The application provides a joint module, comprising an
axial flux motor, a
speed reduction transmission module and a sensing device arranged integrally along the same rotation axis; the
speed reduction transmission module is embedded in the internal
radial position of the
axial flux motor, and the sensing device is arranged on the top or bottom of the
axial flux motor; the axial flux motor comprises a
stator assembly and a rotatable rotor
assembly; the input end of the
speed reduction transmission module is in transmission connection with the rotor
assembly; the sensing device is connected with the output shaft of the speed reduction transmission module, and is used for collecting the actual rotation position and speed information of the output end in real time, so as to realize full
closed loop control of the output end. The axial flux motor, the speed reduction transmission module and the sensing device are coaxially nested and integrated along the same rotation axis, the central installation space in the axial flux motor is fully utilized, the speed reduction transmission module is embedded in the internal space, space
multiplexing is effectively realized, and the sensing device is arranged on the top or bottom of the motor, so that the axial structure is not additionally lengthened.