High-torque compact joint module and robot

Abstract

The utility model discloses a high-torque compact type joint module and a robot. The high-torque compact type joint module comprises a shell assembly, a speed reducing mechanism, a motor, a sealing assembly and a driving assembly. The first-stage speed reducing mechanism is coaxially connected with the second-stage speed reducing mechanism; an arc-shaped groove is formed in the outer side of the circumference of the secondary speed reducing mechanism; a first fastener penetrates through the arc-shaped groove to connect the speed reducing mechanism with the speed reducing mechanism shell; the first fastener is a fastener without threads and with a T-shaped section; the driving fixing piece is provided with a receding structure, and the receding structure accommodates the first sealing piece. According to the high-torque compact type joint module and the robot, through the design of a first fastener and a receding structure, coaxial accurate positioning between shell assemblies is achieved, and the assembling and disassembling processes are greatly facilitated; the speed reducing mechanism, the motor and the driving system can be integrated into a whole more compactly, miniaturization of the size and light weight of the joint module are achieved, meanwhile, maintainability is enhanced, and manufacturing cost is effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of joint module technology, and in particular to a high-torque compact joint module and robot. Background Technology

[0002] Quadrupedal, bipedal, or wheeled robots are equipped with a rotary power unit or a two-stage reduction rotary power unit to achieve rotary motion. The rotary power unit provides the necessary power for the robot's rotary movement through an internal drive mechanism, enabling the robot to achieve precise rotation or oscillation when needed, and to move and turn flexibly in different directions. The two-stage reduction rotary power unit converts the high-speed rotation of the motor into a low-speed, high-torque output through a two-stage reduction mechanism, effectively absorbing and dispersing the impact and vibration during power transmission.

[0003] Existing rotary power units or two-stage reduction rotary power units have complex structures and the following problems: they involve multiple components and precision assembly processes, resulting in high production costs; they require complex assembly processes and maintenance strategies, affecting the efficiency of assembly and maintenance, and increasing the time and effort costs of robot maintenance. Utility Model Content

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] In a first aspect, a high-torque compact joint module includes a housing assembly, a reduction mechanism, a motor, a sealing assembly, and a drive assembly; the reduction mechanism, motor, sealing assembly, and drive assembly are fixedly connected within the housing assembly via the housing assembly.

[0006] The housing assembly includes a bearing assembly, a front cover, a reduction mechanism housing, a motor housing, a drive fixing component, a rear cover, a rotor frame, and a fastening assembly; the reduction mechanism includes a primary reduction mechanism and a secondary reduction mechanism; the sealing assembly includes a first sealing element, and the fastening assembly includes a first fastener;

[0007] The primary reduction mechanism and the secondary reduction mechanism are coaxially connected; the primary reduction mechanism is the power input end, and the secondary reduction mechanism is the power output end. The primary reduction mechanism is fixedly connected to the rotor frame; the secondary reduction mechanism is fixedly connected to the bearing assembly; the outer periphery of the reduction mechanism is covered by the reduction mechanism housing, and the outer circumference of the secondary reduction mechanism is provided with an arc groove. The first fastener passes through the arc groove to connect the reduction mechanism to the reduction mechanism housing; the first fastener is a threadless fastener with a T-shaped cross-section.

[0008] The rotor frame is connected to the motor, the outer periphery of the motor is covered by the motor housing, and the outer periphery of the bearing assembly is covered by the front cover; the rear cover, drive fixing component, motor housing, reduction mechanism housing and front cover are connected in sequence.

[0009] The drive fixing component is provided with a clearance structure, which accommodates the first sealing component.

[0010] As a further embodiment of this utility model: the drive fixing member has an annular groove on the circumferential surface of the end connected to the motor housing, and the annular groove is a void-avoiding structure.

[0011] As a further embodiment of this utility model: the motor is an internal rotor frameless torque motor, the motor includes a motor rotor and a motor stator connected to each other; the motor rotor is fixedly connected to the rotor frame.

[0012] As a further embodiment of this utility model: the driving assembly includes a first driving board, a first sensing element, a second driving board, and a second sensing element;

[0013] The first sensing element is fixedly connected to the rotor frame, and the second sensing element is fixedly connected to the secondary reduction mechanism; the first drive plate is fixedly connected to the drive fixing member, and the second drive plate is fixedly connected to the motor housing;

[0014] The first drive board reads the signal from the first sensing element, the second drive board reads the signal from the second sensing element, the first drive board is electrically connected to the motor, and the first drive board is electrically connected to the second drive board.

[0015] As a further embodiment of this utility model: the housing assembly further includes a bearing pressure plate, and the bearing pressure plate is provided between the bearing assembly and the front cover.

[0016] As a further embodiment of this utility model, the sealing assembly further includes a movable second sealing element, which is disposed between the bearing pressure plate and the front cover.

[0017] As a further embodiment of this utility model: the fastening assembly further includes a plurality of second fasteners, and the front cover and the deceleration mechanism housing, the deceleration mechanism housing and the motor housing, the motor and the drive fixing member, and the drive fixing member and the rear cover are connected by the second fasteners.

[0018] As a further embodiment of this utility model: the motor housing is provided with a first heat dissipation structure, and the rear cover is provided with a second heat dissipation structure.

[0019] As a further embodiment of this utility model: the first heat dissipation structure includes a plurality of first grooves, which are equally disposed on the circumferential surface of the motor housing; the second heat dissipation structure includes a plurality of second grooves, which are equally disposed on the end face of the rear cover housing.

[0020] In a second aspect, a robot is provided in which a high-torque compact joint module as described in any of the preceding claims is provided.

[0021] The beneficial effects of this utility model are as follows:

[0022] A high-torque compact joint module and robot, through the design of the first fastener and the clearance structure, achieves coaxial and precise positioning between the shell components, and greatly facilitates the assembly and disassembly process; this design enables the reduction mechanism, motor and drive system to be more compactly integrated into one unit, thereby achieving miniaturization of the joint module size and lightening of its weight, while enhancing maintainability and effectively reducing manufacturing costs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a high-torque compact joint module according to this utility model. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the overall structure of a high-torque compact joint module according to this utility model. Figure 2 ;

[0025] Figure 3 This is an exploded structural diagram of a high-torque compact joint module according to this utility model;

[0026] Figure 4 This is a schematic diagram of the deceleration mechanism of a high-torque compact joint module according to this utility model;

[0027] Figure 5 This is a schematic diagram of the structure of a motor for a high-torque compact joint module according to this utility model;

[0028] As shown in the figure:

[0029] 1-Housing assembly, 2-Reduction gear mechanism, 3-Motor, 4-Sealing assembly, 5-Drive assembly;

[0030] 101-Bearing assembly, 102-Bearing pressure plate, 103-Front cover, 104-Reduction mechanism housing, 105-Motor housing, 1051-First heat dissipation structure, 1052-Through hole, 106-Drive fixing component, 1061-Air clearance structure, 107-Rear cover, 1071-Second heat dissipation structure, 108-Rotor frame, 1091-First fastener, 1092-Second fastener;

[0031] 21 - First-stage reduction mechanism; 22 - Second-stage reduction mechanism;

[0032] 31-Motor rotor, 32-Motor stator;

[0033] 41 - First seal, 42 - Second seal;

[0034] 51-First driving board, 52-First sensing element, 53-Second driving board, 54-Second sensing element. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. It should be understood that this application is not limited to the exemplary embodiments disclosed herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0036] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In the embodiments of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," 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 mechanical connection or an electrical connection; 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. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0039] like Figure 1-5As shown, a high-torque compact joint module includes a housing assembly 1, a reduction mechanism 2, a motor 3, a sealing assembly 4, and a drive assembly 5. The reduction mechanism 2, motor 3, sealing assembly 4, and drive assembly 5 are fixedly connected within the housing assembly 1. The housing assembly 1 includes a bearing assembly 101, a front cover 103, a reduction mechanism housing 104, a motor housing 105, a drive fixing component 106, a rear cover 107, a rotor frame 108, and a fastening assembly. The reduction mechanism 2 includes a primary reduction mechanism 21 and a secondary reduction mechanism 22. The sealing assembly 4 includes a first seal 41, and the fastening assembly includes a first fastener 1091. The primary reduction mechanism 21 and the secondary reduction mechanism 22 are coaxially connected. The primary reduction mechanism 21 is the power input end, and the secondary reduction mechanism 22 is the power output end. The speed reduction mechanism 21 is fixedly connected to the rotor frame 108; the secondary speed reduction mechanism 22 is fixedly connected to the bearing assembly 101; the outer periphery of the speed reduction mechanism 2 is covered by the speed reduction mechanism housing 104, and the outer circumference of the secondary speed reduction mechanism 22 is provided with an arc groove, and the first fastener 1091 passes through the arc groove to connect the speed reduction mechanism 2 to the speed reduction mechanism housing 104; the first fastener 1091 is a threadless fastener with a T-shaped cross section; the rotor frame 108 is connected to the motor 3, the outer periphery of the motor 3 is covered by the motor housing 105, and the outer periphery of the bearing assembly 101 is covered by the front cover 103; the rear cover 107, the drive fixing member 106, the motor housing 105, the speed reduction mechanism housing 104 and the front cover 103 are connected in sequence; the drive fixing member 106 is provided with a clearance structure 1061, and the clearance structure 1061 accommodates the first sealing member 41.

[0040] A high-torque compact joint module is powered by a motor 3, which outputs rotational motion at a certain speed and torque through the rotation of its rotor. A drive board receives signals and precisely controls the motor 3's start, stop, speed adjustment, and direction of movement, enabling the motor 3 to operate according to the desired motion requirements. This, in conjunction with a reduction mechanism 2, drives the entire joint module to complete corresponding actions, achieving precise control over joint angle, speed, and direction to meet complex and diverse automated operation needs. The reduction mechanism 2, after conversion, reduces the speed transmitted from the motor 3, transforming the high-speed, low-torque motion into a low-speed, high-torque motion based on its reduction ratio, thus outputting suitable high torque to the joint module. The reduction mechanism 2, motor 3, sealing assembly 4, and drive assembly 5 are fixedly connected within a housing assembly 1. Sealing assemblies 4 are provided at the connection points between any two of the bearing assembly 101, front cover 103, reduction mechanism housing 104, motor housing 105, drive fixing component 106, rear cover 107, and rotor frame 108.

[0041] Among them, such as Figure 4As shown, the reduction mechanism 2 is a two-stage reduction mechanism. The two-stage reduction mechanism can effectively increase the output torque through two-stage transmission, thereby better meeting the demand for high torque; it can achieve a large transmission ratio and torque output in a relatively small space, making the whole mechanism more compact. During the transmission process, the transmission components in the two-stage reduction mechanism can play a role in buffering and shock absorption, reducing the impact and vibration during power transmission.

[0042] Among them, such as Figure 2 and 3 As shown, the sealing assembly 4 includes a static seal and a dynamic seal. The static seal is used to seal between two relatively stationary surfaces, preventing internal media from leaking out or external impurities from entering. The dynamic seal is used to seal between two surfaces with relative movement, allowing this movement to proceed smoothly while ensuring a good seal. The first seal 41 is a static seal. The static and dynamic seals significantly improve the sealing performance of the joint module, effectively preventing water and dust from entering the joint module, thereby improving the durability and reliability of the joint module.

[0043] In this embodiment, as Figure 2 and 3 As shown, the first-stage reduction mechanism 21 and the second-stage reduction mechanism 22 are coaxially connected. The outer circumference of the second-stage reduction mechanism 22 is provided with an arc groove, which provides guidance for the first fastener 1091. The first fastener 1091 passes through the arc groove to connect the second-stage reduction mechanism 22 to the reduction mechanism housing 104, thereby restricting the axial and radial movement of the reduction mechanism 2. The end face of the reduction mechanism housing 104 abuts against the end face of the motor housing 105, further restricting the axial movement of the first fastener 1091. This connection method between the secondary reduction mechanism 22 and the reduction mechanism housing 104 has several advantages. First, by placing the connection point on the circumferential surface of the secondary reduction mechanism 22 rather than its end face, the drilling process on the end face of the secondary reduction mechanism is reduced, thus effectively lowering costs. Second, since the secondary reduction mechanism 22 can tightly abut against the end face of the motor housing 105, the axial movement of the first fastener 1091 is restricted. Therefore, the first fastener 1091 can adopt a threadless structure, which not only reduces the processing cost of the first fastener 1091, but also shortens the overall size of the first fastener 1091 by removing the threaded part, making the internal space of the housing assembly 1 more compact. Consequently, the size of the joint module can be shortened, which helps to reduce the overall size of the machine and reduce manufacturing costs. In addition, this connection method also allows the first fastener 1091 to be easily installed or removed without rotation, eliminating the need for tools such as screwdrivers and wrenches, further saving time and labor costs.

[0044] In this embodiment, as Figure 2 and 3As shown, the drive fixing member 106 is connected to the motor housing 105. The drive fixing member 106 is provided with a clearance structure 1061, which allows the first sealing member 41 to be tightly attached to the motor housing 105. The first sealing member 41 is accommodated in the clearance structure 1061 and deforms in the direction of the drive fixing member 106. In addition, the clearance structure 1061 improves the guiding effect of the drive fixing member 106 on the motor housing 105, making installation more convenient.

[0045] A high-torque compact joint module, through the design of the first fastener 1091 and the clearance structure 1061, achieves coaxial positioning and a housing that is easy to assemble and disassemble, which simplifies the installation and maintenance process of the joint module, reduces the manufacturing cost of the joint module, and is beneficial to the maintenance and upgrading of the joint module.

[0046] In this embodiment, as Figure 2 and 3 As shown, the clearance structure 1061 is further defined: the drive fixing member 106 has an annular groove on the circumferential surface of the end connected to the motor housing 105, and the annular groove is the clearance structure 1061. Specifically, the annular groove is provided on the circumferential surface of the drive fixing member 106 at the end connected to the motor housing 105. In the prior art, referring to... Figure 3 The motor housing 105 shown has a through hole 1052 on its circumference. When conventional housing parts are connected to the motor housing 105, the seal passes through and contacts the hole during assembly, which can cause wear and compression on the seal. However, the drive fixing component 106 in this design has a clearance structure. During connection, the first seal 41 avoids the hole surface and is accommodated and fixed in the annular groove. After compression, it contacts the circumferential surface of the drive fixing component 106, achieving a sealing effect while avoiding damage to the first seal 41, thus reducing the production and maintenance costs of the joint module.

[0047] In this embodiment, as Figure 5 As shown, motor 3 is an internal rotor frameless torque motor 3, which includes a motor rotor 31 and a motor stator 32 connected to each other; the motor rotor 31 is fixedly connected to the rotor frame 108. Specifically, the motor rotor 31 is a rotating part, and power is output through the motor rotor 31; the motor rotor 31 is fixedly connected to the rotor frame 108 so that the power generated by the motor 3 is output to the reduction mechanism 2.

[0048] In this embodiment, as Figure 2 and 3As shown, the drive assembly 5 includes a first drive plate 51, a first sensing element 52, a second drive plate 53, and a second sensing element 54. The first sensing element 52 is fixedly connected to the rotor frame 108, and the second sensing element 54 is fixedly connected to the secondary reduction mechanism 22. The first drive plate 51 is fixedly connected to the drive fixing member 106, and the second drive plate 53 is fixedly connected to the motor housing 105. The first drive plate 51 reads the signal from the first sensing element 52, and the second drive plate 53 reads the signal from the second sensing element 54. The first drive plate 51 is electrically connected to the motor 3, and the first drive plate 51 is electrically connected to the second drive plate 53. Specifically, the first drive plate 51, the first sensing element 52, the second drive plate 53, and the second sensing element 54 work together to realize the position detection and control of the input and output ends of the entire machine. The first sensing element 52 monitors the operating status of the input end of the reduction mechanism 2, and the second sensing element 54 monitors the operating status of the output end of the reduction mechanism 2 in real time. The operating status includes key parameters such as speed and direction of rotation, thereby ensuring the precise control and stable operation of the entire transmission system. The first drive board 51 is fixedly connected to the drive fixing member 106, receives and processes signals from the first sensing element 52, and the first drive board 51 communicates with the second drive board 53 through electrical connection; the second drive board 53 is fixedly connected to the motor housing 105, receives and processes signals from the second sensing element 54, so that the first drive board 51 and the second drive board 53 realize global monitoring and coordinated control of the entire drive system.

[0049] In this embodiment, as Figure 2 and 3 As shown, the housing assembly 1 also includes a bearing pressure plate 102, which is disposed between the bearing assembly 101 and the front cover 103. The sealing assembly 4 also includes a dynamic second seal 42, which is disposed between the bearing pressure plate 102 and the front cover 103. Specifically, the bearing pressure plate 102 is provided to further fix the bearing assembly 101, making the joint module structure more compact. The second seal 42 is a dynamic seal.

[0050] In this embodiment, as Figure 2 and 3 As shown, the fastening assembly also includes several second fasteners 1092, which connect the front cover 103 and the reduction mechanism housing 104, the reduction mechanism housing 104 and the motor housing 105, the motor 3 and the drive fixing member 106, and the drive fixing member 106 and the rear cover 107. Specifically, in this embodiment, the parts of the housing assembly 1 are connected by several conventional fasteners.

[0051] In one embodiment, such as Figure 2 and 3As shown, the motor housing 105 is provided with a first heat dissipation structure 1051, and the rear cover 107 is provided with a second heat dissipation structure 1071. The first heat dissipation structure 1051 includes a plurality of first grooves, which are equally spaced on the circumferential surface of the motor housing 105; the second heat dissipation structure 1071 includes a plurality of second grooves, which are equally spaced on the end face of the rear cover 107. Specifically, in high-load operation, the motor 3 and the reduction mechanism 2 easily generate a large amount of heat, and insufficient heat dissipation design will damage the performance of the robot joint and shorten its service life. Conventional joint modules add heat dissipation structures inside, but the heat is still difficult to dissipate. This embodiment increases the surface area of ​​the motor housing 105 and the rear cover 107 through the design of the groove structure, thereby significantly increasing their heat dissipation area. By increasing the contact area between the parts and the surrounding environment, heat exchange can be carried out more effectively, thereby improving heat dissipation efficiency. Good heat dissipation performance helps to improve the stability of the joint module and extend its service life, ensuring that the equipment operates at the efficiency of the joint module and reducing energy consumption.

[0052] In one embodiment, wiring channels are provided in the front cover 103, the deceleration mechanism housing 104, the motor housing 105, the drive fixing member 106, and the rear cover 107, which realizes the internal wiring of the control circuit, avoids external wiring, simplifies the wiring of the electrical control system, and improves the convenience of maintenance.

[0053] In one embodiment, the present embodiment adopts a waterproof terminal design for incoming and outgoing lines, which improves the flexibility of cable management and waterproof performance.

[0054] In summary, a high-torque compact joint module and robot integrates the reduction mechanism 2, motor 3, and drive system into a single unit with a more compact design. This achieves miniaturization of the joint module's size and lightness, while enhancing maintainability, effectively reducing manufacturing costs, and significantly improving heat dissipation efficiency. This design solves the technical challenges commonly found in current joint modules, such as large size, excessive weight, high manufacturing costs, low assembly and maintenance efficiency, and insufficient heat dissipation performance.

[0055] A robot comprising a high-torque compact joint module as described above. Since a high-torque compact joint module possesses the effects of the above embodiments, a robot including a high-torque compact joint module also has the same beneficial effects, which will not be elaborated further here.

[0056] A high-torque compact joint module is suitable for various types of robots, such as quadruped robots and bipedal robots, and therefore has a very wide range of applications.

[0057] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0058] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-torque compact joint module, characterized by, The shell assembly, the speed reduction mechanism, the motor, the sealing assembly and the driving assembly are fixedly connected in the shell assembly; The shell assembly comprises a bearing assembly, a front cover, a speed reduction mechanism shell, a motor shell, a driving fixing part, a rear cover, a rotor holder and a fastening assembly; the speed reduction mechanism comprises a primary speed reduction mechanism and a secondary speed reduction mechanism; the sealing assembly comprises a first sealing part, and the fastening assembly comprises a first fastening part; The primary speed reduction mechanism is coaxially connected with the secondary speed reduction mechanism; the primary speed reduction mechanism is a power input end, the secondary speed reduction mechanism is a power output end, and the primary speed reduction mechanism is fixedly connected with the rotor holder; the secondary speed reduction mechanism is fixedly connected with the bearing assembly; the outer periphery of the speed reduction mechanism is covered with the speed reduction mechanism shell, the circumferential outer side of the secondary speed reduction mechanism is provided with an arc groove, and the first fastening part passes through the arc groove to connect the speed reduction mechanism with the speed reduction mechanism shell; the first fastening part is a fastening part without screw threads and with a T-shaped cross section; The rotor holder is connected with the motor, the outer periphery of the motor is covered with the motor shell, and the outer periphery of the bearing assembly is covered with the front cover; the rear cover, the driving fixing part, the motor shell, the speed reduction mechanism shell and the front cover are sequentially connected; The driving fixing part is provided with a hollow structure, and the hollow structure accommodates the first sealing part.

2. The high torque compact articulation module of claim 1, wherein, The driving fixing part is provided with a circular groove on the circumferential surface of the connection end with the motor shell, and the circular groove is a hollow structure.

3. The high torque compact articulation module of claim 1, wherein, The motor is an inner rotor frameless torque motor, and the motor comprises a motor rotor and a motor stator connected with each other; the motor rotor is fixedly connected with the rotor holder.

4. The high torque compact articulation module of claim 1, wherein, The driving assembly comprises a first driving plate, a first sensing element, a second driving plate and a second sensing element; The first sensing element is fixedly connected with the rotor holder, and the second sensing element is fixedly connected with the secondary speed reduction mechanism; the first driving plate is fixedly connected on the driving fixing part, and the second driving plate is fixedly connected on the motor shell; The first driving plate reads the signal of the first sensing element, the second driving plate reads the signal of the second sensing element, the first driving plate is electrically connected with the motor, and the first driving plate is electrically connected with the second driving plate.

5. The high torque compact articulation module of claim 1, wherein, The shell assembly further comprises a bearing pressing plate, and the bearing pressing plate is arranged between the bearing assembly and the front cover.

6. The high torque compact articulation module of claim 5, wherein, The sealing assembly further comprises a second sealing part, and the second sealing part is arranged between the bearing pressing plate and the front cover.

7. The high torque compact articulation module of claim 5, wherein, The fastening assembly further comprises a plurality of second fastening parts, and the front cover and the speed reduction mechanism shell, the speed reduction mechanism shell and the motor shell, the motor and the driving fixing part, and the driving fixing part and the rear cover are connected through the second fastening parts.

8. The high torque compact articulation module of any of claims 1-7, wherein, The motor shell is provided with a first heat dissipation structure, and the rear cover is provided with a second heat dissipation structure.

9. The high torque compact articulation module of claim 8, wherein, The first heat dissipation structure comprises a plurality of first grooves which are arranged equidistantly on the circumferential surface of the motor shell; the second heat dissipation structure comprises a plurality of second grooves which are arranged equidistantly on the end surface of the rear cover shell.

10. A robot, characterized in that The robot is provided with a high-torque compact joint module as claimed in any one of claims 1 to 9.

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