least three first transmission gears are evenly distributed along the circumference of the first retainer and all of them mesh with the first gear ring. The first drive gear is located between the at least three first transmission gears and meshes with all of the first transmission gears.

[0013] Furthermore, the second deceleration assembly includes a second mounting housing connected to the first mounting housing. A second gear ring is fixedly disposed on the inner wall of the second mounting housing. A second retainer is disposed inside the second mounting housing on one side of the second gear ring, and a second output frame is disposed on the other side. At least three second transmission gears are rotatably disposed between the second retainer and the second output frame. The at least three second transmission gears are evenly distributed along the circumference of the second retainer and all mesh with the second gear ring. A second drive gear is disposed between the at least three second transmission gears and is fixedly connected to the first output frame.

[0014] Furthermore, a first bearing is provided between the auxiliary drive mechanism and the first cage, the outer ring of the first bearing being fixedly connected to the auxiliary drive mechanism, and the inner ring of the first bearing being fixedly connected to the first cage; a second bearing is provided between the first output frame and the second cage, the outer ring of the second bearing being fixedly connected to the first output frame, and the inner ring of the second bearing being fixedly connected to the second cage.

[0015] Furthermore, at least two rotor bearings are fixedly mounted on the hollow rotor, one of which is located between the stator and the mounting ring plate and is fixedly connected to the mounting ring plate, and the other is located between the stator and the support frame and is fixedly connected to the support frame.

[0016] Furthermore, the connecting slot is formed on the side wall of the hollow shaft near one end of the rear cover. A support bearing is fixedly mounted on the hollow shaft. When the hollow shaft is fixedly connected to the output shaft, the outer ring of the support bearing is fixedly connected to the rear cover. When the hollow shaft is rotatably connected to the output shaft, the support bearing is located at the connection between the hollow shaft and the output shaft, and its outer ring is fixedly connected to the output shaft.

[0017] The beneficial effects of this invention are as follows: Compared with the prior art, it adopts an integrated structure of auxiliary drive mechanism, two-stage planetary reduction mechanism and hollow shaft. The transmission block and driven block are alternately interlocked to replace the traditional coupling, which greatly shortens the axial length of the joint module and reduces the overall volume and weight. The two-stage planetary reduction structure achieves a larger reduction ratio and output torque. The transmission gears at each stage are evenly distributed circumferentially and tightly meshed, effectively eliminating transmission backlash and reducing backlash error. The integrated bearing, drive mechanism and reduction mechanism ensure the coaxiality of each stage of components, avoids running vibration and noise caused by assembly deviation, and greatly simplifies the assembly process. The hollow shaft can be quickly and reliably connected to external components through end connecting slots. Rotary or fixed connection can be selected according to needs to adapt to different transmission scenarios. The sealing ring effectively blocks the intrusion of external dust and moisture, forming a closed internal space to protect key components, significantly reducing the wear rate of components and extending service life. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an isometric schematic diagram of the overall structure of this application. Figure 1 ;

[0020] Figure 2 This is an isometric schematic diagram of the overall structure of this application. Figure 2 ;

[0021] Figure 3 This is a cross-sectional schematic diagram of the connection structure of the internal components of this application;

[0022] Figure 4 This is a schematic diagram of the connection end face structure between the auxiliary drive mechanism and the reduction mechanism in this application;

[0023] Figure 5 This is an exploded structural diagram of the hollow rotor, transmission sleeve shaft, first drive gear, and transmission gear sleeve of this application.

[0024] The annotations in the attached figures are explained as follows:

[0025] 1. Auxiliary drive mechanism; 101. Housing; 102. Mounting ring plate; 103. Control board; 104. Stator; 105. Hollow rotor; 106. Rear cover; 107. Support frame; 108. Connecting socket; 109. Transmission block; 110. Transmission sleeve shaft; 111. Driven block; 112. Connecting ring plate; 113. Rotor bearing; 114. Isolation sleeve; 115. Limiting end plate; 2. Reduction mechanism; 21. First reduction assembly; 211. Transmission gear sleeve; 212. First drive gear; 213. First cage; 214. First output frame; 215. First mounting housing; 216. First gear ring; 217. First transmission gear; 218. First bearing; 219. Fitting ring; 22. Second reduction assembly; 221. Second drive gear; 222. Second retainer; 223. Second output frame; 224. Second transmission gear; 225. Second gear ring; 226. Second mounting housing; 227. Second bearing; 23. Limiting ring; 24. Output shaft; 25. Sealing ring; 31. Hollow shaft; 32. Support bearing; 33. Connecting slot. Detailed Implementation

[0026] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0029] Example 1: As Figures 1-5As shown, this embodiment provides a robot joint module structure that integrates a two-stage planetary reducer and a bearing. It adopts an integrated structure design of auxiliary drive mechanism 1, two-stage planetary reducer mechanism 2 and hollow shaft 31, realizing an integrated layout of functions such as power transmission, deceleration and torque amplification, and wiring through pipes.

[0030] The robot joint module structure comprises two core parts: an auxiliary drive mechanism 1 and a reduction mechanism 2. The input end of the reduction mechanism 2 is connected to the output end of the auxiliary drive mechanism 1 via a transmission mechanism, forming a complete power transmission chain. A hollow shaft 31 is threaded through both the reduction mechanism 2 and the auxiliary drive mechanism 1. The hollow shaft 31 not only performs traditional wiring and conduit insertion functions but also enables quick connection to external components via a connecting slot 33 fixed at its end. The hollow shaft 31 and the output end of the reduction mechanism 2 can be either rotated or fixedly connected according to actual application requirements, adapting to different transmission scenarios.

[0031] The auxiliary drive mechanism 1 includes a hollow rotor 105 and a transmission sleeve shaft 110, both of which are mounted on a hollow shaft 31. A connecting insertion hole 108 is provided at one end of the hollow rotor 105, and several transmission blocks 109 are spaced apart on the inner wall of the connecting insertion hole 108. Driven blocks 111, in the same number and opposite in position to the transmission blocks 109, are fixedly mounted on the outer wall of the transmission sleeve shaft 110. When the transmission sleeve shaft 110 is inserted into the connecting insertion hole 108, the transmission blocks 109 and driven blocks 111 alternately insert and exit. This connection method replaces traditional couplings or rigid bushing connections, simplifying the connection structure and saving internal installation space while ensuring reliable power transmission. A connecting ring plate 112 is fixedly provided at the end of the transmission sleeve shaft 110 located outside the connecting socket 108. A transmission gear sleeve 211 is provided on the connecting ring plate 112. A first drive gear 212 is fitted inside the transmission gear sleeve 211. The first drive gear 212 is located inside the reduction mechanism 2, realizing the power transmission between the drive mechanism and the reduction mechanism 2.

[0032] In this design, a limiting end plate 115 is fixed at the mating end of the first drive gear 212 and the connecting ring plate 112, while a sleeve ring 219 is provided at the mating end of the transmission sleeve 211 and the connecting ring plate 112. The inner diameter of the sleeve ring is the same as the outer diameter of the limiting end plate 115, which can limit the position of the first drive gear 212 on the connecting ring plate 112.

[0033] The auxiliary drive mechanism 1 also includes a housing 101, on which a mounting ring plate 102 is fixedly mounted. A rear cover 106 is detachably mounted on one side of the housing 101, facilitating later inspection and maintenance of the internal components. A control plate 103 is fixedly mounted on the side of the mounting ring plate 102 opposite to the rear cover 106, for motor control and signal processing. A support frame 107 is fixedly mounted on the other side of the housing 101, and a stator 104 is fixedly mounted on the inner wall of the housing 101 between the mounting ring plate 102 and the support frame 107. A hollow rotor 105 is located inside the stator 104, forming a complete motor structure.

[0034] The reduction mechanism 2 adopts a two-stage planetary reduction structure, including a first reduction component 21 and a second reduction component 22. The output end of the second reduction component 22 is connected to the input end of the first reduction component 21, realizing series transmission of the two-stage reduction. An output shaft 24 is fixedly installed at the output end of the second reduction component 22, and a limit ring 23 is fixedly installed on the second reduction component 22 outside the output shaft 24, with the output shaft 24 located inside the limit ring 23. A sealing ring 25 is fitted on the output shaft 24 to seal the gap between the output shaft 24 and the limit ring 23, effectively preventing external dust, moisture, and other impurities from entering the interior of the reduction mechanism 2, and avoiding failure of key components such as gears and bearings due to wear caused by impurities.

[0035] The first reduction assembly 21 includes a first mounting housing 215 connected to the auxiliary drive mechanism 1, and a first gear ring 216 is fixedly disposed on the inner wall of the first mounting housing 215. A first retainer 213 is disposed inside the first mounting housing 215 on one side of the first gear ring 216, and a first output frame 214 is disposed on the other side. The opposing surfaces of the first retainer 213 and the first output frame 214 are parallel to each other. At least three first transmission gears 217 are rotatably disposed between the first retainer 213 and the first output frame 214. The at least three first transmission gears 217 are evenly distributed along the circumference of the first retainer 213 and all mesh with the first gear ring 216. A first drive gear 212 is located between the at least three first transmission gears 217 and meshes with all of the first transmission gears 217. When the first drive gear 212 rotates, it drives the first transmission gears 217 to rotate around the first gear ring 216, thereby achieving first-stage reduction and torque increase.

[0036] The second reduction assembly 22 includes a second mounting housing 226, which is connected to a first mounting housing 215. A second gear ring 225 is fixedly disposed on the inner wall of the second mounting housing 226. A second retainer 222 is disposed inside the second mounting housing 226 on one side of the second gear ring 225, and a second output frame 223 is disposed on the other side. The opposing surfaces of the second retainer 222 and the second output frame 223 are parallel to each other. An output shaft 24 is fixedly connected to the second output frame 223. At least three second transmission gears 224 are rotatably disposed between the second retainer 222 and the second output frame 223. The at least three second transmission gears 224 are evenly distributed along the circumference of the second retainer 222 and all mesh with the second gear ring 225. A second drive gear 221 is disposed between the at least three second transmission gears 224 and is fixedly connected to the first output frame 214. The rotation of the first output frame 214 drives the second drive gear 221, which in turn drives the second transmission gear 224 to mesh and rotate around the second gear ring 225, achieving two-stage reduction and torque increase. The two-stage reduction structure can obtain a larger reduction ratio and output torque, meeting the needs of heavy-duty robot operations.

[0037] This structure achieves integrated bearings with the drive mechanism and reduction mechanism 2. A first bearing 218 is arranged between the auxiliary drive mechanism 1 and the first cage 213. The outer ring of the first bearing 218 is fixedly connected to the auxiliary drive mechanism 1, and the inner ring of the first bearing 218 is fixedly connected to the first cage 213. A second bearing 227 is arranged between the first output frame 214 and the second cage 222. The outer ring of the second bearing 227 is fixedly connected to the first output frame 214, and the inner ring of the second bearing 227 is fixedly connected to the second cage 222. This bearing arrangement ensures the coaxiality of each stage of the drive mechanism and reduction mechanism 2, avoiding operational shaking and noise caused by assembly deviations.

[0038] At least two rotor bearings 113 are fixedly mounted on the hollow rotor 105. One rotor bearing 113 is located between the stator 104 and the mounting ring plate 102 and is fixedly connected to the mounting ring plate 102. The other rotor bearing 113 is located between the stator 104 and the support frame 107 and is fixedly connected to the support frame 107. An isolation sleeve 114 is also mounted on the hollow rotor 105 between the stator 104 and the rotor bearing 113. The isolation sleeve 114 fits against both the rotor bearing 113 and the stator 104, providing additional support and protection.

[0039] A connecting slot 33 is provided on the side wall of the hollow shaft 31 near one end of the rear cover 106, facilitating the connection of external components. A support bearing 32 is fixedly mounted on the hollow shaft 31. When the hollow shaft 31 is fixedly connected to the output shaft 24, the outer ring of the support bearing 32 is fixedly connected to the rear cover 106, providing stable support. When the hollow shaft 31 is rotatably connected to the output shaft 24, the support bearing 32 is located at the connection point between the hollow shaft 31 and the output shaft 24, and its outer ring is fixedly connected to the output shaft 24, ensuring the stability and reliability of the rotatable connection.

[0040] This robot joint module achieves miniaturization, high transmission precision, simplified assembly, and stable operation through an integrated design. The dual-stage planetary reduction structure, with its multi-stage gear meshing and uniform force distribution, reduces the load pressure on individual gears, minimizes gear wear, and improves transmission stability. The integrated bearing design forms a complete bearing support system from the drive end to the reduction end and then to the output end, significantly simplifying the assembly process. The multi-functional adaptable design and sealing structure of the hollow shaft 31 further enhance the product's practicality and reliability, providing strong support for the miniaturization and lightweight design of the robot joint.

[0041] The foregoing has provided a detailed description of one embodiment of this application, but the description is merely a preferred embodiment and should not be construed as limiting the scope of this application. All equivalent variations and improvements made within the scope of this application should still fall within the patent coverage of this application.

Claims

1. A robot joint module structure integrating a two-stage planetary reducer and bearings, characterized in that: It includes an auxiliary drive mechanism (1) and a reduction mechanism (2). The input end of the reduction mechanism (2) is connected to the output end of the auxiliary drive mechanism (1) through a transmission mechanism. A hollow shaft (31) is also provided through the reduction mechanism (2) and the auxiliary drive mechanism (1). A connecting slot (33) is fixedly provided at the end of the hollow shaft (31) located in the drive mechanism. The hollow shaft (31) is rotatably or fixedly connected to the output end of the reduction mechanism (2).

2. The robot joint module structure integrating a two-stage planetary deceleration system and bearings as described in claim 1, characterized in that: The auxiliary drive mechanism includes a hollow rotor (105) and a transmission sleeve shaft (110). Both the rotor and the transmission sleeve shaft (110) are mounted on the hollow shaft (31). A connecting hole (108) is provided at one end of the hollow rotor (105). A plurality of transmission blocks (109) are spaced apart on the inner wall of the connecting hole (108). A driven block (111) is fixedly provided on the outer wall of the transmission sleeve shaft (110) in the same number and opposite position as the plurality of transmission blocks (109). When the transmission... When the moving sleeve shaft (110) is inserted into the connecting socket (108), the transmission block (109) and the driven block (111) alternately insert into each other. A connecting ring plate (112) is also fixedly provided at the end of the transmission sleeve shaft (110) located outside the connecting socket (108). A transmission gear sleeve (211) is provided on the connecting ring plate (112). A first drive gear (212) is fitted into the transmission gear sleeve (211), and the first drive gear (212) is located in the reduction mechanism (2).

3. The robot joint module structure integrating a two-stage planetary deceleration system and bearings as described in claim 2, characterized in that: The auxiliary drive mechanism (1) includes a housing (101), an mounting ring plate (102) is fixedly disposed on the inner wall of the housing (101), a rear cover (106) is detachably disposed on one side of the housing (101) end of the mounting ring plate (102), a control plate (103) is fixedly disposed on the side of the mounting ring plate (102) opposite to the rear cover (106), a support frame (107) is fixedly disposed on the other side of the housing (101) end of the mounting ring plate (102), a stator (104) is fixedly disposed on the inner wall of the housing (101) between the mounting ring plate (102) and the support frame (107), and the hollow rotor (105) is located inside the stator (104).

4. The robot joint module structure integrating a two-stage planetary deceleration system and bearings as described in claim 3, characterized in that: The deceleration mechanism (2) includes a first deceleration component (21) and a second deceleration component (22). The output end of the second deceleration component (22) is connected to the input end of the first deceleration component (21). An output shaft (24) is fixedly provided on the output end of the second deceleration component (22). A limiting ring (23) is fixedly provided on the second deceleration component (22) outside the output shaft (24). The output shaft (24) is located inside the limiting ring (23). A sealing ring (25) is also fitted on the output shaft (24). The sealing ring (25) is used to seal the gap between the output shaft (24) and the limiting ring (23).

5. The robot joint module structure integrating a two-stage planetary deceleration system and bearings as described in claim 4, characterized in that: The first deceleration assembly (21) includes a first mounting housing (215) connected to the auxiliary drive mechanism (1). A first gear ring (216) is fixedly disposed on the inner wall of the first mounting housing (215). A first retainer (213) is disposed in the first mounting housing (215) on one side of the first gear ring (216), and a first output frame (214) is disposed on the other side. The opposing surfaces of the first retainer (213) and the first output frame (214) are parallel to each other. At least three first transmission gears (217) are rotatably disposed between the first retainer (213) and the first output frame (214). The at least three first transmission gears (217) are evenly distributed along the circumference of the first retainer (213) and all of them mesh with the first gear ring (216). The first drive gear (212) is located between the at least three first transmission gears (217) and meshes with all of the first transmission gears (217).

6. The robot joint module structure integrating a two-stage planetary reducer and bearing as described in claim 5, characterized in that: The second reduction assembly (22) includes a second mounting housing (226), which is connected to the first mounting housing (215). A second gear ring (225) is fixedly disposed on the inner wall of the second mounting housing (226). A second retainer (222) is disposed inside the second mounting housing (226) on one side of the second gear ring (225), and a second output bracket (223) is disposed on the other side. The opposing surfaces of the second retainer (222) and the second output bracket (223) are parallel to each other. The output shaft (24) The first output frame (214) is fixedly connected to the second output frame (223). At least three second transmission gears (224) are rotatably arranged between the second retainer (222) and the second output frame (223). The at least three second transmission gears (224) are evenly distributed along the circumference of the second retainer (222) and all mesh with the second gear ring (225). A second drive gear (221) is arranged between the at least three second transmission gears (224). The second drive gear (221) is fixedly connected to the first output frame (214).

7. The robot joint module structure integrating a two-stage planetary reducer and bearing as described in claim 6, characterized in that: A first bearing (218) is provided in the auxiliary drive mechanism (1) and the first retainer (213) bracket. The outer ring of the first bearing (218) is fixedly connected to the auxiliary drive mechanism (1), and the inner ring of the first bearing (218) is fixedly connected to the first retainer (213). A second bearing (227) is provided between the first output frame (214) and the second retainer (222). The outer ring of the second bearing (227) is fixedly connected to the first output frame (214), and the inner ring of the second bearing (227) is fixedly connected to the second retainer (222).

8. The robot joint module structure integrating a two-stage planetary reducer and bearing as described in claim 3, characterized in that: At least two rotor bearings (113) are fixedly mounted on the hollow rotor (105). One of the rotor bearings (113) is located between the stator (104) and the mounting ring plate (102) and is fixedly connected to the mounting ring plate (102). The other is located between the stator (104) and the support frame (107) and is fixedly connected to the support frame (107). An isolation sleeve (114) is also mounted on the hollow rotor (105) between the stator (104) and the rotor bearing (113). The isolation sleeve (114) is in contact with the rotor bearing (113) and the stator (104) respectively.

9. The robot joint module structure integrating a two-stage planetary reducer and bearing as described in claim 4, characterized in that: The connecting slot (33) is opened on the side wall of the hollow shaft (31) near one end of the rear cover (106). A support bearing (32) is fixedly mounted on the hollow shaft (31). When the hollow shaft (31) is fixedly connected to the output shaft (24), the outer ring of the support bearing (32) is fixedly connected to the rear cover (106). When the hollow shaft (31) is rotatably connected to the output shaft (24), the support bearing (32) is located at the connection between the hollow shaft (31) and the output shaft (24), and the outer ring is fixedly connected to the output shaft (24).

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