Joint module and robot

Abstract

A joint module, and a robot comprising the joint module. The joint module comprises a housing assembly, an actuator, a first electric motor, a first transmission mechanism, a second electric motor and a second transmission mechanism, wherein the first electric motor is drivingly connected to the first transmission mechanism; the first transmission mechanism is drivingly connected to the actuator by means of a spline mechanism; the second electric motor is drivingly connected to the second transmission mechanism; the second transmission mechanism comprises a lead screw and nut mechanism which is drivingly connected to the actuator; and the first transmission mechanism and the second transmission mechanism can independently drive the actuator to perform rotation and a reciprocating linear motion relative to the housing assembly, respectively, thereby completely decoupling the motions of the actuator with a relatively simple structure, and thus simplifying a control strategy, reducing energy loss, and saving on the time consumed by the motions of the actuator.

Description

Joint modules and robots Technical Field

[0001] This application relates to the field of automation, and more specifically to, for example, the structure of a joint module for a robot and a robot including such a joint module. Background Technology

[0002] In the field of automation, especially in industrial automation, robots are widely used in production and manufacturing processes to achieve automated production and manufacturing. To enable robots to perform various actions, some of the robot's joints need to be designed with corresponding features to allow the actuator-driven structure to have multiple degrees of freedom of movement.

[0003] For example, Chinese utility model patent CN207155790U, entitled "Transmission Mechanism and Robotic Arm for Z and R Axes of a Horizontal Joint Robot," discloses a transmission mechanism that enables the actuators of a robotic arm to achieve different modes of movement. However, in the above patent technology, the transmission mechanism cannot completely decouple the different modes of movement of the robotic arm's actuators. Therefore, the robot not only needs a complex control strategy to coordinate the work between the various components of the transmission mechanism, but also experiences significant energy loss and a reduced lifespan of the transmission mechanism during the coordination process. Summary of the Invention

[0004] This application is made in view of the aforementioned state of the prior art. One object of this application is to provide a joint module that avoids the risks of complex control strategies, high energy consumption, and reduced lifespan caused by incomplete decoupling of different motion modes of actuators. Another object of this application is to provide a robot including the aforementioned joint module.

[0005] To achieve the above objectives, the present application may adopt the following technical solutions.

[0006] This application provides a joint module, including a housing assembly, an actuator, a first motor, a first transmission mechanism, a second motor, and a second transmission mechanism.

[0007] The housing assembly has a central axis, and the actuator, the first motor, the first transmission mechanism, the second motor, and the second transmission mechanism are mounted on the housing assembly coaxially with the central axis.

[0008] The first motor is driven by the first transmission mechanism, which is driven by the actuator through a spline mechanism, so as to drive the actuator to rotate about the central axis relative to the housing assembly. The second motor is driven by the second transmission mechanism, which includes a lead screw and nut mechanism driven by the actuator, so as to drive the actuator to reciprocate linearly along the central axis relative to the housing assembly. The first transmission mechanism and the second transmission mechanism can drive the actuator to perform the rotation and the reciprocating linear motion independently, respectively.

[0009] In one alternative embodiment, the first motor and the second motor are arranged side by side along the central axis, with the actuator located on one axial side of the first motor and the first motor and the actuator located on the same axial side of the second motor.

[0010] In another alternative embodiment, the first motor includes a first stator and a first rotor, the first stator being fixed to the housing assembly, and

[0011] The first transmission mechanism includes a rotor support that is drivenly connected to the first rotor, and the rotor support is directly drivenly connected to the actuator through the spline mechanism.

[0012] In another alternative embodiment, the second motor includes a second stator and a second rotor, the second stator being fixed to the housing assembly, and

[0013] The lead screw and nut mechanism includes a lead screw and a nut assembly. The lead screw is directly driven to the second motor, and the nut assembly is threaded to the lead screw. The nut assembly extends along the axial direction through the first rotor and the rotor support to be driven to the actuator.

[0014] In another alternative embodiment, a first thrust bearing and a second thrust bearing are further included, the actuator comprising a transmission unit, the first thrust bearing and the second thrust bearing being located on opposite axial sides of the transmission unit.

[0015] The lead screw and nut mechanism and the transmission unit clamp the first thrust bearing and the second thrust bearing axially along the central axis, so that the lead screw and nut mechanism can drive the actuator to perform the reciprocating linear motion via the first thrust bearing and the second thrust bearing.

[0016] In another alternative embodiment, the nut assembly includes a threaded rod and a limiting element.

[0017] The threaded rod extends along the axial direction and includes a threaded portion, a major diameter portion, and a minor diameter portion fixed to each other. The threaded portion and the minor diameter portion are connected through the major diameter portion. The threaded portion is threadedly connected to the lead screw. The minor diameter portion is inserted through the transmission portion. The first thrust bearing and the second thrust bearing are mounted on the minor diameter portion. The limiting member is fixed to the minor diameter portion such that the limiting member and the transmission portion clamp the first thrust bearing, and the major diameter portion and the transmission portion clamp the second thrust bearing.

[0018] In another alternative solution, a first sliding bearing and a second sliding bearing are also included.

[0019] In the radial direction of the housing assembly, the first sliding bearing is located between the housing assembly and the threaded rod, such that the housing assembly supports the threaded rod via the first sliding bearing; the second sliding bearing is located between the housing assembly and the actuator, such that the housing assembly supports the actuator via the second sliding bearing.

[0020] In another alternative embodiment, the housing assembly includes a cylindrical housing body, a first end cap, and a second end cap, the first end cap and the second end cap being fixed together with the housing body.

[0021] The housing body includes a main body and a partition extending radially inward from the main body, the threaded rod extending through the partition, a first sliding bearing located between the partition and the threaded rod, and a second sliding bearing located between the first end cap and the actuator.

[0022] In another alternative, the joint module is a robot joint module.

[0023] This application also provides a robot, including the joint module described in any of the above technical solutions.

[0024] By adopting the above technical solution, this application provides a joint module and a robot. The joint module includes a housing assembly, an actuator, a first motor, a first transmission mechanism, a second motor, and a second transmission mechanism assembled together. The housing assembly has a central axis, and the actuator, the first motor, the first transmission mechanism, the second motor, and the second transmission mechanism are mounted coaxially with the central axis on the housing assembly. Furthermore, the first motor is driveably connected to the first transmission mechanism, and the first transmission mechanism is driveably connected to the actuator via a spline mechanism, enabling the actuator to rotate relative to the housing assembly about the central axis. The second motor is driveably connected to the second transmission mechanism, which includes a lead screw and nut mechanism drively connected to the actuator, enabling the actuator to reciprocate linearly relative to the housing assembly along the central axis. Moreover, the first and second transmission mechanisms can independently drive the actuator to perform rotational and reciprocating linear motion, respectively.

[0025] Thus, in the joint module according to this application, the actuator, first motor, first transmission mechanism, second motor, and second transmission mechanism are mounted coaxially with the central axis on the housing assembly, making the entire joint module more compact and reducing the space occupied by the entire joint module. The first transmission mechanism uses a spline mechanism and the second transmission mechanism uses a lead screw and nut mechanism to independently drive the actuator to achieve rotational and linear motion, achieving complete decoupling of the actuator's rotational and linear motion with a relatively simple structure. Therefore, compared with schemes where the different motion modes of the actuator are not completely decoupled, the control strategy can be simplified, unnecessary energy loss can be reduced, and the risk of reduced transmission mechanism life can be avoided. Moreover, it can also save the time consumed by the actuator in simultaneously performing rotational and linear motion. Attached Figure Description

[0026] Figure 1 is a perspective view of a joint module according to an embodiment of the present application.

[0027] Figure 2 is a cross-sectional perspective view of the joint module in Figure 1, where the section lines are omitted.

[0028] Figure 3 is a schematic cross-sectional view of the joint module in Figure 1 taken along the central axis of the housing assembly.

[0029] Explanation of reference numerals in the attached drawings: 1. Housing assembly; 1c1. First chamber; 1c2. Second chamber; 11. Housing body; 111. Main body section; 112. Separator section; 12. First end cover; 13. Second end cover; 2. Actuator; 21. Cylindrical section; 211. Internal spline; 22. Transmission section; 23. Flange section; 3. First motor; 31. First stator; 32. First rotor; 4. First transmission mechanism; 41. Rotor support; 411. Body section; 412. External spline; 5. Second motor; 51. Second stator; 52. Second rotor; 6. Second transmission mechanism; 61. Lead screw; 62. Nut assembly; 621. Threaded rod; 6211. Threaded section; 6212. Large diameter section; 6213. Small diameter section; 622. Limiting element; 63. Ball bearing; 71. First thrust bearing; 72. Second thrust bearing; 81. First sliding bearing; 82. Second sliding bearing; O. Central axis; A. Axial; R. Radial Detailed Implementation

[0030] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that these specific descriptions are only for teaching those skilled in the art how to implement this application, and are not intended to exhaustively describe all possible methods of this application, nor to limit the scope of this application.

[0031] In this application, unless otherwise specified, "axial," "radial," and "circumferential" refer to the axial, radial, and circumferential directions of the joint module (housing assembly) according to this application, respectively. Further, "axial side" refers to the side on the left in the axial direction in Figures 1 to 3, and "axial other side" refers to the side on the right in the axial direction in Figures 1 to 3; "radial outer side" refers to the side that is radially away from the central axis of the housing assembly, and "radial inner side" refers to the side that is radially close to the central axis of the housing assembly.

[0032] In this application, "transmission connection" between two components refers to a connection between the two components that can transmit torque, including direct connection and indirect connection.

[0033] The joint module according to this application can be used, for example, in robots that realize industrial automation, which is beneficial for large-scale industrial production and manufacturing in the field of automation. The following description, in conjunction with the accompanying drawings, illustrates an embodiment of the joint module according to this application.

[0034] In this embodiment, as shown in Figures 1 to 3, a joint module according to an embodiment of this application includes a housing assembly 1, an actuator 2, a first motor 3, a first transmission mechanism 4, a second motor 5, a second transmission mechanism 6, a first thrust bearing 71, a second thrust bearing 72, a first sliding bearing 81, and a second sliding bearing 82 assembled together.

[0035] In this embodiment, as shown in Figures 1 to 3, the housing assembly 1 can be constructed as a rotating body with a central axis O. All other components are arranged coaxially with the central axis O, and the actuator 2, the first motor 3, the first transmission mechanism 4, the second motor 5, and the second transmission mechanism 6 are mounted on the housing assembly 1.

[0036] Furthermore, the housing assembly 1 includes a housing body 11, a first end cap 12, and a second end cap 13 that are detachably fixed together. The housing body 11 is generally constructed as a hollow cylindrical shape. The first end cap 12 is installed on one axial end of the housing body 11 by a plurality of threaded connectors, and the second end cap 13 is installed on the other axial end of the housing body 11 by a plurality of threaded connectors. Thus, with the first end cap 12 and the second end cap 13 fixed together with the housing body 11, the internal space of the housing assembly 1 is surrounded and defined by the housing body 11, the first end cap 12, and the second end cap 13. Furthermore, as shown in Figures 2 and 3, the housing body 11 includes a main body portion 111 and a partition portion 112 formed integrally. The main body 111 is constructed in a cylindrical shape, and a partition 112 extends radially inward from the axial central portion of the main body 111, dividing the internal space of the housing body 11 into a first chamber 1c1 and a second chamber 1c2 arranged side by side in the axial direction A. The first chamber 1c1 is located on one axial side of the second chamber 1c2. Furthermore, the first end cap 12 does not completely close the axial end of the housing body 11, and the first end cap 12 has a central through-hole through which the actuator 2 is inserted. The second end cap 13 completely closes the other axial end of the housing body 11. The partition 112 does not completely divide the internal space of the housing assembly 1, and the partition 112 has a central through-hole through which the threaded rod 621 of the second transmission mechanism 6 is inserted.

[0037] In this embodiment, as shown in Figures 1 to 3, the actuator 2 is capable of rotating (circumferentially rotating) relative to the housing assembly 1 about the central axis O and reciprocating linearly along the central axis O (reciprocating linearly along the axial direction A). Specifically, the actuator 2 includes an integrally formed cylindrical portion 21, a transmission portion 22, and a flange portion 23. The outer diameter of the cylindrical portion 21 is smaller than the inner diameter of the central through hole of the first end cap 12 of the housing assembly 1, thereby inserting the cylindrical portion 21 through the central through hole of the first end cap 12, such that a portion of the cylindrical portion 21 is located outside the housing assembly 1 and another portion is located inside the housing assembly 1. One axial end of the cylindrical portion 21 is fixedly connected to the flange portion 23, and the other axial end of the cylindrical portion 21 is formed with an internal spline 211 for spline engagement with the first transmission mechanism 4. Each tooth of the internal spline 211 can extend linearly along the axial direction A, thereby the spline mechanism does not obstruct the reciprocating linear motion when the second transmission mechanism 6 drives the actuator 2 to perform the reciprocating linear motion along the axial direction A. The transmission section 22 extends radially inward from the inner circumferential surface of the cylindrical section 21, forming a relatively convex flange structure. The first thrust bearing 71 and the second thrust bearing 72 are positioned on opposite axial sides of the transmission section 22 and abut against it. The flange section 23 is entirely located outside the housing assembly 1, and extends radially outward from one axial end of the cylindrical section 21. The flange section 23 can be used to connect to the external mechanism of the joint module, thereby transmitting the rotational and linear motion of the actuator 2 to the external mechanism as needed.

[0038] In this embodiment, as shown in Figures 2 and 3, the first motor 3 is entirely located within the first chamber 1c1 of the housing assembly 1, and the actuator 2 is positioned on the axial side of the first motor 3. Specifically, the first motor 3 includes a first stator 31 and a first rotor 32. The first stator 31 is fixed to the housing assembly 1, and the first rotor 32 is located radially inside the first stator 31 and has an air gap with the first stator 31. The first rotor 32 is capable of rotating around the central axis O in the magnetic field of the first stator 31.

[0039] In this embodiment, as shown in Figures 2 and 3, the first transmission mechanism 4 includes a rotor support 41, which is cylindrical and is drive-connected to the actuator 2. The rotor support 41 is located radially inside the first rotor 32 and fixed to it, allowing direct drive connection between the rotor support 41 and the first rotor 32. Thus, the rotor support 41 can rotate around the central axis O with the first rotor 32. The rotor support 41 includes an integral body portion 411 and an external spline 412. The external spline 412 is formed on one axial end of the body portion 411 and is used to engage with the internal spline 211 of the actuator 2. Each tooth of the external spline 412 can extend linearly along the axial direction A, so that the spline mechanism does not obstruct the reciprocating linear motion along the axial direction A during the second transmission mechanism 6 driving the actuator 2. The other axial end of the main body 411 is mounted to the housing body 11 of the housing assembly 1 via, for example, a ball bearing, so that the housing body 11 can stably support the rotor support 41 during the rotation of the rotor support 41.

[0040] By adopting the above structure, the first transmission mechanism 4 is connected to the first motor 3, and the first transmission mechanism 4 is connected to the actuator 2 through a spline mechanism, so as to drive the actuator 2 to rotate about the central axis O relative to the housing assembly 1.

[0041] In this embodiment, as shown in Figures 2 and 3, the second motor 5 is entirely located within the second chamber 1c2 of the housing assembly 1. The second motor 5 and the first motor 3 are arranged side-by-side with a gap in the axial direction A, and the first motor 3 is positioned on the axial side of the second motor 5. Thus, the first motor 3 and the actuator 2 are positioned on the axial side of the second motor 5, meaning that the first motor 3 and the actuator 2 are located on the same axial side of the second motor 5. Specifically, the second motor 5 includes a second stator 51 and a second rotor 52. The second stator 51 is fixed to the housing assembly 1, and the second rotor 52 is located radially inside the second stator 51 and has an air gap with the second stator 51. The second rotor 52 can rotate around the central axis O in the magnetic field of the second stator 51.

[0042] In this embodiment, as shown in Figures 2 and 3, the second transmission mechanism 6 includes a lead screw and nut mechanism that is connected to the actuator 2. The lead screw and nut mechanism can be a ball screw mechanism. Specifically, the lead screw and nut mechanism includes a lead screw 61, a nut assembly 62, and balls 63 assembled together.

[0043] Furthermore, the lead screw 61 is fixed radially inward to the second rotor 52, enabling a direct drive connection between the lead screw 61 and the second rotor 52. One axial end of the lead screw 61 has an external thread, and the other axial end of the lead screw 61 is mounted to the second end cover 13 via, for example, a ball bearing, allowing the lead screw 61 to be stably supported by the second end cover 13 during rotation. The nut assembly 62 is threadedly connected to the lead screw 61, extending axially along A through the partition 112 of the housing body 11, the first rotor 32, and the rotor support 41, and then inserted into the actuator 2 and drively connected to it. Specifically, the nut assembly 62 includes a threaded rod 621 and a limiting member 622 that are detachably fixed together. The threaded rod 621 extends linearly along axial direction A and includes an integrally formed threaded portion 6211, a large-diameter portion 6212, and a small-diameter portion 6213. The threaded portion 6211 and the small-diameter portion 6213 are connected through the large-diameter portion 6212, with the small-diameter portion 6213 located on one axial side of the large-diameter portion 6212 and the threaded portion 6211 located on the other axial side of the large-diameter portion 6212. The threaded portion 6211 is fitted radially outward onto the threaded axial end of the lead screw 61, such that the threaded portion 6211 and the lead screw 61 are threadedly connected by a plurality of balls 63. The large-diameter portion 6212 extends from the threaded portion 6211 through the aforementioned partition 112, rotor support 41, and first rotor 32. The outer diameter of the small-diameter portion 6213 is smaller than the outer diameter of the large-diameter portion 6212, and the small-diameter portion 6213 extends from the large-diameter portion 6212 through the transmission portion 22. The limiting member 622 is fitted radially outward onto the small-diameter portion 6213 and can be fixed to the small-diameter portion 6213 by a threaded connection, such that the limiting member 622 and the transmission portion 22 clamp the first thrust bearing 71, and the large-diameter portion 6212 and the transmission portion 22 clamp the second thrust bearing 72. Furthermore, a plurality of balls 63 are located between one axial end of the lead screw 61 and the other axial end of the threaded rod 621, for transmitting force and reducing friction.

[0044] By adopting the above structure, the second transmission mechanism 6 is connected to the second motor 5. The lead screw and nut mechanism of the second transmission mechanism 6 and the transmission part 22 clamp the first thrust bearing 71 and the second thrust bearing 72 in the axial direction A, so that the second transmission mechanism 6 can drive the actuator 2 to reciprocate linearly along the central axis O relative to the housing assembly 1 under the drive of the second motor 5 and the second transmission mechanism 6. The actuator 2 can also rotate decoupled from the second transmission mechanism 6 and the second motor 5, that is, the second transmission mechanism 6 and the second motor 5 do not hinder the rotation of the actuator 2.

[0045] In this embodiment, as shown in Figures 2 and 3, the first thrust bearing 71 and the second thrust bearing 72 can be thrust ball bearings, and both are radially fitted onto the small-diameter portion 6213 of the threaded rod 621 of the second transmission mechanism 6. In the axial direction A, the first thrust bearing 71 is located between the limiting member 622 of the second transmission mechanism 6 and the transmission part 22 of the actuator 2. The limiting member 622 presses against the first thrust bearing 71, for example, via a bearing seat, so that the first thrust bearing 71 can be firmly clamped between the limiting member 622 and the transmission part 22. In the axial direction A, the second thrust bearing 72 is located between the large-diameter portion 6212 of the threaded rod 621 of the second transmission mechanism 6 and the transmission part 22 of the actuator 2. The transmission part 22 presses against the second thrust bearing 72, so that the second thrust bearing 72 can be firmly clamped between the transmission part 22 and the large-diameter portion 6212. Therefore, by utilizing the two thrust bearings 71 and 72, the second transmission mechanism 6 can drive the actuator 2 to perform reciprocating linear motion without hindering the actuator 2 from rotating.

[0046] In this embodiment, as shown in Figures 2 and 3, both the first sliding bearing 81 and the second sliding bearing 82 are radial sliding bearings. The first sliding bearing 81 is fitted onto the large-diameter portion 6212 of the threaded rod 621 of the second transmission mechanism 6 and is positioned at the central through-hole of the partition portion 112 of the housing body 11, thereby positioning the first sliding bearing 81 radially between the threaded rod 621 and the partition portion 112. Using the first sliding bearing 81, the threaded rod 621 can be stably supported by the housing assembly 1 during its reciprocating linear motion relative to the housing assembly 1 along the axial direction A. The second sliding bearing 82 is fitted onto the cylindrical portion 21 of the actuator 2 and is positioned at the central through-hole of the first end cap 12, thereby positioning the second sliding bearing 82 radially between the first end cap 12 and the actuator 2. Using the second sliding bearing 82, the actuator 2 can be stably supported by the housing assembly 1 during its reciprocating linear motion relative to the housing assembly 1 along the axial direction A.

[0047] By adopting the above-described scheme, in a joint module according to an embodiment of this application, the actuator 2, the first motor 3, the first transmission mechanism 4, the second motor 5, and the second transmission mechanism 6 are mounted coaxially with the central axis O on the housing assembly 1. This makes the entire joint module more compact and reduces the space occupied by the entire joint module. The first transmission mechanism 4 uses a spline mechanism, and the second transmission mechanism 6 uses a lead screw and nut mechanism to independently enable the actuator 2 to achieve rotation and linear motion, respectively. This allows for complete decoupling of the rotation and linear motion of the actuator 2 with a relatively simple structure. Therefore, compared to schemes where the different motion modes of the actuator 2 are not completely decoupled, the control strategy can be simplified, unnecessary energy loss can be reduced, and the risk of reduced transmission mechanism lifespan can be avoided or reduced. Furthermore, it saves time spent by the actuator 2 performing both rotation and linear motion simultaneously. That is, when the actuator 2 needs to perform both rotation and linear motion simultaneously, the first motor 3 and the second motor 5 can work simultaneously to drive the actuator 2 to achieve the aforementioned motion; when the actuator 2 only needs to perform rotation or linear motion alone, the first motor 3 or the second motor 5 can work alone to achieve the aforementioned motion.

[0048] The joint modules described above are particularly useful as robot joint modules. Of course, the uses or applications of the joint modules described above are not limited to this.

[0049] It should be understood that the above embodiments are merely exemplary and are not intended to limit this application. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this application without departing from the scope of this application. Further, the following supplementary description is provided.

[0050] i. This application also provides a robot, which includes the joint module according to this application and other supporting mechanisms. This robot can be applied to the field of industrial automation, especially to the field of large-scale automated industrial production and manufacturing.

[0051] ii. The specific construction of housing assembly 1 and actuator 2 has been described in the above embodiments, but this application is not limited thereto. As long as housing assembly 1 can support other components and provide mounting space for other components, and actuator 2 can rotate relative to housing assembly 1 about the central axis O and reciprocate linearly along the central axis O, the specific construction of housing assembly 1 and actuator 2 can be adjusted as needed.

[0052] iii. The lead screw and nut mechanism described in the above embodiments is a ball screw mechanism, but this application is not limited to this. In other alternative solutions, the lead screw and nut mechanism can also be a planetary roller screw mechanism or other mechanisms, which can also convert rotation into reciprocating linear motion.

Claims

1. A joint module, characterized in that, It includes a housing assembly (1), an actuator (2), a first motor (3), a first transmission mechanism (4), a second motor (5), and a second transmission mechanism (6). The housing assembly (1) has a central axis (O), and the actuator (2), the first motor (3), the first transmission mechanism (4), the second motor (5), and the second transmission mechanism (6) are mounted on the housing assembly (1) coaxially with the central axis (O). The first motor (3) is driven to the first transmission mechanism (4), and the first transmission mechanism (4) is driven to the actuator (2) through a spline mechanism, so as to drive the actuator (2) to rotate about the central axis (O) relative to the housing assembly (1). The second motor (5) is driven to the second transmission mechanism (6), and the second transmission mechanism (6) includes a lead screw and nut mechanism driven to the actuator (2), so as to drive the actuator (2) to reciprocate linearly along the central axis (O) relative to the housing assembly (1). The first transmission mechanism (4) and the second transmission mechanism (6) can drive the actuator (2) to perform the rotation and the reciprocating linear motion independently, respectively.

2. The joint module according to claim 1, characterized in that, The first motor (3) and the second motor (5) are arranged side by side along the axial direction (A) of the central axis (O), the actuator (2) is located on one side of the axial direction of the first motor (3), and the first motor (3) and the actuator (2) are located on the same side of the axial direction of the second motor (5).

3. The joint module according to claim 2, characterized in that, The first motor (3) includes a first stator (31) and a first rotor (32), the first stator (31) being fixed to the housing assembly (1), and The first transmission mechanism (4) includes a rotor support (41) that is transmissionally connected to the first rotor (32), and the rotor support (41) is directly transmissionally connected to the actuator (2) through the spline mechanism.

4. The joint module according to claim 3, characterized in that, The second motor (5) includes a second stator (51) and a second rotor (52), the second stator (51) being fixed to the housing assembly (1), and The lead screw and nut mechanism includes a lead screw (61) and a nut assembly (62). The lead screw (61) is directly driven to the second motor (5). The nut assembly (62) is threaded to the lead screw (61). The nut assembly (62) extends along the axial direction (A) through the first rotor (32) and the rotor support (41) to be driven to the actuator (2).

5. The joint module according to any one of claims 1 to 4, characterized in that, It also includes a first thrust bearing (71) and a second thrust bearing (72). The actuator (2) includes a transmission part (22), and the first thrust bearing (71) and the second thrust bearing (72) are located on opposite sides of the transmission part (22). The lead screw and nut mechanism and the transmission unit (22) sandwich the first thrust bearing (71) and the second thrust bearing (72) along the axial direction (A) of the central axis (O), so that the lead screw and nut mechanism can drive the actuator (2) to perform the reciprocating linear motion via the first thrust bearing (71) and the second thrust bearing (72).

6. The joint module according to claim 5, characterized in that, The nut assembly (62) includes a threaded rod (621) and a limiting member (622). The threaded rod (621) extends along the axial direction (A) and includes a threaded portion (6211), a large-diameter portion (6212), and a small-diameter portion (6213) fixed to each other. The threaded portion (6211) and the small-diameter portion (6213) are connected through the large-diameter portion (6212). The threaded portion (6211) is threadedly connected to the lead screw (61). The small-diameter portion (6213) is inserted through the transmission portion (22). The first thrust bearing (71) and the second thrust bearing (72) are mounted on the small-diameter portion (6213). The limiting member (622) is fixed to the small-diameter portion (6213) such that the limiting member (622) and the transmission portion (22) clamp the first thrust bearing (71), and the large-diameter portion (6212) and the transmission portion (22) clamp the second thrust bearing (72).

7. The joint module according to claim 6, characterized in that, It also includes a first sliding bearing (81) and a second sliding bearing (82). In the radial direction (R) of the housing assembly (1), the first sliding bearing (81) is located between the housing assembly (1) and the threaded rod (621), such that the housing assembly (1) supports the threaded rod (621) via the first sliding bearing (81); the second sliding bearing (82) is located between the housing assembly (1) and the actuator (2), such that the housing assembly (1) supports the actuator (2) via the second sliding bearing (82).

8. The joint module according to claim 7, characterized in that, The housing assembly (1) includes a cylindrical housing body (11), a first end cap (12), and a second end cap (13), wherein the first end cap (12) and the second end cap (13) are fixed together with the housing body (11). The housing body (11) includes a main body (111) and a partition (112) extending radially inward from the main body (111). The threaded rod (621) extends through the partition (112). The first sliding bearing (81) is located between the partition (112) and the threaded rod (621). The second sliding bearing (82) is located between the first end cap (12) and the actuator (2).

9. The joint module according to any one of claims 1 to 4, characterized in that, The joint module is a robot joint module.

10. A robot, characterized in that, Includes the joint module as described in any one of claims 1 to 9.

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