Joint module for realizing oil cooling through internal circulation of oil

Abstract

The joint module comprises a motor and a harmonic reducer, the motor comprises a shell, a stator assembly and a rotor assembly, the shell comprises an outer shell and an inner oil cavity, a first oil port and a second oil port are formed in the two ends of the inner oil cavity respectively, the stator assembly is fixed to the inner side of the inner oil cavity, and the rotor assembly is fixed to the outer side of the inner oil cavity. The rotor assembly comprises a rotating shaft and a rotor hub arranged on the rotating shaft, the rotor hub comprises an inner shell and an outer shell, the inner shell and the outer shell are fixed through a connecting piece, an oil stirring channel is formed, the harmonic reducer comprises a wave generator, a flexible gear, a supporting bearing outer ring and a supporting bearing inner ring, and the rotating shaft is connected with the wave generator. The wave generator drives the flexible gear to deform, the flexible gear is fixed to the rear end cover, the outer ring of the supporting bearing is fixed to the rear end cover, and a gear ring is arranged on the inner wall of the inner ring of the supporting bearing and is in staggered tooth transmission with the flexible gear. Oil liquid is in direct contact with a stator heating source, the stator heat dissipation efficiency is improved, the rotor hub drives the oil liquid to flow, and the heat exchange efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot joint drive, and particularly relates to a joint module that realizes oil cooling through internal oil circulation. Background Art

[0002] With the development of robots and automation equipment towards high precision, high load, and miniaturization, as the core drive unit, the heat dissipation performance of the joint module directly affects the operation efficiency and service life. Traditional joint modules are usually composed of an integrated motor and a reducer (such as a harmonic reducer). However, during high-load or long-term operation, a large amount of heat is easily generated inside the motor stator, rotor, and reducer. If the heat cannot be dissipated in time, it will lead to too high a temperature rise, causing problems such as magnet demagnetization and lubrication failure, and even causing the equipment to jam or be damaged.

[0003] Currently, the heat dissipation solutions for joint modules mainly include the following several types:

[0004] 1. Natural air cooling and external heat sinks: Heat is dissipated through the surface of the housing or additional heat sinks are added to increase the heat dissipation area. However, this method has low heat dissipation efficiency in enclosed or compact spaces and is difficult to meet the requirements of high power density modules.

[0005] 2. Forced air cooling: A fan is used to force convection, but it will increase noise and power consumption. At the same time, external air flow may introduce dust, affecting the reliability of precision components.

[0006] 3. External oil cooling circulation system: The cooling oil is driven by an external oil pump to flow through the internal pipeline of the module to achieve heat dissipation. Although this solution can improve the cooling efficiency, it requires additional setting of an oil pump, an oil tank, and complex oil circuits, resulting in an increase in the system volume, complex structure, and the risk of oil leakage, and it is difficult to adapt to the highly integrated joint module design.

[0007] Therefore, there is an urgent need to design an efficient and lightweight thermal management solution suitable for highly integrated joint modules. Summary of the Invention

[0008] In order to solve the above technical problems, the purpose of the present invention is to provide a joint module that realizes oil cooling through internal oil circulation, which has a compact structure and good heat dissipation effect.

[0009] In order to achieve the above invention purpose, the present invention adopts the following technical solutions:

[0010] A joint module that realizes oil cooling through internal oil circulation includes a motor and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. Both ends of the housing are respectively provided with a bottom plate and a rear end cover. The housing includes an outer housing and an inner oil cavity provided inside the outer housing. Both ends of the inner oil cavity respectively form a first oil port and a second oil port. The stator assembly is fixed inside the inner oil cavity.

[0011] The rotor assembly is disposed within the stator assembly and is rotatably connected to the bottom plate at one end. The rotor assembly includes a rotating shaft and a rotor hub disposed on the rotating shaft. The rotor hub includes an inner housing and an outer housing that are concentrically arranged. The inner housing and the outer housing are fixed by connecting pieces, and an oil stirring channel is formed between the inner housing and the outer housing. A ring magnet is also fixed on the outer wall of the rotor hub.

[0012] The harmonic reducer includes a wave generator, a flexible gear, an outer support bearing ring, and an inner support bearing ring. One end of the rotating shaft penetrates through the rear end cover and is connected to the wave generator. The wave generator is disposed within the flexible gear. The wave generator rotates together with the rotating shaft and drives the flexible gear to deform. The flexible gear is fixed to the rear end cover. The outer support bearing ring is fixed to the rear end cover. A tooth ring is provided on the inner wall of the inner support bearing ring. The inner support bearing ring is sleeved outside the flexible gear and engages with the flexible gear with a tooth offset.

[0013] As a preferred solution, the inner oil cavity is composed of the outer housing, the inner ring plate, and the circumferential partition plate. The inner ring plate is concentrically arranged within the outer housing. The circumferential partition plate is fixed between the outer housing and the inner ring plate, such that multiple inner oil cavities are formed between the outer housing and the inner ring plate.

[0014] As a preferred solution, the axial length of the inner ring plate is less than the axial length of the outer housing. Gaps are left between the two ends of the inner ring plate and the rear end cover and the bottom plate respectively, forming multiple first oil ports and second oil ports.

[0015] As a preferred solution, a support step is further provided at one end of the outer housing close to the bottom plate. The circumferential partition plate is L-shaped, and a set of adjacent edges are respectively fixed to the support step and the inner wall of the outer housing, and the other set of adjacent edges are respectively fixed to the inner ring plate.

[0016] As a preferred solution, the connecting piece between the inner housing and the outer housing is in a spiral strip shape.

[0017] As a preferred solution, the rear cover plate is a torque sensor. An oil through hole communicating the motor cavity and the harmonic reducer cavity is further provided on the torque sensor. A sealing ring is further provided between the torque sensor and the outer support bearing ring, and the sealing ring is located outside the oil through hole.

[0018] As a preferred solution, a through hole is further provided on the bottom plate. The rotating shaft penetrates through the through hole, and a oil seal is further provided between the rotating shaft and the through hole.

[0019] As a preferred solution, it further includes a T-shaped wire harness pipe fitting, which includes a connection plate and an intermediate pipe. The connection plate is fixed at one end of the intermediate pipe and is in through communication with the hollow intermediate pipe. The connection plate is fixed to the inner ring of the support bearing. The intermediate pipe passes through the harmonic reducer and the hollow rotating shaft, and there is a gap between the intermediate pipe and the harmonic reducer and the hollow shaft body. Both ends of the intermediate pipe are respectively rotatably connected to the wave generator and the hollow rotating shaft through two support members.

[0020] As a preferred solution, a buckle cover is also fixed on the bottom plate, and a control circuit board is also provided in the installation cavity formed by the bottom plate and the buckle cover. A magnetic ring seat A is fixed at one end of the rotating shaft close to the control circuit board. A magnetic ring A is fixed on the magnetic ring seat A. One end of the intermediate pipe also extends into the installation cavity, and a magnetic ring seat B is fixed at the end of the intermediate pipe. A magnetic ring B is fixed on the magnetic ring seat B. The magnetic ring B and the magnetic ring A are concentrically arranged.

[0021] As a preferred solution, a positioning ring is also provided at one end of the rotating shaft close to the control circuit board. A bushing is provided on one side of the magnetic ring seat A. A pressure ring is provided at the connection between the bushing and the magnetic ring seat A. The bushing is in interference fit with the positioning ring, and a bowl-shaped seal is clamped between the pressure ring and the end of the positioning ring. The bowl-shaped seal abuts against the intermediate pipe.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] Through the integrated design of the outer housing and the inner oil cavity, the present invention directly embeds the cooling oil circuit inside the motor housing, avoiding the occupation of space by the external oil circuit and significantly reducing the volume of the module. Moreover, the inner oil cavity surrounds the stator assembly, enabling the oil to directly contact the stator heat source and improving the stator heat dissipation efficiency. At the same time, the present invention is provided with an oil stirring channel in the rotor hub to drive the flow of oil by the centrifugal force generated by the rotation of the rotor, eliminating the need for an external oil pump, reducing the system complexity and energy consumption. At the same time, it enhances the oil disturbance and improves the heat exchange efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The schematic diagrams in the specification forming a part of this application are used to provide a further understanding of this application. The illustrative embodiments and descriptions thereof of this application are used to explain this application and do not constitute a limitation to this application.

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 and Figure 3 are respectively schematic diagrams of the sectional structures of the present invention from different angles;

[0027] Figure 4 and Figure 5 are respectively schematic diagrams of the exploded structures of the present invention from different angles;

[0028] Figure 6 It is a schematic structural view of the motor housing of the present invention;

[0029] Figure 7 It is a schematic overall structural view of the motor rotor assembly of the present invention;

[0030] Figure 8 It is an exploded structural view of the motor rotor assembly of the present invention

[0031] Figure 9 and Figure 10 They are respectively exploded structural views of the rotating shaft, bowl-shaped sealing sleeve, magnetic ring seat and magnetic ring of the present invention from two different angles.

[0032] The reference numerals are: 11, outer housing; 110, support step; 12, inner oil chamber; 121, first oil port; 122, second oil port; 123, circumferential partition; 120, inner ring plate; 13, stator assembly; 14, rotor shaft; 141, limit ring; 142, positioning ring; 151, inner housing; 152, outer housing; 153, connecting piece; 154, oil stirring channel; 16, annular magnet; 17, bottom plate; 171, convex ring; 18, bearing A; 21, cover; 22, control circuit board; 23, magnetic ring seat A; 231, oil seal; 232, ferrule; 233, pressing ring; 24, magnetic ring A; 25, bowl-shaped sealing sleeve; 26, magnetic ring B; 27, magnetic ring seat B; 31, bearing outer ring; 311, sealing ring; 32, bearing inner ring; 33, elliptical hub; 34, flexible bearing; 35, flexspline; 4, rear end cover; 41, oil through hole; 51, connecting disk; 52, intermediate pipe; 53, bearing B; 54, bearing bush. Detailed Description of the Invention

[0033] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] In addition, in the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0036] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more, unless otherwise clearly defined.

[0037] In the present invention, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "under" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0039] The present invention will be further described below in conjunction with the drawings and embodiments:

[0040] As Figures 1 to 3As shown in the figure, a joint module that realizes oil cooling through internal circulation of oil fluid includes a motor and a harmonic reducer. The motor includes a housing, a stator assembly 13, and a rotor assembly. At both ends of the housing, a bottom plate 17 and a rear end cover 4 are respectively provided. The housing includes an outer housing 11 and an inner oil cavity 12 provided inside the outer housing 11. At both ends of the inner oil cavity 12, a first oil port 121 and a second oil port 122 are respectively formed. The stator assembly 13 is fixed inside the inner oil cavity 12. The specific structure of the inner oil cavity is as Figure 6 shown. The inner oil cavity 12 is composed of the outer housing 11, an inner ring plate 120, and a circumferential partition 123. The inner ring plate 120 is concentrically arranged inside the outer housing 11. The circumferential partition 123 is fixed between the outer housing 11 and the inner ring plate 120, so that a plurality of inner oil cavities 12 are formed between the outer housing 11 and the inner ring plate 120.

[0041] The above structure divides the space between the outer housing 11 and the inner ring plate 120 into a plurality of independent inner oil cavities 12 through the circumferential partition 123, forming a parallel oil circuit, avoiding oil fluid short - circuit, and ensuring uniform circumferential heat dissipation of the stator.

[0042] The rotor assembly is arranged inside the stator assembly 13 and is rotatably connected to the bottom plate 17 at one end. As Figure 7 and Figure 8 shown, the rotor assembly includes a rotating shaft 14 and a rotor hub arranged on the rotating shaft 14. The rotor hub includes a concentrically arranged inner housing 151 and an outer housing 152. The inner housing 151 and the outer housing 152 are fixed through a connecting piece 153. The connecting piece 153 between the inner housing 151 and the outer housing 152 is in the shape of a spiral strip, so that an oil stirring channel 154 is formed between the inner housing 151 and the outer housing 152. A ring - shaped magnet 16 that cooperates with the stator assembly is also fixed on the outer wall of the rotor hub.

[0043] The above - mentioned spiral connecting piece 153 converts the tangential movement of the rotor rotation into the axial flow of the oil fluid, forming a swirling oil flow, prolonging the residence time of the oil fluid in the oil stirring channel 154, enhancing the oil stirring efficiency, and improving the heat dissipation effect; at the same time, the spiral structure reduces the impact loss of the oil fluid and the connecting piece, and reduces the rotational load of the rotor.

[0044] A limit ring 141 is also provided on the rotating shaft 14. A bearing A18 is also fixed on the rotating shaft 14. The bearing A18 and the rotor hub respectively abut against both sides of the limit ring 141. A ring of convex rings 171 is also provided on the bottom plate 17. The outer ring of the bearing A18 is in interference fit with the convex rings 171. A through - hole is also provided on the bottom plate 17. The rotating shaft 14 passes through the through - hole, and a oil seal 231 is also provided between the rotating shaft 14 and the through - hole. The above structure strengthens the axial seal, preventing the oil fluid from leaking axially along the rotating shaft to the outside or invading the motor control cavity.

[0045] As a further preferred solution, the axial length of the inner ring plate 120 is less than the axial length of the outer housing 11. There are gaps between the two ends of the inner ring plate 120 and the rear end cover 4 and the bottom plate 17 respectively, forming a plurality of first oil ports 121 and second oil ports 122. The above structure utilizes the pressure difference generated by the rotation of the rotor to realize the active flow of the oil in the axial and radial directions, enhancing the circulation efficiency.

[0046] A support step 110 is further provided at one end of the outer housing 11 close to the bottom plate 17. The circumferential partition plate 123 is L-shaped, and a set of adjacent edges are respectively fixed to the support step 110 and the inner wall of the outer housing 11, and the other set of adjacent edges are respectively fixed to the inner ring plate 120. In the above structure, the L-shaped circumferential partition plate 123 is fixed by the support step 110, which not only shares the force on the housing, but also avoids the sealing failure caused by the vibration deformation of the oil cavity; at the same time, it reduces the risk of oil leakage.

[0047] As Figures 2 to 5 As shown in the figure, the harmonic reducer includes a wave generator, a flexible gear 35, an outer support bearing ring 31 and an inner support bearing ring 32. The wave generator includes an elliptical hub 33 and a flexible bearing 34. One end of the rotating shaft 14 penetrates through the rear end cover 4 and is fixedly connected to the elliptical hub 33. The elliptical hub 33 is arranged in the flexible gear 4 through the flexible bearing 34. The elliptical hub 33 rotates together with the rotating shaft 14 and drives the flexible gear 4 to deform. The flexible gear 35 is fixed to the rear end cover 4. The outer support bearing ring 31 is fixed to the rear end cover 4. A tooth ring is provided on the inner wall of the inner support bearing ring 32. The inner support bearing ring 32 is sleeved outside the flexible gear 35 and meshes with the flexible gear 35 with staggered teeth. Sealing rings 311 are provided between the outer bearing ring 31 and the inner bearing ring 32 and the rear end cover 4. In the above harmonic reducer structure, the steel gear is integrated on the inner support bearing ring, the structure is more compact, and the connection of parts is also reduced, reducing the risk of oil leakage.

[0048] An oil through hole 41 communicating the motor cavity and the harmonic reducer cavity is further provided on the rear cover plate 4. The sealing ring 311 between the rear cover plate 4 and the outer support bearing ring 31 is located outside the oil through hole 41. The above structure realizes the integrated cooling of the motor and the harmonic reducer: the oil flows into the harmonic reducer cavity through the oil through hole 41 of the rear end cover 4, realizing the seamless connection of the oil circuits of the motor and the reducer, and synchronously cooling the gear meshing area of the reducer.

[0049] As a preferred solution, the rear cover plate 4 can be replaced by a torque sensor. Similarly, an oil through hole 41 communicating the motor cavity and the harmonic reducer cavity is also provided on the torque sensor. The sealing ring 311 between the torque sensor and the outer support bearing ring 31 is located outside the oil through hole 41. The sealing ring 311 is located outside the oil through hole 41, isolating the reducer from the external environment and preventing oil leakage or pollutant intrusion.

[0050] The harmonic reducer of the present invention further includes a T-shaped wire harness pipe fitting, which includes a connecting plate 51 and an intermediate pipe 52. The connecting plate 51 is fixed at one end of the intermediate pipe 52 and is in through communication with the hollow intermediate pipe 52. The connecting plate 51 is fixed to the inner ring 32 of the support bearing, and a sealing ring is further provided between the connecting plate 51 and the inner ring 32 of the support bearing. The intermediate pipe 52 passes through the harmonic reducer and the hollow rotating shaft 14, and there is a gap between the intermediate pipe 52 and the harmonic reducer and the hollow shaft body 221. One end of the intermediate pipe 52 is rotatably connected to the wave generator through a bearing B53, and the other end is supported by a bearing bush 54 on the inner wall of the hollow rotating shaft 14.

[0051] The above structure concentrates the motor control wire harness in a pipe, avoiding short circuits or signal interference caused by the wire harness contacting the oil. At the same time, both ends of the intermediate pipe 52 are rotatably connected to the wave generator and the rotating shaft 14 through support members, improving the support stability and preventing the vibration of the pipe fitting from affecting the detection accuracy.

[0052] A buckle cover 21 is also fixed on the bottom plate 17, and a control circuit board 22 is further provided in the installation cavity formed by the bottom plate 17 and the buckle cover 21. A magnetic ring seat A23 is fixed at one end of the rotating shaft 14 close to the control circuit board 22, and a magnetic ring A24 is fixed on the magnetic ring seat A23. One end of the intermediate pipe 52 also extends into the installation cavity, and a magnetic ring seat B27 is fixed at the end of the intermediate pipe 52, and a magnetic ring B26 is fixed on the magnetic ring seat B27. The magnetic ring B26 and the magnetic ring A24 are concentrically arranged.

[0053] The above structure adopts non-contact position detection, detecting the relative position of the rotating shaft and the wire harness pipe fitting through magnetic signals to achieve high-precision speed or angle feedback. And the magnetic ring A24 and the magnetic ring B26 are concentrically arranged and located in the same plane, which helps to reduce the axial length of the module.

[0054] A positioning ring 142 is also provided at one end of the rotating shaft 14 close to the control circuit board 22. A bushing 232 is provided on one side of the magnetic ring seat A23, and a pressure ring 233 is provided at the connection between the bushing 231 and the magnetic ring seat A23. The bushing 232 is in interference fit with the positioning ring 142, and a bowl-shaped sealing sleeve 25 is clamped between the pressure ring 233 and the end of the positioning ring 142. The bowl-shaped sealing sleeve 25 abuts against the intermediate pipe 52, as Figure 9 and Figure 10 shown.

[0055] Since the joint module of the present application is internally provided with coolant, in order to prevent oil leakage, a sealing redundancy structure is further designed. The bowl-shaped sealing sleeve 25 is used in cooperation with the pressure ring 233 to further prevent oil from seeping into the control circuit cavity on the basis of the interference connection between the bushing 232 and the positioning ring 142.

[0056] The present invention adopts a collaborative design of sealing and oil circuit to achieve a closed circulation of hydraulic fluid in a compact space, taking into account heat dissipation and leakage prevention. The present invention solves the problems of structural redundancy, uneven heat dissipation and insufficient reliability in traditional cooling solutions, and provides an efficient and lightweight thermal management solution for high-power density joint modules.

[0057] In the description of the present specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the present specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0058] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An articulated module that realizes oil cooling through internal circulation of oil fluid, comprising a motor and a harmonic reducer, characterized in that: The motor includes a housing, a stator assembly (13) and a rotor assembly. Both ends of the housing are respectively provided with a bottom plate (17) and a rear end cover (4). The housing includes an outer housing (11) and an inner oil cavity (12) provided inside the outer housing (11). Both ends of the inner oil cavity (12) respectively form a first oil port (121) and a second oil port (122). The stator assembly (13) is fixed inside the inner oil cavity (12). The rotor assembly is arranged inside the stator assembly (13) and is rotatably connected to the bottom plate (17) at one end. The rotor assembly includes a rotating shaft (14) and a rotor hub arranged on the rotating shaft (14). The rotor hub includes a concentrically arranged inner housing (151) and an outer housing (152). The inner housing (151) and the outer housing (152) are fixed by connecting pieces (153), and an oil stirring channel (154) is formed between the inner housing (151) and the outer housing (152). A ring magnet (16) is also fixed on the outer wall of the rotor hub. The harmonic reducer includes a wave generator, a flexspline (35), an outer ring of the support bearing (31) and an inner ring of the support bearing (32). One end of the rotating shaft (14) penetrates the rear end cover (4) and is connected to the wave generator. The wave generator is arranged inside the flexspline (4). The wave generator rotates together with the rotating shaft (14) and drives the flexspline (4) to deform. The flexspline (35) is fixed to the rear end cover (4). The outer ring of the support bearing (31) is fixed to the rear end cover (4). A tooth ring is provided on the inner wall of the inner ring of the support bearing (32). The inner ring of the support bearing (32) is sleeved outside the flexspline (35) and engages with the flexspline (35) with a tooth offset.

2. The joint module that realizes oil cooling through internal circulation of oil fluid according to claim 1, wherein The inner oil cavity (12) is composed of the outer housing (11), an inner ring plate (120) and a circumferential partition (123). The inner ring plate (120) is concentrically arranged inside the outer housing (11). The circumferential partition (123) is fixed between the outer housing (11) and the inner ring plate (120), so that a plurality of inner oil cavities (12) are formed between the outer housing (11) and the inner ring plate (120).

3. The joint module for oil cooling by realizing internal circulation of oil liquid according to claim 2, wherein The axial length of the inner ring plate (120) is less than the axial length of the outer housing (11). Gaps are left between both ends of the inner ring plate (120) and the rear end cover (4) and the bottom plate (17) respectively, forming a plurality of first oil ports (121) and second oil ports (122).

4. The joint module for achieving oil cooling through internal circulation of oil fluid according to claim 2, wherein A support step (110) is further provided at one end of the outer housing (11) close to the bottom plate (17). The circumferential partition (123) is L-shaped, and a set of adjacent edges are respectively fixed to the support step (110) and the inner wall of the outer housing (11), and the other set of adjacent edges are respectively fixed to the inner ring plate (120).

5. The joint module for oil cooling by realizing internal circulation of oil liquid according to claim 1, characterized in that, The connecting piece (153) between the inner housing (151) and the outer housing (152) is in a spiral strip shape.

6. The joint module for realizing oil cooling through internal circulation of oil fluid according to claim 1, characterized in that The rear cover plate (4) is a torque sensor. An oil through-hole (41) communicating the motor cavity and the harmonic reducer cavity is further provided on the torque sensor. A sealing ring (311) is further provided between the torque sensor and the outer ring (31) of the support bearing. The sealing ring (311) is located outside the oil through-hole (41).

7. The joint module for oil cooling by realizing internal circulation of oil liquid according to claim 1, wherein, A through-hole is further provided on the bottom plate (17). The rotating shaft (14) penetrates through the through-hole. An oil seal (231) is further provided between the rotating shaft (14) and the through-hole.

8. The joint module for oil cooling by realizing internal circulation of oil fluid according to claim 1, wherein, It further includes a T-shaped wire harness pipe fitting. The T-shaped wire harness pipe fitting includes a connecting plate (51) and an intermediate pipe (52). The connecting plate (51) is fixed at one end of the intermediate pipe (52) and is in through communication with the hollow intermediate pipe (52). The connecting plate (51) is fixed to the inner ring (32) of the support bearing. The intermediate pipe (52) penetrates through the harmonic reducer and the hollow rotating shaft (14), and there is a gap between the intermediate pipe (52) and the harmonic reducer and the hollow shaft body (221). Both ends of the intermediate pipe (52) are rotatably connected to the wave generator and the hollow rotating shaft (14) respectively through two support members.

9. The joint module for oil cooling by realizing internal circulation of oil fluid according to claim 8, wherein, A cover (21) is further fixed on the bottom plate (17). A control circuit board (22) is further provided in the installation cavity formed by the bottom plate (17) and the cover (21). A magnetic ring seat A (23) is fixed at one end of the rotating shaft (14) close to the control circuit board (22). A magnetic ring A (24) is fixed on the magnetic ring seat A (23). One end of the intermediate pipe (52) also extends into the installation cavity, and a magnetic ring seat B (27) is fixed at the end of the intermediate pipe (52). A magnetic ring B (26) is fixed on the magnetic ring seat B (27). The magnetic ring B (26) and the magnetic ring A (24) are concentrically arranged.

10. The joint module for oil cooling by realizing internal circulation of oil fluid according to claim 9, wherein, A positioning ring (142) is further provided at one end of the rotating shaft (14) close to the control circuit board (22). A bushing (232) is provided on one side of the magnetic ring seat A (23). A retaining ring (233) is provided at the connection between the bushing (231) and the magnetic ring seat A (23). The bushing (232) is in interference fit with the positioning ring (142), and a bowl-shaped seal (25) is clamped between the retaining ring (233) and the end of the positioning ring (142). The bowl-shaped seal (25) abuts against the intermediate pipe (52).

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