Motor integrated with wave generator, and integrated joint

Abstract

The present application relates to the technical field of robots, and in particular to a motor integrated with a wave generator, and an integrated joint. The motor comprises: a motor stator (1), a motor rotor (2), rollers (3) and roller connecting parts (4), wherein the motor rotor (2) is sleeved on the periphery of the motor stator (1), and a gap is provided between the motor rotor (2) and the motor stator (1); the radial cross section of the motor rotor (2) is a cam-shaped cross section; the several rollers (3) are arranged on the periphery of the motor rotor (2) by means of the roller connecting parts (4); and the roller connecting parts (4) and the motor rotor (2) are of an integrally-formed or separable structure. According to the present application, the motor and the wave generator are integrated in a sleeved manner, and the motor is integrated inside the wave generator, thereby reducing the size of a harmonic reducer and the motor from the axial direction; the motor rotor (2) is arranged outside the motor stator (1), the radial cross section of the motor rotor (2) is configured as the cam-shaped cross section of the wave generator, and a cam of the wave generator is integrated with the motor rotor (2), thereby reducing parts, and reducing the radial size; and the axial and radial sizes of the motor and the wave generator are integrally reduced, thereby achieving the purpose of miniaturization.

Description

A motor with integrated wave generator and an integrated joint

[0001] Cross-references

[0002] This application is based on the Chinese patent application with application number 2023114570353 and application date of November 3, 2023, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present invention relates to the field of robotics technology, and in particular to a motor and an integrated joint with an integrated wave generator. Background Art

[0004] In recent years, humanoid robotic arms / robots and collaborative robots have experienced rapid development. The high level of integration in the joint module determines the robot's body size and adaptability to the worksite. The joint module integrates the reducer, motor, drive, encoder, controller, and more. Improving the manufacturing process while minimizing the size of the joint module while ensuring accuracy, torque, and power remains a major bottleneck.

[0005] Harmonic reducers feature high transmission efficiency, compact size, light weight, smooth transmission, and low noise. They are widely used in robotics, particularly in collaborative robotic arms and service robots. With the development of robotics, requirements for the size and accuracy of harmonic reducers are becoming increasingly stringent.

[0006] Traditional harmonic reducers consist of three main components: a wave generator, a flexspline, and a steel pulley. The elliptical cam within the wave generator rotates within the flexspline, causing it to deform. When the flexspline teeth at both ends of the wave generator's elliptical cam's long axis engage with the steel pulley teeth, the flexspline teeth at both ends of the short axis disengage from the steel pulley teeth.

[0007] In the prior art, the motor and the wave generator are axially connected to provide power. Since the motor and the wave generator are discrete devices, their miniaturization is limited and it is difficult to meet the needs.

[0008] Summary of the Invention

[0009] (1) Purpose of the invention

[0010] The object of the present invention is to provide a motor and an integrated joint with an integrated wave generator, which can reduce the axial dimensions of the motor and the wave generator.

[0011] (2) Technical solution

[0012] To solve the above problems, the present invention provides a motor with an integrated wave generator, comprising: a motor stator, a motor rotor, a roller and a roller connecting portion;

[0013] The motor rotor is sleeved on the outer periphery of the motor stator, and a gap is formed between the motor rotor and the motor stator;

[0014] The radial cross-section of the motor rotor is a cam-shaped cross-section;

[0015] A plurality of rollers are arranged on the outer periphery of the motor rotor through roller connecting parts;

[0016] The roller connecting portion and the motor rotor are integrally formed or split into two parts.

[0017] In another aspect of the present invention, preferably, when the roller connecting portion and the motor rotor are a split structure, the motor further comprises a connecting frame, which is also arranged on the outer periphery of the motor rotor and located between the roller and the motor rotor.

[0018] In another aspect of the present invention, preferably, the connecting frame is circumferentially provided with openings.

[0019] In another aspect of the present invention, preferably, the connecting frame is made of a flexible material.

[0020] In another aspect of the present invention, preferably, the roller is configured as a cylindrical roller or a ball.

[0021] In another aspect of the present invention, preferably, when the roller is configured as a cylindrical roller, the roller connecting portion is configured as a rectangular body having a concave arc-shaped contact surface with the roller;

[0022] When the roller is configured as a ball, the roller connecting portion is configured as a retainer structure.

[0023] In another aspect of the present invention, preferably, an integrated joint comprises at least one motor with an integrated wave generator as described above.

[0024] Another aspect of the present invention preferably further comprises a shaft, a flexible spline, a steel wheel assembly, a first bearing and a second bearing;

[0025] The motor is sleeved on the outer periphery of the shaft;

[0026] The flexible wheel is sleeved on the outer periphery of the roller;

[0027] The steel wheel set is sleeved on the outer periphery of the flexible wheel, and the outer periphery of the flexible wheel is transmission-connected to the inner periphery of the steel wheel set;

[0028] Both ends of the motor rotor are rotationally connected to the steel wheel set through a first bearing and a second bearing respectively.

[0029] In another aspect of the present invention, preferably, a third bearing is further included, the shaft includes a first shaft portion and a second shaft portion connected to each other, the first shaft portion has a flange structure, the first shaft portion is rotatably connected to the steel wheel group through the third bearing, and the motor is sleeved on the outer periphery of the second shaft portion.

[0030] In another aspect of the present invention, preferably, a driver module is further included, wherein the driver module is sleeved on the second shaft portion and has a gap with the motor.

[0031] (3) Beneficial effects

[0032] The above technical solution of the present invention has the following beneficial technical effects:

[0033] The present invention integrates the motor and wave generator through a sleeved design. On the one hand, the motor's integration within the wave generator reduces the axial dimensions by approximately half compared to conventional designs. Furthermore, because the electronic rotor is positioned outside the electronic stator, its radial cross-section mimics the cam of the wave generator. This integration of the wave generator's cam and the electronic rotor reduces component count and radial dimensions. Consequently, the present invention reduces both the axial and radial dimensions of the motor and wave generator, achieving miniaturization. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a front view of a motor with an integrated wave generator according to an embodiment of the present invention;

[0035] FIG2 is a bottom view of a motor of an integrated wave generator according to an embodiment of the present invention;

[0036] FIG3 is a cross-sectional view of an integrated joint according to an embodiment of the present invention;

[0037] Figure numerals: 1: motor stator; 2: motor rotor; 3: roller; 4: roller connection portion; 5: connecting frame; 6: shaft; 7: flexible spline; 8: steel wheel assembly; 9: first bearing; 10: second bearing; 11: third bearing; 12: driver module; 601: first shaft portion; 602: second shaft portion. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present invention.

[0039] The accompanying drawings illustrate schematic diagrams of layer structures according to embodiments of the present invention. These figures are not drawn to scale; for clarity, some details are exaggerated and some details may be omitted. The shapes, relative sizes, and positional relationships of the various regions and layers shown in the figures are merely exemplary and may deviate in practice due to manufacturing tolerances or technical limitations. Those skilled in the art may design regions / layers with different shapes, sizes, and relative positions based on actual needs.

[0040] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the terms “first”, “second” and “third” are only used for descriptive purposes and should not be understood as indicating or implying relative importance.

[0042] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] The present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, identical elements are represented by similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0044] Example 1

[0045] A motor with an integrated wave generator. FIG1 shows a front view of the motor with an integrated wave generator according to one embodiment of the present invention. The wave generator and the motor are driven by bearings. The motor's outer rotor drives the bearings to engage with gears, achieving deceleration. FIG2 shows a bottom view of the motor with an integrated wave generator according to one embodiment of the present invention. As shown in FIG1 and FIG2, the motor with an integrated wave generator includes: a motor stator 1, a motor rotor 2, rollers 3, and a roller connector 4.

[0046] The motor stator is an important component of motors such as generators and starters. The motor stator is a key part of the electric motor. The motor stator consists of three parts: the stator core, the stator winding, and the frame. The main function of the stator is to generate a rotating magnetic field. The specific structure, size, model, etc. of the electronic stator are not limited here. The main function of the motor rotor is to be cut by the magnetic lines of force in the rotating magnetic field to generate output current. The specific structure, size, model, etc. of the electronic rotor are not limited here.

[0047] The specific structure of the roller 3 is not limited here, nor is the specific material of the roller 3. Optionally, in this embodiment, the roller 3 is made of a metal material. Further, optionally, the roller 3 can be set as a cylindrical roller or a ball. The specific structure of the cylindrical roller, the axial size of the cylindrical roller, and the cross-sectional diameter of the cylindrical roller are not limited here. The roller 3 can also be set as a ball structure, and the specific size of the ball is not limited.

[0048] The motor rotor 2 is sleeved on the outer circumference of the motor stator 1, and a gap is formed between the motor rotor 2 and the motor stator 1. The specific content of the gap between the motor rotor 2 and the motor stator 1 is not limited here. Optionally, the gap can be set according to the model and specification of the motor rotor 2 and the motor stator 1.

[0049] The radial cross-section of the motor rotor 2 is cam-shaped; the cam here is the cam in the wave generator of a harmonic reducer. Traditional harmonic reducers consist of three major components: a wave generator, a flexspline, and a steel pulley. By fixing any one of these components, with one of the remaining two active and the other passive, speed reduction or acceleration can be achieved, i.e., a fixed transmission ratio. Alternatively, a differential transmission with two inputs and one output can be employed. If the steel pulley is fixed, with the wave generator as the active component and the flexspline as the passive component, the elliptical cam within the wave generator rotates within the flexspline, causing the flexspline to deform. Given the elliptical shape of the wave generator cam, when the flexspline teeth at either end of the elliptical cam's major axis engage with the steel pulley teeth, the flexspline teeth at either end of the minor axis disengage from the steel pulley teeth. The teeth between the major and minor axes of the wave generator are in a semi-engaged state, gradually entering into meshing, in different sections along the circumference of the flexible wheel and the steel wheel. This is called engagement; the semi-engaged state, gradually exiting meshing, is called disengagement. The continuous rotation of the wave generator causes the four movements of engagement, engagement, disengagement, and disengagement to continuously change their original working states. This movement is called staggered tooth motion, which converts input rotation into output motion. The radial cross-section of the motor rotor 2 is a cam-shaped cross-section, integrating the electronic rotor and cam. This reduces the number of components, reduces weight, and reduces the radial and axial dimensions of the motor and wave generator, achieving the goals of lightweighting and miniaturization.

[0050] Several of the rollers 3 are arranged on the outer periphery of the motor rotor 2 through a roller connecting portion 4; the wave generator includes a cam and a flexible bearing, and arranging the rollers 3 on the outer periphery of the motor rotor 2 through the roller connecting portion 4 is equivalent to a flexible bearing, which reduces some parts of the flexible bearing and achieves the purpose of lightweight and miniaturization; the specific structure of the roller connecting portion 4 is not limited here, nor is the specific number of the rollers 3 limited, nor is it limited whether the several rollers 3 are evenly distributed on the outer periphery of the motor rotor 2, nor is it limited to the arrangement of the several rollers 3 in the axial direction of the motor rotor 2. Optionally, the rollers 3 in the axial direction of the motor rotor 2 may be less than or equal to the axial size of the motor rotor 2, or the rollers 3 in the axial direction of the motor rotor 2 may be larger than the axial size of the motor rotor 2. When the rollers 3 in the axial direction of the motor rotor 2 are smaller than the axial size of the motor rotor 2, they may be arranged in the middle of the axial direction of the motor rotor 2 or may be arranged to one side;

[0051] The roller connection portion 4 and the motor rotor 2 are integrally formed or separated. The specific structure of the roller connection portion 4 is not limited here. Optionally, it can be fixed to the outer periphery of the motor rotor at both ends through the roller, directly fixed to both ends of the motor rotor, or sleeved on the portion of the roller close to the outer periphery of the motor rotor. Those skilled in the art will understand that as long as the connection is achieved and the roller can rotate along its own axis, it will be sufficient.

[0052] This embodiment integrates the motor and wave generator through a sleeved design. On the one hand, the motor's integration within the wave generator reduces the axial dimensions by approximately half compared to conventional designs. Furthermore, because the electronic rotor of this invention is positioned outside the electronic stator, its radial cross-section is configured to resemble the cam of the wave generator. This integration of the wave generator's cam and the electronic rotor reduces component count and radial dimensions. Consequently, this embodiment reduces both the axial and radial dimensions of the motor and wave generator, achieving miniaturization.

[0053] In one embodiment of the present invention, further, when the roller connecting portion 4 and the motor rotor 2 are a split structure, the motor also includes a connecting frame 5, which is also arranged on the outer periphery of the motor rotor 2 and located between the roller 3 and the motor rotor 2. The setting of the connecting frame can limit the roller to prevent the roller from forming relative displacement with the outer contour of the motor rotor; the specific structure of the connecting frame 5 is not limited here. Optionally, in one embodiment of the present invention, the connecting frame 5 is further provided with openings in the circumference, and the opening setting can adapt to the cam-shaped structure of the electronic rotor, which simplifies the manufacturing process and reduces the manufacturing cost. The specific structure of the opening is not limited here. Optionally, the center line of the opening can be parallel to the axis of the electronic rotor, or it can be non-parallel. Optionally, in this embodiment, the center line of the opening is parallel to the axis of the electronic rotor; in one embodiment of the present invention, further, the material of the connecting frame 5 is a rigid material or a flexible material, and different materials can be selected according to different scenarios. Rigid materials have high strength, good wear resistance and long service life. The specific content of the rigid material is not limited here, and it can be carbon steel, alloy steel, etc.; the connection between the connecting frame 5 and the electronic rotor when the material is a rigid material is not limited here. The connection method is optional, and it can be screwed, clamped, welded or directly sleeved, and connected by friction; the connection method of the connecting frame 5 with the roller connecting part when the material is a rigid material is not limited here, and it can be screwed, clamped, welded or directly sleeved, and connected by friction; the flexible material can better adapt to the outer contour of the electronic rotor; the specific content of the flexible material is not limited here, and it can be rubber material, felt, fiber, etc., optionally, in this embodiment, the material of the connecting frame 5 is nylon material; the connection method of the connecting frame 5 and the outer periphery of the electronic rotor is not limited here, and it can be glued or connected by friction through the roller connecting part 4 and the roller 3; the connection method of the roller connecting part 4 and the connecting frame 5 is not limited here, and it can be glued or connected by friction, etc.; by setting the connecting frame, the roller can better adapt to the cam-shaped outer contour of the motor rotor, reduce the process difficulty, and reduce the manufacturing cost.

[0054] In one embodiment of the present invention, further, the roller 3 is configured as a cylindrical roller or a ball; as shown in FIG1 , when the roller 3 is configured as a cylindrical roller, the roller connecting portion 4 is configured as a rectangular body with an inwardly concave arc-shaped contact surface with the roller; the specific structure of the rectangular body is not limited here, and it may be the same as or different from the axial length of the cylindrical roller. Optionally, in this embodiment, the length of the rectangular body is less than the axial length of the cylindrical roller. There is no limit here on the extent to which the rectangular body wraps around the cylindrical roller. Those skilled in the art will understand that as long as it can achieve fixation and does not affect the turnover motion of the cylindrical roller, it will be sufficient; when the roller 3 is configured as a ball, the roller connecting portion 4 is configured as a retainer structure. The retainer structure is a retainer structure in a bearing that can fix the ball without affecting its rotation.

[0055] The motor with an integrated wave generator in this embodiment can be placed directly in the flexible wheel. During operation, the motor rotor rotates around its axis. Since its outer contour is equivalent to that of a wave generator, it can directly act on the flexible wheel, achieving differential rotation between the flexible wheel and the external steel wheel. At the same time, since cylindrical rollers are already installed on the outside of the motor rotor, the flexible bearings of the traditional harmonic reducer can be eliminated. This embodiment integrates the traditional wave generator cam and flexible bearings into the motor rotor. Compared with existing integration solutions, the axial and radial volume of the joint is greatly reduced, achieving the purpose of miniaturization and lightweighting of the harmonic reducer and integrated joint.

[0056] Example 2

[0057] An integrated joint includes at least one motor with an integrated wave generator as described above; further, the integrated joint also includes a shaft 6, a flexspline 7, a steel wheel assembly 8, a first bearing 9 and a second bearing 10; the flexspline 7 and the steel wheel assembly 8 are part of a harmonic reducer, the motor is sleeved on the outer periphery of the shaft 6; the flexspline 7 is sleeved on the outer periphery of the roller 3; the steel wheel assembly 8 is sleeved on the outer periphery of the flexspline 7, and the outer periphery of the flexspline 7 is transmission-connected to the inner periphery of the steel wheel assembly 8;

[0058] The specific structure of the flexible wheel 7 is not limited here, and it can be a cylindrical structure, a through-hole structure, or a necked flexible wheel. The wall thickness of the flexible wheel is not specifically limited here. It can be a structure with a single thickness as a whole, or a structure with one end thicker and the other end thinner. In this embodiment, the steel wheel group 8 includes a first steel wheel and a second steel wheel, and the first steel wheel and the second steel wheel are annular structures. The first steel wheel and the second steel wheel form an annular receiving cavity. The radial relationship between the first steel wheel and the second steel wheel is not limited here, nor is the axial relationship between the two. Optionally, the first steel wheel and the second steel wheel have the same radial length, and the first steel wheel and the second steel wheel have the same axial length. The first steel wheel and the second steel wheel are connected, and the connection structure between the two is not limited here. It can be a cross roller bearing structure, or it can be connected by a bearing, or the connection structure is that the first steel wheel is provided with a first V-shaped ring groove, and the second steel wheel is provided with a second V-shaped ring groove, which cooperate with the first V-shaped ring groove to form a rectangular ring groove structural connection;

[0059] The outer periphery of the flexible wheel 7 is transmission-connected to the inner periphery of the steel wheel group 8. Here, a flexible wheel transmission tooth is provided at one end of the outer periphery of the flexible wheel 7. The inner wall of the first steel wheel or the second steel wheel in the steel wheel group 8 is provided with a steel wheel transmission tooth. The number of teeth of the flexible wheel transmission tooth and the steel wheel transmission tooth are different, forming a tooth difference to achieve the transmission purpose. Furthermore, a flexible wheel fixed tooth is provided at the other end of the outer periphery of the flexible wheel 7. Correspondingly, the inner wall of the second steel wheel or the first steel wheel in the steel wheel group 8 is provided with a steel wheel fixed tooth. The number of teeth of the flexible wheel fixed tooth and the steel wheel fixed tooth are the same, forming a fixing effect on the two to prevent the flexible wheel from moving.

[0060] The two ends of the motor rotor 2 are rotatably connected to the steel wheel group 8 through the first bearing 9 and the second bearing 10. The two bearings are connected to the two ends of the motor shaft and can limit the flexible wheel in the middle of the motor shaft to prevent it from moving in the axial direction.

[0061] This embodiment achieves the reduction of the axial and radial dimensions of the integrated joint; the axial dimension of one motor is reduced in the axial direction, and the motor housing components are also reduced, which reduces the number of structural parts and the structural weight compared to the traditional design, and has a simpler structure; the diameter of the integrated joint of this structure is the diameter of the steel wheel group.

[0062] In one embodiment of the present invention, further, the integrated joint also includes a third bearing 11, the shaft 6 includes a first shaft portion 601 and a second shaft portion 602 connected to each other, the first shaft portion 601 has a flange structure, the first shaft portion 601 is rotatably connected to the steel wheel group 8 through the third bearing 11, and the motor is sleeved on the outer periphery of the second shaft portion 602.

[0063] Furthermore, it also includes a driver module 12, which is sleeved on the second shaft portion 602 and has a gap with the motor. The size of the gap is not limited here. The gap is to prevent electromagnetic interference and leave space for the motor to move. Furthermore, a gap is also provided between the driver module 12 and the flange structure of the first shaft portion 601 to prevent interference. The driver module 12 is integrated into the steel wheel group, which fully realizes the reuse of parts and greatly reduces the axial length and radial size of the joint.

[0064] The integrated joint of this embodiment integrates the motor and the driver module into the steel wheel assembly, and the motor and the wave generator are integrated, which reduces the axial size of the motor. Since the motor is integrated into the harmonic reducer, the motor housing is omitted, and the electronic rotor and the cam are integrated into one, which further reduces the number of components and achieves miniaturization while being lightweight.

[0065] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

[0066] While the above description does not provide detailed technical details regarding patterning and etching of each layer, those skilled in the art will appreciate that various conventional methods can be used to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure.

[0067] The present invention has been described above with reference to the embodiments thereof. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Those skilled in the art may make various substitutions and modifications without departing from the scope of the present invention, and such substitutions and modifications are intended to fall within the scope of the present invention.

[0068] Although the embodiments of the present invention have been described in detail, it should be understood that the various changes, substitutions, and alterations could be made hereto without departing from the spirit and scope of the invention.

[0069] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A motor with an integrated wave generator, characterized in that: include: A motor stator (1), a motor rotor (2), a roller (3) and a roller connecting part (4); The motor rotor (2) is sleeved on the outer circumference of the motor stator (1), and a gap is provided between the motor rotor (2) and the motor stator (1); The radial cross section of the motor rotor (2) is a cam-shaped cross section; A plurality of rollers (3) are arranged on the outer periphery of the motor rotor (2) via roller connecting parts (4); The roller connection portion (4) and the motor rotor (2) are integrally formed or have a split structure.

2. The motor with integrated wave generator according to claim 1, characterized in that: When the roller connecting portion (4) and the motor rotor (2) are of a split structure, the motor further comprises a connecting frame (5), which is also arranged on the outer periphery of the motor rotor (2) and is located between the roller (3) and the motor rotor (2).

3. The motor with integrated wave generator according to claim 2, characterized in that: The connecting frame (5) is provided with openings in the circumferential direction.

4. The motor with integrated wave generator according to claim 2, characterized in that: The connecting frame (5) is made of a flexible material.

5. The motor with integrated wave generator according to claim 1, characterized in that: The roller (3) is configured as a cylindrical roller or a ball.

6. The motor with integrated wave generator according to claim 5, characterized in that: When the roller (3) is configured as a cylindrical roller, the roller connecting portion (4) is configured as a rectangular body having a concave arc-shaped contact surface with the roller; When the roller (3) is configured as a ball, the roller connecting portion (4) is configured as a retainer structure.

7. An integrated joint, characterized in that: An electric machine comprising at least one integrated wave generator as claimed in any one of claims 1 to 6.

8. The integrated joint according to claim 7, characterized in that: It also includes a shaft (6), a flexible wheel (7), a steel wheel group (8), a first bearing (9) and a second bearing (10); The motor is sleeved on the outer circumference of the shaft (6); The flexible wheel (7) is sleeved on the outer circumference of the roller (3); The steel wheel group (8) is sleeved on the outer periphery of the flexible wheel (7), and the outer periphery of the flexible wheel (7) is transmission-connected to the inner periphery of the steel wheel group (8); The two ends of the motor rotor (2) are rotatably connected to the steel wheel set (8) via a first bearing (9) and a second bearing (10) respectively.

9. The integrated joint according to claim 8, characterized in that: It also includes a third bearing (11), the shaft (6) includes a first shaft portion (601) and a second shaft portion (602) connected to each other, the first shaft portion (601) has a flange structure, the first shaft portion (601) is rotatably connected to the steel wheel group (8) through the third bearing (11), and the motor is sleeved on the outer periphery of the second shaft portion (602).

10. The integrated joint according to claim 9, characterized in that: It also includes a driver module (12), wherein the driver module (12) is sleeved on the second shaft portion (602) and has a gap with the motor.

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