Harmonic speed reduction joint motor module of integrated torque sensor

Abstract

The utility model relates to a harmonic speed reduction joint motor module integrated with a torque sensor, comprising a motor assembly, a controller assembly and a harmonic speed reducer, the controller assembly comprises a controller buckle cover and a circuit board A, the controller buckle cover is fixed with one end of a housing, an installation cavity is formed between the controller buckle cover and the housing, the circuit board A is fixed in the installation cavity, and the circuit board A is fixed in the housing. A wiring terminal is arranged on the circuit board A, a wire passing hole is formed in the controller buckle cover, a power supply and signal wire harness is connected with the wiring terminal through the wire passing hole, and a wiring cover is further fixed on the wire passing hole; the harmonic reducer comprises a wave generator, a flexible gear, a steel wheel, a bearing inner ring and a bearing outer ring, an output disc is further fixed to the bearing outer ring, and a torque sensor is further fixed to the output disc; the high-precision robot joint meets the strict requirements of compactness, reliability and dynamic response performance of the high-precision robot joint, and meanwhile line connection operation of the high-precision robot joint is more convenient.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint module technology, and in particular relates to a harmonic deceleration joint motor module with integrated torque sensor. Background Technology

[0002] With the rapid development of industrial automation, robotics, and precision transmission, the performance requirements for joint drive modules are increasing, especially in terms of high-precision torque control, compact structure, integrated design, and reliability. Harmonic reducers, due to their advantages such as high reduction ratio, lightweight design, and high transmission accuracy, are widely used in robot joints, precision instruments, and automated equipment. However, existing joint drive modules integrating harmonic reducers still face the following technical bottlenecks:

[0003] In existing technologies, torque detection for harmonic reducer joint motors typically employs external sensors or indirect measurement methods. For example, some solutions mount the torque sensor at the motor shaft input end, indirectly calculating the load torque at the reducer output end by detecting the motor's output torque. However, due to the transmission characteristics of harmonic reducers (such as elastic deformation and frictional losses), there is a non-linear relationship between the input and output torques, resulting in limited measurement accuracy, especially under dynamic loads or high reduction ratios. Furthermore, external or separate sensor mounting increases system size, contradicting the miniaturization and lightweight requirements of robot joints.

[0004] In existing modules, components such as motors, reducers, and controllers are mostly arranged in a separate layout, resulting in excessive axial length and low space utilization, making it difficult to meet the compact installation requirements of robot joints. Power and signal harnesses are usually directly connected to the controller through openings in the housing, lacking sealing protection. In vibration or harsh environments, cable wear and poor contact are prone to occur, affecting system reliability. Moreover, when connecting the wiring, it is often necessary to remove the housing, which is time-consuming and laborious, and affects the stability of internal components. Utility Model Content

[0005] To address the aforementioned technical problems, the present invention aims to provide a harmonic reduction joint motor module with an integrated torque sensor. This module features a compact structure, high precision, convenient wiring, and good stability.

[0006] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0007] A harmonic reduction joint motor module with integrated torque sensor includes a motor assembly and controller assemblies and harmonic reducers respectively disposed at both ends of the motor assembly. The motor assembly includes a housing, a stator assembly, and a rotor assembly. The stator assembly is fixed to the inner wall of the housing, and the rotor assembly is disposed within the stator assembly and rotatably connected to the housing at both ends. The rotor assembly includes a rotating shaft and a rotor core. The controller assembly includes a controller cover and a circuit board A. The controller cover is fixed to one end of the housing, forming a mounting cavity between the controller cover and the housing. The circuit board A is fixed within the mounting cavity and has terminals. The controller cover has a wire-passing hole corresponding to the wiring terminal. The power and signal harnesses are connected to the wiring terminal through the wire-passing hole. A wiring cover is also fixed on the wire-passing hole. The harmonic reducer includes a wave generator, a flexible wheel, a steel wheel, an inner bearing ring, and an outer bearing ring. The steel wheel is fixed to the other end of the housing. The inner bearing ring is fixed to the steel wheel. An output disk is also fixed on the outer bearing ring. The wave generator is fixed on the rotating shaft. One end of the flexible wheel is fixed to the output disk, and the other end is located between the wave generator and the steel wheel. The wave generator drives the flexible wheel and the steel wheel to perform staggered gear transmission. A torque sensor is also fixed on the output disk.

[0008] As a preferred embodiment, the controller cover extends inward from the middle to form an inner protective tube, and the inner protective tube is connected to the controller cover. A T-shaped wire harness tube is also fixed on the output panel. The T-shaped wire harness tube passes through the harmonic reducer and the rotating shaft and extends to the inner protective tube. The sensor wire of the torque sensor passes through the T-shaped wire harness tube, the inner protective tube and the wire hole and is connected to the terminal block.

[0009] As a preferred embodiment, the T-shaped wire harness tube includes a connecting disc and a hollow intermediate shaft. The connecting disc is fixed to one end of the intermediate shaft and is in through communication with the intermediate shaft. The connecting disc is fixed to the output disc.

[0010] As a preferred embodiment, one end of the intermediate shaft extending into the mounting cavity is further fixed with an inner magnetic ring via an inner magnetic ring seat; one end of the rotating shaft extending into the mounting cavity is further fixed with an outer magnetic ring via an outer magnetic ring seat; the inner magnetic ring and the outer magnetic ring are in the same plane along the axial direction and are concentrically arranged.

[0011] As a preferred embodiment, the inner magnetic ring seat is further provided with a ring groove, and the inner protective tube is provided with a ring ridge. The ridge is inserted into the ring groove, and the ridge and the groove are fitted with a clearance.

[0012] As a preferred embodiment, a circuit board B is also fixed inside the mounting cavity, and a sensing chip is provided at the position corresponding to the inner magnetic ring and the outer magnetic ring of the circuit board B.

[0013] As a preferred embodiment, a convex ring is provided on one side of the output disk, the torque sensor is fixed inside the convex ring, and the flexible wheel is fixed to the torque sensor.

[0014] As a preferred embodiment, the end face of the convex ring is also provided with a groove, the edge of the connecting plate is folded to form a retaining edge, the retaining edge is inserted and fixed in the groove, and the connecting plate is also provided with a wire sheath.

[0015] As a preferred embodiment, the rotor core includes a rotor hub and an annular magnet. The rotor hub is sleeved and fixed on the rotating shaft, and the annular magnet is sleeved and fixed on the outside of the rotor hub. The rotor hub is provided with multiple weight-reducing holes.

[0016] As a preferred embodiment, one end of the housing is fixed with an end cap, the end cap and the controller cover form an installation cavity, and the other end of the housing is integrally formed with a cover plate.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] This invention optimizes the coaxial layout of the harmonic reducer and motor assembly, and directly integrates the torque sensor into the output disk to achieve accurate and direct measurement of load torque. It also employs an integrated sealed design between the controller cover and the housing to enhance anti-interference capabilities and reliability. Furthermore, the controller cover features a separate wiring cover for convenient wiring connections without affecting the internal components, thus contributing to improved overall stability. This invention meets the stringent requirements of high-precision robot joints for compactness, reliability, and dynamic response performance. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0020] Figure 1 and Figure 2 These are schematic diagrams of the overall structure of this utility model from two different angles;

[0021] Figure 3 This is a cross-sectional structural diagram of the present invention;

[0022] Figure 4 and Figure 5 This is an exploded structural diagram of the motor and controller assembly at two different angles of this utility model;

[0023] Figure 6 and Figure 7 These are exploded structural diagrams of the motor and harmonic reducer at two different angles according to this utility model;

[0024] Figure 8 This is a schematic diagram of the rotor assembly of this utility model.

[0025] The attached figures are labeled as follows: 1. Housing; 2. Stator assembly; 3. Shaft; 31. Outer magnetic ring seat; 4. Rotor hub; 41. Annular magnet; 42. Weight reduction hole; 5. End cover; 6. Controller cover; 61. Wiring hole; 62. Wiring cover; 63. Inner protective tube; 71. Circuit board A; 711. Terminal block; 72. Circuit board B; 73. Inner magnetic ring; 74. Outer magnetic ring; 8. Power and signal harness; 91. Connecting plate; 92. Intermediate tube; 93. Inner magnetic ring seat; 94. Wire sheath; 10. Wave generator; 101. Elliptical hub; 102. Flexible bearing; 11. Flexible wheel; 12. Steel wheel; 13. Bearing outer ring; 15. Output plate; 151. Convex ring; 16. Torque sensor; 17. Sensor wire. Detailed Implementation

[0026] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0029] 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 one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0030] In this utility model, unless otherwise explicitly 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 connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0033] like Figures 1 to 3 As shown, a harmonic reduction joint motor module with integrated torque sensor includes a motor assembly and controller assemblies and harmonic reducers respectively disposed at both ends of the motor assembly. The motor assembly includes a housing 1, a stator assembly 2, and a rotor assembly. The stator assembly 2 is fixed to the inner wall of the housing 1. The rotor assembly is disposed inside the stator assembly and rotatably connected to the housing 1 at both ends. The rotor assembly includes a rotating shaft 3 and a rotor core. The rotor core includes a rotor hub 4 and an annular magnet 41. The rotor hub 4 is sleeved and fixed on the rotating shaft 3, and the annular magnet 41 is sleeved and fixed on the outer side of the rotor hub 4. The rotor hub 4 is provided with multiple weight reduction holes 42 (e.g., ...). Figure 8 (As shown). The above structure reduces the mass of the rotor assembly, reduces the moment of inertia, improves the motor's start-stop response speed, and the weight-reducing holes form airflow channels, promoting airflow inside the rotor and accelerating the dissipation of heat from the annular magnet 41, thus preventing high-temperature demagnetization.

[0034] like Figure 4 and Figure 5As shown, the controller assembly includes a controller cover 6 and a circuit board A71. The controller cover 6 is fixed to one end of the housing 1. An end cover 5 is fixed to one end of the housing 1. The end cover 5 and the controller cover 6 form a mounting cavity for easy maintenance of the circuit board assembly. The other end of the housing 1 has an integrally formed cover plate to reduce assembly seams and improve overall rigidity and protection level. The circuit board A71 is fixed in the mounting cavity and has a wiring terminal 711. A wire-passing hole 61 is also provided on the controller cover 6 at a position corresponding to the wiring terminal 711. The power and signal harness 8 is connected to the wiring terminal 711 through the wire-passing hole 61. A wiring cover 62 is also fixed on the wire-passing hole 61.

[0035] The power and signal harnesses are connected to the terminals through the wire holes and sealed and fixed by the terminal cover to prevent the cables from loosening due to vibration or being corroded by the environment, thus enhancing long-term stability. When connecting the lines, only the terminal cover needs to be opened, without having to open the controller cover, making the operation more convenient and having less impact on the components on the A71 circuit board.

[0036] like Figure 6 and Figure 7 As shown, the harmonic reducer includes a wave generator 10, a flexible wheel 11, a steel wheel 12, an inner bearing ring 14, and an outer bearing ring 13. The steel wheel 12 is fixed to the other end of the housing 1. The inner bearing ring 14 is fixed to the steel wheel 12. An output disk 15 is also fixed on the outer bearing ring 13. The wave generator 10 includes an elliptical hub 101 and a flexible bearing 102. The elliptical hub 101 is fixed on the rotating shaft 3. One end of the flexible wheel 11 is fixed to the output disk 15, and the other end is located outside the elliptical hub 101. The flexible bearing 102 is located between the elliptical hub 101 and the flexible wheel 11. The steel wheel 12 is located outside the flexible wheel. The wave generator 10 drives the flexible wheel 11 and the steel wheel 12 in a staggered gear transmission. A torque sensor 16 is also fixed on the output disk 15.

[0037] The torque sensor 16 is fixed to the output disk 15 to directly detect the load torque at the output end of the flexible wheel 11, eliminating transmission errors in traditional indirect measurements (such as calculations based on motor input torque) and improving measurement accuracy under dynamic loads. The motor assembly, controller assembly, and harmonic reducer are integrated into the same housing, reducing external wiring, minimizing size, and meeting the compact design requirements of robot joints.

[0038] A convex ring 151 is also provided on one side of the output disk 15. The torque sensor 16 is fixed inside the convex ring 151, and the flexible wheel 11 is fixed to the torque sensor 16. The convex ring provides a positioning reference for the torque sensor, ensuring the coaxiality of the sensor and the flexible wheel, and reducing the impact of installation errors on measurement accuracy. At the same time, the convex ring design increases the local thickness of the output disk, resisting the radial stress transmitted by the deformation of the flexible wheel, and preventing the sensor from being damaged due to mechanical deformation.

[0039] The controller cover 6 extends inward from the middle to form an inner protective tube 63, and the inner protective tube 63 is in communication with the controller cover 6. A T-shaped wire harness tube is also fixed on the output disk 15. The T-shaped wire harness tube passes through the harmonic reducer and the rotating shaft 3 and extends to the inner protective tube 63. The sensor wire 17 of the torque sensor 16 passes through the T-shaped wire harness tube, the inner protective tube 63 and the wire hole 61 and is connected to the terminal 711.

[0040] The above structure, through the T-shaped wire harness tube and the inner protective tube 63, shields the torque sensor wire 17 entirely within the metal conduit, preventing coupling with the motor magnetic field or external electromagnetic noise and ensuring signal transmission quality. Simultaneously, the inner protective tube 63 and the T-shaped wire harness tube form a continuous protective channel, preventing the sensor wire from tangling or wearing during high-speed rotation of the shaft, thus extending the wire harness lifespan.

[0041] The T-shaped wire harness tube includes a connecting disc 91 and a hollow intermediate shaft 92. The connecting disc 91 is fixed to one end of the intermediate shaft 92 and communicates through it. The connecting disc 91 is also fixed to the output disc 15. The intermediate shaft 51 passes through the rotating shaft and has a bearing between it and the rotating shaft 3. The hollow intermediate shaft 92 provides a fixed wire harness path, preventing the cable from shaking inside the rotating shaft and reducing the risk of breakage due to stress concentration.

[0042] One end of the intermediate shaft 92 extending into the mounting cavity is also fixed with an inner magnetic ring 73 via an inner magnetic ring seat 93; one end of the rotating shaft 3 extending into the mounting cavity is also fixed with an outer magnetic ring 74 via an outer magnetic ring seat 31; the inner magnetic ring 73 and the outer magnetic ring 74 are on the same axial plane and concentrically arranged. A circuit board B72 is also fixed inside the mounting cavity, and sensing chips are provided at positions corresponding to the inner magnetic ring 73 and the outer magnetic ring 74. The controller cover 6 and the housing form a sealed mounting cavity, housing the circuit boards A71 and B72, achieving physical isolation between high-voltage drive and low-voltage signal processing, and reducing electromagnetic interference.

[0043] The above structure enables non-contact signal transmission: the inner magnetic ring 73 and the outer magnetic ring 74 are axially concentric, achieving non-contact signal transmission between the rotating component (shaft) and the fixed component (controller) through magnetic coupling, eliminating slip ring wear problems and improving system lifespan. Simultaneously, the axial planar arrangement of the inner and outer magnetic rings allows for precise detection of the shaft angle, providing real-time feedback for closed-loop control and enhancing joint motion accuracy.

[0044] The inner magnetic ring seat 93 is also provided with a ring groove, and the inner protective tube 63 is provided with a ring of protruding ribs. The protruding ribs are inserted into the ring groove, and the protruding ribs and the groove are fitted with a clearance. The inner magnetic ring seat and the inner protective tube form a labyrinth-like sealing structure, which keeps the wire harness and the components on the circuit board independent of each other, making the performance of the controller assembly more stable.

[0045] A groove is also provided on the end face of the convex ring 151. The edge of the connecting plate 91 is folded to form a retaining edge, which is inserted and fixed in the groove. The retaining edge of the connecting plate 91 and the groove of the convex ring 151 are inserted and fixed, simplifying the installation steps of the T-shaped wire harness tube and the output plate, while forming a mechanical interlock to prevent loosening. At the same time, the tight fit between the groove and the retaining edge can prevent external dust or liquid from entering the wire harness tube, improving the protection level. The connecting plate 91 is also provided with a wire sheath 94, which covers the connection between the connecting plate 91 and the sensor line 17, preventing the cable from breaking due to fatigue from repeated movement at the bending point, which is especially suitable for robot joint scenarios with high-frequency start and stop.

[0046] This invention systematically solves the technical bottlenecks of traditional harmonic deceleration joint modules in terms of torque detection accuracy, reliability, size, and dynamic response through structural integration optimization, signal anti-interference design, dynamic component protection, and lightweight improvement. It is especially suitable for high-end application scenarios such as collaborative robots and medical robotic arms with stringent requirements for space, weight, and precision.

[0047] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0048] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A harmonic deceleration joint motor module with integrated torque sensor, comprising a motor assembly and controller assemblies and harmonic reducers respectively disposed at both ends of the motor assembly, the motor assembly comprising a housing (1), a stator assembly (2) and a rotor assembly, the stator assembly (2) being fixed to the inner wall of the housing (1), the rotor assembly being disposed within the stator assembly and rotatably connected at both ends to the housing (1), the rotor assembly comprising a rotating shaft (3) and a rotor core, characterized in that: The controller assembly includes a controller cover (6) and a circuit board A (71). The controller cover (6) is fixed to one end of the housing (1), and a mounting cavity is formed between the controller cover (6) and the housing (1). The circuit board A (71) is fixed in the mounting cavity. The circuit board A (71) is provided with a terminal block (711). A wire hole (61) is also provided on the controller cover (6) at a position corresponding to the terminal block (711). The power supply and signal harness (8) is connected to the terminal block (711) through the wire hole (61). A wire cover (62) is also fixed on the wire hole (61). The harmonic reducer includes a wave generator. The device consists of a wave generator (10), a flexible wheel (11), a steel wheel (12), an inner bearing ring (14), and an outer bearing ring (13). The steel wheel (12) is fixed to the other end of the housing (1). The inner bearing ring (14) is fixed to the steel wheel (12). An output disk (15) is also fixed on the outer bearing ring (13). The wave generator (10) is fixed on the rotating shaft (3). One end of the flexible wheel (11) is fixed to the output disk (15), and the other end is set between the wave generator (10) and the steel wheel (12). The wave generator (10) drives the flexible wheel (11) and the steel wheel (12) to perform staggered gear transmission. A torque sensor (16) is also fixed on the output disk (15).

2. The harmonic reduction joint motor module with integrated torque sensor according to claim 1, characterized in that, The controller cover (6) extends inward from the middle to form an inner protective tube (63), and the inner protective tube (63) is connected to the controller cover (6). A T-shaped wire harness tube is also fixed on the output disk (15). The T-shaped wire harness tube passes through the harmonic reducer and the rotating shaft (3) and extends to the inner protective tube (63). The sensor wire (17) of the torque sensor (16) passes through the T-shaped wire harness tube, the inner protective tube (63) and the wire hole (61) and is connected to the terminal block (711).

3. A harmonic reduction joint motor module with an integrated torque sensor according to claim 2, characterized in that, The T-shaped wire harness tube includes a connecting disc (91) and a hollow intermediate shaft (92). The connecting disc (91) is fixed to one end of the intermediate shaft (92) and is in through communication with the intermediate shaft (92). The connecting disc (91) is fixed to the output disc (15).

4. A harmonic reduction joint motor module with an integrated torque sensor according to claim 3, characterized in that, The intermediate shaft (92) is inserted into the mounting cavity at one end and an inner magnetic ring (73) is fixed thereon via an inner magnetic ring seat (93); the rotating shaft (3) is inserted into the mounting cavity at one end and an outer magnetic ring (74) is fixed thereon via an outer magnetic ring seat (31); the inner magnetic ring (73) and the outer magnetic ring (74) are on the same plane in the axial direction and are concentrically arranged.

5. A harmonic reduction joint motor module with an integrated torque sensor according to claim 4, characterized in that, The inner magnetic ring seat (93) is also provided with a ring groove, and the inner protective tube (63) is provided with a ring ridge. The ridge is inserted into the ring groove, and the ridge and the groove are fitted together with a gap.

6. A harmonic reduction joint motor module with an integrated torque sensor according to claim 4, characterized in that, The mounting cavity is also fixed with a circuit board B (72), and the circuit board B (72) is provided with a sensing chip at the corresponding position of the inner magnetic ring (73) and the outer magnetic ring (74).

7. A harmonic reduction joint motor module with an integrated torque sensor according to claim 3, characterized in that, The output disk (15) is also provided with a convex ring (151) on one side, the torque sensor (16) is fixed inside the convex ring (151), and the flexible wheel (11) is fixed to the torque sensor (16).

8. A harmonic reduction joint motor module with an integrated torque sensor according to claim 7, characterized in that, The end face of the convex ring (151) is also provided with a groove, the edge of the connecting plate (91) is folded to form a retaining edge, the retaining edge is inserted and fixed in the groove, and the connecting plate (91) is also provided with a wire sheath (94).

9. A harmonic reduction joint motor module with an integrated torque sensor according to claim 1, characterized in that, The rotor core includes a rotor hub (4) and an annular magnet (41). The rotor hub (4) is sleeved and fixed on the rotating shaft (3). The annular magnet (41) is sleeved and fixed on the outside of the rotor hub (4). The rotor hub (4) is provided with multiple weight-reducing holes (42).

10. A harmonic reduction joint motor module with an integrated torque sensor according to claim 1, characterized in that, One end of the housing (1) is fixed with an end cap (5), which forms an installation cavity with the controller cover (6). The other end of the housing (1) is integrally formed with a cover plate.

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