Electrically driven integrated joint and biped robot, humanoid robot and robot

Abstract

The application relates to the technical field of robots, and discloses an electric drive integrated joint, a biped robot, a humanoid robot and a robot, the integrated joint comprising a joint shell, a motor assembly and a planetary reducer, the joint shell is internally provided with an annular disc-shaped mounting base, the joint shell is divided into a first cavity and a second cavity which are in communication at the center in the axial direction, the motor assembly is mounted in the first cavity, a two-stage reduction unit of the planetary reducer is mounted in the second cavity, one end of a one-stage reduction unit is fixed on the mounting base, and the other end is arranged in the first cavity and at least mostly overlaps the motor assembly in the radial direction. The application is convenient to assemble, effectively shortens the overall axial dimension of the joint, makes the overall layout structure of the electric drive integrated joint more compact, reduces the volume of the joint, bears through the mounting base, reduces the influence of external force on the planetary reducer, insulates the influence of external force on the motor output shaft through the mounting base, and improves the overall performance of the joint.

Description

Technical Field

[0001] This application relates to the field of electric drive joint technology, and specifically to an electric drive integrated joint and robot. Background Technology

[0002] Electric drive joints are crucial components for robots to achieve posture adjustment, motion execution, and load transfer. They typically require the integration of motor assemblies, reducers, encoder assemblies, and housings within a limited space. For robots, the compactness, ease of assembly, and transmission stability of electric drive joints directly impact the robot's overall layout and motion performance.

[0003] In related technologies, electrically driven joints often adopt a structure in which the motor assembly and planetary reducer are arranged sequentially along the axial direction. Although this arrangement facilitates power input and deceleration output, the motor assembly and reducer often occupy a large axial installation space within the housing, which tends to result in a longer overall axial dimension of the joint, a larger number of parts, and a more complex assembly path, thereby increasing the joint's size and weight and hindering the miniaturization and integration design of robot joints.

[0004] In addition, during the process of walking, supporting, turning or interacting with the external environment, the joints of the robot are subjected to axial forces, radial forces and impact loads from the output end or the shell end. These external loads may be transmitted to the motor output end or rotor support structure through the reducer, affecting the transmission matching accuracy between the motor assembly and the reducer, thereby reducing the transmission stability and reliability of the joint.

[0005] Therefore, how to optimize the spatial layout of the motor assembly and planetary reducer within the housing, shorten the axial dimension of the joint, simplify the assembly structure, and reduce the impact of external loads on the transmission output of the motor assembly and reducer while ensuring the transmission function of the electric drive joint remains an issue that needs to be improved in related technologies. Summary of the Invention

[0006] The purpose of this application is to provide an electrically driven integrated joint and various robots having the integrated joint, aiming to improve the overall compactness and assembly performance of the electrically driven integrated joint, and reduce the impact of external loads on the motor assembly and planetary reducer transmission output.

[0007] In a first aspect, the electrically driven integrated joint provided in this application includes a joint housing, a motor assembly, and a planetary reducer. The joint housing is an integrated structure with a central axis and a generally cylindrical shape. A mounting base is provided inside the joint housing. The mounting base is generally annular and has a through hole concentric with the joint housing. The outer ring of the mounting base is radially connected to the inner wall of the joint housing, so that the joint housing is axially separated by the mounting base, forming a first cavity and a second cavity connected by the through hole. The motor assembly is installed in the first cavity. The planetary reducer includes a primary reduction unit and a secondary reduction unit that are connected in a transmission manner. The secondary reduction unit is installed in the second cavity. One end of the primary reduction unit is installed on the mounting base, and the other end is placed in the first cavity and extends into the radial space of the motor assembly, so that the primary reduction unit overlaps with the motor assembly at least most of the way in the radial direction.

[0008] In some embodiments of the electrically driven integrated joint provided in this application, a first bearing surface and a second bearing surface are respectively constructed on the mounting base, the first-stage reduction unit abuts against the first bearing surface, and the second-stage reduction unit abuts against the second bearing surface.

[0009] In some embodiments of the electrically driven integrated joint provided in this application, the first bearing surface and the second bearing surface are respectively disposed on both sides of the mounting base along the axial direction. The first-stage reduction unit includes a first-stage internal gear ring, the side end of the first-stage internal gear ring facing the second-stage reduction unit abuts against the first bearing surface and is fixed on the mounting base; the second-stage reduction unit includes a second-stage internal gear ring, the outer circumferential surface of the second-stage internal gear ring abuts against the inner wall of the second cavity, and the side end of the second-stage internal gear ring facing the first-stage reduction unit abuts against the second bearing surface.

[0010] In some embodiments of the electrically driven integrated joint provided in this application, the motor assembly includes a stator, a rotor, and a rotor frame connected to the rotor. The stator forms a first space relative to the rotor in the axial direction toward the planetary reducer. A mounting boss extends into the first cavity from the side end of the mounting base toward the motor assembly in the axial direction, and the mounting boss is placed in the first space. A first recess is provided on the side end of the mounting boss near the motor assembly, in the axial direction toward the secondary reduction unit, and a first bearing surface is disposed at the bottom of the first recess. One end of the primary internal gear ring toward the secondary reduction unit is embedded in the first recess, and the side end of the primary internal gear ring toward the secondary internal gear ring abuts against the first bearing surface and is fixedly connected to the mounting base.

[0011] In some embodiments of the electrically driven integrated joint provided in this application, the first-stage internal gear ring extends radially outward and has a first flange. The first flange abuts against the first bearing surface on the side facing the second-stage reduction unit. A plurality of screw holes are axially constructed around the circumference of the first flange. The mounting base is axially provided with a plurality of mounting holes corresponding to the screw holes. Fasteners pass axially through the mounting holes from the second cavity in the direction toward the first cavity and are fastened in the screw holes on the first flange, so that the first-stage internal gear ring is fixed on the mounting base while abutting against the first bearing surface.

[0012] In some embodiments of the electrically driven integrated joint provided in this application, a receiving cavity is recessed on the side end of the mounting base near the secondary reduction unit, facing the first cavity axially, which provides partial placement space for the end of the secondary reduction unit facing the primary reduction unit.

[0013] In some embodiments of the electrically driven integrated joint provided in this application, the primary reduction unit further includes a primary planetary carrier, which is embedded in the primary internal gear ring; the inner wall of the primary internal gear ring is axially segmented with a first inner wall surface and a second inner wall surface, the first inner wall surface being close to the secondary reduction unit and having internal teeth; a first bearing is radially sandwiched between the second inner wall surface and the outer wall of the primary planetary carrier, so that the primary planetary carrier is rotatably connected to the primary internal gear ring.

[0014] In some embodiments of the electrically driven integrated joint provided in this application, a first stepped surface is formed between the second inner wall surface and the first inner wall surface, and a groove for installing the first bearing retainer ring is also formed on the second inner wall surface; a second stepped surface is formed on the radial outer periphery of the first-stage planetary carrier; the outer ring side end of the first bearing facing the second-stage reduction unit abuts against the first stepped surface, and the inner ring side end abuts against the second stepped surface; the outer ring of the first bearing away from the second-stage reduction unit is stopped and positioned by the first bearing retainer ring, and the inner ring is stopped and positioned by a first end screw axially fixed on the first-stage planetary carrier.

[0015] In some embodiments of the electrically driven integrated joint provided in this application, the rotor carrier includes an annular support disk perpendicular to the axial center of the stator. The outer ring of the annular support disk is provided with an outer cylinder concentric with the joint housing along the axial direction. The outer cylinder is radially connected to the rotor. The outer cylinder is axially separated by the annular support disk, forming a front cavity facing the planetary reducer and a rear cavity away from the planetary reducer. A first hollow shaft segment extends along the inner ring of the annular support disk and towards the axial direction of the planetary reducer. The first hollow shaft segment is located in the front cavity and is embedded in the cavity of the first-stage planetary carrier. The radial projections of the portion of the first-stage reduction unit, the first hollow shaft segment, and the front cavity substantially overlap. A second bearing is also provided radially between the first hollow shaft segment and the first-stage planetary carrier, so that the rotor carrier is rotatably connected to the first-stage planetary carrier.

[0016] In some embodiments of the electrically driven integrated joint provided in this application, a third stepped surface is constructed on the first hollow shaft segment to axially position the second bearing toward the outer side of the inner ring of the motor assembly; a plurality of second end screws are also axially fixed on the circumference of the side end plane of the first-stage planetary carrier toward the first cavity to axially position the second bearing toward the outer ring of the motor assembly; a second flange extends radially toward the central axis on the inner wall of the cavity of the first-stage planetary carrier to axially position the second bearing toward the outer side of the planetary reducer.

[0017] In some embodiments of the electrically driven integrated joint provided in this application, a rear end cover is also included. The rear end cover is located on the outward side of the first cavity. An inner cylinder concentric with the joint housing is provided on the axial extension of the rear end cover toward the rear cavity. A second hollow shaft segment extends along the inner ring of the annular support disk and toward the axial direction away from the first-stage reduction unit. The second hollow shaft segment is located in the rear cavity. A third bearing is radially sandwiched between the inner cylinder and the second hollow shaft segment, so that the rotor frame is rotatably connected to the inner cylinder while being rotatably connected to the first-stage planetary carrier. The radial projections of the inner cylinder, the third bearing, the second hollow shaft segment, and the rear cavity approximately overlap.

[0018] In some embodiments of the electrically driven integrated joint provided in this application, a fourth stepped surface is constructed on the second hollow shaft segment, a stop ring is provided radially on the inner wall of the inner cylinder toward the central axis, the inner ring of the third bearing axially abuts against the fourth stepped surface toward the outer side of the motor assembly, the outer ring of the third bearing is axially stopped and positioned toward the outer side of the motor assembly by a third end screw fixed on the inner cylinder, and the outer ring of the third bearing is axially stopped and positioned away from the outer side of the motor assembly by the stop ring.

[0019] In some embodiments of the electrically driven integrated joint provided in this application, an encoder assembly is also included, the encoder assembly comprising: The low-speed magnetic ring seat is connected to the output end of the secondary reduction unit; High-speed magnetic ring seat connected to the rotor frame; The stator forms a second space relative to the rotor in the axial direction away from the planetary reducer. An intermediate cylinder is provided between the rear end cover and the inner cylinder. The outer diameter of the intermediate cylinder is larger than the outer diameter of the inner cylinder, forming a stepped structure with the inner cylinder, so that a second concave cavity is formed in the intermediate cylinder and embedded in the second space. The high-speed magnetic ring seat is placed in the second concave cavity, connected to the rotor frame, and provides axial stop positioning for the inner ring of the third bearing on the side away from the motor assembly.

[0020] In some embodiments of the electric drive integrated joint provided in this application, the inner wall of the first cavity is constructed with a stop step for axial positioning of the stator in the motor assembly, and the outer periphery of the stator is radially abutted and fixed to the inner wall of the first cavity, so that the motor assembly is positioned in the first cavity.

[0021] Secondly, this application also provides a bipedal robot, including at least one of the aforementioned electrically driven integrated joints as a driving device for degrees of freedom.

[0022] Thirdly, this application also provides a humanoid robot, including at least one of the above-described electrically driven integrated joints as a driving device for degrees of freedom.

[0023] Fourthly, this application also provides a robot including at least one of the aforementioned electrically driven integrated joints as a driving device for degrees of freedom.

[0024] In some embodiments of the robot provided in this application, the robot is any one of a mobile robot, a wheeled robot, a wheeled-legged robot, a cleaning robot, and a transport robot.

[0025] The electrically driven integrated joint of this application has the following technical advantages: (1) The joint housing of this application adopts an integrated structure and a mounting base is provided in the joint housing. The first-stage reduction unit in the planetary reducer is positioned and fixed on the mounting base, while partially overlapping with the motor assembly in the radial direction. This makes the first-stage reduction unit occupy almost no axial space in the joint housing, making full use of the redundant space of the motor assembly and planetary reducer layout, effectively shortening the axial dimension of the joint, thereby making the overall layout structure of the electric drive integrated joint more compact and reducing the joint volume.

[0026] (2) This application constructs two different cavities in the joint housing through the mounting base, so that the motor assembly and the secondary reduction unit in the planetary reducer can be placed in different cavities. The primary reduction unit and the secondary reduction unit are positioned or fixed on the mounting base. While using the mounting base as the positioning and mounting carrier of the planetary reducer, the impact of external load on the planetary reducer is reduced by the mounting base bearing the load. Moreover, the mounting base can isolate external axial force and reduce the impact of external force on the motor output shaft, thereby improving the stability of the motor output shaft transmission and thus improving the output stability of the electric drive integrated joint transmission.

[0027] (3) The present application provides an installation base in the joint housing, which allows the first-stage reduction unit and the second-stage reduction unit in the planetary reducer to be assembled from opposite axial directions at both ends of the joint housing, which facilitates the assembly of the planetary reducer.

[0028] (4) This application adopts a separate design and separate setting mode for the first-level deceleration unit and the second-level deceleration unit. Different first-level deceleration units and second-level deceleration units can be flexibly configured according to the needs of robot use, which expands the application range of electric drive integrated joints, improves the versatility of electric drive integrated joints, and can be applied to various types of robots.

[0029] Bipedal robots, humanoid robots, and other types of robots using the electrically driven integrated joints of this application have small joint size and low energy consumption, which improves the flexibility and accuracy of robot use. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of the electrically driven integrated joint provided in the embodiments of this application; Figure 2 This is an assembly diagram of the joint housing, motor assembly, and primary and secondary reduction units in the planetary reducer of the electrically driven integrated joint provided in the embodiments of this application. Figure 3 A schematic diagram of the assembly of the joint housing and planetary reducer in an electrically driven integrated joint provided in an embodiment of this application; Figure 4 This is a schematic diagram of the first-stage reduction unit structure in the electrically driven integrated joint provided in the embodiments of this application; Figure 5This is a schematic diagram of the primary internal gear ring structure in the electrically driven integrated joint provided in the embodiments of this application; Figure 6 This is a schematic diagram of the primary planetary carrier structure in the electrically driven integrated joint provided in the embodiments of this application; Figure 7 This is a schematic diagram of the rotor frame structure in the electrically driven integrated joint provided in the embodiments of this application; Figure 8 This is a schematic diagram of the rear end cover structure in the electrically driven integrated joint provided in an embodiment of this application.

[0032] Labels for each item in the figure: 1-Joint shell; 11-First cavity; 111-Stop step; 12-Mounting base; 121-Through hole; 122-Mounting boss; 123-First bearing surface; 124 - Second bearing surface; 125 - First cavity; 126 - Mounting hole; 127 - Receiving cavity; 128 - Fastener; 13 - Second cavity; 2- Planetary reducer; 21-First stage reduction unit; 211-First stage internal gear ring; 2111-First flange; 21111-Side surface; 2112 - Shoulder; 2113 - First inner wall surface; 2114 - Second inner wall surface; 21141 - Groove; 2115 - First step surface; 2116 - Screw hole; 212-First-stage planetary carrier; 2121-Second-stage step surface; 2122-Second-stage flange; 213-First-stage sun gear; 214 - First-stage planetary gear; 215 - First bearing; 216 - First bearing retaining ring; 217 - First end screw; 218 - Second bearing; 219 - Second end screw; 22-Secondary reduction unit; 221-Secondary internal gear ring; 222-Secondary planetary carrier; 3-Motor assembly; 31-Stator; 311-First space; 312-Second space; 32-Rotor; 33-Rotor frame; 331-Annular support disc; 332-Outer cylinder; 3321-Front cavity; 3322-Rear cavity; 333 - First hollow shaft section; 3331 - Third step surface; 334 - Second hollow shaft section; 3341 - Fourth step surface; 4- Rear end cover; 41- Inner cylinder; 411- Stop ring; 42- Intermediate cylinder; 421 - Second cavity; 43 - Third bearing; 44 - Third end screw; 5-Encoder assembly; 51-Low-speed magnetic ring holder; 52-High-speed magnetic ring holder; 53-Needle roller bearing; 6-Front cover. Detailed Implementation

[0033] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and "side end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In addition, in this application, unless otherwise expressly specified and limited, the term "coaxial connection" means that the centerlines of two or more components connected are on the same straight line.

[0038] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] In this application, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object primarily presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a cylindrical object, stating "generally presents a cylindrical shape" means that the overall shape of the object is cylindrical, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally presents a cube shape" means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0041] To clearly describe the structural layout, orientation, and functional relationships between the various components, this application... Figure 1 , Figure 2 , Figure 3 The diagram shows a centerline x, where x is the centerline of various components with a circular shape or a center of rotation. The direction consistent with the centerline x is described as the axial direction, and the direction perpendicular to the centerline x in space is described as the radial direction.

[0042] The following describes some specific implementation schemes of this application with reference to the accompanying drawings.

[0043] See Figure 1 This application provides an electrically driven integrated joint, including: a joint housing 1, a planetary reducer 2, and a motor assembly 3.

[0044] See Figure 2 and 3 The joint housing 1 is a generally cylindrical, integrated structure with a central axis x, which runs through the joint housing 1 axially (as shown in the diagram). A planetary reducer 2 and a motor assembly 3 are arranged axially within the joint housing 1. Inside the joint housing 1, there is a mounting base 12, which is generally a hollow annular disc, perpendicular to the central axis x. It has a through hole 121, concentric with the joint housing 1, meaning the axial center of the mounting base 12 is on the same straight line as the central axis x of the joint housing 1. The outer ring of the mounting base 12 is radially connected to the inner wall of the joint housing 1. Thus, with the two axial sides of the mounting base 12 as the dividing interface, the joint housing 1 is axially divided by the mounting base 12 to form a first cavity 11 and a second cavity 13 that can be connected through the through hole 121. The mounting base 12 can be integrally formed with the joint housing 1 to ensure the relative position and accuracy of the mounting base 12 and the joint housing 1.

[0045] See Figures 2-4 The motor assembly 3 is installed in the first cavity 11. The planetary reducer 2 includes a first-stage reduction unit 21 and a second-stage reduction unit 22, which are assembled facing each other from the two axial ends of the joint housing 1. The second-stage reduction unit 22 is installed in the second cavity 13. The end of the first-stage reduction unit 21 facing the second-stage reduction unit 22 is installed on the mounting base 12 and can be embedded in the through hole 121 to drive the transmission connection with the second-stage reduction unit 22 and transmit power to the second-stage reduction unit 22. The end of the first-stage reduction unit 21 away from the second-stage reduction unit 22 is placed in the first cavity 11 and extends into the radial space of the motor assembly 3, and is embedded with the motor assembly 3, so that the first-stage reduction unit 21 overlaps with the motor assembly 3 at least most of the radial direction.

[0046] The electrically driven integrated joint provided in this application has a mounting base 12 inside the joint housing 1, which divides the joint housing 1 axially into two cavities. Using the mounting base 12 as a positioning and assembly reference, the first-stage reduction unit 21 and the motor assembly 3 in the planetary reducer 2 are assembled relative to the second-stage reduction unit 22 from the axial direction of the two cavities, facilitating the positioning, assembly, and adjustment of the planetary reducer 2 and the motor assembly 3. Simultaneously, the first-stage reduction unit 21 is fixed on the mounting base 12, with its end facing the motor assembly 3 extending into the first cavity 11 and into the radial space of the motor assembly 3, thus fitting into the motor assembly 3. This fully utilizes the redundant space of the motor assembly 3, allowing most of the radial structure of the first-stage reduction unit 21 to be arranged in the same radial space as the motor assembly 3. This not only facilitates the transmission connection and assembly of the motor assembly 3 and the first-stage reduction unit 21 but also reduces the axial dimension of the integrated joint, making the overall layout structure of the integrated joint more compact. Furthermore, since the primary reduction unit 21 and the secondary reduction unit 22 are positioned or fixed on the mounting base 12, the axial force can be borne by the mounting base 12. This avoids the influence of external axial force on the planetary reducer 2 and isolates the transmission of external axial force to the motor assembly 3, thus preventing any impact on the motor assembly 3 and improving the stability of the motor output and reducer output transmission. Moreover, since the primary reduction unit 21 and the secondary reduction unit 22 are designed separately, set up separately, and connected in separate cavities, the relative size and reduction ratio of the primary reduction unit 21 and the secondary reduction unit 22 can be flexibly configured according to the robot's usage needs. This reduces the impact of external axial force on the integrated joint while expanding the application range of the integrated joint and improving its versatility.

[0047] See Figure 2 and Figure 3 In some embodiments of the electrically driven integrated joint of this application, a first bearing surface 123 and a second bearing surface 124 are respectively constructed at both ends of the mounting base 12 along the axial direction to bear external axial forces. The first bearing surface 123 and the second bearing surface 124 are perpendicular to the central axis x of the joint housing 1. The first-stage reduction unit 21 abuts against the first bearing surface 123 and is positioned on the mounting base 12 using the first bearing surface 123. The second-stage reduction unit 22 abuts against the second bearing surface 124 and is positioned within the second cavity 13 using the second bearing surface 124. In this way, while using the mounting base 12 as the positioning and mounting carrier for the planetary reducer 2, the axial forces on the first-stage reduction unit 21 and the second-stage reduction unit 22 can be borne by the first bearing surface 123 and the second bearing surface 124, reducing or avoiding the impact of external forces on the motor assembly 3.

[0048] See further Figures 1-4In some embodiments of the electrically driven integrated joint of this application, the first bearing surface 123 and the second bearing surface 124 are respectively disposed on both sides of the mounting base 12 along the axial direction. The first-stage reduction unit 21 includes a first-stage internal gear ring 211, the axial side end of the first-stage internal gear ring 211 abuts against the first bearing surface 123, thereby axially positioning the first-stage reduction unit 21. The second-stage reduction unit 22 includes a second-stage internal gear ring 221, the radial outer wall (outer circumferential surface) of the second-stage internal gear ring 221 abuts against the inner wall of the second cavity 13, and the axial side end of the second-stage internal gear ring 221 abuts against the second bearing surface 124, thereby radially and axially positioning the second-stage reduction unit 22 within the second cavity 13. The first bearing surface 123 and the second bearing surface 124 being disposed on both sides of the mounting base 12 along the axial direction facilitates the assembly of the first-stage reduction unit 21 and the second-stage reduction unit 22.

[0049] See Figure 1 In some embodiments of the electrically driven integrated joint of this application, the motor assembly 3 includes a stator 31, a rotor 32, and a rotor frame 33 connected to the rotor 32. The stator 31 is composed of a stator core and windings. When the stator 31 and rotor 32 are used together, the non-working units in the stator 31 are located axially outside the two ends of the rotor 32. The rotor 32 has a certain axial length difference relative to the stator 31. This axial length difference causes the stator 31 to form a first space 311 facing the planetary reducer 2 and a second space 312 away from the planetary reducer 2 at both ends of the axial direction relative to the rotor 32. See also Figure 3 In some embodiments of the electrically driven integrated joint of this application, a tapered mounting boss 122 extends into the inner cavity of the first cavity 11 along the axial direction of the mounting base 12 and at the side end of the mounting base 12 facing the motor assembly 3. The mounting boss 122 is embedded in the first space 311. At the side end of the mounting boss 122 near the motor assembly 3, i.e., the side end of the mounting boss 122 adjacent to the first cavity 11, a first recessed cavity 125 is recessed along the axial direction of the secondary reduction unit 22. A first bearing surface 123 is disposed at the bottom of the first recessed cavity 125. The inner diameter of the first recessed cavity 125 is larger than the inner diameter of the through hole 121, so that the first recessed cavity 125 and the through hole 121 form a stepped structure in the central cross-section of the mounting base 12. See also... Figure 4 and Figure 5The first-stage internal gear ring 211 is embedded in the first cavity 125 at one end facing the second-stage reduction unit 22, and its outer side axially abuts against the first bearing surface 123, and is fixedly connected to the mounting base 12 through the first cavity 125. The above-mentioned mounting boss 122 not only increases the strength and bearing capacity of the mounting base 12, but also provides installation space and length for the first-stage internal gear ring 211. Moreover, the extended mounting boss 122 structure effectively utilizes the redundant space (first space 311) formed on the outer side of the end of the motor assembly 3 facing the planetary reducer 2. This avoids the fixed connection structure between the first-stage internal gear ring 211 and the mounting base 12 occupying a large axial dimension, so that part of the first-stage reduction unit 21 overlaps with the mounting base 12 radially in the axial direction, and the other part (most of it) overlaps with the motor assembly 3 radially in the axial direction. The first-stage reduction unit 21 occupies almost no axial space, which greatly improves the axial compactness of the integrated joint structure.

[0050] See also Figures 3-5 In some embodiments of the electrically driven integrated joint of this application, the first-stage internal gear ring 211 extends radially outward and is provided with a first flange 2111. The first flange 2111 is embedded in the first cavity 125, and its side 21111 facing the second-stage reduction unit 22 abuts against the first bearing surface 123. Around the circumference of the first flange 2111, a plurality of evenly distributed screw holes 2116 and two locating pin holes (not shown) are axially constructed. At the same time, along the axial direction of the annular surface of the mounting base 12, a plurality of mounting holes 126 corresponding to the screw holes 2116 are provided, as well as locating pin insertion holes (not shown) corresponding to the two locating pin holes on the first flange 2111. Fasteners 128 pass axially from the second cavity 13 in the direction toward the first cavity 11, pass through the mounting holes 126, and are fastened to the screw holes 2116 on the first flange 2111. The first flange 2111 is designed so that the first-stage internal gear ring 211 is positioned by a positioning pin and fixedly connected to the mounting base 12 while abutting against the first bearing surface 123. This design is simple in structure, reliable in abutting and fixing, convenient for embedding and fitting with the first cavity 125, and makes full use of the limited axial length of the mounting base 12.

[0051] See Figures 2-5 At the bottom position of the first flange 2111 facing the center, a shoulder 2112 extends axially toward the second cavity 13. The shoulder 2112 extends vertically from the side 21111 toward the second cavity 13 and is embedded in the through hole 121. This increases the axial length of the first-stage internal gear ring 211, facilitating the layout and fit of the first-stage internal gear ring 211 with the associated structure, without wasting the axial space of the joint housing 1, thus making the integrated joint as axially compact as possible.

[0052] See Figures 1-3In some embodiments of the electrically driven integrated joint of this application, a receiving cavity 127 is constructed on the side end of the mounting base 12 near the secondary reduction unit 22, axially toward the primary reduction unit 21. The receiving cavity 127 is formed by hollowing out the side end of the mounting base 12 toward the second cavity 13 toward the first cavity 11. The secondary reduction unit 22 includes a secondary planetary carrier 222. When the axial side end of the secondary internal gear ring 221 abuts against the second bearing surface 124, the receiving cavity 127 can provide partial placement space for the side end of the secondary planetary carrier 222 toward the primary reduction unit 21, avoiding increasing the axial dimension of the integrated joint and improving the compactness of the overall structure of the integrated joint.

[0053] See Figure 3 , Figure 4 and Figure 6 In some embodiments of the electrically driven integrated joint of this application, the primary reduction unit 21 includes a primary planetary carrier 212, which is embedded in and cooperates with the primary internal gear ring 211. See also Figure 5 The inner wall of the first-stage internal gear ring 211 is axially segmented with a first inner wall surface 2113 and a second inner wall surface 2114. The first inner wall surface 2113 is close to the second-stage reduction unit 22 and has internal teeth that mesh with the first-stage planetary gear 214. The second inner wall surface 2114 is a smooth surface, and a first bearing 215 is radially sandwiched between it and the outer wall of the first-stage planetary carrier 212, allowing the first-stage planetary carrier 212 to be rotatably connected to the first-stage internal gear ring 211. In this way, through the structural design of the first-stage internal gear ring 211, no extra parts are needed, and the axial space utilization is fully improved while bearing load and transmitting power, ensuring the axial compactness of the integrated joint as much as possible.

[0054] See Figure 3 , Figure 4 and Figure 5In some embodiments of the electrically driven integrated joint of this application, a first stepped surface 2115 is constructed between the second inner wall surface 2114 and the first inner wall surface 2113 of the first-stage internal gear ring 211. A groove 21141 is also constructed on the second inner wall surface 2114 for installing the first bearing retainer ring 216. A second stepped surface 2121 is constructed on the radial outer periphery of the first-stage planetary carrier 212. Multiple first end screws 217 are axially fixed on the circumferential plane of the side end of the first-stage planetary carrier 212 facing the first cavity 11. The outer ring side end of the first bearing 215 facing the second-stage reduction unit 22 abuts against the first stepped surface 2115, and the inner ring side end abuts against the second stepped surface 2121. The outer ring side end of the first bearing 215 facing away from the second-stage reduction unit 22 is stopped and positioned by the first bearing retainer ring 216, and the inner ring is stopped and positioned by the first end screws 217. In this way, the positioning and fixing of the first bearing 215 can be designed by the first-stage planetary carrier 212 and the first-stage internal gear ring 211 in their own structures, while the first bearing retaining ring 216 and the first end screw 217 occupy very little space.

[0055] See Figures 1-3 In some embodiments of the electric drive integrated joint of this application, the first-stage sun gear 213 is axially floating, so that the rotor frame 33 is axially slidingly engaged with the first-stage sun gear 213. This ensures the adaptability of the bidirectional assembly of the first-stage reduction unit 21 and the second-stage reduction unit 22, which is beneficial for adjustment during assembly. Moreover, the axial sliding engagement between the first-stage sun gear 213 and the rotor frame 33 is also beneficial for buffering the impact of external forces on the planetary reducer 2, avoiding affecting the rotor frame 33, and further ensuring the output stability of the motor assembly 3.

[0056] See Figures 1-3 In some embodiments of the electric drive integrated joint of this application, a stop step 111 is constructed on the inner wall of the first cavity 11 for axial positioning of the stator 31, and the outer wall of the stator 31 is radially abutted and fixed to the inner wall of the first cavity 11, thereby placing the motor assembly 3 in the first cavity 11 and positioning it.

[0057] See Figure 1 and Figure 7In some embodiments of the electrically driven integrated joint of this application, the rotor frame 33 includes a hollow annular support disk 331 perpendicular to the axial center line x. An outer cylinder 332 extends vertically along the axial direction of both sides of the outer ring of the annular support disk 331, concentric with the joint housing 1. The outer wall of the outer cylinder 332 is radially connected to the rotor 32, allowing the rotor frame 33 to rotate with the rotor 32. The outer cylinder 332 of the rotor frame 33 is divided by the annular support disk 331, forming a front cavity 3321 facing the planetary reducer 2 and a rear cavity 3322 facing away from the planetary reducer 2. The annular support disk 331 is located approximately at the center of the outer cylinder 332, improving the rotational stability of the rotor frame 33. A first hollow shaft segment 333 extends along the inner ring of the annular support disk 331 and toward the axial direction of the planetary reducer 2. The first hollow shaft segment 333 is located within the front cavity 3321, forming an accommodating space with the annular support disk 331 and the front cavity 3321. The end of the first-stage reduction unit 21 facing the motor assembly 3 can be embedded in this accommodating space. At the same time, the first hollow shaft segment 333 is embedded in the cavity centrally located in the first-stage planetary carrier 212, so that the radial projections of part of the first-stage reduction unit 21, the first hollow shaft segment 333, and the front cavity 3321 roughly overlap, reducing the axial space occupation. A second bearing 218 is provided radially between the first hollow shaft segment 333 and the first-stage planetary carrier 212, providing support for the first-stage planetary carrier 212 and enabling the rotor carrier 33 to be rotatably connected to the first-stage planetary carrier 212.

[0058] See also Figure 1 and Figure 7 In some embodiments of the electrically driven integrated joint of this application, a third stepped surface 3331 is constructed on the first hollow shaft segment 333 of the rotor frame 33, which can axially position the second bearing 218 toward the outer side of the inner ring of the motor assembly 3. See also Figure 2 , Figure 4 On the circumference of the side plane of the first-stage planetary carrier 212 facing the first cavity 11, a plurality of second end screws 219 are axially fixed, offset from the first end screws 217. The second end screws 219 axially position the outer ring of the second bearing 218 facing the motor assembly 3. See Figure 4 and Figure 6 On the inner wall of the cavity of the first-stage planetary carrier 212, there is a second flange 2122 extending radially toward the central axis x, which is used to axially position the second bearing 218 toward the outer side of the planetary reducer 2.

[0059] See Figure 1 In some embodiments of the electrically driven integrated joint of this application, a rear end cover 4 and a front cover 6 are also included. The rear end cover 4 is located at the outward-facing side end of the first cavity 11, and the front cover 6 is located at the outward-facing side end of the second cavity 13, and are axially connected to the outer side of the joint housing 1, respectively. See also Figure 1 and Figure 8An inner cylinder 41, concentric with the joint housing 1, extends axially from the rear end cover 4 toward the rear cavity 3322. The inner cylinder 41 is placed within the space of the rear cavity 3322 of the rotor frame 33. See also Figure 7 A second hollow shaft section 334 extends along the inner ring of the annular support disk 331 and in the axial direction away from the first-stage reduction unit 21. The second hollow shaft section 334 is located in the rear cavity 3322, forming an accommodating space with the annular support disk 331 and the rear cavity 3322. The inner cylinder 41 can be embedded in this accommodating space, so that the radial projections of the inner cylinder 41 and the second hollow shaft section 334 roughly overlap, reducing the axial space occupation. The third bearing 43 is radially sandwiched between the inner wall of the inner cylinder 41 and the second hollow shaft section 334, so that the rotor frame 33 is rotatably connected to the first-stage planetary carrier 212 and rotatably connected to the inner cylinder 41. The radial projections of the inner cylinder 41, the third bearing 43, the second hollow shaft section 334, and the rear cavity 3322 roughly overlap. In this way, the inner cylinder 41 of the rear end cover 4 provides rotational support for the rotor frame 33 without occupying axial space. At the same time, it allows the two hollow shaft sections opposite to the annular support disk 331 of the rotor frame 33 to be supported by the second bearing 218 and the third bearing 43 respectively, further providing a strong guarantee for the stable rotation of the rotor frame 33 and the transmission output of the motor assembly 3.

[0060] See Figure 1 , Figure 7 and Figure 8 In some embodiments of the electrically driven integrated joint of this application, a fourth stepped surface 3341 is constructed on the second hollow shaft section 334, and a stop ring 411 is provided radially on the inner wall of the inner cylinder 41 in the direction of the central axis x. The inner ring of the third bearing 43 on the side facing the motor assembly 3 axially abuts against the fourth stepped surface 3341, and the outer ring is axially stopped and positioned by a third end screw 44 axially fixed on the inner cylinder 41. The outer ring of the third bearing 43 is axially stopped and positioned by the stop ring 411 away from the outside of the motor assembly 3.

[0061] See Figure 1 In some embodiments of the electrically driven integrated joint of this application, an encoder assembly 5 is also included. The encoder assembly 5 includes a low-speed magnetic ring holder 51 and a high-speed magnetic ring holder 52. The low-speed magnetic ring holder 51 is connected to the output end of the secondary reduction unit 22, and the high-speed magnetic ring holder 52 is connected to the rotor frame 33. See also Figure 8An intermediate cylinder 42 is provided between the rear end cover 4 and the inner cylinder 41. The outer diameter of the intermediate cylinder 42 is larger than that of the inner cylinder 41, forming a stepped connection structure between the intermediate cylinder 42 and the inner cylinder 41. A second concave cavity 421 is formed inside the intermediate cylinder 42, which is embedded in the second space 312. The end of the high-speed magnetic ring seat 52 facing the motor assembly 3 abuts against the second hollow shaft section 334 and is connected to the second hollow shaft section 334 by fasteners, so that the high-speed magnetic ring seat 52 is fixed on the rotor frame 33 and rotates with the rotor frame 33. It also provides axial stop positioning for the inner ring of the third bearing 43 on the side away from the motor assembly 3, so that the axial ends of the outer ring and the inner ring of the third bearing 43, which provides rotational support for the rotor frame 33 and the inner cylinder 41, are both stopped and fixed. In this way, on the one hand, by utilizing the space of the rear cavity 3322 of the rotor frame 33, the third bearing 43 can be a larger angular contact bearing capable of withstanding larger axial loads, thus avoiding damage and ensuring service life under high torque and high speed conditions; on the other hand, the axial positioning and fixing of the inner and outer rings of the third bearing 43 effectively ensures the stable support of the third bearing 43, thereby ensuring the rotational output stability of the rotor frame 33. The other end of the high-speed magnetic ring seat 52 is provided with a concave end facing the motor assembly 3, which is placed in the second concave cavity 421. The low-speed magnetic ring seat 51 has a hollow shaft, one end of which is connected to the output end of the secondary reduction unit 22 and rotates with the output end. It forms a rotational support between itself and the rotor frame 33 through the needle roller bearing 53 set in the inner cavity of the second hollow shaft section 334. The other end of the low-speed magnetic ring seat 51 is located in the concave end of the high-speed magnetic ring seat 52. In this way, while the intermediate cylinder 42 is embedded in the second space 312, the ends of the high-speed magnetic ring seat 52 and the low-speed magnetic ring seat 51 are both set in the radial space of the second cavity 421 formed by the intermediate cylinder 42, so that the high-speed magnetic ring seat 52 and the low-speed magnetic ring seat 51 do not exceed the side end of the rear end cover 4 after installation, making full use of the axial space and avoiding increasing the axial dimension.

[0062] This application also provides a bipedal robot that uses at least one of the above-described electrically driven integrated joints as the driving device for degrees of freedom.

[0063] This application also provides a humanoid robot that uses at least one of the above-described electrically driven integrated joints as a driving device for degrees of freedom.

[0064] This application also provides a robot that uses at least one of the above-described electrically driven integrated joints as a driving device for degrees of freedom.

[0065] In some embodiments of the robot described in this application, the robot employing the aforementioned electrically driven integrated joint includes a mobile robot.

[0066] In some embodiments of the robot described in this application, the robot employing the aforementioned electrically driven integrated joint is a wheeled robot or a wheel-legged robot.

[0067] In some embodiments of the robot described in this application, the robot employing the aforementioned electrically driven integrated joint is a cleaning robot or a transport robot.

[0068] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. An electrically driven integrated joint, characterized in that, include: Joint housing, motor assembly, and planetary gearbox; The joint housing is an integrated structure with a central axis and a general cylindrical shape. The joint housing is provided with a mounting base, which is generally annular and has a through hole concentric with the joint housing. The outer ring of the mounting base is radially connected to the inner wall of the joint housing, so that the joint housing is axially separated by the mounting base, forming a first cavity and a second cavity connected by the through hole. The motor assembly is installed in the first cavity. The planetary reducer includes a primary reduction unit and a secondary reduction unit connected by transmission. The secondary reduction unit is installed in the second cavity. One end of the primary reduction unit is installed on the mounting base, and the other end is placed in the first cavity and extends into the radial space of the motor assembly, so that the primary reduction unit overlaps with the motor assembly at least in most of the radial direction.

2. The electrically driven integrated joint according to claim 1, characterized in that, A first bearing surface and a second bearing surface are respectively constructed on the mounting base. The first-stage reduction unit abuts against the first bearing surface, and the second-stage reduction unit abuts against the second bearing surface.

3. The electrically driven integrated joint according to claim 2, characterized in that, The first bearing surface and the second bearing surface are respectively disposed on both sides of the mounting base along the axial direction. The first-stage reduction unit includes a first-stage internal gear ring, the side end of the first-stage internal gear ring facing the second-stage reduction unit abuts against the first bearing surface and is fixed on the mounting base. The second-stage reduction unit includes a second-stage internal gear ring, the outer circumferential surface of the second-stage internal gear ring abuts against the inner wall of the second cavity, and the side end of the second-stage internal gear ring facing the first-stage reduction unit abuts against the second bearing surface.

4. The electrically driven integrated joint according to claim 3, characterized in that, The motor assembly includes a stator, a rotor, and a rotor frame connected to the rotor. The stator forms a first space relative to the rotor in the axial direction toward the planetary reducer. A mounting boss extends into the first cavity from the side end of the mounting base facing the motor assembly in the axial direction, and the mounting boss is located in the first space. A first recess is formed on the side end of the mounting boss near the motor assembly, facing the axial direction of the secondary reduction unit. A first bearing surface is disposed at the bottom of the first recess. One end of the primary internal gear ring facing the secondary reduction unit is embedded in the first recess, and the side end of the primary internal gear ring facing the secondary internal gear ring abuts against the first bearing surface and is fixedly connected to the mounting base.

5. The electrically driven integrated joint according to claim 3 or 4, characterized in that, The first-stage internal gear ring extends radially outward and has a first flange. The first flange abuts against the first bearing surface on the side facing the second-stage reduction unit. A plurality of screw holes are axially arranged around the circumference of the first flange. The mounting base is provided with a plurality of mounting holes corresponding to the screw holes. Fasteners pass axially through the mounting holes from the second cavity in the direction toward the first cavity and are fastened in the screw holes on the first flange, so that the first-stage internal gear ring is fixed on the mounting base while abutting against the first bearing surface.

6. The electrically driven integrated joint according to claim 1, characterized in that, On the side end of the mounting base near the secondary reduction unit, facing the axial direction of the first cavity, there is a recessed accommodating cavity, which provides partial placement space for the end of the secondary reduction unit facing the primary reduction unit.

7. The electrically driven integrated joint according to claim 4, characterized in that, The first-stage reduction unit also includes a first-stage planetary carrier, which is embedded in the first-stage internal gear ring. The inner wall of the first-stage internal gear ring is axially segmented with a first inner wall surface and a second inner wall surface. The first inner wall surface is close to the second-stage reduction unit and has internal teeth. A first bearing is radially sandwiched between the second inner wall surface and the outer wall of the first-stage planetary carrier, so that the first-stage planetary carrier and the first-stage internal gear ring are rotatably connected.

8. The electrically driven integrated joint according to claim 7, characterized in that, A first stepped surface is formed between the second inner wall surface and the first inner wall surface. A groove for installing the first bearing retaining ring is also formed on the second inner wall surface. A second stepped surface is formed on the radial outer periphery of the first-stage planetary carrier. The outer ring side of the first bearing facing the second-stage reduction unit abuts against the first stepped surface, and the inner ring side abuts against the second stepped surface. The outer ring of the first bearing away from the second-stage reduction unit is stopped and positioned by the first bearing retaining ring, and the inner ring is stopped and positioned by a first end screw axially fixed on the first-stage planetary carrier.

9. The electrically driven integrated joint according to claim 7, characterized in that, The rotor carrier includes an annular support disk perpendicular to the axial center of the stator. The outer ring of the annular support disk has an outer cylindrical body concentric with the joint housing along the axial direction. The outer cylindrical body is radially connected to the rotor. The outer cylindrical body is axially divided by the annular support disk to form a front cavity facing the planetary reducer and a rear cavity away from the planetary reducer. A first hollow shaft segment extends along the inner ring of the annular support disk and towards the axial direction of the planetary reducer. The first hollow shaft segment is located in the front cavity and is embedded in the cavity of the first-stage planetary carrier. The radial projections of the first-stage reduction unit, the first hollow shaft segment, and the front cavity approximately overlap. A second bearing is also provided radially between the first hollow shaft segment and the first-stage planetary carrier to rotatably connect the rotor carrier and the first-stage planetary carrier.

10. The electrically driven integrated joint according to claim 9, characterized in that, The first hollow shaft section has a third stepped surface, which is used to axially position the second bearing toward the outer side of the inner ring of the motor assembly; on the circumference of the side end plane of the first-stage planetary carrier toward the first cavity, a plurality of second end screws are also axially fixed, which are used to axially position the second bearing toward the outer ring of the motor assembly; on the inner wall of the cavity of the first-stage planetary carrier, a second flange extends radially toward the central axis, which is used to axially position the second bearing toward the outer side of the planetary reducer.

11. The electrically driven integrated joint according to claim 10, characterized in that, It also includes a rear end cover, which is located on the outward side of the first cavity. The rear end cover extends axially toward the rear cavity and has an inner cylinder concentric with the joint housing. A second hollow shaft section extends along the inner ring of the annular support disc and in an axial direction away from the first-stage reduction unit. The second hollow shaft section is located in the rear cavity. A third bearing is radially sandwiched between the inner cylinder and the second hollow shaft section, so that the rotor frame is rotatably connected to the first-stage planetary carrier and rotatably connected to the inner cylinder at the same time. The radial projections of the inner cylinder, the third bearing, the second hollow shaft section, and the rear cavity approximately overlap.

12. The electrically driven integrated joint according to claim 11, characterized in that, The second hollow shaft section has a fourth stepped surface. The inner wall of the inner cylinder is provided with a stop ring radially toward the central axis. The inner ring of the third bearing axially abuts against the fourth stepped surface toward the outside of the motor assembly. The outer ring of the third bearing is axially stopped and positioned toward the outside of the motor assembly by a third end screw fixed to the inner cylinder. The outer ring of the third bearing is axially stopped and positioned away from the outside of the motor assembly by the stop ring.

13. The electrically driven integrated joint according to claim 12, characterized in that, It also includes an encoder component, the encoder component comprising: The low-speed magnetic ring seat is connected to the output end of the secondary reduction unit; High-speed magnetic ring seat connected to the rotor frame; The stator forms a second space relative to the rotor in the axial direction away from the planetary reducer. An intermediate cylinder is provided between the rear end cover and the inner cylinder. The outer diameter of the intermediate cylinder is larger than the outer diameter of the inner cylinder, forming a stepped structure with the inner cylinder, so that a second concave cavity is formed in the intermediate cylinder and embedded in the second space. The high-speed magnetic ring seat is placed in the second concave cavity, connected to the rotor frame, and provides axial stop positioning for the inner ring of the third bearing on the side away from the motor assembly.

14. The electrically driven integrated joint according to claim 1, characterized in that, The inner wall of the first cavity is constructed with a stop step for axial positioning of the stator in the motor assembly. The outer periphery of the stator is radially abutted and fixed to the inner wall of the first cavity, thereby positioning the motor assembly within the first cavity.

15. A bipedal robot, characterized in that, include: At least one electrically driven integrated joint as described in any one of claims 1 to 14 is a driving device for a degree of freedom.

16. A humanoid robot, characterized in that, include: At least one electrically driven integrated joint as described in any one of claims 1 to 14 is a driving device for a degree of freedom.

17. A robot, characterized in that, include: At least one electrically driven integrated joint as described in any one of claims 1 to 14 is a driving device for a degree of freedom.

18. The robot according to claim 17, characterized in that, The robot is any one of the following: mobile robot, wheeled robot, wheeled-legged robot, cleaning robot, and transport robot.

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