Industrial robot arm and integrated joint module

An industrial robot arm, comprising an integrated joint module, wherein the integrated joint module comprises:

• a housing, comprising a first housing and a second housing connected with the first housing, an annular supporting platform being arranged on an inner side of the first housing;
• a driving assembly, comprising:
• an output shaft;
• a stator, embedded in the annular supporting platform;
• a rotor, connected with the output shaft and arranged on an inner side of the stator;
• a speed reduction assembly, connected with one end of the output shaft;
• a braking assembly, connected with the other end of the output shaft;
• and
• an encoding assembly, arranged on a side of the braking assembly away from the driving assembly and connected with the output shaft, the second housing being sleeved on the encoding assembly;
• wherein the driving assembly further comprises:
• an upper bearing seat connected with one side of the annular supporting platform in an axial direction of the output shaft, the braking assembly being fixed on the upper bearing seat;
• and
• an upper bearing embedded in the upper bearing seat, the upper bearing being sleeved on the output shaft and arranged on a side of the rotor in the axial direction of the output shaft;
• and
• the integrated joint module comprises a bracket arranged outside of the braking assembly;
• the upper bearing seat comprises:
• an upper fixing portion connected with the annular supporting platform;
• and
• an upper annular limiting portion connected with the upper fixing portion;
• wherein
• the braking assembly and the bracket are supported on a same side of the upper fixing portion, the braking assembly is limited to an inner side of the upper annular limiting portion in a radial direction of the output shaft, the bracket is limited to an outer side of the upper annular limiting portion in the radial direction of the output shaft, and the encoding assembly is connected with the bracket.