Modular space manipulator joint capable of being used for rapid reconstruction and manipulator

The invention relates to a modular space manipulator joint capable of being used for rapid reconstruction and a manipulator. The joint comprises a columnar main shell, a harmonic reducer, an upper shell, a fixed-axis gear transmission system, a motor, a brake system, an electrical system and a line pipe, wherein the columnar main shell is provided with a body part, a shoulder part and a neck part; the harmonic reducer is mounted at the top end of the neck part of the main shell; the upper shell sleeves the harmonic reducer; the fixed-axis gear transmission system is arranged in the neck part of the main shell; the motor, the brake system and the electrical system are fixedly arranged in the body part of the main shell; the line pipe is arranged at the center position of a bottom plate and runs upwards through the integral main shell and the upper shell; the shoulder part forms a fixed part of the joint; the shoulder part is provided with a plurality of first connection holes; the upper shell forms an output end of the joint; the upper end of the upper shell is fixedly connected with the output end of the harmonic reducer and is provided with a plurality of second connection holes; the fixed-axis gear transmission system is connected with the input end of the harmonic reducer by a first gear of the fixed-axis gear transmission system and is connected with the motor and the brake system by second and third gears of the fixed-axis gear transmission system. The manipulator comprises the joint. The joint has the advantages of compact structure, center pipe routing, modular reconfigurability and the like.