A variable-stiffness driving-controlling integrated robot swing rotation joint module comprises a base, a joint output piece, a driving controller, a transmission mechanism, a torque sensor, a variable-stiffness module, a first encoder and a second encoder; the base comprises an installation part and a transmission part; the transmission part is provided with a transmission cavity; the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer; a stator of the frameless motor is fixed into the transmission cavity, the transmission shaft is connected with the rotor of the frameless motor in a matched mode, one end of the transmission shaft is transmitted to one end of the variable-stiffness module through the harmonic reducer, and the other end of the variable-stiffness module is fixedly connected with the joint output piece through the torque sensor; the first encoder is used for measuring the angular displacement information of the joint output piece, and the second encoder is used for measuring the angular displacement information of a rotor; and the control end of the frameless motor is electrically connected with the driving controller, andthe torque sensor, the first encoder and the second encoder are electrically connected with the driving controller. According to the variable-stiffness driving-controlling integrated robot swing rotation joint module, stiffness control and torque output control of the joint module are achieved.