Joint module of robot

Abstract

The utility model relates to the technical field of robot joints, in particular to a joint module of a robot, which comprises a motor and a speed reducer, the motor is an outer rotor motor, the speed reducer is a two-stage planetary gear speed reducer, and an output shaft of the motor is concentrically and fixedly connected with an input shaft of the speed reducer. The speed reducer is located in a stator in the motor, an output shaft in the speed reducer and an input shaft in the speed reducer are connected in a concentric rotation mode, and the output shaft in the speed reducer is located outside the motor. The utility model solves the problem that the flexibility of the joint is influenced due to overlarge occupied space after the existing motor and speed reducer are combined.

Description

TECHNICAL FIELD

[0001] The utility model relates to a robot joint, specifically a joint module of a robot. BACKGROUND

[0002] The joint of a multi-degree-of-freedom robot is a core component for realizing complex motion and task execution. The flexibility and precision of the joint directly affect the adaptability, motion flexibility, and precision of motion control of the robot in different working environments.

[0003] In the prior art, a traditional motor and a reducer are usually designed independently. The shell of the motor and the shell of the reducer respectively occupy a certain space. After combination, the volume is significantly increased, which limits the operation capability of the robot in a narrow space or a complex environment, thereby reducing the flexibility and applicability. SUMMARY

[0004] The utility model discloses a joint module of a robot to solve the problem in the prior art. The device solves the problem of excessive volume occupied by the combination of the motor and the reducer, thereby affecting the flexibility of the joint.

[0005] To solve the above problems, the following technical solutions are provided:

[0006] A joint module of a robot includes a motor and a reducer. The motor is an outer rotor motor, and the reducer is a double-stage planetary gear reducer. The output shaft of the motor and the input shaft of the reducer are concentrically fixedly connected. The reducer is located in the stator of the motor. The output shaft of the reducer and the input shaft of the reducer are concentrically rotatably connected. The output shaft of the reducer is located outside the motor.

[0007] Through the above technical solutions, the reducer and the motor are effectively integrated in one mechanical structure through the position setting of the outer rotor motor and the reducer. The volume of the joint can be effectively reduced, thereby improving the operation flexibility of the robot joint and expanding the application range.

[0008] Further, a first through hole is provided at the center of the output shaft of the reducer. The first through hole is arranged along the axial direction of the output shaft of the reducer. A first bearing is arranged in the first through hole. The inner ring of the first bearing is rotatably connected to the input shaft of the reducer. The outer ring of the first bearing is fixedly connected to the output shaft of the reducer. A threaded hole is provided at the center of the end of the output shaft of the reducer close to the first bearing.

[0009] By the above technical scheme, through the setting of the first bearing, by fixing and connecting the inner ring of the first bearing with the output shaft in the speed reducer, the axial movement of the output shaft in the speed reducer can be effectively limited, thereby ensuring the stability of the position of the output shaft in the speed reducer during the working process, so that the flexibility of the joint action is ensured.

[0010] Further, the speed reducer comprises a first planetary gear and a second planetary gear connected in linkage, the first planetary gear is connected with the input shaft in the speed reducer in linkage, and the second planetary gear is connected with the output shaft in the speed reducer in linkage.

[0011] The first planetary gear comprises a first gear and a plurality of second gears meshing with the outer tooth surface of the first gear, the diameter of each second gear is greater than that of the first gear, the first gear is fixedly sleeved on the input shaft in the speed reducer, the plurality of second gears are uniformly distributed along the outer tooth surface of the first gear, and the stator is provided with a first inner tooth surface in meshing transmission with each second gear.

[0012] The center of each second gear is fixedly connected with a transmission shaft, the second planetary gear comprises a plurality of third gears with consistent structures, the plurality of third gears are fixedly connected in sequence with the other ends of the corresponding transmission shafts, the diameter of each third gear is less than that of the second gear, and the stator is provided with a second inner tooth surface in meshing transmission with the third gear.

[0013] The speed reducer further comprises a planetary holder arranged between the second gear and the third gear, and the planetary holder is arranged in concentric with the first gear, the outer periphery of the planetary holder is provided with a second bearing, the inner ring of the second bearing is rotatably connected with the planetary holder, and the outer ring of the second bearing is fixedly connected with the inner wall surface of the first straight section.

[0014] A plurality of second through holes with consistent structures are arranged on the planetary holder, a third bearing is arranged in each second through hole, the inner ring of the third bearing is rotatably connected with the transmission shaft, and the outer ring of the third bearing is fixedly connected with the planetary holder.

[0015] Through the above technical scheme, by the setting of the second bearing and the third bearing, the friction between the planetary holder and the first straight section and the friction between the transmission shaft and the planetary holder can be reduced, thereby improving the flexibility of the robot joint, and expanding the application range of the device.

[0016] Further, the motor includes a housing, a rotor and a stator disposed within the housing; the housing includes an outer shell, a bottom shell, and a base, the bottom shell being fixedly disposed on the side end face of the outer shell in the axial direction away from the reducer; the base is hollow, and the base includes a first straight section, a second straight section, and a connecting section integrally formed, the two ends of the connecting section being connected to the first straight section and the second straight section respectively, the first straight section and the second straight section being concentrically arranged, and the diameter of the first straight section being smaller than the diameter of the second straight section, the first straight section being disposed within the outer shell, the stator being sleeved on the outer periphery of the first straight section, the rotor being sleeved on the outer periphery of the stator, the first internal tooth surface being disposed on the inner ring of the first straight section; the side end face of the second straight section near the first straight section abuts against the other side end face of the outer shell in the axial direction.

[0017] Furthermore, a fixing member is provided on the side end face of the second straight segment away from the first straight segment. The inner wall of the fixing member is circular, and the inner ring of the fixing member and the second straight segment are concentric. The inner ring diameter of the fixing member is smaller than the inner ring diameter of the second straight segment. The output shaft of the reducer is disposed inside the fixing member, and the output shaft of the reducer is concentrically rotated with the fixing member. The shape of the end of the output shaft of the reducer near the first straight segment is adapted to the connecting segment.

[0018] Multiple crossed rollers are evenly distributed in the gaps between the outer periphery of the fixing member, the outer periphery of the connecting section, and the outer periphery of the output shaft in the reducer;

[0019] A circular notch is provided at one end of the output shaft of the reducer away from the bottom shell, and the second internal tooth surface is provided on the output shaft of the reducer corresponding to the circular notch.

[0020] The above technical solution, through the arrangement of multiple cross rollers, greatly improves the axial load capacity of the module, achieves high rigidity and high precision concentric rotation, thereby improving the smoothness of joint operation and thus enhancing joint flexibility.

[0021] Furthermore, the output shaft of the reducer is provided with a first through hole at its center. The first through hole is arranged along the axial direction of the output shaft of the reducer and is connected to the circular notch. A first bearing is provided in the first through hole. The inner ring of the first bearing is rotatably connected to the input shaft of the reducer, and the outer ring of the first bearing is fixedly connected to the output shaft of the reducer. The output shaft of the reducer is provided with a threaded hole for connecting an external load.

[0022] Furthermore, the motor also includes a bracket and a base bracket disposed within the housing; a protrusion is provided in the bracket near the center of the base bracket, the input shaft of the reducer is fixedly connected to the protrusion, a support ring is integrally formed on the side end face of the bracket near the first gear, the rotor is sleeved on the outer periphery of the support ring, and the side end face of the rotor away from the reducer abuts against the side end face of the bracket;

[0023] The base bracket is fixedly mounted on the side end face of the first straight section near the bottom shell. A third through hole is provided in the center of the base bracket. A fourth bearing is provided in the third through hole. The outer ring of the fourth bearing is fixedly connected to the base bracket. The inner ring of the fourth bearing is rotatably connected to the protrusion.

[0024] A drive plate is disposed inside the outer shell between the bracket and the bottom shell, and a magnetic encoder is disposed at the center of the drive plate.

[0025] Furthermore, the fastener is provided with a plurality of first threaded through holes evenly distributed on it, and the second straight section is provided with a plurality of second threaded through holes corresponding to the positions of the first threaded through holes in sequence. Each first threaded through hole is provided with a bolt, and each bolt passes through the corresponding first threaded through hole and the second threaded through hole.

[0026] Furthermore, the output shaft of the reducer is provided with a first through hole at its center. The first through hole is arranged along the axial direction of the output shaft of the reducer and is connected to the circular notch. A first bearing is provided in the first through hole. The inner ring of the first bearing is rotatably connected to the input shaft of the reducer, and the outer ring of the first bearing is fixedly connected to the output shaft of the reducer. The output shaft of the reducer is provided with a threaded hole for connecting an external load.

[0027] Furthermore, the motor also includes a bracket and a base bracket disposed within the housing; a protrusion is provided in the bracket near the center of the base bracket, the input shaft of the reducer is fixedly connected to the protrusion, a support ring is integrally formed on the side end face of the bracket near the first gear, the rotor is sleeved on the outer periphery of the support ring, and the side end face of the rotor away from the reducer abuts against the side end face of the bracket;

[0028] The base bracket is fixedly mounted on the side end face of the first straight section near the bottom shell. A third through hole is provided in the center of the base bracket. A fourth bearing is provided in the third through hole. The outer ring of the fourth bearing is fixedly connected to the base bracket. The inner ring of the fourth bearing is rotatably connected to the protrusion.

[0029] A drive plate is disposed inside the outer shell between the bracket and the bottom shell, and a magnetic encoder is disposed at the center of the drive plate.

[0030] Furthermore, the fastener is provided with a plurality of first threaded through holes evenly distributed on it, and the second straight section is provided with a plurality of second threaded through holes corresponding to the positions of the first threaded through holes in sequence. Each first threaded through hole is provided with a bolt, and each bolt passes through the corresponding first threaded through hole and the second threaded through hole.

[0031] The above solution has the following advantages:

[0032] 1. By setting the positions of the external rotor motor and reducer, the reducer and motor are effectively integrated into a single mechanical structure, which can effectively reduce the size of the joint, thereby improving the operational flexibility of the robot joint and expanding its application range.

[0033] 2. By setting the first bearing and fixing the inner ring of the first bearing to the output shaft in the reducer, the axial movement of the output shaft in the reducer can be effectively restricted, thereby ensuring the stability of the position of the output shaft in the reducer during operation and thus ensuring the flexibility of joint movement.

[0034] 3. By setting multiple cross rollers, the axial load capacity of the module is greatly improved, achieving high rigidity and high precision concentric rotation, thereby improving the smoothness of joint operation and thus improving joint flexibility;

[0035] 4. By setting the second and third bearings, the friction between the planetary cage and the first straight section, as well as the friction between the transmission shaft and the planetary cage, can be reduced, thereby improving the flexibility of the robot joints and expanding the application range of this device. Attached Figure Description

[0036] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0037] Figure 1 This is a schematic diagram of the structure of this utility model;

[0038] Figure 2 This is a schematic diagram of the connection of the planetary gear set in this utility model;

[0039] Figure 3 This is a side view of the present invention;

[0040] Figure 4 for Figure 3 A cross-sectional view from the perspective of the middle AA (analogous to ...

[0041] Figure 5This is a sectional view of the base in this utility model;

[0042] Figure 6 This is a schematic diagram of the planetary cage structure in this utility model;

[0043] Explanation of reference numerals in the attached drawings: 1. Input shaft in the reducer; 2. Output shaft in the reducer; 3. First bearing; 4. Threaded hole; 5. Housing; 501. Outer shell; 502. Bottom shell; 503. Base; 5031. First straight section; 5032. Second straight section; 5033. Connecting section; 6. Rotor; 7. Stator; 8. First internal tooth surface; 9. Fixing component; 10. Crossed roller; 11. Second internal tooth surface; 12. First gear; 13. Second gear; 14. Transmission shaft; 15. Third gear; 16. Planetary cage; 17. Second bearing; 18. Third bearing; 19. Bracket; 20. Base bracket; 21. Fourth bearing; 22. Protrusion; 23. Support ring; 24. Drive plate; 25. Magnetic encoder; 26. First threaded through hole; 27. Second threaded through hole; 28. Bolt. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0045] In a specific embodiment, such as Figures 1-6 As shown, a robot joint module includes a motor and a reducer. The motor is an external rotor 6 motor, and the reducer is a two-stage planetary gear reducer. The output shaft of the motor and the input shaft 1 of the reducer are concentrically fixedly connected. The reducer is located inside the stator 7 of the motor. The output shaft 2 of the reducer and the input shaft 1 of the reducer are concentrically rotating connected, and the output shaft 2 of the reducer is located outside the motor. In this specific embodiment, the output shaft of the reducer is an output flange.

[0046] By strategically positioning the external rotor 6 motors and reducers, the reducers and motors are effectively integrated into a single mechanical structure, thereby reducing the size of the joints and improving the operational flexibility of the robot joints while expanding their applicability.

[0047] The reducer includes a first-stage planetary gear and a second-stage planetary gear that are linked together. The first-stage planetary gear is linked to the input shaft 1 of the reducer, and the second-stage planetary gear is linked to the output shaft 2 of the reducer.

[0048] The first-stage planetary gear includes a first gear 12 and multiple second gears 13 that mesh with the outer tooth surface of the first gear 12. The diameter of each second gear 13 is larger than the diameter of the first gear 12. The first gear 12 is fixedly mounted on the input shaft 1 in the reducer. The first gear 12 is a sun gear. Multiple second gears 13 are evenly distributed along the outer tooth surface of the first gear 12. The stator is provided with a first internal tooth surface 8 that meshes with each second gear.

[0049] Each second gear 13 is fixedly connected to a transmission shaft 14 at its center. The second-stage planetary gear includes multiple third gears 15 with identical structures. The multiple third gears 15 are fixedly connected to the other end of the corresponding transmission shaft 14 in sequence. The diameter of each third gear 15 is smaller than the diameter of the second gear 13. The stator is provided with a second internal tooth surface 11 that meshes with the third gear 15 for transmission.

[0050] The reducer also includes a planetary cage 16 disposed between the second gear 13 and the third gear 15, and the planetary cage 16 and the first gear 12 are arranged concentrically. A second bearing 17 is disposed on the outer periphery of the planetary cage 16. The inner ring of the second bearing 17 is rotatably connected to the planetary cage 16, and the outer ring of the second bearing 17 is fixedly connected to the inner wall surface of the first straight section 5031.

[0051] The planetary cage 16 is provided with multiple identical second through holes, each containing a third bearing 18. The inner ring of the third bearing 18 is rotatably connected to the transmission shaft, while the outer ring is fixedly connected to the planetary cage 16. In this specific embodiment, the second bearing 17 and the third bearing 18 are both ball bearings or needle bearings. The second bearing 17 and the third bearing 18 can reduce the friction between the planetary cage 16 and the first straight segment 5031, as well as the friction between the transmission shaft and the planetary cage 16, thereby improving the flexibility of the robot joint and expanding the application range of this device.

[0052] The motor includes a housing 5, a rotor 6 and a stator 7 disposed within the housing 5; the housing 5 includes an outer shell 501, a bottom shell 502 and a base 503, the bottom shell 502 being fixedly disposed on the side end face of the outer shell 501 in the axial direction away from the reducer; the base 503 is hollow and includes an integrally formed first straight section 5031, a second straight section 5032 and a connecting section 5033, the two ends of the connecting section 5033 being connected to the first straight section 5031 and the second straight section 5032 respectively, the first... The first straight section 5031 and the second straight section 5032 are arranged concentrically, and the diameter of the first straight section 5031 is smaller than the diameter of the second straight section 5032. The first straight section 5031 is disposed inside the outer casing 501. The stator 7 is sleeved on the outer periphery of the first straight section 5031, and the rotor 6 is sleeved on the outer periphery of the stator 7. The first internal tooth surface 8 is disposed on the inner ring of the first straight section 5031. The side end face of the second straight section 5032 near the first straight section 5031 abuts against the other side end face in the axial direction of the outer casing 501.

[0053] A fixing member 9 is provided on the side end face of the second straight segment 5032 away from the first straight segment 5031. The inner wall of the fixing member 9 is circular. The inner ring of the fixing member 9 and the second straight segment 5032 are concentric. In this specific embodiment, the fixing member 9 is a ring-shaped fixing member, and the inner ring diameter of the fixing member 9 is smaller than the inner ring diameter of the second straight segment 5032. The output shaft 2 of the reducer is disposed inside the fixing member 9, and the output shaft 2 of the reducer is concentrically rotated with the fixing member 9. The shape of the end of the output shaft 2 of the reducer near the first straight segment 5031 is adapted to the connecting segment 5033.

[0054] Multiple crossed rollers 10 are evenly distributed in the gaps between the outer periphery of the fixing part 9, the outer periphery of the connecting section 5033 and the outer periphery of the output shaft in the reducer; by setting multiple crossed rollers 10, the axial load capacity of the module is greatly improved, achieving high rigidity and high precision concentric rotation, thereby improving the smoothness of joint operation and thus improving joint flexibility.

[0055] A circular notch is provided at the end of the output shaft 2 in the reducer that is away from the bottom housing 502, and the second internal tooth surface 11 is provided on the output shaft 2 in the reducer corresponding to the circular notch.

[0056] A first through hole is provided at the center of the output shaft 2 in the reducer. The first through hole is arranged along the axial direction of the output shaft 2 in the reducer and is connected to a circular notch. A first bearing 3 is provided in the first through hole. The inner ring of the first bearing 3 is rotatably connected to the input shaft 1 in the reducer, and the outer ring of the first bearing 3 is fixedly connected to the output shaft 2 in the reducer. A threaded hole 4 is provided at the center of the end of the output shaft 2 in the reducer near the first bearing 3. By fixing the inner ring of the first bearing 3 to the output shaft 2 in the reducer, the axial movement of the output shaft 2 in the reducer can be effectively restricted, thereby ensuring the stability of the position of the output shaft 2 in the reducer during operation and thus ensuring the flexibility of joint movement.

[0057] The motor also includes a bracket 19 and a base bracket 20 disposed in the housing 501; a protrusion 22 is provided in the bracket 19 near the center of the base bracket 20, the input shaft 1 in the reducer is fixedly connected to the protrusion 22, a support ring 23 is integrally formed on the side end face of the bracket 19 near the first gear 12, the rotor 6 is sleeved on the outer periphery of the support ring 23, and the side end face of the rotor 6 away from the reducer abuts against the side end face of the bracket 19;

[0058] The base bracket 20 is fixedly installed on the side end face of the first straight section 5031 near the bottom shell 502. The center of the base bracket 20 is provided with a third through hole, and a fourth bearing 21 is provided in the third through hole. The outer ring of the fourth bearing 21 is fixedly connected to the base bracket 20, and the inner ring of the fourth bearing 21 is rotatably connected to the protrusion 22.

[0059] A drive board 24 is provided inside the outer casing 501 between the bracket 19 and the bottom casing 502, and a magnetic encoder 25 is provided at the center of the drive board 24.

[0060] The fastener 9 has a plurality of first threaded through holes 26 evenly distributed on it, and the second straight section 5032 has a plurality of second threaded through holes 27 corresponding to the positions of the first threaded through holes 26 in sequence. Each first threaded through hole 26 is provided with a bolt 28, and each bolt 28 passes through the corresponding first threaded through hole 26 and second threaded through hole 27.

[0061] Multiple third threaded through holes are evenly distributed on the second straight section 5032, the outer shell 501 and the bottom shell 502, and their positions correspond. The second straight section 5032, the outer shell 501 and the bottom shell 502 are fixed together by setting bolts in the third threaded through holes.

[0062] Operating process: After the motor starts, the input shaft of the reducer rotates, driving the first gear to rotate. During the rotation of the first gear, multiple second gears rotate synchronously and all rotate around the first internal tooth surface, causing each second gear to rotate on its own axis and revolve around the center. When each second gear rotates, it drives the corresponding third gear to rotate. Because the third gear meshes with the second internal tooth surface on the output shaft of the reducer, it drives the output shaft of the reducer to rotate. At this time, the rotation speed of the output shaft of the reducer is greatly reduced, thereby achieving the effect of deceleration.

[0063] In the description of this utility model, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise specified and limited, it should be noted that the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components, and can be direct connections or indirect connections through an intermediate medium. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0064] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all implementation methods here, and any obvious variations or modifications derived therefrom are still within the protection scope of this utility model.

Claims

1. A joint module of a robot, comprising a motor and a reducer, the motor being an outer rotor motor, the reducer being a double-stage planetary gear reducer, an output shaft of the motor and an input shaft in the reducer being fixedly connected in concentricity, characterized in that, The reducer is located in the stator of the motor, the output shaft of the reducer is connected with the input shaft of the reducer in a concentric rotating manner, and the output shaft of the reducer is located outside the motor; The reducer comprises a first planetary gear and a second planetary gear connected in a linkage manner, the first planetary gear is connected with the input shaft of the reducer in a linkage manner, and the second planetary gear is connected with the output shaft of the reducer in a linkage manner; The first planetary gear comprises a first gear and a plurality of second gears meshing with the outer tooth surface of the first gear, the diameter of each second gear is greater than that of the first gear, the first gear is fixedly sleeved on the input shaft of the reducer, the plurality of second gears are uniformly distributed along the outer tooth surface of the first gear, and the stator is provided with a first inner tooth surface in meshing transmission with each second gear; The center of each second gear is fixedly connected with a transmission shaft, the second planetary gear comprises a plurality of third gears with consistent structures, the plurality of third gears are sequentially and fixedly connected with the other ends of the corresponding transmission shafts, the diameter of each third gear is less than that of the second gear, and the stator is provided with a second inner tooth surface in meshing transmission with the third gear; The reducer further comprises a planetary holder arranged between the second gears and the third gears, and the planetary holder is arranged in a concentric manner with the first gear, the outer periphery of the planetary holder is provided with a second bearing, the inner ring of the second bearing is rotatably connected with the planetary holder, and the outer ring of the second bearing is fixedly connected with the inner wall surface of the motor; The planetary holder is provided with a plurality of second through holes with consistent structures, each second through hole is provided with a third bearing, the inner ring of the third bearing is rotatably connected with the transmission shaft, and the outer ring of the third bearing is fixedly connected with the planetary holder.

2. The joint module of claim 1, wherein The motor comprises a shell, a rotor and a stator arranged in the shell; The shell comprises an outer shell, a bottom shell and a base, the bottom shell is fixedly arranged on the side end surface of the outer shell in the axial direction away from the reducer, the base is arranged in a hollow manner, the base comprises a first straight section, a second straight section and a connecting section arranged in an integral manner, the two ends of the connecting section are connected with the first straight section and the second straight section respectively, the first straight section and the second straight section are arranged in a concentric manner, the diameter of the first straight section is less than that of the second straight section, the first straight section is arranged in the outer shell, the stator is sleeved on the outer periphery of the first straight section, the rotor is sleeved on the outer periphery of the stator, and the first inner tooth surface is arranged on the inner ring of the first straight section; and the side end surface of the second straight section close to the first straight section abuts against the other side end surface of the outer shell in the axial direction.

3. The joint module of claim 2, wherein The second straight section is provided with a fixing part on the side end face away from the first straight section, the inner wall surface of the fixing part is circular, the inner ring of the fixing part is concentric with the second straight section, and the diameter of the inner ring of the fixing part is smaller than the diameter of the inner ring of the second straight section; the output shaft of the reducer is arranged in the fixing part, and the output shaft of the reducer is connected in a concentric rotating manner with the fixing part; the end of the output shaft of the reducer close to the first straight section is shaped to match the connecting section; The gaps between the outer periphery of the fixing part, the outer periphery of the connecting section and the outer periphery of the output shaft of the reducer are evenly distributed with a plurality of cross rollers; The output shaft of the reducer is provided with a circular notch away from the bottom shell, and the second inner tooth surface is arranged on the output shaft of the reducer corresponding to the circular notch.

4. The joint module of claim 3, wherein The output shaft of the reducer is provided with a first through hole in the center, the first through hole is arranged along the axial direction of the output shaft of the reducer, the first through hole is communicated with the circular notch, a first bearing is arranged in the first through hole, the inner ring of the first bearing is connected in a rotating manner with the input shaft of the reducer, the outer ring of the first bearing is connected in a fixed manner with the output shaft of the reducer, and the output shaft of the reducer is provided with a threaded hole for connecting an external load.

5. The joint module of claim 4, wherein the joint module is a robot joint module. The motor further comprises a bracket and a base bracket arranged in the shell; the bracket is provided with a protrusion close to the center of the base bracket, the input shaft of the reducer is fixedly connected with the protrusion, and the bracket is integrally formed with a support ring on the side end face close to the first gear; the rotor is sleeved on the outer periphery of the support ring, and the side end face of the rotor away from the reducer abuts against the side end face of the bracket; The base bracket is fixedly arranged on the side end face of the first straight section close to the bottom shell, the center of the base bracket is provided with a third through hole, and a fourth bearing is arranged in the third through hole; the outer ring of the fourth bearing is fixedly connected with the base bracket, and the inner ring of the fourth bearing is connected in a rotating manner with the protrusion; The shell between the bracket and the bottom shell is provided with a driving plate, and the center of the driving plate is provided with a magnetic encoder.

6. The joint module of claim 5, wherein the joint module is a robot joint module. The fixing part is evenly provided with a plurality of first threaded through holes, the second straight section is provided with a plurality of second threaded through holes corresponding to the positions of the first threaded through holes in sequence, a bolt is arranged in each first threaded through hole, and each bolt penetrates through the corresponding first threaded through hole and second threaded through hole.

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