A highly integrated high-performance robot joint unit, comprising a motor assembly driving a joint to move and a reducer assembly , wherein the motor assembly comprises a motor rotor for outputting a torque and a motor base ; the reducer assembly is provided with a gear ring , and the gear ring is in conflicting connection with the motor base under the action of a friction force generator ; when a torque transmitted to the gear ring by an output end of the motor rotor or the reducer assembly is smaller than a friction torque between the gear ring and the motor base , the gear ring of the reducer assembly is fixed on the motor base under the action of the friction torque generated under the action of the friction force generator , and the motor rotor drives the output end of the reducer assembly to rotate; when the torque transmitted to the gear ring by the output end of the motor rotor or the reducer assembly is greater than the friction torque between the gear ring and the motor base , the gear ring of the reducer assembly is driven by the output end of the motor rotor or the reducer assembly to overcome the friction torque generated under the action of the friction force generator , such that the gear ring and the motor base rotate relatively, characterized in that the friction force generator is an active control unit and is capable of generating a squeezing force, such that the gear ring and the motor base are capable of being in close squeezing and frictional fit with each other; the active control unit including but being not limited to electromagnet and electrostrictive material; and in that after the active control unit is adopted, the friction force generator is capable of dynamically adjusting the maximum friction torque between the gear ring and the motor base in real time according to the actual needs. the reducer assembly is provided with a gear ring , and the gear ring is in conflicting connection with the motor base under the action of a friction force generator ; when a torque transmitted to the gear ring by an output end of the motor rotor or the reducer assembly is smaller than a friction torque between the gear ring and the motor base , the gear ring of the reducer assembly is fixed on the motor base under the action of the friction torque generated under the action of the friction force generator , and the motor rotor drives the output end of the reducer assembly to rotate; when the torque transmitted to the gear ring by the output end of the motor rotor or the reducer assembly is greater than the friction torque between the gear ring and the motor base , the gear ring of the reducer assembly is driven by the output end of the motor rotor or the reducer assembly to overcome the friction torque generated under the action of the friction force generator , such that the gear ring and the motor base rotate relatively, characterized in that the friction force generator is an active control unit and is capable of generating a squeezing force, such that the gear ring and the motor base are capable of being in close squeezing and frictional fit with each other; the active control unit including but being not limited to electromagnet and electrostrictive material; and in that after the active control unit is adopted, the friction force generator is capable of dynamically adjusting the maximum friction torque between the gear ring and the motor base in real time according to the actual needs. <EOS>