The invention discloses an integrated
robot joint device. The device is characterized in that a motor output shaft serves as an input shaft of a RV speed
reducer; a rotor of a single-ring absolute value
encoder is fixedly connected to an input end plate of the RV speed
reducer through a sensor adapter plate, and a
stator of the single-ring absolute value
encoder is fixedly connected to a RV speedreducer shell through a sensor fixing plate; the rotor of an incremental
encoder is fixed with the output shaft of the motor, and the
stator of the incremental encoder is fixed to a T-shaped shell; the rotor of a frameless direct-drive
torque motor is fixedly connected with the motor output shaft, and the
stator of the frameless direct-drive
torque motor is fixedly connected with the T-shaped shell; the rotor of a power-off type
brake is connected with the motor output shaft, and the stator of the power-off type
brake is fixedly connected with a motor end cover; a direct-
current driver is connected to the T-shaped shell through a driver support, wherein the direct-
current driver and the power-off type
brake are arranged on one side of the frameless direct-drive
torque motor, and the side is sealed by a rear sealing end cover; the RV speed
reducer, the incremental encoder, the single-ring absolute value encoder are located on the other side of the frameless direct-drive torque motor; and an output
flange is arranged on an output end plate of the RV speed reducer in a sealing manner.