Joint module with multi-circle absolute value encoder and humanoid robot

Abstract

The utility model discloses a joint module with a multi-circle absolute value encoder and a humanoid robot. The joint module comprises an encoder assembly arranged at the end of a motor assembly and connected with an output shaft. The encoder assembly comprises an encoder stator, a gear set, an inner gear ring and an output end encoder rotor which are sequentially arranged in the axial direction of the encoder assembly. One end of the output shaft sequentially penetrates through the motor assembly, the encoder stator and the inner gear ring and is fixedly connected with the output end encoder rotor; the inner gear ring is fixed on an output end encoder rotor; the encoder stator is fixedly connected with a motor shell of the motor assembly; the gear set is rotatably mounted on the encoder stator, is positioned between the inner gear ring and the output shaft, and is in transmission connection with the inner gear ring; and an output gear of the gear set is provided with a third sensing element matched with the encoder stator. According to the utility model, the gear set and the inner gear ring are arranged in the original idle space between the encoder stator and the output end encoder rotor, so that a multi-ring power-off memory function is realized.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a joint module and a humanoid robot with a multi-turn absolute encoder. Background Technology

[0002] In the joint modules of humanoid robots, some joint modules are typically not equipped with mechanical brakes to reduce their axial dimensions and overall mass. When power is lost or the module is reverse-driven by an external force, the rotor within the joint module may rotate multiple times. For humanoid robot joint modules, the typical operating condition involves frequent small-angle forward and reverse movements, rarely involving continuous large-scale rotations. In practice, it is usually only necessary to know approximately how many reverse rotations the joint module experienced during a power outage and to determine whether it has exceeded the safe winding range. Existing multi-turn absolute encoders are generally too precise, costly, structurally complex, and bulky, meaning they are not well-suited to the actual needs of joint modules in humanoid robots.

[0003] Therefore, in existing solutions, mechanical gear multi-turn absolute encoders are mostly used in the joint modules of humanoid robots. These encoders often employ a multi-turn counting structure with gear sets similar to a clockwork mechanism. The number of turns is memorized through the gear transmission ratio. The advantages are stability, reliability, and independence from external power sources. The disadvantage is that the use of external gear output structures results in the gear set being arranged around a center, which limits the diameter of the axial center hole of the corresponding joint module's output shaft. This hinders cable passage and fails to meet the small size requirements of the joint module. In other words, existing mechanical gear multi-turn absolute encoders are insufficient to meet the structural requirements of humanoid robot joint modules for a "large axial center hole and small size." Utility Model Content

[0004] This invention proposes a joint module and humanoid robot with a multi-turn absolute encoder. The technical problem to be solved is that the existing mechanical gear multi-turn absolute encoder is difficult to meet the structural requirements of humanoid robot joint modules for "large axial center hole and small volume".

[0005] On the one hand, this utility model discloses a joint module with a multi-turn absolute encoder, including an encoder assembly placed at the end of the motor assembly and connected to the output shaft;

[0006] The encoder assembly includes an encoder stator, a gear set, an internal gear ring, and an output encoder rotor arranged sequentially along the output shaft axis.

[0007] The output shaft is connected to the output end of the motor assembly; one end of the output shaft passes through the motor assembly, the encoder stator and the internal gear ring in sequence, and is fixedly connected to the output end encoder rotor; the internal gear ring is fixed on the output end encoder rotor;

[0008] The outer edge of the encoder stator is fixedly connected to the motor housing of the motor assembly; the encoder stator is adapted to be electrically connected to the drive board;

[0009] The gear set is rotatably mounted on the encoder stator and located between the internal gear ring and the output shaft; the gear set includes an input gear, a multi-stage reduction gear set and an output gear; the input gear meshes with the internal gear ring, and the output gear is connected to the input gear through the multi-stage reduction gear set;

[0010] The encoder stator is provided with a first sensing element and a second sensing element; the first sensing element is adapted to cooperate with the output encoder rotor, and the second sensing element is adapted to cooperate with a third sensing element on the output gear. By utilizing the original unused space between the encoder stator and the output encoder rotor, the gear set is directly set on the encoder stator, and the internal gear ring is set on the output encoder rotor, realizing a multi-turn power-off memory function without significantly increasing the axial dimension and outer diameter of the encoder assembly.

[0011] Furthermore, the first sensing element includes a first photoelectric sensor and a first Hall element;

[0012] The output encoder rotor includes an output tray connected to the output shaft;

[0013] The internal gear ring is fixed on the output end tray;

[0014] The output tray is provided with an incremental grating that cooperates with the first photoelectric sensor, and the incremental grating is placed in the inner ring of the internal gear ring.

[0015] The output tray is provided with a first magnetic pole that cooperates with the first Hall element, and the first magnetic pole is located in the inner ring of the incremental grating. Using the above scheme, the output encoder rotor and encoder stator are coupled by an optical-magnetic combination, improving the accuracy of the encoder assembly.

[0016] Furthermore, the encoder stator includes a PCB board and a reinforcing plate;

[0017] The first sensing element and the second sensing element are respectively disposed on the PCB board; the reinforcing plate is disposed at a distance from the PCB board and is connected to the PCB board by studs;

[0018] The gear set is mounted between the PCB board and the reinforcing plate, and is rotatably connected to both the PCB board and the reinforcing plate.

[0019] The reinforcing plate has a notch to allow the first sensing element to pass. This design improves the stability of the gear set.

[0020] Furthermore, the input gear is a double-layer gear, including a large gear and a small gear; the large gear meshes with the internal gear ring, and the small gear meshes with the multi-stage reduction gear set;

[0021] The multi-stage reduction gear set is arranged around the inner ring of the internal gear ring and spaced apart from the internal gear ring; the multi-stage reduction gear set includes multiple double-layer gears. Using the above scheme, the internal gear ring on the encoder rotor at the output end drives the multi-stage reduction gear set to rotate stage by stage through the input gear, and the multi-stage reduction gear set drives the output gear to rotate slowly at a lower speed, achieving multi-turn accumulation.

[0022] Furthermore, the second sensing element is a second Hall element; the third sensing element is a second magnetic pole;

[0023] Multiple second Hall elements are distributed at intervals around the output gear. Using this scheme, the discrete position changes of the output gear are detected through the cooperation between the third sensing element and the second Hall elements, thereby achieving multi-turn memory.

[0024] Furthermore, the encoder assembly also includes an input encoder rotor; the input encoder rotor is located on the side of the encoder stator away from the output encoder rotor;

[0025] The motor assembly includes a motor frame, a motor rotor, a motor stator, and a motor housing, arranged sequentially from the inside out.

[0026] The output shaft is provided with an axial center hole for the cable to pass through; the output shaft passes through the motor frame and is connected to the motor frame in a driving connection.

[0027] The input encoder rotor is connected to the motor rotor via the motor frame;

[0028] The output encoder rotor is adapted to cooperate with the encoder stator.

[0029] Furthermore, the inner ring of the input encoder rotor is connected to the inner ring main shaft of the output encoder rotor via a bearing;

[0030] The outer ring of the encoder rotor at the output end is fixedly connected to the motor frame. This design improves the stability of the encoder assembly.

[0031] Furthermore, the joint module also includes a deceleration mechanism and a rear cover;

[0032] The reduction mechanism, the motor assembly, the encoder assembly, the drive plate, and the rear cover are arranged sequentially along the axial direction of the output shaft;

[0033] The output shaft is connected to the output end of the motor assembly via the reduction mechanism;

[0034] The two ends of the output shaft are connected to the reduction mechanism and the rear cover respectively via corresponding bearings. This design improves the stability of the joint module.

[0035] Furthermore, the edge of the encoder stator is fixedly connected to the rear end cover of the motor housing;

[0036] The rear end cover of the motor housing and the rear cover together form a receiving cavity; the drive plate is installed in the receiving cavity and is located between the output encoder rotor and the rear cover.

[0037] On the other hand, this utility model also discloses a humanoid robot, including the aforementioned joint module.

[0038] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0039] By utilizing the existing unused space between the encoder stator and the output encoder rotor, the gear set is directly set on the encoder stator, and the internal gear ring is set on the output encoder rotor, realizing the multi-turn power-off memory function without increasing the axial dimension and outer diameter of the encoder assembly.

[0040] By placing the gear set between the internal gear ring and the output shaft, the encoder assembly can retain a large-diameter center hole, meeting the structural requirements of humanoid robot joint modules for "large axial center hole and small volume".

[0041] The encoder rotor and encoder stator at the output end are coupled by optical and magnetic means, which improves the accuracy of the encoder assembly;

[0042] The internal gear ring on the encoder rotor at the output end drives a multi-stage reduction gear set to rotate step by step through the input gear. The multi-stage reduction gear set drives the output gear to rotate slowly at a lower speed, achieving multiple rotations.

[0043] The above description of the disclosed content and the following description of the embodiments are intended to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0044] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0045] Figure 1 This is a partial structural diagram of the joint module in this utility model;

[0046] Figure 2 This is a schematic diagram of the joint module in this utility model;

[0047] Figure 3 This is an exploded view of the encoder assembly in this utility model;

[0048] Figure 4 This is an exploded view of the output tray in this utility model;

[0049] Figure 5 This is a partial structural diagram of the encoder assembly in this utility model;

[0050] Figure 6 This is a schematic diagram of the encoder stator in this utility model.

[0051] Explanation of icon numbers:

[0052] 1. Encoder assembly; 11. Encoder stator; 111. First photoelectric sensor; 112. First Hall element; 113. PCB board; 114. Reinforcing plate; 115. Second Hall element; 12. Internal gear ring; 13. Output encoder rotor; 131. Output tray; 1311. Tray body; 1312. Outer ring flange; 1313. Inner ring spindle; 132. Incremental grating; 133. First magnetic pole; 14. Input gear; 15. Multi-stage reduction gear set; 16. Output gear; 161. Third sensing element; 17. Input encoder rotor;

[0053] 2. Motor assembly; 21. Motor frame; 22. Motor rotor; 23. Motor stator; 24. Motor housing;

[0054] 3. Driver board;

[0055] 4. Output shaft;

[0056] 5. Speed ​​reduction mechanism;

[0057] 6. Back cover. Detailed Implementation

[0058] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0059] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the 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 the utility model.

[0060] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0061] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0062] On one hand, this application discloses a joint module with a multi-turn absolute encoder. The joint module includes an encoder assembly 1 located at the end of the motor assembly 2 and connected to the output shaft 4.

[0063] In this embodiment, please refer to Figures 1-3As shown, the joint module includes a reduction mechanism 5, a motor assembly 2, an encoder assembly 1, and a drive plate 3 arranged sequentially along the axial direction of the output shaft 4. The output shaft 4 passes through the reduction mechanism 5, the motor assembly 2, the encoder assembly 1, and the drive plate 3 in sequence. The output shaft 4 is connected to the output end of the motor assembly 2 via the reduction mechanism 5. The reduction mechanism 5 includes, but is not limited to, a harmonic reducer, a planetary reducer, etc.

[0064] In this embodiment, the motor assembly 2 includes a motor frame 21, a motor rotor 22, a motor stator 23, and a motor housing 24, arranged sequentially from the inside out. The motor stator 23 is fixed to the motor housing 24. The motor rotor 22 is fixedly connected to the motor frame 21. The engagement between the motor stator 23 and the motor rotor 22 causes the motor rotor 22 to drive the motor frame 21 to rotate. The motor frame 21 is the output end of the motor assembly 2. The motor housing 24 includes a main body and front and rear covers respectively disposed at both ends of the main body.

[0065] In this embodiment, the output shaft 4 is provided with an axial center hole for the cable to pass through. The output shaft 4 passes through the motor frame 21 and is connected to the motor frame 21 through the reduction mechanism 5.

[0066] Please see Figures 3-6 As shown, the encoder assembly 1 includes an encoder stator 11, a gear set, an internal gear ring 12, and an output encoder rotor 13 arranged sequentially along the output shaft 4. The output shaft 4 is connected to the motor frame 21 via a reduction mechanism 5. One end of the output shaft 4 passes sequentially through the motor frame 21, the encoder stator 11, and the internal gear ring 12, and is fixedly connected to the output encoder rotor 13. The internal gear ring 12 is fixed to the output encoder rotor 13 and surrounds the output shaft 4. The internal gear ring 12, the output encoder rotor 13, and the output shaft 4 are coaxially arranged.

[0067] The encoder stator 11 is located outside the motor housing 24, and its outer edge is fixedly connected to the rear end cover of the motor housing 24. The encoder stator 11 is adapted to be electrically connected to the drive board 3. A first sensing element and a second sensing element are spaced apart on the encoder stator 11. The first sensing element is adapted to cooperate with the output encoder rotor 13.

[0068] Each gear in the gear set is rotatably mounted on the encoder stator 11 and located between the internal gear ring 12 and the output shaft 4. In this embodiment, the gear set includes an input gear 14, a multi-stage reduction gear set 15, and an output gear 16. The input gear 14 meshes with the internal gear ring 12. The output gear 16 is connected to the input gear 14 via the multi-stage reduction gear set 15. The output gear 16 is provided with a third sensing element 161 suitable for cooperating with the second sensing element.

[0069] In this application, the existing unused space between the encoder stator 11 and the output encoder rotor 13 is utilized to directly mount the gear set on the encoder stator 11 and the internal gear ring 12 on the output encoder rotor 13, achieving a multi-turn power-off memory function without significantly increasing the axial dimension and outer diameter of the encoder assembly 1. By mounting the gear set between the internal gear ring 12 and the output shaft 4, the encoder assembly 1 can retain a large-diameter center hole, meeting the structural requirements of humanoid robot joint modules for "large axial center hole and small volume".

[0070] Please see Figure 4 and Figure 5 As shown, the output encoder rotor 13 includes an output tray 131 connected to the output shaft 4. The output tray 131 includes, from the inside out, an inner ring main shaft 1313, a tray body 1311, and an outer ring flange 1312. The inner ring main shaft 1313 is connected to the outer ring flange 1312 via the tray body 1311. The inner ring main shaft 1313 is sleeved around the output shaft 4 and fixedly connected to it. An internal gear ring 12 is fixed to the tray body 1311 with bolts. The internal gear ring 12 is positioned inside the outer ring flange 1312 and is located on the side of the tray body 1311 closest to the encoder stator 11.

[0071] For further details, please refer to Figures 3-6 As shown, the first sensing element includes a first photoelectric sensor 111 and a first Hall element 112. An incremental grating 132 cooperating with the first photoelectric sensor 111 is provided on the tray body 1311. The incremental grating 132 is located within the inner ring of the internal gear ring 12 and on the side of the tray body 1311 closest to the encoder stator 11. A first magnetic pole 133 cooperating with the first Hall element 112 is also provided on the tray body 1311. The first magnetic pole 133 is located within the inner ring of the incremental grating 132 and on the side of the tray body 1311 closest to the encoder stator 11. In this embodiment, there are multiple first Hall elements 112, distributed at equal angular intervals around the axis of the output tray 131.

[0072] The encoder rotor 13 at the output end and the encoder stator 11 are coupled by optical-magnetic combination, which improves the accuracy of the encoder assembly 1.

[0073] Furthermore, the second sensing element includes, but is not limited to, Hall elements, induction coils, etc. In this embodiment, the second sensing element is a second Hall element 115. The third sensing element 161 is a second magnetic pole. The third sensing element 161 is disposed on the side of the output gear 16 near the encoder stator 11. There are multiple second Hall elements 115, which are distributed at intervals around the output gear 16 to detect discrete position changes of the output gear 16, thereby realizing multi-turn memory.

[0074] Please see Figure 5 As shown, the input gear 14 is a double-layer gear, including a large gear and a small gear. The large gear meshes with the internal gear ring 12, and the small gear meshes with the multi-stage reduction gear set 15. The multi-stage reduction gear set 15 is arranged around the inner ring of the internal gear ring 12 and is spaced apart from the internal gear ring 12. The multi-stage reduction gear set 15 includes multiple double-layer gears.

[0075] In this embodiment, all gears in the gear set are made of PEEK engineering plastic, which avoids metal dust and grease contamination of the incremental grating 132 and the first magnetic pole 133, and significantly improves the reliability and signal stability of the encoder assembly 1 during long-term operation.

[0076] Furthermore, to improve the stability of the gear set, please refer to [link / reference needed]. Figure 6 As shown, the encoder stator 11 includes a PCB board 113 and a reinforcing plate 114. A first sensing element and a second sensing element are respectively disposed on the PCB board 113. A signal processing circuit is also provided on the PCB board 113. The reinforcing plate 114 is spaced apart from the PCB board 113 and connected to the PCB board 113 by studs. The reinforcing plate 114 is distributed between the inner ring of the internal gear ring 12 and the output shaft 4. A gear set is mounted between the PCB board 113 and the reinforcing plate 114, and is rotatably connected to both the PCB board 113 and the reinforcing plate 114.

[0077] Specifically, the two ends of the main shaft of the input gear 14 are rotatably connected to the PCB board 113 and the reinforcing plate 114, respectively. The two ends of the main shaft of each double-layer gear in the multi-stage reduction gear set 15 are rotatably connected to the PCB board 113 and the reinforcing plate 114, respectively. The two ends of the main shaft of the output gear 16 are rotatably connected to the PCB board 113 and the reinforcing plate 114, respectively.

[0078] Furthermore, in order to prevent the reinforcing plate 114 from interfering with the operation of the first sensing element, a notch is provided on the reinforcing plate 114 to avoid the first sensing element.

[0079] Please see Figure 1 As shown, encoder assembly 1 also includes an input encoder rotor 17. The input encoder rotor 17 is located on the side of encoder stator 11 away from output encoder rotor 13. The input encoder rotor 17 is connected to motor rotor 22 via motor frame 21. The output encoder rotor 13 is adapted to cooperate with encoder stator 11 to transmit information such as position, speed, and angle of motor rotor 22.

[0080] In this embodiment, the inner ring of the input encoder rotor 17 is connected to the inner ring main shaft 1313 via a bearing. The outer ring of the output encoder rotor 13 is fixedly connected to the motor frame 21.

[0081] Please see Figure 2As shown, the joint module also includes a rear cover 6. The reduction mechanism 5, motor assembly 2, encoder assembly 1, drive plate 3, and rear cover 6 are arranged sequentially along the axial direction of the output shaft 4. The two ends of the output shaft 4 are connected to the reduction mechanism 5 and the rear cover 6 respectively via corresponding bearings.

[0082] The rear cover 6 is connected to the rear end cover of the motor housing 24 by bolts. The rear end cover of the motor housing 24 and the rear cover 6 together form a receiving cavity. The drive plate 3 is installed in the receiving cavity and is located between the output encoder rotor 13 and the rear cover 6. The drive plate 3 can be fixed to the rear cover 6 by copper studs or to the rear end cover of the motor housing 24.

[0083] On the other hand, this application also discloses a humanoid robot, including the aforementioned joint module. The joint module is applied to the joints of the humanoid robot.

[0084] The working principle of the joint module is as follows:

[0085] When the joint module is in normal working condition: the motor assembly 2 drives the output encoder rotor 13 to rotate via the output shaft 4; the output encoder rotor 13 drives the internal gear ring 12 to rotate synchronously; the internal gear ring 12 on the output encoder rotor 13 drives the multi-stage reduction gear set 15 to rotate step by step via the input gear 14; the multi-stage reduction gear set 15 drives the output gear 16 to rotate slowly at a lower speed, realizing multi-turn accumulation. During this process, in this encoder assembly 1, the first photoelectric sensor 111 cooperates with the incremental grating 132 to realize high-resolution in-turn angle counting; the first Hall element 112 cooperates with the first magnetic pole 133 to realize in-turn absolute position or selected area recognition. The two sets of signals are fused in the signal processing circuit on the PCB board 113 to realize high-precision absolute measurement of the current angle of the joint module, realizing a high-precision, small-volume absolute encoder; at the same time, the third sensing element 161 cooperates with the second Hall element 115 to output the corresponding multi-turn memory information.

[0086] The encoder assembly 1 works in conjunction with the drive board 3 to output information such as the position, speed, and angle of the output shaft 4 to the drive board 3. This is existing technology and will not be described in detail.

[0087] When the joint module is in a power-off and reverse-drive state: After the joint module is powered off, the output shaft 4 may rotate several times under the action of external force; the gear set continuously records the current discrete position of the output gear 16 by means of the transmission between the gears, without the need for power. Since the total reduction ratio of the gear set is large, the output gear 16 only rotates within a limited angular range under multiple inputs, and its position state completes the "memory" of multiple input data.

[0088] When the joint module is powered on again: the position of the output gear 16 is read through the cooperation between the third sensing element 161 and the second Hall element 115, and the change in the number of revolutions during the power outage is obtained; at the same time, the first photoelectric sensor 111 cooperates with the incremental grating 132, and the first Hall element 112 cooperates with the first magnetic pole 133 to achieve precise position within the revolution.

[0089] After algorithm calculation, the total absolute position is obtained as: number of turns × 360° + angle within the turn. It can be compared with the state of the joint module before power failure to determine whether it exceeds the safe winding range, providing a safety judgment basis for the humanoid robot's controller.

[0090] In summary, this invention utilizes the existing unused space between the encoder stator and the output encoder rotor, directly mounting the gear set on the encoder stator and the internal gear ring on the output encoder rotor to achieve multi-turn power-off memory function, with virtually no increase in the axial dimension or outer diameter of the encoder assembly. By placing the gear set between the internal gear ring and the output shaft, the encoder assembly can retain a large-diameter center hole, meeting the structural requirements of humanoid robot joint modules for a "large axial center hole and small volume." The output encoder rotor and encoder stator are coupled using an optical-magnetic combination, improving the accuracy of the encoder assembly. The internal gear ring on the output encoder rotor drives a multi-stage reduction gear set to rotate sequentially through the input gear, which in turn drives the output gear to rotate slowly at a lower speed, achieving multi-turn accumulation.

[0091] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A joint module with a multi-turn absolute value encoder, characterized by The encoder assembly (1) is arranged at the end of the motor assembly (2) and connected with the output shaft (4); The encoder assembly (1) comprises an encoder stator (11), a gear set, an inner ring gear (12) and an output encoder rotor (13) arranged in sequence along the output shaft (4) in the axial direction; The output shaft (4) is drivingly connected with the output end of the motor assembly (2); one end of the output shaft (4) passes through the motor assembly (2), the encoder stator (11) and the inner ring gear (12) in sequence and is fixedly connected with the output encoder rotor (13); the inner ring gear (12) is fixed on the output encoder rotor (13); The outer edge of the encoder stator (11) is fixedly connected with the motor housing (24) of the motor assembly (2); the encoder stator (11) is adapted to be electrically connected with the driving board (3); The gear set is rotatably mounted on the encoder stator (11) and located between the inner ring gear (12) and the output shaft (4); the gear set comprises an input gear (14), a multi-stage reduction gear set (15) and an output gear (16); the input gear (14) is engaged with the inner ring gear (12) and the output gear (16) is drivingly connected with the input gear (14) through the multi-stage reduction gear set (15); The encoder stator (11) is provided with a first sensing element and a second sensing element; the first sensing element is adapted to cooperate with the output encoder rotor (13) and the second sensing element is adapted to cooperate with a third sensing element (161) on the output gear (16).

2. The joint module according to claim 1, characterized in that The first sensing element comprises a first photoelectric sensor (111) and a first Hall element (112); The output encoder rotor (13) comprises an output end tray (131) connected with the output shaft (4); The inner ring gear (12) is fixed on the output end tray (131); The output end tray (131) is provided with an incremental grating (132) cooperating with the first photoelectric sensor (111), and the incremental grating (132) is arranged in the inner ring of the inner ring gear (12); The output end tray (131) is provided with a first magnetic pole (133) cooperating with the first Hall element (112), and the first magnetic pole (133) is arranged in the inner ring of the incremental grating (132).

3. The joint module of claim 1, wherein The encoder stator (11) comprises a PCB board (113) and a reinforcing plate (114); The first sensing element and the second sensing element are respectively arranged on the PCB board (113); the reinforcing plate (114) is arranged in space with the PCB board (113) and connected with the PCB board (113) through a stud; The gear set is arranged between the PCB board (113) and the reinforcing plate (114) and rotatably connected with the PCB board (113) and the reinforcing plate (114) respectively; The reinforcing plate (114) is provided with a notch for avoiding the first sensing element.

4. The joint module of claim 1, wherein The input gear (14) is a double-layer gear, including a large gear and a small gear; the large gear is engaged with the inner ring gear (12), and the small gear is engaged with the multi-stage reduction gear set (15); The multi-stage reduction gear set (15) is arranged around the inner ring of the inner ring gear (12) and is arranged in a spaced manner with the inner ring gear (12); the multi-stage reduction gear set (15) includes a plurality of double-layer gears.

5. The joint module of claim 1, wherein The second sensing element is a second Hall element (115); and the third sensing element (161) is a second magnetic pole. The second Hall element (115) is a plurality of elements and is arranged in a spaced manner around the output gear (16).

6. The joint module of claim 1, wherein The encoder assembly (1) further includes an input end encoder rotor (17); the input end encoder rotor (17) is located on a side of the encoder stator (11) away from the output end encoder rotor (13); The motor assembly (2) includes a motor frame (21), a motor rotor (22), a motor stator (23), and a motor housing (24) arranged in sequence from inside to outside; The output shaft (4) is provided with an axial center hole for a cable to pass through; the output shaft (4) is arranged in the motor frame (21) and is in transmission connection with the motor frame (21); The input end encoder rotor (17) is connected with the motor rotor (22) through the motor frame (21); The output end encoder rotor (13) is adapted to cooperate with the encoder stator (11).

7. The joint module of claim 6, wherein, The inner ring of the input end encoder rotor (17) is connected with the inner ring main shaft (1313) of the output end encoder rotor (13) through a bearing; The outer ring of the output end encoder rotor (13) is fixedly connected with the motor frame (21).

8. The joint module of claim 1, wherein, Further comprising a reduction mechanism (5) and a rear cover (6); The reduction mechanism (5), the motor assembly (2), the encoder assembly (1), the drive board (3), and the rear cover (6) are arranged in sequence along the axial direction of the output shaft (4); The output shaft (4) is in transmission connection with the output end of the motor assembly (2) through the reduction mechanism (5); The two ends of the output shaft (4) are respectively connected with the reduction mechanism (5) and the rear cover (6) through corresponding bearings.

9. The joint module of claim 8, wherein, The edge of the encoder stator (11) is fixedly connected with the rear end cover of the motor housing (24); The rear end cover of the motor housing (24) and the rear cover (6) form an accommodation cavity; the drive board (3) is installed in the accommodation cavity and is located between the output end encoder rotor (13) and the rear cover (6).

10. A humanoid robot, characterized by, The joint module comprises the joint module according to any one of claims 1 to 9.

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