Robot integrated joint unit and legged robot applying same

A robot integrated joint unit, comprising:

• a first motor and reducer assembly;
• a first output connecting rod mounted on one side of an output shaft end of the first motor and reducer assembly;
• a second motor assembly fixedly mounted on another side of the first motor and reducer assembly;
• a second reducer assembly disposed in the first output connecting rod;
• and
• a joint adapter fixed on and around an outer circumferential surface of the first motor and reducer assembly, the joint adapter having a concave structure extending around and covering the outer circumferential surface of the first motor and reducer assembly,
• wherein an output shaft of the second motor assembly passes through the first motor and reducer assembly and is fixedly connected with an input end of the second reducer assembly, and
• wherein the first motor and reducer assembly is provided with a first reducer assembly;
• the first reducer assembly and the second reducer assembly are respectively a planetary reducer;
• planetary gears of the first reducer assembly and the second reducer assembly are dual gears;
• outer rings of inner gear rings of the first reducer assembly and the second reducer assembly are respectively and frictionally connected with a first friction disc and a second friction disc.