Hi @liuqiaowei512,
Welcome to the Auth0 Community!
It seems like another community member shared a reply that might help you with your issue: Trouble with authorizing my own backend api invalid token error - #5 by marcstedman
It mentions passing the audience parameter to the authorized request to get a valid JWT access token to get the credentials.
Could you try that and let me know if you continue having issues?
Thanks,
Rueben