High-integration lightweight integrated joint structure

The high-integration lightweight integrated joint structure comprises an upper panel, a split type harmonic reducer, an output shaft, a wave generator, a lower shell and a motor shell, a hollow transmission shaft is fixedly connected to the lower surface of the upper panel, and the split type harmonic reducer is fixedly connected between the upper surface and the lower shell; the transmission shaft is sleeved with the output shaft, the output shaft is connected with the wave generator, a motor stator is fixedly connected into the motor shell, and a motor rotor is fixedly connected to the output shaft. The hollow size can be considered while the length of the product is reduced, and the hollow transmission shaft is adopted, so that the cable can pass through conveniently. 本发明公布了一种高集成性轻量化一体化关节结构，包括上面板、分体式谐波减速器、输出轴、波发生器、下壳体和电机外壳，上面板的下表面固接有中空状的传动轴，分体式谐波减速器固接在上表面和下壳体之间，输出轴套设在传动轴外部并与波发生器连接，电机外壳内固接有电机定子，输出轴上固接有电机转子，本发明的有益效果时，本发明采用超大中空设计，本发明采用分体式的电机定子和电机转子，在相同体积下具有更高的功率密度，在减少产品长度的同时可以兼顾中空尺寸，并采用中空式的传动轴，便于线缆的通过。