The utility model discloses an integrated joint module and
robot relates to motor technical field, and the integrated joint module includes: casing, motor, planetary gear reduction box,
encoder and drive control board, the casing is the tubular structure, the motor is used to provide power, and the motor includes
stator, rotor and rotation axis, and the
stator is hoisted in the top inside casing, and the rotor rotatably sets up inside casing, and is located
stator outside, and rotation axis is connected with the rotor, and its outer periphery is provided with the tooth, the planetary gear reduction box sets up in stator inside, and including fixedly installed inside stator's inner tooth ring, the planetary wheel that engages in the inner tooth ring with rotation axis between and the planetary wheel connection's
planet carrier, the
encoder includes the first
encoder for monitoring rotation axis and the second encoder for monitoring
planet carrier, and drive control board is located in casing, and is connected with motor. Such setting, can reduce the size of joint structure, realizes double magnetic encoder output configuration simultaneously, improves its output accuracy.