Integrated harmonic drive motor

The invention discloses an integrated harmonic drive motor, which comprises a harmonic generator, a steel wheel which is sleeved on the harmonic generator, a flexible wheel which is clamped between the harmonic generator and the steel wheel, and a crossed cylindrical roller bearing which is connected with the harmonic generator, wherein the crossed cylindrical roller bearing comprises an outer ring and an inner ring which rotate relatively, and a cylindrical roller which is arranged between the outer ring and the inner ring; and the steel wheel and the flexible wheel are connected with the outer ring and the inner ring in a staggered manner. The harmonic generator can bear a spatial three-directional torque, has a compact structure, a small volume and light weight and is convenient to use and maintain, and a manufacturing process is simple, so that the integrated harmonic drive motor has the advantages of high drive precision, large speed ratio and high bearing capacity, meets the drive requirement of aerospa