Integrated small joint module with double motors

Abstract

The utility model discloses an integrated small-sized joint module with double motors, which comprises a shell with a mounting cavity, and the shell comprises a main body part, a flange and a rear shell; the motor comprises a first frameless torque motor and a second frameless torque motor which are respectively positioned in the mounting cavities at the two ends of the main body part; the harmonic speed reducer is arranged at the front end of the shell, and the harmonic speed reducer comprises an input shaft and an output shaft which are coaxial and extend into the mounting cavity; the brake comprises a first permanent magnet brake and a second permanent magnet brake which are arranged in a gap between the first frameless torque motor and the second frameless torque motor; the code disc comprises an input end code disc and an output end code disc which are respectively sleeved on the input shaft and the output shaft and are positioned at the control end of the motor; and the torque sensor is mounted at the flange neck of the output shaft. The device integrates components such as double motors and double permanent magnet brakes, is compact in structure, can monitor torque in real time, and guarantees operation continuity.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot joint module field, concretely relates to a small integrated joint module with double motors. BACKGROUND

[0002] Robots are increasingly widely used in industrial fields and other numerous fields, and the performance requirements for robots are increasingly improved. Traditional robots adopt a form of separated components such as servo motors and harmonic reducers, and have problems such as heavy body, complex wiring, and non-compact structure, which are difficult to meet the needs of lightweight, small size, high precision, and high flexibility development of robots.

[0003] At present, the mainstream servo integrated joint is a joint shell as an appearance part, needs to coordinate the size of the harmonic reducer and the motor, and takes into account the installation position of the output end circumferential screw, and has high integration degree, but the structure of the shell is complex, the processing difficulty is large, the size of the joint is large, the output torque is small, the output torque cannot be monitored in real time, and once the motor fails under special working conditions, the operation is immediately stopped, thereby reducing the work efficiency. SUMMARY

[0004] The utility model provides a small integrated joint module with double motors.

[0005] To solve the above problems, the utility model provides a small integrated joint module with double motors, in order to achieve the above purpose, the utility model adopts the technical scheme that solves its technical problems:

[0006] A small integrated joint module with double motors, comprising: a shell having a mounting cavity, the shell comprising a main body portion, a flange, and a rear shell; a motor comprising a first frameless torque motor and a second frameless torque motor located in the mounting cavity at both ends of the main body portion, respectively; a harmonic reducer disposed at the front end of the shell, the harmonic reducer comprising an input shaft and an output shaft coaxial and both extending into the mounting cavity; a brake comprising a first permanent magnet brake and a second permanent magnet brake disposed in the intermediate gap between the first frameless torque motor and the second frameless torque motor; a code disc comprising an input end code disc and an output end code disc respectively sleeved on the input shaft and the output shaft and located at the motor control end; and a torque sensor installed at the flange neck of the output shaft.

[0007] As a further improvement of the utility model, the output shaft extends into the input shaft; the flange of the output shaft is provided with a first positioning hole, the harmonic reducer is provided with a second positioning hole in correspondence, and the first positioning hole and the second positioning hole are connected in cooperation.

[0008] As a further improvement of the utility model, the torque sensor is installed at the flange neck of the output shaft through the annular buckle, and the torque is reflected by measuring the change of the strain gauge electric signal.

[0009] As further improvement of the utility model, the side wall of the main body part is provided with a groove extending along the axial direction, and a third positioning hole is formed, and the harmonic reducer is provided with a fourth positioning hole in correspondence, and the third positioning hole is connected with the fourth positioning hole in a matched mode.

[0010] As further improvement of the utility model, the annular fixing part is provided with a first mounting hole, and the rear end of the stator of the first and second permanent magnet brakes is respectively provided with a second mounting hole and a third mounting hole, and the second and third mounting holes correspond to the first mounting hole, and the first and second permanent magnet brakes are installed in a mirror image mode on the annular fixing part.

[0011] As further improvement of the utility model, the motor stator of the first and second frameless torque motors is fixed to the inner wall of the mounting cavity, and the motor rotor is sleeved on the input shaft and corresponds to the motor stator; the brake stator of the first and second permanent magnet brakes is fixed to the mounting cavity, and the brake rotor is fixed to the end face of the corresponding motor rotor.

[0012] As further improvement of the utility model, the input end code disc and the output end code disc are matched with the input shaft and the output shaft through screwing, and are fixed to the main body part through bolts.

[0013] As further improvement of the utility model, the side of the main body part is provided with a retaining ring, the retaining ring is connected to the main body part through bolts, and is provided with a hole corresponding to the wiring hole of the main body part.

[0014] As further improvement of the utility model, the control board and the power board are sleeved on the output shaft and placed in the mounting cavity, and the control board and the power board are positioned through screwing connection of the positioning column.

[0015] As further improvement of the utility model, the power board is provided with an interface, the control board and the power board are electrically connected in a bidirectional mode through the interface, and the rear shell is provided with a through hole corresponding to the position of the interface.

[0016] The beneficial effects of the integrated small joint module with double motors of the application are as follows:

[0017] Firstly, the shell has a mounting cavity and includes a main body part, a flange and a rear shell, which provides a space for integrated installation of the first and second frameless torque motors, the harmonic reducer, the brake, the code disc and the torque sensor, and is conducive to realizing compactness and miniaturization of the joint module structure.

[0018] Secondly, the first frameless torque motor and the second frameless torque motor are located in the mounting cavities at both ends of the main body. The dual-motor configuration can improve the output torque of the joint module, and in special working conditions, if one motor fails, the other motor can still continue to work, avoiding work stoppage due to motor failure and ensuring the continuity of work.

[0019] Furthermore, the harmonic reducer is located at the front end of the housing, with its input and output shafts coaxial and both extending into the mounting cavity. This coaxial design makes power transmission more stable, helps improve transmission efficiency, and facilitates integration with the housing and internal motor components. The first and second permanent magnet brakes are positioned in the gap between the first and second frameless torque motors, making efficient use of the space between the motors and resulting in a more compact overall structure. Each motor is equipped with an individual permanent magnet brake, allowing for more precise braking control of the motors.

[0020] Finally, the input and output encoders are respectively mounted on the input and output shafts and located at the motor control end. They can detect parameters such as the position and speed of the input and output shafts, providing real-time feedback information for motor control. This helps improve the motion control accuracy of the joint module. The torque sensor is installed at the flange neck of the output shaft. It can reflect the output torque in real time by measuring the change of the strain gauge electrical signal, realizing the monitoring of the output torque, avoiding overload, and ensuring the safe operation of the joint module. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a perspective view of one embodiment of the present invention.

[0023] Figure 2 This is an exploded view of one embodiment of this utility model.

[0024] Figure 3 This is a longitudinal sectional view of one embodiment of the present invention.

[0025] Figure 4 This is a perspective view of a torque sensor according to one embodiment of the present invention.

[0026] Figure 5 This is a perspective view of a harmonic reducer according to one embodiment of the present invention.

[0027] Figure 6 is a perspective view of the main body part of an embodiment of the utility model.

[0028] Figure 7 is a perspective view of the blocking ring of an embodiment of the utility model.

[0029] 1 - housing. 101 - mounting cavity. 102 - groove. 103 - third positioning hole. 104, 105 - wiring hole. 2 - torque sensor. 3 - harmonic reducer. 301 - input shaft. 302 - output shaft. 303 - first positioning hole. 304 - second positioning hole. 305 - fourth positioning hole. 4 - first frameless torque motor. 401 - first frameless torque motor stator. 402 - first frameless torque motor rotor. 5 - second frameless torque motor. 501 - second frameless torque motor stator. 502 - second frameless torque motor rotor. 6 - first permanent magnet brake. 601 - first permanent magnet brake stator. 602 - first permanent magnet brake rotor. 603 - second mounting hole. 7 - second permanent magnet brake. 701 - second permanent magnet brake stator. 702 - second permanent magnet brake rotor. 703 - third mounting hole. 8 - input end encoder. 9 - output end encoder. 10 - control board. 11 - power board. 12 - main body part. 13 - rear shell. 14 - blocking ring. 15 - first bearing. 16 - annular fixing part. 1601 - first mounting hole. 17 - interface. 18 - through hole. 19 - positioning column. DETAILED DESCRIPTION

[0030] The content of the utility model will be further explained in detail in combination with specific embodiments as follows:

[0031] In order to achieve the purpose of the utility model, refer to Figures 1 to 3 A small integrated joint module with double motors, comprising: a housing 1 having a mounting cavity 101, the housing 1 comprising a main body part 12, a flange and a rear shell 13. Motors, comprising a first frameless torque motor 4 and a second frameless torque motor 5 located in the mounting cavity 101 at both ends of the main body part 12 respectively. Harmonic reducer 3, arranged at the front end of the housing 1, the harmonic reducer 3 comprising an input shaft 301 and an output shaft 302 coaxial and both extending into the mounting cavity 101. Brake, comprising a first permanent magnet brake 6 and a second permanent magnet brake 7 arranged in the intermediate gap between the first frameless torque motor 4 and the second frameless torque motor 5. Encoder, comprising an input end encoder 8 and an output end encoder 9 respectively sleeved on the input shaft 301 and the output shaft 302 and located at the motor control end. Torque sensor 2, installed at the flange neck of the output shaft 302.

[0032] As Figures 1 to 4As shown, it shows the specific structure of one preferred embodiment of the application, which includes a housing 1, a torque sensor 2, a harmonic reducer 3, a first frameless torque motor 4, a second frameless torque motor 5, a first permanent magnet brake 6, a second permanent magnet brake 7, an input end encoder 8, an output end encoder 9, a control board 10 and a power board 11.

[0033] The housing 1 has a mounting cavity 101, and the housing 10 includes a main body part 12, a rear shell 13 and a blocking ring 14 connecting the main body part 12 and the rear shell 13. In the embodiment, a plurality of grooves 102 extending along the axial direction of the main body part 12 are arranged at intervals on the side wall of the main body part 12, which are used to increase the heat dissipation area of the main body part 12. A plurality of third positioning holes 103 corresponding to the fourth positioning holes 305 of the harmonic reducer 3 are formed on the main body part 12. An annular fixing part 16 on the main body part 12 is provided with a first mounting hole 1601 corresponding to the second mounting hole 603 and the third mounting hole 703 formed on the rear end of the first permanent magnet brake stator 601 and the second permanent magnet brake stator 701. A first bearing 15 is arranged on the rear shell 13. The rear shell 13 is provided with a through hole 18 communicating with the mounting cavity 101. The side wall of the main body part 12 has a wire hole 104. The blocking ring has a wire hole 105 corresponding to the wire hole 104 of the side wall of the main body part 12.

[0034] The beneficial effects of the above technical scheme are that the mounting cavity 101 of the housing 1 integrates the installation of the first frameless torque motor 4, the second frameless torque motor 5, the harmonic reducer 3, the brake, the encoder and the torque sensor 2, forming a compact integrated structure. The double-motor layout improves the output torque, and when a single motor fails, the other motor can work independently, ensuring the continuity of operation. The brake is arranged in the gap between the double motors, which reasonably utilizes the space. The input end encoder 8 and the output end encoder 9 monitor the states of the input shaft 301 and the output shaft 302 respectively, providing feedback for control. The torque sensor 2 monitors the torque of the output shaft 302 in real time, avoiding overload.

[0035] In some other embodiments of the utility model, the output shaft 302 extends into the input shaft 301. The flange of the output shaft 302 is provided with a first positioning hole 303, and the harmonic reducer 3 is correspondingly provided with a second positioning hole 304, and the first positioning hole 303 is connected with the second positioning hole 304 in a matched mode.

[0036] The harmonic reducer 3 is arranged at the front end of the shell 1, and the harmonic reducer 3 is provided with an input shaft 301 and an output shaft 302 arranged coaxially, both of which extend into the mounting cavity 101, and the output shaft 302 extends out of the outer end of the input shaft 301. In this embodiment, a plurality of fourth positioning holes 305 are arranged on the harmonic reducer 3 and matched with the third positioning holes 103 on the main body 12, so as to ensure the coaxiality of the harmonic reducer 3 and the shell 1. The outer end of the output shaft 302 extends into the second bearing 15 and is matched with the first bearing 15, so as to ensure the coaxiality of the output shaft 302.

[0037] The beneficial effect of the above technical scheme is that the output shaft 302 extends into the input shaft 301 and is connected through the first positioning hole 303 and the second positioning hole 304, so as to ensure the coaxiality of the output shaft 302 and the input shaft 301, improve the transmission precision of the harmonic reducer 3, and facilitate installation and positioning.

[0038] In some other embodiments of the present application, the torque sensor 2 is installed on the flange neck of the output shaft 302 through a ring buckle, and the torque is reflected by measuring the change of the strain gauge electric signal.

[0039] The torque sensor 2 is installed on the flange neck of the output shaft 302 of the harmonic reducer 3 through a ring buckle (as shown in the figure), and the torque is reflected by measuring the change of the strain gauge electric signal, which is convenient to install and facilitates maintenance and replacement. Figure 4 The flange is integrally machined with the output shaft 302, which is convenient to install. The flange on the output shaft 302 has a first positioning hole 303 corresponding to the second positioning hole 304 on the harmonic reducer 3, so as to ensure the coaxiality of the output shaft 302 and the input shaft 301.

[0040] The beneficial effect of the above technical scheme is that the torque sensor 2 is installed on the flange neck of the output shaft 302 through a ring buckle, which is convenient to install and easy to maintain and replace. The output torque is reflected in real time by measuring the change of the strain gauge electric signal, so as to realize dynamic monitoring of the output torque of the joint module.

[0041] In some other embodiments of the present application, the side wall of the main body 12 is provided with a groove extending in the axial direction, and a third positioning hole 103 is arranged, and the harmonic reducer 3 is correspondingly provided with a fourth positioning hole 305, and the third positioning hole 103 is connected with the fourth positioning hole 305.

[0042] The beneficial effect of the above technical scheme is that the groove 102 on the side wall of the main body 12 increases the heat dissipation area and improves the heat dissipation performance of the shell 1. The third positioning hole 103 is connected with the fourth positioning hole 305 of the harmonic reducer 3, so as to ensure the coaxiality of the harmonic reducer 3 and the shell 1 and ensure the installation precision of the transmission components.

[0043] In some other embodiments of the utility model, the annular fixing part 16 is arranged in the main body part 12 installation cavity 101, a first installation hole 1601 is arranged on the annular fixing part 16, the stator rear end of the first permanent magnet brake 6 and the second permanent magnet brake 7 is respectively provided with a second installation hole 603 and a third installation hole 703, the second installation hole 603 and the third installation hole 703 correspond to the first installation hole 1601, and the first permanent magnet brake 6 and the second permanent magnet brake 7 are mirror installed on both sides of the annular fixing part 16.

[0044] The beneficial effects of the above technical scheme are that the annular fixing part 16 in the main body part 12 installation cavity corresponds to the second installation hole 603 and the third installation hole 703 of the first permanent magnet brake 6 and the second permanent magnet brake 7 through the first installation hole 1601, mirror installation of the brake is realized, the gap space of the motor is utilized, and the structure is compact and symmetrical and stable.

[0045] In some other embodiments of the utility model, the motor stator of the first frameless torque motor 4 and the second frameless torque motor 5 is fixed to the inner wall of the installation cavity 101, and the motor rotor is sleeved on the input shaft 301 and corresponds to the motor stator. The brake stator of the first permanent magnet brake 6 and the second permanent magnet brake 7 is fixed to the installation cavity 101, and the brake rotor is fixedly attached to the corresponding motor rotor end face.

[0046] The first frameless torque motor 4 and the second frameless torque motor 5 are arranged in the installation cavity 101, and the first frameless torque motor 4 and the second frameless torque motor 5 respectively include a first frameless torque motor stator 401, a first frameless torque motor rotor 402, a second frameless torque motor stator 501 and a second frameless torque motor rotor 502. The first frameless torque motor stator 401 and the second frameless torque motor stator 501 are fixed to the inner wall of the installation cavity 101, the first frameless torque motor rotor 402 and the second frameless torque motor rotor 502 are arranged on the input shaft 301 and correspond to the positions of the corresponding motor stators, only the harmonic reducer 3 needs to be installed on the shell 1 during installation, the overall structure is more integrated, the installation process is also simpler, and disassembly, maintenance and repair are also more convenient.

[0047] The first permanent magnet brake 6 and the second permanent magnet brake 7 respectively comprise a first permanent magnet brake stator 601, a first permanent magnet brake rotor 602, a second permanent magnet brake stator 701 and a second permanent magnet brake rotor 702, the first permanent magnet brake stator 601 and the second permanent magnet brake stator 701 are fixed on the inner wall of the mounting cavity 101, the first permanent magnet brake rotor 602 and the second permanent magnet brake rotor 702 are sleeved on the input shaft 301, the brake rotor and the corresponding brake stator are in position correspondence, and the first permanent magnet brake rotor 602 and the second permanent magnet brake rotor 702 directly act on the end faces of the first frameless torque motor rotor 402 and the second frameless torque motor rotor 502. The rear end of the first permanent magnet brake stator 601 and the second permanent magnet brake stator 701 is provided with a second mounting hole 603 and a third mounting hole 703 corresponding to a first mounting hole 1601 on the annular fixing portion 16. The first permanent magnet brake 6 and the second permanent magnet brake 7 are mirror installed on the annular fixing portion 16 in the mounting cavity of the main body portion.

[0048] The beneficial effects of the above technical scheme are that the stators of the first frameless torque motor 4 and the second frameless torque motor 5 are fixed on the inner wall of the mounting cavity 101, and the rotors are sleeved on the input shaft 301, thereby simplifying the assembly relationship between the motor and the input shaft 301. The brake rotor is attached to the end face of the motor rotor, direct transmission of the braking function is realized, and the braking response efficiency is improved.

[0049] In some other embodiments of the present application, the input end code disc 8 and the output end code disc 9 are matched with the input shaft 301 and the output shaft 302 through screwing, and are fixed with the main body portion 12 through bolts.

[0050] The input end code disc 8 is arranged in the mounting cavity 101 and is sleeved on the input shaft 301. In this embodiment, the input end code disc 8 is matched with the input shaft 301 through screwing and is fixed with the input shaft 301 through a jackscrew.

[0051] The output end code disc 9 is arranged in the mounting cavity 101 and is sleeved on the output shaft 302. In this embodiment, the output end code disc 9 is matched with the output shaft 302 through screwing and is fixed with the output shaft 302 through a jackscrew. When the input end code disc 8 and the output end code disc 9 are installed, they can be pre-installed through screwing first, so that they are located on the same horizontal plane, and then are fixed with the input shaft 301 and the output shaft 302 through jackscrews respectively, so that they are located on the same horizontal plane.

[0052] The beneficial effects of the above technical scheme are that the input end code disc 8 and the output end code disc 9 are matched with the input shaft 301 and the output shaft 302 through screwing, and are fixed with the main body portion 12 through bolts, thereby ensuring the coaxiality and installation stability of the code disc and the shaft, and providing accurate feedback signals for position and speed control.

[0053] In some other embodiments of the utility model, the main body part 12 side is equipped with the baffle ring 14, the baffle ring 14 is connected with the main body part 12 through bolt, and is equipped with the hole corresponding with the main body part 12 wiring hole 104, 105.

[0054] The beneficial effects of the above technical scheme are that the baffle ring 14 on the side of the main body part 12 is connected through bolt, and is equipped with the hole corresponding with the main body part 12 wiring hole 104, realizing the protection and regularity of internal circuit, facilitating cable arrangement, and improving the integrity of joint module structure.

[0055] In some other embodiments of the utility model, it further includes control panel 10 and power panel 11 which are sleeved on the output shaft 302 and placed in the mounting cavity 101, and the control panel 10 and the power panel 11 are positioned by screwing connection through the positioning column 19.

[0056] The beneficial effects of the above technical scheme are that the control panel 10 and the power panel 11 are sleeved on the output shaft 302 and positioned by screwing connection through the positioning column 19, realizing the integrated layout of electric control components, shortening the signal transmission path, improving the control response speed, and facilitating disassembly, maintenance.

[0057] In some other embodiments of the utility model, the power panel 11 is equipped with the interface 17, the control panel 10 and the power panel 11 are bidirectionally electrically connected through the interface 17, and the rear shell 13 is equipped with the through hole 18 corresponding with the position of the interface 17.

[0058] The control panel 10 is arranged in the mounting cavity 101 and is sleeved on the output shaft 302. The power panel 11 is arranged in the mounting cavity 101 and is sleeved on the output shaft 302. In the embodiment, the control panel 10 and the power panel 11 have the positioning column 19, the positioning column 19 positions and connects the control panel 10 and the power panel 11 through screwing, the power panel 11 is provided with an interface 17, and the control panel 10 and the power panel 11 are bidirectionally electrically connected with the interface 17. The interface 17 corresponds with the position of the through hole 18, so that the interfaces of the control panel 10 and the power panel 11 are concentrated together, and the overall structure is further simplified.

[0059] The beneficial effects of the above technical scheme are that the interface 17 of the power panel 11 corresponds with the through hole 18 of the rear shell 13, realizing the centralized electric connection of the control panel 10, the power panel 11 and the outside, simplifying the wiring structure, and improving the external connection convenience and reliability of the joint module.

[0060] The utility model discloses a beneficial effect of integrated small joint module with double motors lies in:

[0061] The torque sensor 2 is arranged at the torque output flange neck through a ring-shaped buckle type, torque is reflected by detecting the electric signal of the strain gauge, real-time monitoring of the torque output of the joint module is realized, and overload is avoided.

[0062] The harmonic reducer 3 is arranged at the front end of the shell 1, the input shaft 301 and the output shaft 302 are coaxially arranged on the harmonic reducer 3, the input shaft 301 and the output shaft 302 both extend into the mounting cavity 101, the overall structure is simpler, the integrity is better, the assembly process is more convenient, and the disassembly, assembly, maintenance are more convenient.

[0063] The double encoders are adopted and integrated on the input shaft 301 and the output shaft 302, compared with the traditional low-speed shaft and low-speed shaft encoder, the miniaturization and light weight of the joint are facilitated.

[0064] The double frameless torque motors are adopted, the integrated module has high output torque, in special working conditions, when a single frameless torque motor fails, another motor can still work, the problem that work stops due to the failure to replace the motor in time is avoided, and each frameless torque motor is provided with a separate permanent magnet brake, and better torque output state can be obtained through the control board.

[0065] The above examples are only for illustrating the technical concept and characteristics of the utility model, the purpose is to enable people skilled in the art to understand the content of the utility model and implement it, and the protection scope of the utility model cannot be limited, equivalent changes or modifications made according to the spirit and essence of the utility model should be covered in the protection scope of the utility model.

Claims

1. An integrated small joint module with dual motors, characterized by, The utility model relates to a torque sensor, and particularly relates to a torque sensor for harmonic reducer. The utility model discloses a torque sensor for harmonic reducer, including: the shell has the installation cavity, and the shell includes the main part, the flange and the rear shell; The motor includes the first frameless torque motor and the second frameless torque motor respectively located in the installation cavity at both ends of the main part; The harmonic reducer is arranged at the front end of the shell, and the harmonic reducer includes the input shaft and the output shaft coaxial and all extending into the installation cavity; The brake includes the first permanent magnet brake and the second permanent magnet brake arranged in the intermediate gap of the first frameless torque motor and the second frameless torque motor; The code disc includes the input end code disc and the output end code disc respectively sleeved on the input shaft and the output shaft and located at the motor control end; The torque sensor is installed at the flange neck of the output shaft.

2. The integrated mini-joint module with dual motors according to claim 1, wherein: The output shaft extends into the input shaft; The flange of the output shaft is provided with a first positioning hole, and the harmonic reducer is correspondingly provided with a second positioning hole, and the first positioning hole is connected with the second positioning hole in a matched mode.

3. The integrated mini-joint module with dual motors of claim 1, wherein: The torque sensor is installed at the flange neck of the output shaft through a ring-shaped buckle, and the torque is reflected through the change of the strain gauge electric signal.

4. The integrated mini-joint module with dual motors of claim 1, wherein: The side wall of the main part is provided with a groove extending along the axial direction, and is provided with a third positioning hole, and the harmonic reducer is correspondingly provided with a fourth positioning hole, and the third positioning hole is connected with the fourth positioning hole in a matched mode.

5. The integrated mini-joint module with dual motors of claim 1, wherein: The annular fixing part is provided in the installation cavity of the main part, and the first mounting hole is formed in the annular fixing part, and the second mounting hole and the third mounting hole are respectively formed in the rear end of the stator of the first permanent magnet brake and the second permanent magnet brake, and the second mounting hole, the third mounting hole and the first mounting hole are corresponded, and the first permanent magnet brake and the second permanent magnet brake are mirror installed on the annular fixing part.

6. The integrated mini-joint module with dual motors of claim 1, wherein: The motor stator of the first frameless torque motor and the second frameless torque motor is fixed to the inner wall of the installation cavity, and the motor rotor is sleeved on the input shaft and corresponds to the motor stator; The brake stator of the first permanent magnet brake and the second permanent magnet brake is fixed to the installation cavity, and the brake rotor is fixed to the end face of the corresponding motor rotor.

7. The integrated mini-joint module with dual motors of claim 1, wherein: The input end code disc and the output end code disc are matched with the input shaft and the output shaft through screwing, and are fixed to the main part through bolts.

8. The integrated mini-joint module with dual motors of claim 4, wherein: One side of the main part is provided with a retaining ring, the retaining ring is connected with the main part through bolts, and is provided with a hole corresponding to the wiring hole of the main part.

9. The integrated mini-joint module with dual motors of claim 1, wherein: The utility model also includes the control board and the power board sleeved on the output shaft and placed in the installation cavity, and the control board and the power board are positioned through screwing connection through the positioning column.

10. The integrated mini-joint module with dual motors of claim 9, wherein: The power board is provided with an interface, the control board and the power board are bidirectionally electrically connected through the interface, and the rear shell is provided with a through hole corresponding to the position of the interface.

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