Double-magnetic-weaving structure of joint module, joint module and cooperative mechanical arm

The utility model discloses a joint module's double magnetic encoder structure, joint module and cooperation mechanical arm, joint module includes motor, speed reducer, first magnetic encoder and second magnetic encoder, motor includes motor output shaft, speed reducer includes speed reducer output shaft, motor output shaft sleeve is provided outside speed reducer output shaft; the first magnetic encoder comprises a first magnetic ring and a first read head, the first magnetic ring is arranged on the output shaft of the motor, the second magnetic encoder comprises a second magnetic ring and a second read head, the second magnetic ring is arranged on the output shaft of the speed reducer, and the second magnetic ring and the first magnetic ring are coaxially arranged at an interval; a PCB is arranged between the first magnetic ring and the second magnetic ring, the first reading head is located on one side face of the PCB and faces the magnetic ring face of the first magnetic ring, and the second reading head