Joint module, biped robot, humanoid robot and robot

The invention relates to the technical field of joint modules, and discloses a joint module, a biped robot, a humanoid robot and a robot. The joint module comprises a shell, and a bracket is constructed on the shell; comprising a motor with a stator and a rotor, a motor output shaft and a speed reducer, the stator is fixedly arranged on one side of the bracket; the speed reducer is fixedly arranged on the other side of the bracket relative to the stator; the rotor is fixedly connected with one end of a motor output shaft, the other end of the motor output shaft is in transmission connection with the speed reducer, and the motor output shaft is rotatably connected with the bracket; according to the joint module, all parts in the joint module shell form the input end module and the speed reducer module which are separated and can be integrally disassembled and assembled, and the bracket is constructed in the shell to separate the input end module and the speed reducer module and is used for restraining the outp