Robotic joint module assembly

Abstract

The present disclosure relates to a robotic joint module assembly. The robotic joint module assembly includes a housing, a motor, an input shaft, a power output ring gear, and a two-stage planetary gear reducer. The input shaft includes an integrally formed shaft body and an input flange portion. The input flange portion extends laterally outward from the shaft body and is operatively connected to the motor rotor. The two-stage planetary gear reducer is operatively connected to a second end of the input shaft and the power output ring gear, respectively. A first bearing is disposed between the cover and the input flange portion and adjacent the shaft body. A second bearing is disposed between the input flange portion and a carrier of the two-stage planetary gear reducer and radially further from the shaft body relative to the first bearing. As such, the input shaft is stably held in both axial and radial directions, thus less prone to tilting and axial translation to allow smoother torque transfer, and also can result in higher measurement accuracy of a position encoder.

Description

Technical Field

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

[0002] In the field of robotics, robot joints, including shoulder, knee, and hip joints, are essentially small electric drive systems that convert electrical energy generated by motors into mechanical torque for output. To ensure a large load capacity, robot joints often require a large reduction ratio to achieve high torque density, thereby ensuring good motion performance. Additionally, robot joints need to have reverse drive capability to meet highly dynamic motion requirements. Position encoders are also needed to monitor and control the movement or position of the robot joints.

[0003] Existing technology provides a robot joint module that offers high torque density and reverse drive capability through the high integration of a motor and a planetary reducer with a large reduction ratio. It also monitors the robot joint's movement or position by acquiring the motor rotor's rotational speed via a position encoder mounted on the motor rotor. However, existing robot joint modules still suffer from uneven torque transmission due to the planetary reducer structure and bearing layout, thus failing to ensure good motion performance. Furthermore, the position encoder cannot achieve more precise control over the robot joint's movement or position.

[0004] Therefore, there is a need to provide a robot joint module assembly that at least makes torque transmission smoother. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a robot joint module assembly that can solve at least one or more of the aforementioned problems or achieve other advantages.

[0006] In one aspect, a robot joint module assembly is provided. The robot joint module assembly includes: a housing including an attached main housing and a cover to form a receiving space; a motor including a motor stator and a motor rotor operatively mounted within the receiving space; an input shaft including an integrally formed shaft body and an input flange extending laterally outward from the shaft body and operatively connected to the motor rotor, the input shaft having a first end and a second end located on opposite sides of the input flange; a power output ring gear; and a two-stage planetary gear reducer operatively connected to the second end of the input shaft and the power output ring gear; and a plurality of bearings, the plurality of bearings including at least a first bearing and a second bearing for the input shaft; wherein the first bearing is disposed between the cover and the input flange and adjacent to the shaft body, and the second bearing is disposed between the input flange and the planet carrier of the two-stage planetary gear reducer and radially away from the shaft body relative to the first bearing.

[0007] Thus, the input shaft is firmly held in both the axial and radial directions, making it less prone to tilting and axial translation, allowing for smoother torque transmission to the two-stage planetary gear reducer and, optionally, the position encoder. Furthermore, the proximity of the first bearing to the shaft body shortens the lever arm and prevents input shaft tilting.

[0008] In one or more embodiments, the sun gear of the two-stage planetary gear reducer is disposed on the second end of the input shaft and extends along the entire axial length of the planet carrier, and the plurality of bearings further include a third bearing for the planet carrier disposed between the planet carrier and the main housing of the planetary gear reducer.

[0009] Therefore, the planetary gear reducer is firmly held in both the axial and radial directions, resulting in smoother torque transmission.

[0010] In one or more embodiments, the power output gear ring is operatively connected to the main housing via a fourth crossed roller bearing.

[0011] Therefore, the power output gear ring provides a smooth torque output.

[0012] In one or more embodiments, a gasket is disposed between the cap and the outer ring of the first bearing to restrict the axial position of the input shaft.

[0013] In one or more embodiments, the thickness of the gasket is set to correspond to the sum of the axial clearances of the first bearing, the second bearing, and the third bearing.

[0014] Therefore, the shim arrangement eliminates the axial clearance of these three bearings, causing the input shaft to be axially locked, thus preventing axial movement during operation and transmitting torque more stably.

[0015] In one or more embodiments, the robot joint module assembly further includes a position encoder, the position encoder including a first encoder configured to be operatively coupled to a first end of the shaft body to detect an input rotational speed.

[0016] Thus, the first encoder is connected to the stably held input shaft, which can obtain more accurate input speed information, thereby facilitating more precise control over the movement or position of the robot joints.

[0017] In one or more embodiments, the robot joint module assembly further includes an output shaft operatively connected to a power output gear ring, the output shaft extending through an axial through-hole of the input shaft, and the position encoder including a second encoder operatively connected to the output shaft to detect an output rotational speed.

[0018] Therefore, the output shaft is configured to facilitate the installation of a second encoder for detecting the output rotational speed, so as to achieve more precise control over the movement or position of the robot joints.

[0019] In one or more embodiments, the first encoder includes an input-side drive gear operatively connected to a first end of an input shaft and an input-side driven gear meshing with the input-side drive gear; the second encoder includes an output-side drive gear operatively connected to a first end of an output shaft and an output-side driven gear meshing with the output-side drive gear, wherein the input-side driven gear and the output-side driven gear are operatively connected to the cover via their respective bearings.

[0020] Therefore, the dual-position encoder setup allows for the simultaneous detection of both input and output rotational speeds, facilitating the determination of input compensation based on the difference between the two, and enabling more precise control of the robot joint positions.

[0021] In one or more embodiments, the housing further includes a cover attached to the cover for accommodating a position encoder and a PCB board in the space between them, the PCB board being mounted on the cover and spaced apart from the position encoder.

[0022] Therefore, the position encoder and PCB board are used to monitor and precisely control the movement or position of the robot joints.

[0023] In one or more embodiments, the first magnet and the second magnet are respectively fixed to the end faces of the support shafts of the input-side driven gear and the output-side driven gear.

[0024] In one or more embodiments, the first sensing chip and the second sensing chip located on the PCB are respectively mounted at positions spaced apart from and directly opposite to the corresponding first magnet and second magnet.

[0025] Thus, the sensor chip and the magnet interact using the Hall effect principle to obtain rotational speed information about the input and output, thereby allowing for precise control of the robot's joint positions based on the rotational speed information.

[0026] In one or more embodiments, the output shaft is a hollow shaft to provide a receiving portion.

[0027] Therefore, the receiving section provides space to accommodate signal lines, power lines, etc.

[0028] In one or more embodiments, the second end of the output shaft is operatively connected to the power output gear ring, while the first end of the output shaft is mounted on the cover by means of a fifth bearing.

[0029] As a result, the output shaft can be held stably, allowing a second encoder to be set up to provide more accurate output speed information.

[0030] In one or more embodiments, the motor driver is integrated on the PCB board.

[0031] This arrangement allows for a high degree of integration of the robot joint module assembly, prevents heat generated by the motor from being conducted to the motor driver, and also saves installation space.

[0032] In one or more embodiments, the two-stage planetary gear reducer includes a sun gear, a planet carrier, a plurality of planetary gears, a fixed ring gear, planetary gear shafts, and a movable ring gear. The sun gear is integrally formed with the second end of the input shaft. Each of the plurality of planetary gears is arranged on the planet carrier via its planetary gear shaft. Each planetary gear is configured to mesh with the sun gear, and also with the fixed ring gear fixed to the housing and the movable ring gear operatively connected to the power output ring gear.

[0033] Thus, the two-stage planetary gear reducer provides stable and reliable torque transmission with a simple construction. Attached Figure Description

[0034] This disclosure will be more readily understood through the following detailed description taken in conjunction with the accompanying drawings, wherein like reference numerals denote like elements. The drawings are schematic and not restrictive. Elements in the drawings are not necessarily shown to scale; for example, elements may be enlarged for illustrative purposes or may be scaled down to maintain clarity and ease of understanding. In the drawings: Figure 1 A perspective view of a robot joint module assembly according to the present disclosure is shown; Figure 2 A cross-sectional view of a robot joint module assembly according to the present disclosure is shown; Figure 3 A perspective view is shown of a robot joint module assembly according to the present disclosure with a portion of its components removed to expose the position encoder; Figure 4 It shows Figure 3 A sectional view; Figure 5 A front view of the PCB board of the robot joint module assembly according to this disclosure is shown; and Figure 6 A cross-sectional view showing the layout of the PCB board and related components of the robot joint module assembly according to this disclosure is shown. Detailed Implementation

[0035] The present disclosure will now be described with reference to the accompanying drawings, which illustrate several embodiments of the present disclosure. However, it should be understood that the present disclosure can be presented in many different ways and is not limited to the embodiments described below. The embodiments described below are intended to make the disclosure more complete and to fully illustrate the scope of protection of the present disclosure to those skilled in the art. It should be understood that in all the drawings, the same reference numerals denote the same elements.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. For the sake of brevity and / or clarity, well-known functions or structures may not be described in detail. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The terms “comprising” and “having”, and any derivatives thereof, in the specification and claims of this disclosure are intended to cover non-exclusive inclusion. In some cases, well-known structures and components may be illustrated in block diagram form to avoid obscuring the concept of the disclosed subject matter.

[0037] The terms “component” and “part” can have a dual meaning, referring to a single part or multiple parts.

[0038] In the description of the embodiments of this disclosure, the terms "first," "second," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. Furthermore, the term "first component" does not necessarily imply the existence of a "second component," and the term "second component" does not necessarily imply the existence of a "first component."

[0039] In the description of the embodiments disclosed herein, "a plurality of" means two or more, unless otherwise expressly defined.

[0040] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent these three cases: A exists alone, A and B exist simultaneously, and B exists alone.

[0042] In the description of the embodiments of this disclosure, the terms "lateral", "longitudinal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this disclosure.

[0043] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," and "attachment," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0044] As previously mentioned, to improve the high torque density performance and reverse drive efficiency of drive joints, existing robot joint module assemblies typically include a housing, motor, position encoder, input shaft, two-stage planetary gear reducer, and power output ring gear. However, this disclosure aims to improve the structure and layout of existing robot joint module assemblies to achieve smoother torque transmission, higher precision control, and / or a more compact structure. The robot joint module assembly according to this disclosure will now be described with reference to the accompanying drawings.

[0045] Figure 1 and Figure 2 Perspective and sectional views of the robot joint module assembly according to the present disclosure are shown respectively. The robot joint module assembly according to the present disclosure can be used to drive quadruped robots and humanoid robots, for example, to drive the arm joints or leg joints of a robot. The robot joint module assembly 1 according to the present disclosure may include at least a housing 10, a motor 20, an input shaft 30, a position encoder 80, a two-stage planetary gear reducer 40, and a power output gear ring 60.

[0046] refer to Figure 2 The housing 10 may include a main housing 12 and a cover 14 attached to each other to form a receiving space for at least accommodating the motor 20, the input shaft 30, the two-stage planetary gear reducer 40, and the power output ring gear 60. The housing 10 may also include a cover 16 attached to the cover 14 for at least accommodating a position encoder 80 and a PCB board arranged spaced apart from each other in the space between the two.

[0047] Still referencing Figure 2 The motor 20 includes a motor stator 22 and a motor rotor 24 operatively mounted within a housing space. The structure and layout of the motor stator 22 and motor rotor 24, and their associated components (such as drivers and connectors), can be found in relevant descriptions of the prior art and will not be described in detail here.

[0048] refer to Figure 2 and Figure 4 The robot joint module assembly according to this disclosure includes an input shaft 30 with a specific configuration. The input shaft 30 may include an integrally formed shaft body 32 and an input flange 34. The input flange 34 extends laterally outward from the shaft body 32 and is operatively connected to a motor rotor 24. In one example, the motor rotor 24 has an L-shaped connecting end, to which the input flange 34 is pressure-fitted. The input shaft 30 has a first end 36 and a second end 38 located on either side of the input flange 34. A position encoder 80 may be configured to be operatively coupled to the first end 36. A two-stage planetary gear reducer 40 is operatively connected to the second end 38 of the input shaft 30 and a power output gear ring 60, respectively, to provide torque to the robot joint.

[0049] The robot joint module assembly according to this disclosure may include multiple bearings arranged to smoothly and efficiently transmit torque. The number and layout of the multiple bearings represent an improvement over existing technologies. For example, the multiple bearings may include at least a first bearing B1 and a second bearing B2 for the input shaft. The first bearing B1 and the second bearing B2 may be ball bearings. The first bearing and the second bearing are respectively arranged on opposite axial sides of the input flange 34 and radially offset from each other. Specifically, the first bearing B1 is disposed between the cover 12 and the input flange 34 and adjacent to the shaft body 32. The second bearing B2 is disposed between the input flange 43 and the planet carrier 42 of the two-stage planetary gear reducer 40 and radially away from the shaft body 32 relative to the first bearing B1.

[0050] Therefore, by utilizing the structure of the input shaft 30 with the shaft body 32 and the input flange 34, and the arrangement of the first bearing B1 and the second bearing B2, the input shaft 30 can be firmly held in both the axial and radial directions, making it less prone to tilting and axial translation, thus resulting in smoother and more efficient torque transmission. Furthermore, the proximity of the first bearing B1 to the shaft body 32 shortens the lever arm and prevents the input shaft from tilting. This stable holding of the input shaft also allows for higher measurement accuracy of the position encoder operated from the first end 36 connected to the input shaft.

[0051] refer to Figure 4 The two-stage planetary gear reducer 40 according to this disclosure may include at least a sun gear 41, a planet carrier 42, a plurality of planetary gears 43, a fixed ring gear 44, planetary gear shafts (not shown for simplicity), and a movable ring gear 48. The sun gear 41 is disposed as an input end to a second end 38 of the input shaft. In one example, the sun gear 41 may be integrally formed with the second end 38 of the input shaft. In an alternative example, the sun gear 41 may be press-fitted to the second end 38 of the input shaft. The movable ring gear 48 is operatively connected as an output end to a power output ring gear 60. The plurality of planetary gears 43 are each arranged on the planet carrier 42 via their respective planetary gear shafts. Each planetary gear 43 meshes with the sun gear 41 and with the fixed ring gear 44 fixed to the main housing 12 for first-stage torque transmission. Each planetary gear 43 meshes with the sun gear 41 and with the movable ring gear 48 for second-stage torque transmission. The movable ring gear 48 is operatively connected to the power output ring gear 60, which in turn is operatively connected to the main housing 12 via the fourth crossed roller bearing B4 to provide smooth torque output. This two-stage planetary gear reducer, with its simple construction, provides stable and reliable torque transmission. Other structures and layouts of the two-stage planetary gear reducer 40 can be found in the description of relevant prior art and will not be detailed here.

[0052] Unlike the layout of existing two-stage planetary gear reducers, such as Figure 2As shown, the sun gear 41 of the two-stage planetary gear reducer is mounted on the second end 38 of the input shaft 30 and extends along the entire axial length of the planet carrier 42. That is, without the need for an additional bearing at the second end 38 of the input shaft, the second end 38 provides stable support for the sun gear 41 and the planet carrier 42 along the entire axial length, thus determining the axial positioning of the two-stage planetary gear reducer. A third bearing B3 for the planet carrier is located between the planet carrier and the main housing of the planetary gear reducer to provide radial positioning of the two-stage planetary gear reducer; that is, the first end of the planet carrier 42 is connected to the main housing radially outward via the third bearing B3. The third bearing B3 can be a ball bearing. Because the third bearing B3 is supported on the main housing, it provides high support strength, thus firmly holding the planet carrier. The first end of the planet carrier 42 is also operatively connected to the input shaft radially inward via a second bearing B2 for radial positioning. In this way, the planetary gear reducer 40 is firmly held in both the axial and radial directions, resulting in smoother and more efficient torque transmission.

[0053] refer to Figure 2 A shim 50 can be disposed between the cover 14 and the outer ring of the first bearing B1 to further constrain the axial position of the input shaft 30. The thickness of the shim is set to correspond to the sum of the axial clearances of the first bearing B1, the second bearing B2, and the third bearing B3. Specifically, during assembly, the input shaft 30 is pushed axially toward the second end 38 until any possible axial clearances of the three bearings are eliminated. Then, a shim 50 of appropriate thickness is inserted, and the cover 14 is installed in place. In this way, the elimination of axial clearance causes the input shaft 30 to be axially locked, thus preventing axial movement during operation. As a result, the axial positioning of the input shaft 30 is more stable and reliable, facilitating a more stable transmission of torque to the two-stage planetary gear reducer and the position encoder.

[0054] refer to Figure 2 The robot joint module assembly 1 may also include an output shaft 70 operatively connected to the power output gear ring 60. The output shaft 70 is arranged to extend through an axial through-hole in the input shaft 30. Specifically, the second end of the output shaft 70 is operatively connected to the power output gear ring 60, while the first end of the output shaft 70 is mounted on the cover 16 by means of a fifth bearing B5. This allows the output shaft to be stably held. This stably held position encoder facilitates the mounting of a position encoder for detecting output torque, thereby obtaining more accurate output speed information. Specifically, the position encoder is mounted near the first end of the output shaft 70. The output shaft 70 is a hollow shaft to provide a receiving portion 72. This receiving portion provides space to accommodate signal lines, power lines, etc., and also provides dustproof, anti-contamination, and aesthetic functions.

[0055] refer to Figure 3 and Figure 4The position encoder 80 is a dual-position encoder. This dual-position encoder includes a first encoder 82 operatively connected to the input shaft 30 to detect the input rotational speed and a second encoder 84 operatively connected to the output shaft 70 to detect the output rotational speed. Specifically, the first encoder 82 includes an input-side drive gear 822 operatively connected to the first end 36 of the input shaft and an input-side driven gear 824 meshing with the input-side drive gear. The second encoder 84 includes an output-side drive gear 842 operatively connected to the first end of the output shaft 70 and an output-side driven gear 844 meshing with the output-side drive gear. The corresponding support shafts of the input-side driven gear and the output-side driven gear are operatively connected to the cover 14 via corresponding bearings. A first magnet 826 and a second magnet 846 are respectively fixed to the end faces of the support shafts of the input-side driven gear 824 and the output-side driven gear 844.

[0056] refer to Figure 6 The PCB board 90 can be mounted on the cover 16 and arranged relative to the position encoder 80 on the side opposite to the motor 20 and spaced apart from the position encoder 80. The motor driver can be integrated on the PCB board. This arrangement allows for a high degree of integration of the robot joint module assembly, prevents heat generated by the motor from being conducted to the motor driver, and also saves installation space.

[0057] refer to Figure 3-5 After installation, the first sensing chip 92 and the second sensing chip 94 on the PCB board can be installed in positions that are spaced apart from the first magnet 826 and the second magnet 846 and are directly opposite each other. In this way, the sensing chips and magnets interact with each other based on the Hall effect principle to obtain the rotational speed information of the input shaft 30 and the output shaft 70, thereby allowing the PCB to read the rotational speed information and thus realize the monitoring and precise control of the robot joint's movement or position.

[0058] The dual-position encoder setup allows for the simultaneous detection of the input rotational speed of the input shaft (which can also be used to infer the rotational speed of the motor rotor) and the output rotational speed of the output shaft (which can also be used to infer the rotational speed of the power output gear ring 60), facilitating precise control of the robot joint positions. Information about the input rotational speed can be fed back to the driver, which compares the input and output rotational speeds to determine the precise compensation amount and performs input compensation accordingly. This allows the dual-position encoder to provide higher control accuracy.

[0059] It should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A robot joint module assembly, characterized in that, The robot joint module assembly (1) includes: The outer casing (10) includes a main casing (12) and a cover (14) attached to each other to form a receiving space; The motor (20) includes a motor stator (22) and a motor rotor (24) operatively mounted within a housing space. An input shaft (30) includes an integrally formed shaft body (32) and an input flange (34), the input flange extending laterally outward from the shaft body and operatively connected to the motor rotor, the input shaft having a first end (36) and a second end (38) located on both sides of the input flange. Power output gear ring (60); and A two-stage planetary gear reducer (40), which is operatively connected to the second end (38) of the input shaft and the power output ring gear (60); and Multiple bearings, including at least a first bearing (B1) and a second bearing (B2) for the input shaft; wherein the first bearing is disposed between the cover (14) and the input flange (34) and adjacent to the shaft body (32), and the second bearing is disposed between the input flange (34) and the planet carrier (42) of the second-stage planetary gear reducer and radially away from the shaft body (32) relative to the first bearing (B1).

2. The robot joint module assembly according to claim 1, characterized in that, The sun gear (41) of the two-stage planetary gear reducer is disposed on the second end (38) of the input shaft and extends along the entire axial length of the planet carrier (42). The plurality of bearings also include a third bearing (B3) for the planet carrier disposed between the planet carrier (42) and the main housing (12) of the planetary gear reducer.

3. The robot joint module assembly according to claim 2, characterized in that, The power output gear ring (60) is operatively connected to the main housing (12) via a fourth crossed roller bearing (B4).

4. The robot joint module assembly according to any one of claims 1-3, characterized in that, A gasket (50) is disposed between the cover (14) and the outer ring of the first bearing (B1) to restrict the axial position of the input shaft (30).

5. The robot joint module assembly according to claim 4, characterized in that, The thickness of the gasket (50) is set to correspond to the sum of the axial clearances of the first bearing (B1), the second bearing (B2), and the third bearing (B3).

6. The robot joint module assembly according to any one of claims 1-5, characterized in that, The robot joint module assembly also includes a position encoder (80), which includes a first encoder (82) configured to be operatively coupled to a first end (36) of the shaft body to detect an input rotational speed.

7. The robot joint module assembly according to claim 6, characterized in that, The robot joint module assembly also includes an output shaft (70) operatively connected to a power output gear ring (60), the output shaft extending through an axial through-hole of the input shaft, and the position encoder (80) including a second encoder (84) operatively connected to the output shaft to detect the output rotational speed.

8. The robot joint module assembly according to claim 7, characterized in that, The first encoder (82) includes an input-side drive gear (822) operatively connected to a first end of the input shaft (30) and an input-side driven gear (824) meshing with the input-side drive gear; the second encoder (84) includes an output-side drive gear (842) operatively connected to a first end of the output shaft (70) and an output-side driven gear (844) meshing with the output-side drive gear, wherein the input-side driven gear and the output-side driven gear are operatively connected to the cover (14) via their respective bearings.

9. The robot joint module assembly according to any one of claims 6-8, characterized in that, The housing (10) also includes a cover (16) attached to a cap (14) for accommodating a position encoder (80) and a PCB board (90) in the space between them, the PCB board being mounted on the cover (16) and spaced apart from the position encoder (80).

10. The robot joint module assembly according to claim 9, characterized in that, The first magnet (826) and the second magnet (846) are respectively fixed to the end faces of the support shafts of the input-side driven gear (824) and the output-side driven gear (844).

11. The robot joint module assembly according to claim 10, characterized in that, The first sensing chip (92) and the second sensing chip (94) on the PCB are respectively mounted at a distance from and opposite to the corresponding first magnet (826) and second magnet (846).

12. The robot joint module assembly according to claim 7 or 8, characterized in that, The output shaft (70) is a hollow shaft to provide a receiving part (72).

13. The robot joint module assembly according to any one of claims 9-11, characterized in that, The second end of the output shaft (70) is operatively connected to the power output gear ring (60), while the first end of the output shaft is mounted on the cover (16) by means of the fifth bearing (B5).

14. The robot joint module assembly according to any one of claims 9-11, characterized in that, The motor driver (96) is integrated on the PCB board (90).

15. The robot joint module assembly according to any one of claims 1-14, characterized in that, The two-stage planetary gear reducer (40) includes a sun gear (41), a planet carrier (42), multiple planetary gears (43), a fixed gear ring (44), planetary gear shafts, and a movable gear ring (48). The sun gear (41) is integrally formed with the second end (38) of the input shaft. Each of the multiple planetary gears (43) is arranged on the planet carrier (42) through its planetary gear shaft. Each planetary gear is configured to mesh with the sun gear (41), and also with the fixed gear ring (44) fixed to the outer casing (12) and the movable gear ring (48) operatively connected to the power output gear ring (60).

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