Integrated joint motor module and robot

Abstract

The invention discloses an integrated joint motor module and a robot. The joint motor module comprises an output mechanism used for outputting rotation power; the speed reduction and sensing mechanism is used for improving torque output and detecting output torque; the power mechanism is used for providing power; the control mechanism is used for controlling the power mechanism to work according to the position information, the rotating speed information and the output torque; the power mechanism comprises a motor rotor, a motor stator, a rotating shaft, a stator shell cover, a first bearing, a bearing pressing ring and an axial elastic deformation piece. The bearing pressing ring is arranged between the first bearing and the stator shell cover, and the axial elastic deformation piece is arranged between the bearing pressing ring and the stator shell cover; the control mechanism comprises an encoder rotor, an encoder stator and a driver. According to the motor module, the axial elastic deformation piece is arranged between the bearing pressing ring of the power mechanism and the stator shell cover, so that the relative position between the encoder rotor and the encoder stator below the stator shell cover is stable, and the size of the motor module is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor systems, and particularly to an integrated joint motor module and a robot. Background Art

[0002] An integrated joint motor refers to a motor system that integrates a frameless torque motor, a reducer, an encoder, etc. into a whole, and can achieve the control of position, speed and force. Compared with traditional servo motors, it has higher precision, smaller volume and lower noise. The structure of the integrated joint motor is relatively compact and has the characteristics of high torque and high efficiency.

[0003] When integrating an encoder in an existing integrated joint motor, an encoder module is usually adopted. The relative positions of the fixed disk and the moving disk of the encoder module are fixed to avoid the change of the relative positions of the fixed disk and the moving disk. Although this treatment can ensure the position accuracy, it occupies a large space, resulting in an increase in the volume of the joint motor module.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0005] In view of the above deficiencies of the existing technology, the purpose of the present invention is to provide an integrated joint motor module and a robot to solve the problem that the volume of the existing integrated joint motor module increases due to the adoption of an encoder module to ensure position accuracy.

[0006] The technical solution of the present invention is as follows:

[0007] In the first aspect, the present invention provides an integrated joint motor module, which includes:

[0008] An output mechanism for outputting rotational power;

[0009] A reduction and sensing mechanism connected to the output mechanism for increasing torque output and detecting the output torque;

[0010] A power mechanism connected to the reduction and sensing mechanism for providing power;

[0011] A control mechanism connected to the power mechanism and the reduction and sensing mechanism for detecting position information and rotational speed information and controlling the operation of the power mechanism according to the position information, the rotational speed information and the output torque;

[0012] The power mechanism includes a motor rotor, a motor stator, a rotating shaft, a stator housing cover, a first bearing, a bearing retaining ring, and an axially elastic deformation member; the motor rotor is connected to the rotating shaft and is located inside the stator housing cover; the first bearing is arranged at one end of the rotating shaft and is located inside the stator housing cover; the bearing retaining ring is arranged between the first bearing and the stator housing cover, and the axially elastic deformation member is arranged between the bearing retaining ring and the stator housing cover;

[0013] The control mechanism includes an encoder rotor, an encoder stator, and a driver. The encoder stator is connected to the driver and fixedly connected to the stator housing cover, and the encoder rotor is connected to the rotating shaft.

[0014] A further arrangement of the present invention, the output mechanism includes:

[0015] An installation disk provided with a hollow interior;

[0016] A second bearing arranged in the inner ring of the installation disk;

[0017] An output shaft arranged in the inner ring of the second bearing;

[0018] A snap ring sleeved on the output shaft and located in the inner ring of the second bearing.

[0019] A further arrangement of the present invention, the deceleration and sensing mechanism includes:

[0020] A first housing;

[0021] A torque sensor sleeved on the output shaft;

[0022] A harmonic reducer, a harmonic reducer wave generator, and an output flange. The output flange is connected to the flexible gear output end of the harmonic reducer, and the harmonic reducer wave generator is connected to the rotating shaft;

[0023] The torque sensor is connected to the output flange.

[0024] A further arrangement of the present invention, the power mechanism further includes:

[0025] A second housing;

[0026] A stator housing connected to the second housing, and the motor stator is arranged inside the stator housing;

[0027] A rotating shaft sleeve arranged on the rotating shaft;

[0028] A brake, connected to the rotating shaft sleeve and connected to the second housing;

[0029] The stator pressure plate is arranged between the motor stator and the stator housing cover;

[0030] The rotor pressure plate is connected to the first bearing.

[0031] A further arrangement of the present invention is that the power mechanism further includes a third bearing; the third bearing is arranged at the other end of the rotating shaft.

[0032] A further arrangement of the present invention is that the control mechanism further includes:

[0033] The end cover is arranged at the bottom of the second housing;

[0034] The copper column is connected between the driver and the stator housing cover.

[0035] A further arrangement of the present invention is that the axial elastic deformation member includes a wave spring, an opposed spring and a disc spring.

[0036] A further arrangement of the present invention is that the periphery of the stator housing cover is provided with a hollow opening.

[0037] A further arrangement of the present invention is that the harmonic reducer and the brake are arranged on the same side of the rotating shaft.

[0038] In a second aspect, the present invention further provides a robot, which includes the integrated joint motor module as described above.

[0039] An integrated joint motor module and a robot provided by the present invention. The integrated joint motor module includes: an output mechanism for outputting rotational power; a reduction and sensing mechanism connected to the output mechanism for increasing torque output and detecting the output torque; a power mechanism connected to the reduction and sensing mechanism for providing power; a control mechanism connected to the power mechanism and the reduction and sensing mechanism for detecting position information and rotational speed information and controlling the operation of the power mechanism according to the position information, the rotational speed information, and the output torque. The power mechanism includes a motor rotor, a motor stator, a rotating shaft, a stator housing cover, a first bearing, a bearing retainer, and an axial elastic deformation member. The motor rotor is connected to the rotating shaft and is located inside the stator housing cover. The first bearing is arranged at one end of the rotating shaft and is located inside the stator housing cover. The bearing retainer is arranged between the first bearing and the stator housing cover, and the axial elastic deformation member is arranged between the bearing retainer and the stator housing cover. The control mechanism includes an encoder rotor, an encoder stator, and a driver. The encoder stator is connected to the driver and is fixedly connected to the stator housing cover. The encoder rotor is connected to the rotating shaft. By arranging an axial elastic deformation member between the bearing retainer and the stator housing cover of the power mechanism, the present invention can make the relative position between the encoder rotor and the encoder stator below the stator housing cover stable, thereby avoiding the use of an encoder module and reducing the volume of the joint motor module. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0041] Figure 1 It is a schematic diagram of the overall structure of the integrated joint motor module in the present invention.

[0042] Figure 2 It is a sectional view of the integrated joint motor module in the present invention.

[0043] Figure 3 It is an exploded view of the integrated joint motor module in the present invention after hiding the first housing and the second housing.

[0044] Figure 4 It is a schematic diagram of the structure of the stator housing cover in the present invention.

[0045] Reference numerals in the drawings: 1. output mechanism; 101. mounting disc; 102. second bearing; 103. output shaft; 104. snap ring; 2. speed reduction and sensing mechanism; 201. first housing; 202. torque sensor; 203. output flange; 204. harmonic reducer; 205. harmonic reducer wave generator; 3. power mechanism; 301. brake; 302. shaft sleeve; 303. second housing; 304. stator housing; 305. rotating shaft; 306. stator housing cover; 307. axial elastic deformation member; 308. bearing retainer ring; 309. third bearing; 310. rotor pressing plate; 311. stator pressing plate; 312. motor rotor; 313. motor stator; 314. first bearing; 315. hollow opening; 4. control mechanism; 401. encoder rotor; 402. encoder stator; 403. end cover; 404. driver; 405. copper column. Detailed implementation mode

[0046] The present invention provides an integrated joint motor module and a robot. To make the objectives, technical solutions and effects of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the drawings and by way of examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] In the embodiments and the scope of the patent application, unless otherwise specifically defined in the text for articles, the words "a", "an", "the" and "said" may also include the plural forms. If there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0048] It should be further understood that the term "comprising" used in the description of the present invention means the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their groups. It should be understood that when an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or wireless coupling. The phrase "and / or" used here includes all or any unit and all combinations of one or more of the associated listed items.

[0049] Those skilled in the art can understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as here.

[0050] In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this invention.

[0051] Through the research of the inventor, it is found that the traditional robot joint motor is composed of three major parts: a mechanical system (such as a motor, a reducer, a brake, a transmission structure, etc.), a control system (a driver and a controller, etc.), and a sensing system (an encoder, etc.). The control system is often separated from the overall structure and requires a dedicated design of an electric control box and cable routing. The existing robot joint motors have the following disadvantages: the motor has a relatively large volume, the integrated sensing system is single, the torque sensing accuracy is relatively low, the control system is separated from the motor system, and additional design of the cable routing for the control system and the mechanical part of the motor is required. The cable routing design often encounters problems such as entanglement, which affects the working space of the motor; the output torque of the existing joint motors is relatively small. If the torque needs to be increased, an additional reducer needs to be equipped, which significantly increases the volume and mass of the motor; when integrating an encoder, the existing products often use an encoder module, and the relative positions of the fixed disk and the moving disk are fixed. This solution can ensure the position accuracy, but it occupies a relatively large space. If the encoder module is not used, the relative positions of the fixed disk and the moving disk often change.

[0052] To solve the above technical problems, the present invention provides an integrated joint motor module and a robot, which configure a torque sensor at the end of the output shaft and install the control system at the tail of the joint motor, shortening the cable distance and simplifying the cable routing design. For the problem of the relative position stability between the moving and fixed disks of the encoder, an axial elastic deformation member is used to provide an axial pre-tightening force to ensure the parallelism and spacing between the moving and fixed disks. To further improve the joint torque output, a high reduction ratio harmonic reducer is integrated, significantly reducing the volume and mass of the motor.

[0053] Please also refer to Figures 1 to 4 , the present invention provides a preferred embodiment of an integrated joint motor module.

[0054] In some embodiments, such as Figures 1 to 3As shown in the figure, the present invention provides an integrated joint motor module, which includes: an output mechanism 1, a reduction and sensing mechanism 2, a power mechanism 3, and a control mechanism 4. The output mechanism 1 is used to output rotational power. The reduction and sensing mechanism 2 is connected to the output mechanism 1 and is used to increase the torque output and detect the output torque. The power mechanism 3 is connected to the reduction and sensing mechanism 2 and is used to provide power. The control mechanism 4 is connected to the power mechanism 3 and the reduction and sensing mechanism 2 and is used to detect position information and rotational speed information and control the operation of the power mechanism 3 according to the position information, the rotational speed information, and the output torque.

[0055] In this embodiment, the power mechanism 3 is a frameless torque motor, and the power mechanism 3 can provide rotational power under the drive of the control mechanism 4. The reduction and sensing mechanism 2 can increase the torque of the rotational power output by the power mechanism 3 and then output it through the output mechanism 1. At the same time, it can detect the current output torque and feedback it to the control mechanism 4. The control mechanism 4 can detect the current position information and rotational speed information, and realize the closed-loop control of position and speed through a control algorithm according to the position information, the rotational speed information, and the output torque.

[0056] In this embodiment, by integrating the control part into the joint motor module, the cable distance can be shortened and the wiring design can be simplified. It avoids the additional wiring design of the control system and the mechanical part of the motor, thus avoiding the winding problem of the wiring, circumventing the influence of the wiring on the working space of the frameless torque motor, and providing a larger working space for the frameless torque motor.

[0057] In some embodiments, such as Figures 1 to 3As shown, the power mechanism 3 includes a second housing 303, a stator housing 304, a rotating shaft sleeve 302, a brake 301, a stator pressing plate 311, a rotor pressing plate 310, a motor rotor 312, a motor stator 313, a rotating shaft 305, a stator housing cover 306, a first bearing 314, a bearing retaining ring 308, and an axially elastic deformation member 307; the motor rotor 312 is connected to the rotating shaft 305 and is located within the stator housing cover 306; the first bearing 314 is disposed at one end of the rotating shaft 305 and is located within the stator housing cover 306; the bearing retaining ring 308 is disposed between the first bearing 314 and the stator housing cover 306, and the axially elastic deformation member 307 is disposed between the bearing retaining ring 308 and the stator housing cover 306; the stator housing 304 is connected to the second housing 303, and the motor stator 313 is disposed within the stator housing 304; the rotating shaft sleeve 302 is sleeved on the rotating shaft 305; the brake 301 is connected to the rotating shaft sleeve 302 and is connected to the second housing 303; the stator pressing plate 311 is disposed between the motor stator 313 and the stator housing cover 306; the rotor pressing plate 310 is connected to the first bearing 314.

[0058] In this embodiment, the rotating shaft 305 is a hollow rotating shaft, and the stator housing 304 is fixedly connected to the second housing 303 by screws. The stator housing 304 also cooperates with the outer ring of the motor stator 313 to ensure the radial constraint of the motor stator 313. To further constrain the axial direction of the motor stator 313, a stator pressing plate 311 is fixed between the motor stator 313 and the stator housing cover 306. The stator pressing plate 311 is fixed between the motor stator 313 and the stator housing cover 306 by bolts to further constrain the axial movement of the motor stator 313. The inner ring of the motor rotor 312 cooperates with the outer ring of the rotating shaft 305, and the axial constraint of the rotating shaft 305 is jointly achieved by the first bearing 314 and the rotor pressing plate 310. The rotor pressing plate 310 is provided with through holes and is fixedly connected to the motor stator 313 by screws to achieve axial fixation. The inner ring of the first bearing 314 cooperates with the rotating shaft 305, and the outer ring of the first bearing 314 cooperates with the stator housing 304 to achieve the radial constraint of the rotating shaft 305. The outer ring of the first bearing 314 cooperates with the inner ring of the stator housing cover 306, and at the same time, the stator housing cover 306 is fixedly connected to the stator pressing plate 311 and the stator housing 304 by bolts.

[0059] To ensure safety during use, the brake 301 is fixedly connected to the rotating shaft sleeve 302, and the rotating shaft sleeve 302 can rotate freely when the motor stator 313 is energized. If the motor stator 313 is de-energized, the brake 301 locks to lock the rotating shaft sleeve 302. Among them, the fixed end of the brake 301 is fixedly connected to the second housing 303 by bolts.

[0060] In some embodiments, such as Figure 4 shown, a hollow opening 315 is provided around the stator cover 306. In this embodiment, the hollow openings 315 are arranged at intervals on the side of the stator cover 306, which can facilitate the wiring of the shutdown motor.

[0061] In some embodiments, the power mechanism 3 further includes a third bearing 309; the third bearing 309 is arranged at the other end of the rotating shaft 305.

[0062] In this embodiment, since the rotating shaft 305 is relatively long and needs to be supported at both ends, a third bearing 309 is installed at the other end of the rotating shaft 305 to improve the radial constraint stability of the rotating shaft 305 and ensure uniform stress on the rotating shaft 305.

[0063] In some embodiments, such as Figures 1 to 3 shown, the control mechanism 4 includes an encoder rotor 401, an encoder stator 402 and a driver 404. The encoder stator 402 is connected (electrically connected) to the driver 404 and fixedly connected to the stator cover 306, and the encoder rotor 401 is connected to the rotating shaft 305.

[0064] In this embodiment, the encoder rotor 401 is fixedly connected to the rotating shaft 305 by bolts, the encoder stator 402 is fixedly connected to the stator cover 306 by bolts, and the driver 404 is installed inside the second housing 303. To ensure the distance and parallelism between the encoder rotor 401 and the encoder stator 402, the axial elastic deformation member 307 is clamped between the bearing retaining ring 308 and the stator cover 306 to absorb the uneven stress on both sides through the extrusion generated by the axial elastic deformation member 307, making the distance and parallelism between the encoder rotor 401 and the encoder stator 402 more stable.

[0065] In some embodiments, the axial elastic deformation member 307 is a part or structural member with axial elastic deformation ability, for example, it can be but is not limited to a wave spring, an opposed spring and a butterfly spring. In one implementation, the axial elastic deformation member 307 is a wave spring.

[0066] In some embodiments, such asFigures 1 to 3 As shown, the control mechanism 4 further includes an end cap 403 and a copper post 405. The end cap 403 is disposed at the bottom of the second housing 303; the copper post 405 is connected between the driver 404 and the stator housing cover 306.

[0067] In this embodiment, the end cap 403 is disposed at the bottom of the second housing 303 to protect the driver 404 from collision. A plurality of copper posts 405 are spaced on the driver 404, and mounting holes adapted to the copper posts 405 are disposed at the bottom of the stator housing cover 306. The driver 404 and the stator housing cover 306 are fixed together after being connected through the copper posts 405 and the mounting holes on the stator housing cover 306.

[0068] In some embodiments, as Figures 1 to 3 shown, the output mechanism 1 includes: a mounting disk 101, a second bearing 102, an output shaft 103, and a snap ring 104. The second bearing 102 is disposed in the inner ring of the mounting disk 101; the output shaft 103 is disposed in the inner ring of the second bearing 102; the snap ring 104 is sleeved on the output shaft 103 and is located in the inner ring of the second bearing 102.

[0069] In this embodiment, the mounting disk 101 is provided with a hollow interior, and the mounting disk 101 is used to fix the joint motor module. The outer ring of the output shaft 103 is engaged with the inner ring of the second bearing 102, and the outer ring of the second bearing 102 is engaged with the inner ring of the mounting disk 101 to ensure the radial constraint of the output shaft 103. The snap ring 104 is engaged with the inner ring of the second bearing 102 to ensure the axial constraint of the output shaft 103.

[0070] In some embodiments, as Figures 1 to 3 shown, the reduction and sensing mechanism 2 includes: a first housing 201, a torque sensor 202, a harmonic reducer 204, a harmonic reducer wave generator 205, and an output flange 203. The torque sensor 202 is disposed on the output shaft 103; the output flange 203 is connected to the flexible gear output end of the harmonic reducer 204, and the generator of the harmonic reducer 204 is connected to the rotating shaft 305; the torque sensor 202 is connected to the output flange 203.

[0071] In this embodiment, the mounting disk 101 is fixedly connected to the first housing 201 by bolts and nuts. The inner ring of the torque sensor 202 is fixedly connected to the output shaft 103 by bolts, and the outer ring of the torque sensor 202 is fixedly connected to the output flange 203 by bolts. The output flange 203 is connected to the flexible gear output end of the harmonic reducer 204 by bolts. The wave generator 205 of the harmonic reducer is connected to the shaft sleeve 302 by bolts. Screw hole positions are axially arranged on the shaft sleeve 302, which can achieve the synchronous rotation of the rotating shaft 305 and the wave generator 205 of the harmonic reducer. In this embodiment, the harmonic reducer 204 is used to increase the joint torque output. Compared with using an additional accelerator, the volume and mass of the joint motor can be reduced.

[0072] It should be noted that when performing torque sensing, in addition to using the torque sensor 202, a solution similar to the torque sensor 202 can also be used. For example, the force applied can be calculated by detecting the deformation of the mechanical structure.

[0073] In this embodiment, the harmonic reducer 204 and the brake 301 are arranged on the same side of the rotating shaft 305, which can make the overall structure of the integrated joint motor module more compact and the overall volume smaller.

[0074] During specific implementation, under the drive of the driver 404, a magnetic field is generated after the motor stator 313 is powered on, and it interacts with the magnetic field of the permanent magnet on the motor rotor 312 to generate an electromagnetic torque to drive the motor rotor 312 to rotate. Further, the high-speed and low-torque output by the motor rotor 312 is decelerated and torque-increased through the built-in harmonic reducer 204, and finally a high-torque power is output. The encoder can monitor the position and speed of the motor rotor 312 in real time, and feedback signals to the driver 404, and finally achieve closed-loop control of position and speed through a control algorithm.

[0075] In some embodiments, the present invention also provides a robot, which includes the integrated joint motor module as described above. Specifically, as described in the embodiment of an integrated joint motor module, it will not be elaborated here.

[0076] In summary, the integrated joint motor module and robot provided by the present invention have the following beneficial effects:

[0077] Integrate the torque sensor and the control mechanism into a robot joint motor module. The torque sensor is configured at the end of the output shaft, and the control mechanism is installed at the tail of the joint motor module, shortening the cable distance and simplifying the wiring design;

[0078] An axial elastic deformation member is adopted to provide axial pre-tightening force, ensuring the parallelism and spacing between the moving and fixed disks, thus ensuring the relative position stability of the moving and fixed disks of the encoder.

[0079] To further improve the torque output of the joint motor, a high reduction ratio harmonic reducer is integrated, significantly reducing the volume and mass of the motor.

[0080] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. An integrated joint motor module, characterized in that, Comprising: An output mechanism for outputting rotational power; A reduction and sensing mechanism connected to the output mechanism for increasing torque output and detecting output torque; A power mechanism connected to the reduction and sensing mechanism for providing power; A control mechanism connected to the power mechanism and the reduction and sensing mechanism for detecting position information and rotational speed information and controlling the operation of the power mechanism according to the position information, the rotational speed information, and the output torque; The power mechanism includes a motor rotor, a motor stator, a rotating shaft, a stator cover, a first bearing, a bearing retainer ring, and an axially elastic deformation member; the motor rotor is connected to the rotating shaft and is located inside the stator cover; the first bearing is arranged at one end of the rotating shaft and is located inside the stator cover; the bearing retainer ring is arranged between the first bearing and the stator cover, and the axially elastic deformation member is arranged between the bearing retainer ring and the stator cover; The control mechanism includes an encoder rotor, an encoder stator, and a driver. The encoder stator is connected to the driver and is fixedly connected to the stator cover, and the encoder rotor is connected to the rotating shaft.

2. The integrated joint motor module according to claim 1, wherein The output mechanism includes: A hollow mounting disc; A second bearing arranged in the inner ring of the mounting disc; An output shaft arranged in the inner ring of the second bearing; A snap ring sleeved on the output shaft and located in the inner ring of the second bearing.

3. The integrated joint motor module according to claim 2, characterized in that, The reduction and sensing mechanism includes: A first housing; A torque sensor arranged on the output shaft; A harmonic reducer, a harmonic reducer wave generator, and an output flange. The output flange is connected to the flexible gear output end of the harmonic reducer, and the harmonic reducer wave generator is connected to the rotating shaft; The torque sensor is connected to the output flange.

4. The integrated joint motor module according to claim 3, wherein, The power mechanism further includes: A second housing; A stator housing connected to the second housing, and the motor stator is arranged in the stator housing; A rotating shaft sleeve sleeved on the rotating shaft; A brake connected to the rotating shaft sleeve and connected to the second housing; A stator pressure plate arranged between the motor stator and the stator cover; A rotor pressure plate connected to the first bearing.

5. The integrated joint motor module according to claim 4, characterized in that, The power mechanism further includes a third bearing; the third bearing is arranged at the other end of the rotating shaft.

6. The integrated joint motor module according to claim 4, characterized in that, The control mechanism further includes: An end cover arranged at the bottom of the second housing; A copper column connected between the driver and the stator cover.

7. The integrated joint motor module according to claim 1, wherein The axially elastic deformation member includes a wave spring, an opposing spring, and a disc spring.

8. The integrated joint motor module according to claim 1, characterized in that A hollow opening is provided at the periphery of the stator cover.

9. The integrated joint motor module according to claim 4, characterized in that, The harmonic reducer and the brake are arranged on the same side of the rotating shaft.

10. A robot, characterized in that, Including the integrated joint motor module according to any one of claims 1-9.

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