A robot joint motor assembly and motor

Abstract

The present invention belongs to the field of joint motor technology, and specifically relates to a robot joint motor assembly and a motor. The robot joint motor assembly includes a protective shell and a hollow shaft, wherein a rotor assembly and a stator are arranged inside the protective shell, an output flange is fixedly connected to one end of the hollow shaft, a retaining spring is arranged at one end of the hollow shaft, a fixing plate is fixedly connected to the side of the protective shell away from the output flange, and a heat dissipation assembly and a protective assembly are arranged in the protective shell. The robot joint motor assembly is used in coordination with the rotor assembly, the Z-shaped member and the rotating wheel, so that when the device is in use, the blades can rotate with the central axis of the hollow shaft, accelerate the airflow in the protective shell, and accelerate the heat dissipation of the heat in the protective shell. At the same time, during the rotation of the frame, the blades also change their original positions and angles accordingly, optimizing the guiding effect of the blades on the airflow and improving the heat dissipation effect of the heat in the protective shell.

Description

Technical Field

[0001] The present invention relates to the technical field of joint motors, and in particular to a robot joint motor assembly and a motor. Background Art

[0002] Joints are an important component of robots. They are mainly composed of drive motors and reducers. The drive motor provides power, which is output under the action of the reducer to drive the joints to move. With the development of mechatronics, robot components are moving towards lightweight.

[0003] At present, in the prior art, with the continuous progress of joint motor design, its volume becomes smaller and smaller, which brings many advantages, such as higher integration and wider application scenarios. However, this miniaturization trend also brings a significant problem, that is, the utilization rate of the internal space of the joint motor is getting higher and higher. Due to space limitations, the gap between the parts inside the motor and the housing is greatly compressed, resulting in smaller gaps. When the joint motor is in working state, a large amount of heat will be generated inside it. Under normal circumstances, these heats need to be effectively discharged through the motor housing and the heat dissipation system to keep the operating temperature of the motor within the normal range. However, due to the reduction of the gap between the parts and the housing, the discharge of heat becomes more and more difficult. In the joint motor, the reduction of the gap makes the heat conduction path narrow, and also limits the occurrence of thermal convection. It is difficult for the airflow to form an effective flow in the narrow gap. Excessive heat will affect the stability of the joint motor. In view of this, the present invention proposes a robot joint motor assembly and a motor. Summary of the invention

[0004] The main purpose of the present invention is to provide a robot joint motor assembly and a motor that can solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robot joint motor assembly comprises a protective shell and a hollow shaft, a rotor assembly and a stator are arranged inside the protective shell, one end of the hollow shaft is fixedly connected to an output flange, one end of the hollow shaft is provided with a retaining spring, a side of the protective shell away from the output flange is fixedly connected to a fixing plate, a heat dissipation assembly and a protective assembly are arranged in the protective shell, and the rotor assembly comprises:

[0007] A frame, wherein the frame is sleeved on the outer wall of the hollow shaft, a rotor yoke is fixedly connected to the outer wall of the frame, and a rotor magnetic tile is inlaid and installed on the inner surface of the rotor yoke;

[0008] A limiting slide groove, wherein the limiting slide groove is provided on the outer wall of the frame body, a slider is slidably connected in the limiting slide groove, and the slider is elastically connected to the inner surface of the limiting slide groove via a connecting spring;

[0009] The blades are fixedly connected to the upper side of the slider. During the operation of the rotor assembly, the frame can rotate, and then the blades can rotate about the central axis of the hollow shaft, thereby accelerating the airflow in the protective shell and improving the heat dissipation effect of the heat in the protective shell.

[0010] Preferably, a pressure cover is fixedly connected to the side of the protective shell close to the output flange, and a code disc cover is fixedly connected to the side of the protective shell away from the output flange. The inner surface of the code disc cover is detachably connected to the code disc, and a heat dissipation port is opened on the code disc cover. The rotation of the rotor assembly drives the hollow shaft to rotate, and then drives the output flange to rotate. The use of the heat dissipation port can speed up the discharge of heat in the protective shell.

[0011] Preferably, a Z-shaped part is fixedly connected to the outer wall of the fixed plate, and the end of the Z-shaped part away from the fixed plate is rotatably connected to a rotating wheel. Through the use of rotating wheel, during the rotation of the frame, rotating wheel squeezes the slider, causing the slider to compress the connecting spring, thereby changing the position of the blade. After the slider passes through rotating wheel, the slider and the blade are reset under the resetting action of the connecting spring, and the blade also changes its original position and angle accordingly, thereby optimizing the guiding effect of the blade on the airflow, thereby improving the flow efficiency of the airflow.

[0012] Preferably, the heat dissipation openings and Z-shaped parts are provided in multiple groups, and the multiple groups of heat dissipation openings and Z-shaped parts are arranged in a circular array along the central axis of the hollow shaft, and the heat dissipation openings and Z-shaped parts are in the same vertical plane.

[0013] Preferably, the heat dissipation component includes a piston chamber, a piston in the piston chamber is connected to a piston rod, the piston rod and the piston chamber are elastically connected by an abutment spring, the piston rod is rotatably connected to a second wheel at one end away from the abutment spring, a one-way inlet and a one-way outlet are provided on the outer wall of the piston chamber, a connecting plate is fixedly connected to the outer wall of the piston chamber, and the slider is squeezed by the first wheel to compress the connecting spring. During the process, the slider will squeeze the second wheel, and then the piston rod moves in the piston chamber to compress the abutment spring. After the first wheel passes the slider, the slider is reset under the reset action of the connecting spring, and the piston rod is also reset under the action of the abutment spring. In this process, the one-way inlet absorbs hot air and the one-way outlet discharges hot air, thereby further improving the heat dissipation effect of the heat in the protective shell.

[0014] Preferably, the connecting plate is fixed to a side of the code disc close to the fixed plate, and the end of the one-way exhaust port away from the piston chamber is connected to the heat dissipation port. In this way, the exhausted hot air is directly discharged through the heat dissipation port.

[0015] Preferably, the protective assembly includes a fixed bin, an expansion airbag is placed inside the fixed bin, a slide plate is slidably connected to the inner surface of the fixed bin, a side of the slide plate away from the expansion airbag is fixedly connected to a connecting rod, an end of the connecting rod away from the slide plate is fixedly connected to a protective sheet, the expansion airbag is filled with nitrogen, and through the use of the expansion airbag, when the heat in the protective shell is high, after the expansion airbag is heated, the expansion of the expansion airbag drives the slide plate to move, and then drives the connecting rod to move, so that the protective sheet moves, so that the protective sheet releases the blocking of the heat dissipation port, and the heat dissipation effect of the heat in the protective shell is improved.

[0016] Preferably, the connecting rod passes through the inner wall of the fixed bin and is slidably connected to the inner wall of the fixed bin, the protective sheet fits with the side of the code disc close to the fixed plate, and the protective sheet can slide on the side of the code disc close to the fixed plate.

[0017] Preferably, the expansion airbag is located in the middle of the fixed bin, and the slide plate is elastically connected to the inner wall of the fixed bin via a return spring.

[0018] The present invention also provides a robot joint motor, comprising the above-mentioned robot joint motor assembly.

[0019] The present invention provides a robot joint motor assembly, which has the following beneficial effects:

[0020] (1) The robot joint motor assembly cooperates with the rotor assembly, the Z-shaped member and the rotating wheel 1 so that when the device is in use, the blades can rotate along the central axis of the hollow shaft, thereby accelerating the flow of air in the protective shell and accelerating the heat dissipation in the protective shell. At the same time, during the rotation of the frame, the rotating wheel 1 squeezes the slider, causing the slider to compress the connecting spring, thereby changing the position of the blade. After the slider passes through the rotating wheel 1, under the reset action of the connecting spring, the slider and the blade are driven to reset, and the blade also changes its original position and angle accordingly, optimizing the blade's guiding effect on the airflow, thereby improving the flow efficiency of the airflow and further improving the heat dissipation effect in the protective shell.

[0021] (2) The robot joint motor assembly includes a rotor component, a Z-shaped component, a rotating wheel 1 and a heat dissipation component. When the rotating wheel 1 squeezes the slider and causes the slider to compress the connecting spring, the slider will squeeze the rotating wheel 2, and then the piston rod will move in the piston chamber and compress the abutting spring. After the rotating wheel 1 passes through the slider, the slider is reset under the reset action of the connecting spring, and the piston rod will also be reset under the action of the abutting spring. In this process, the one-way inlet absorbs hot air and the one-way outlet discharges hot air, further improving the heat dissipation effect of the heat in the protective shell.

[0022] (3) The robot joint motor assembly uses a protective component. When the heat in the protective shell is high, the expansion airbag is heated and expands to drive the slide plate to move, which in turn drives the connecting rod to move, so that the protective sheet moves, so that the protective sheet releases the blocking of the heat dissipation port, and the heat in the protective shell is discharged faster. When the device is not working, the heat dissipation port is blocked by the protective sheet again to prevent water vapor from entering the protective shell, thereby protecting the parts in the protective shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 The overall three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0026] Figure 3 The overall three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0027] Figure 4 It is a schematic diagram of a partial three-dimensional structure of the present invention;

[0028] Figure 5 It is a schematic diagram of the structure of the rotor assembly of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of the fixing plate of the present invention;

[0030] Figure 7 It is a schematic diagram of the cross-sectional structure of the heat dissipation component of the present invention;

[0031] Figure 8 It is a schematic diagram of the cross-sectional structure of the code disk cover and the protective assembly of the present invention;

[0032] Fig. 9 For the present invention Figure 2 Schematic diagram of the structure of A.

[0033] In the figure: 1. protective shell; 2. hollow shaft; 3. rotor assembly; 4. stator; 5. output flange; 6. fixing plate; 7. heat dissipation assembly; 8. protective assembly; 101. pressure cover; 102. code disc cover; 103. code disc; 104. heat dissipation port; 31. frame; 32. rotor yoke; 33. rotor magnetic tile; 34. limiting slide groove; 35. slider; 36. blade; 61. Z-shaped part; 62. impeller 1; 71. piston chamber; 72. piston rod; 73. impeller 2; 74. one-way inlet; 75. one-way outlet; 76. connecting plate; 81. fixed bin; 82. expansion airbag; 83. slide plate; 84. connecting rod; 85. protective sheet.

[0034] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-Figure 9 The present invention proposes a robot joint motor assembly, including a protective shell 1 and a hollow shaft 2. A rotor assembly 3 and a stator 4 are arranged inside the protective shell 1. A steel wheel and a rotating sleeve are arranged on the inner side of the motor stator, and the steel wheel is sleeved on the outer wall of the rotating sleeve. A flexible wheel is inlaid and installed on the inner surface of the rotating sleeve. The steel wheel serves as a rigid support and transmission component. It has the characteristics of high strength, high rigidity and wear resistance, and can withstand large loads and impact forces to ensure the stability and reliability of the servo joint. The flexible wheel mainly plays the role of transmission and deceleration. This is a prior art and will not be described in detail. One end of the hollow shaft 2 is fixedly connected with an output flange 5, which is connected to the outer wall of the rotating sleeve. The rotation of the rotor assembly 3 drives the hollow shaft 2 to rotate, and then drives the output flange 5 to rotate. A retaining spring is provided at one end of the hollow shaft 2. A fixing plate 6 is fixedly connected to the side of the protective shell 1 away from the output flange 5. A heat dissipation component 7 and a protective component 8 are provided in the protective shell 1. A pressure cover 101 is fixedly connected to the side of the protective shell 1 close to the output flange 5. A code disc cover 102 is fixedly connected to the side of the protective shell 1 away from the output flange 5. A code disc 103 is detachably connected to the inner surface of the code disc cover 102. A heat dissipation port 104 is provided on the code disc cover 102. By using the heat dissipation port 104, the heat dissipation in the protective shell 1 can be accelerated.

[0037] In an embodiment of the present invention, when the heat in the protective shell 1 is high, the heat dissipation port 104 discharges the heat in the protective shell 1. Specifically, the protective component 8 includes a fixed bin 81, an expansion airbag 82 is placed inside the fixed bin 81, and the expansion airbag 82 is filled with nitrogen. The inner surface of the fixed bin 81 is slidably connected with a slide plate 83, and the side of the slide plate 83 away from the expansion airbag 82 is fixedly connected with a connecting rod 84, and the end of the connecting rod 84 away from the slide plate 83 is fixedly connected with a protective sheet 85, and the connecting rod 84 passes through the inner wall of the fixed bin 81 and is slidably connected to the inner wall of the fixed bin 81, and the protective sheet 85 is attached to the side of the code disc 103 close to the fixed plate 6. The protective sheet 85 can slide on the side of the code disk 103 close to the fixed plate 6. The expansion airbag 82 is located in the middle of the fixed bin 81. The slide plate 83 is elastically connected to the inner wall of the fixed bin 81 through a reset spring. When the device is in working state, the temperature inside the protective shell 1 will gradually rise due to the operation of the motor or other heat sources. The expansion airbag 82 will begin to expand in response to the temperature rise. This expansion process is not abrupt, but is carried out smoothly as the temperature gradually rises, ensuring the delicate and precise adjustment. As the expansion airbag 82 expands, it pushes the slide plate 83 closely connected to it to slide along the inner surface of the fixed bin 81. The movement of the slide plate 83 is smooth and controlled. After the expansion airbag 82 is heated, the expansion of the expansion airbag 82 drives the slide plate 83 to move, and then drives the connecting rod 84 to move. The movement of the connecting rod 84 causes the position of the protective sheet 85 to change. The protective sheet 85 that was originally tightly attached to one side of the code disk 103 gradually moves away, revealing the heat dissipation port 104. This change allows the heat inside the protective shell 1 to be discharged more efficiently through the heat dissipation port 104, effectively reducing the internal temperature and ensuring the normal operation of the equipment. When the equipment stops working and the temperature inside the protective shell 1 gradually decreases, the expansion airbag 82 also shrinks. At this time, the return spring plays its role and pushes the slide plate 83 and the connecting rod 84 back to the initial position through elastic potential energy, thereby driving the protective sheet 85 to cover the heat dissipation port 104 again, effectively preventing water vapor in the external environment from entering the protective shell 1 through the heat dissipation port and causing potential damage to the parts of the protective shell 1.

[0038] Furthermore, when the rotor assembly 3 is working, the heat in the protective shell 1 can be discharged faster. Specifically, the rotor assembly 3 includes a frame 31, a limiting slide groove 34 and a blade 36. The frame 31 is sleeved on the outer wall of the hollow shaft 2. A rotor yoke 32 is fixedly connected to the outer wall of the frame 31. A rotor magnetic tile 33 is inlaid on the inner surface of the rotor yoke 32. The limiting slide groove 34 is provided on the outer wall of the frame 31. A slider 35 is slidably connected in the limiting slide groove 34. The slider The inner surface of the limiting slide groove 34 is elastically connected to the slider 35 through a connecting spring, the blade 36 is fixedly connected to the upper side of the slider 35, the outer wall of the fixed plate 6 is fixedly connected to the Z-shaped member 61, and the end of the Z-shaped member 61 away from the fixed plate 6 is rotatably connected to the rotating wheel 1 62, and the heat dissipation port 104 and the Z-shaped member 61 are both provided with multiple groups, and the multiple groups of heat dissipation ports 104 and the Z-shaped member 61 are arranged in a circular array on the central axis of the hollow shaft 2, and the heat dissipation port 104 and the Z-shaped member 61 are in the same vertical direction. In the plane, during the operation of the rotor assembly 3, the frame 31 rotates, and then the blades 36 can rotate with the central axis of the hollow shaft 2, thereby accelerating the airflow in the protective shell 1 and accelerating the heat dissipation in the protective shell 1. At the same time, during the rotation of the frame 31, the slider 35 is driven to follow the movement, so that the slider 35 is in contact with the rotating wheel 1 62. Since the position of the fixed plate 6 is fixed, the position of the rotating wheel 1 62 is fixed. During the movement of the slider 35, since the slider 35 is limited by the limiting slide groove 34, the rotating wheel 1 62 squeezes the slider 35, so that the slider 35 compresses the connecting spring, thereby changing the position of the blade 36. After the slider 35 passes through the rotating wheel 1 62, under the resetting action of the connecting spring, the slider 35 and the blade 36 are driven to reset, and the blade 36 also changes its original position and angle accordingly, optimizing the guiding effect of the blade 36 on the airflow, thereby improving the flow efficiency of the airflow, and further improving the heat dissipation effect of the heat in the protective shell 1.

[0039] In the embodiment of the present invention, in order to further improve the heat dissipation effect of the heat in the protective shell 1, specifically, the heat dissipation component 7 includes a piston chamber 71, a piston in the piston chamber 71 is connected to a piston rod 72, the piston rod 72 and the piston chamber 71 are elastically connected by an abutment spring, and the end of the piston rod 72 away from the abutment spring is rotatably connected to a rotating wheel 2 73, and a one-way inlet 74 and a one-way outlet 75 are provided on the outer wall of the piston chamber 71. A connecting plate 76 is fixedly connected to the outer wall of the piston chamber 71, and the connecting plate 76 is fixed to the side of the code disk 103 close to the fixed plate 6, and the end of the one-way outlet 75 away from the piston chamber 71 is connected to the heat dissipation port 104 In this way, the exhausted hot air is directly discharged through the heat dissipation port 104. When the wheel 1 62 squeezes the slider 35 and the slider 35 compresses the connecting spring, the slider 35 squeezes the wheel 2 73, and then the piston rod 72 moves in the piston chamber 71 to compress the abutment spring. After the wheel 1 62 passes through the slider 35, the slider 35 is reset under the reset action of the connecting spring, and the piston rod 72 is also reset under the action of the abutment spring. In this process, the one-way inlet 74 absorbs hot air, and the one-way outlet 75 discharges hot air. The hot air is discharged from the heat dissipation port 104, thereby further improving the heat dissipation effect of the heat in the protective shell 1.

[0040] The present invention provides a robot joint motor, comprising the above-mentioned robot joint motor assembly.

[0041] During use, the heat in the protective shell 1 gradually increases. When the heat in the protective shell 1 is high, after the expansion airbag 82 is heated, the expansion airbag 82 expands to drive the slide plate 83 to move, and then drives the connecting rod 84 to move, so that the protective sheet 85 moves, so that the protective sheet 85 removes the shielding of the heat dissipation port 104, so that the heat in the protective shell 1 is discharged faster;

[0042] At the same time, during the operation of the device, the frame 31 rotates, and then the blades 36 can rotate with the central axis of the hollow shaft 2, thereby accelerating the airflow in the protective shell 1 and accelerating the heat dissipation in the protective shell 1. At the same time, during the rotation of the frame 31, the slider 35 is driven to follow the movement, so that the slider 35 abuts against the rotating wheel 1 62. Since the position of the fixing plate 6 is fixed, the position of the rotating wheel 1 62 is fixed. During the movement of the slider 35, since the slider 35 is limited by the limiting slide groove 34, the rotating wheel 1 62 squeezes the slider 35, so that the slider 35 compresses the connecting spring, thereby changing the position of the blade 36. After the slider 35 passes through the rotating wheel 1 62, under the resetting action of the connecting spring, the slider 35 and the blade 36 are driven to reset, and the blade 36 also changes its original position and angle accordingly, thereby optimizing the guiding effect of the blade 36 on the airflow.

[0043] At the same time, when the wheel 1 62 squeezes the slider 35 and causes the slider 35 to compress the connecting spring, the slider 35 will squeeze the wheel 2 73, and then the piston rod 72 moves in the piston chamber 71 to compress the abutment spring. After the wheel 1 62 passes the slider 35, the slider 35 is reset under the reset action of the connecting spring, and the piston rod 72 is also reset under the action of the abutment spring. In this process, the one-way inlet 74 absorbs hot air and the one-way outlet 75 discharges hot air, and the hot air is discharged from the heat dissipation port 104. When the device is not working, the expansion airbag 82 shrinks, and under the action of the reset spring, the connecting rod 84 is reset, and the heat dissipation port 104 is blocked by the protective sheet 85 again to prevent water vapor from entering the protective shell 1.

[0044] It should be noted that the above-mentioned electrical components are all existing technology products. Technical personnel in this field select, install and complete the circuit debugging work according to the needs of use to ensure that all electrical appliances can work normally. The components are all universal standard parts or components known to technical personnel in this field. Their structures and principles can be known to technical personnel through technical manuals or through conventional experimental methods. The applicant does not make specific restrictions here.

[0045] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A robot joint motor assembly, comprising a protective shell (1) and a hollow shaft (2), characterized in that: A rotor assembly (3) and a stator (4) are arranged inside the protective shell (1); an output flange (5) is fixedly connected to one end of the hollow shaft (2); a retaining spring is arranged at one end of the hollow shaft (2); a fixing plate (6) is fixedly connected to the side of the protective shell (1) away from the output flange (5); a Z-shaped member (61) is fixedly connected to the outer wall of the fixing plate (6); and a rotating wheel (62) is rotatably connected to the end of the Z-shaped member (61) away from the fixing plate (6); a heat dissipation assembly (7) and a protective assembly (8) are arranged in the protective shell (1); and the rotor assembly (3) comprises: A frame (31), the frame (31) being sleeved on the outer wall of the hollow shaft (2), a rotor yoke (32) being fixedly connected to the outer wall of the frame (31), and a rotor magnetic tile (33) being inlaid and installed on the inner surface of the rotor yoke (32); A limiting slide groove (34), wherein the limiting slide groove (34) is provided on the outer wall of the frame body (31), a slider (35) is slidably connected in the limiting slide groove (34), and the slider (35) is elastically connected to the inner surface of the limiting slide groove (34) via a connecting spring; The blade (36) is fixedly connected to the upper side of the slider (35). When the frame (31) rotates, the blade (36) drives the slider (35) to follow the movement, so that the slider (35) abuts against the rotating wheel (62). Since the position of the fixed plate (6) is fixed, the position of the rotating wheel (62) is fixed. During the movement of the slider (35), since the slider (35) is limited by the limiting groove (34), the rotating wheel (62) squeezes the slider (35), so that the slider (35) compresses the connecting spring, thereby changing the position of the blade (36). After the slider (35) passes the rotating wheel (62), under the reset action of the connecting spring, the slider (35) and the blade (36) are driven to reset.

2. The robot joint motor assembly according to claim 1, characterized in that: A pressure cover (101) is fixedly connected to a side of the protective shell (1) close to the output flange (5), and a code disc cover (102) is fixedly connected to a side of the protective shell (1) away from the output flange (5). A code disc (103) is detachably connected to the inner surface of the code disc cover (102), and a heat dissipation port (104) is provided on the code disc cover (102).

3. The robot joint motor assembly according to claim 2, characterized in that: The heat dissipation openings (104) and the Z-shaped member (61) are both provided in multiple groups, and the multiple groups of the heat dissipation openings (104) and the Z-shaped member (61) are all arranged in a circular array along the central axis of the hollow shaft (2), and the heat dissipation openings (104) and the Z-shaped member (61) are located in the same vertical plane.

4. The robot joint motor assembly according to claim 3, characterized in that: The heat dissipation component (7) comprises a piston chamber (71), a piston in the piston chamber (71) being connected to a piston rod (72), the piston rod (72) being elastically connected to the piston chamber (71) via an abutment spring, one end of the piston rod (72) away from the abutment spring being rotatably connected to a second rotating wheel (73), a one-way inlet (74) and a one-way outlet (75) being provided on the outer wall of the piston chamber (71), and a connecting plate (76) being fixedly connected to the outer wall of the piston chamber (71).

5. The robot joint motor assembly according to claim 4, characterized in that: The connecting plate (76) is fixed to a side of the code disc (103) close to the fixed plate (6), and the end of the one-way discharge port (75) away from the piston chamber (71) is connected to the heat dissipation port (104).

6. The robot joint motor assembly according to claim 5, characterized in that: The protective assembly (8) comprises a fixed bin (81), an inflatable airbag (82) is placed inside the fixed bin (81), a slide plate (83) is slidably connected to the inner surface of the fixed bin (81), a connecting rod (84) is fixedly connected to the side of the slide plate (83) away from the inflatable airbag (82), and a protective sheet (85) is fixedly connected to the end of the connecting rod (84) away from the slide plate (83).

7. The robot joint motor assembly according to claim 6, characterized in that: The connecting rod (84) passes through the inner wall of the fixed bin (81) and is slidably connected to the inner wall of the fixed bin (81); the protective sheet (85) is in contact with a side of the code disc (103) close to the fixed plate (6); and the protective sheet (85) can slide on a side of the code disc (103) close to the fixed plate (6).

8. The robot joint motor assembly according to claim 7, characterized in that: The expansion airbag (82) is located in the middle of the fixed bin (81), and the slide plate (83) is elastically connected to the inner wall of the fixed bin (81) via a return spring.

9. A robot joint motor, characterized in that: Comprising the robot joint motor assembly as described in claim 8.

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