A joint module that achieves oil cooling through internal oil circulation

Abstract

This invention relates to a joint module for oil cooling through internal oil circulation, comprising a motor and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. The housing includes an outer housing and an inner oil cavity, with a first oil port and a second oil port formed at both ends of the inner oil cavity. The stator assembly is fixed inside the inner oil cavity. The rotor assembly includes a shaft and a rotor hub mounted on the shaft. The rotor hub includes an inner housing and an outer housing, which are fixed together by a connecting piece, forming an oil churning channel. The harmonic reducer includes a wave generator, a flexible wheel, an outer ring of a support bearing, and an inner ring of a support bearing. The shaft is connected to the wave generator, which drives the flexible wheel to deform. The flexible wheel is fixed to a rear end cover. The outer ring of the support bearing is fixed to the rear end cover. A gear ring is provided on the inner wall of the inner ring of the support bearing, and it engages with the flexible wheel through staggered gear transmission. This invention allows the oil to directly contact the stator heat source, improving the stator heat dissipation efficiency, and the rotor hub drives the oil flow, improving heat exchange efficiency.

Description

Technical Field

[0001] This invention belongs to the field of robot joint drive technology, and in particular relates to a joint module that achieves oil cooling through internal oil circulation. Background Technology

[0002] As robots and automated equipment evolve towards higher precision, higher load capacity, and miniaturization, the heat dissipation performance of joint modules, as core drive units, directly impacts operating efficiency and lifespan. Traditional joint modules typically integrate a motor and a reducer (such as a harmonic reducer). However, under high load or prolonged operation, the motor stator, rotor, and reducer can easily generate significant heat. If this heat cannot be dissipated in time, it will lead to excessive temperature rise, causing problems such as magnet demagnetization, lubrication failure, and even equipment jamming or damage.

[0003] Currently, the main heat dissipation solutions for joint modules include the following:

[0004] 1. Natural air cooling and external heat sinks: Heat dissipation is achieved through the surface of the casing or by adding heat sinks 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 needs of high power density modules.

[0005] 2. Forced air cooling: This method uses a fan to force convection, but it increases noise and power consumption. At the same time, external airflow may introduce dust, affecting the reliability of precision components.

[0006] 3. External oil cooling circulation system: Cooling oil is driven by an external oil pump to flow through the internal piping of the module to achieve heat dissipation. Although this solution can improve cooling efficiency, it requires additional oil pumps, oil tanks and complex oil circuits, resulting in increased system size and complex structure, and there is a risk of oil leakage. It is also difficult to adapt to highly integrated joint module designs.

[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-mentioned technical problems, the purpose of this invention is to provide a joint module that achieves oil cooling through internal oil circulation. This module has a compact structure and good heat dissipation effect.

[0009] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0010] A joint module for oil cooling via internal oil circulation includes a motor and a harmonic reducer. The motor includes a housing, a stator assembly, and a rotor assembly. The housing has a base plate and a rear end cover at both ends. The housing includes an outer housing and an inner oil cavity located inside the outer housing. A first oil port and a second oil port are formed at both ends of the inner oil cavity. The stator assembly is fixed inside the inner oil cavity.

[0011] The rotor assembly is housed within the stator assembly and rotatably connected to a base plate at one end. The rotor assembly includes a shaft and a rotor hub mounted on the shaft. The rotor hub comprises a concentric inner shell and an outer shell, which are fixed together by a connecting piece, forming an oil-stirring channel. An annular magnet is also fixed to the outer wall of the rotor hub.

[0012] The harmonic reducer includes a wave generator, a flexible wheel, an outer ring of a support bearing, and an inner ring of a support bearing. One end of the rotating shaft passes through the rear end cover and is connected to the wave generator. The wave generator is disposed inside the flexible wheel. The wave generator rotates together with the rotating shaft and drives the flexible wheel to deform. The flexible wheel is fixed to the rear end cover. The outer ring of the support bearing is fixed to the rear end cover. A toothed ring is provided on the inner wall of the inner ring of the support bearing. The inner ring of the support bearing is sleeved on the outside of the flexible wheel and drives the flexible wheel with staggered teeth.

[0013] As a preferred embodiment, the inner oil cavity is composed of an outer shell, an inner ring plate, and a circumferential partition. The inner ring plate is concentrically arranged inside the outer shell, and the circumferential partition is fixed between the outer shell and the inner ring plate, so that multiple inner oil cavities are formed between the outer shell and the inner ring plate.

[0014] As a preferred embodiment, the axial length of the inner ring plate is less than the axial length of the outer shell, and 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 embodiment, the outer shell is further provided with a supporting step at one end near the bottom plate. The circumferential partition is L-shaped, and one set of adjacent edges is fixed to the supporting step and the inner wall of the outer shell, respectively, while another set of adjacent edges is fixed to the inner ring plate.

[0016] As a preferred embodiment, the connecting piece between the inner shell and the outer shell is a spiral strip.

[0017] As a preferred embodiment, the rear end cover is a torque sensor, and the torque sensor is also provided with an oil passage hole that connects to the motor cavity and the harmonic reducer cavity. A sealing ring is also provided between the torque sensor and the outer ring of the support bearing, and the sealing ring is located outside the oil passage hole.

[0018] As a preferred embodiment, the base plate is also provided with a through hole, the rotating shaft passes through the through hole, and an oil seal is provided between the rotating shaft and the through hole.

[0019] As a preferred embodiment, the device also includes a T-shaped wire harness fitting, which includes a connecting disc and an intermediate tube. The connecting disc is fixed to one end of the intermediate tube and communicates through it. The connecting disc is fixed to the inner ring of the support bearing. The intermediate tube passes through the harmonic reducer and the hollow shaft, and a gap is left between it and the harmonic reducer and the hollow shaft. The two ends of the intermediate tube are rotatably connected to the wave generator and the hollow shaft, respectively, through two support members.

[0020] As a preferred embodiment, a cover is also fixed on the base plate, and a control circuit board is also provided in the mounting cavity formed by the base plate and the cover. A magnetic ring seat A is fixed at one end of the rotating shaft near the control circuit board, and a magnetic ring A is fixed on the magnetic ring seat A. One end of the intermediate tube also extends into the mounting cavity, and a magnetic ring seat B is fixed at the end of the intermediate tube. A magnetic ring B is fixed on the magnetic ring seat B, and the magnetic ring B is concentrically arranged with the magnetic ring A.

[0021] As a preferred embodiment, the end of the rotating shaft near the control circuit board is also provided with a positioning ring, and a sleeve is provided on one side of the magnetic ring seat A. A pressure ring is provided at the connection between the sleeve and the magnetic ring seat A. The sleeve and the positioning ring are interference-fitted, and a bowl-shaped sealing sleeve is sandwiched between the end of the pressure ring and the positioning ring. The bowl-shaped sealing sleeve abuts against the intermediate tube.

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

[0023] This invention integrates the outer shell and inner oil cavity, embedding the cooling oil circuit directly into the motor housing. This avoids external oil circuits occupying space and significantly reduces the module size. Furthermore, the inner oil cavity surrounds the stator assembly, allowing the oil to directly contact the stator heat source, improving stator heat dissipation efficiency. Simultaneously, the rotor hub features an oil agitation channel that utilizes the centrifugal force of the rotating rotor to drive oil flow, eliminating the need for an external oil pump, reducing system complexity and energy consumption; it also enhances oil agitation, improving heat exchange efficiency. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

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

[0026] Figure 2 and Figure 3 These are schematic diagrams of the cross-sectional structure of the present invention from different angles;

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

[0028] Figure 6 This is a schematic diagram of the structure of the motor housing of the present invention;

[0029] Figure 7 This is a schematic diagram of the overall structure of the motor rotor assembly of the present invention;

[0030] Figure 8 This is an exploded structural diagram of the motor rotor assembly of the present invention.

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

[0032] The attached figures are labeled as follows: 11. Outer shell; 110. Support step; 12. Inner oil cavity; 121. First oil port; 122. Second oil port; 123. Circumferential partition; 120. Inner ring plate; 13. Stator assembly; 14. Rotor shaft; 141. Limiting ring; 142. Positioning ring; 151. Inner shell; 152. Outer shell; 153. Connecting piece; 154. Oil stirring channel; 16. Annular magnet; 17. Base plate; 171. Convex ring; 18. Bearing A; 21. 1. Cover; 22. Control circuit board; 23. Magnetic ring seat A; 231. Oil seal; 232. Compression sleeve; 233. Pressure 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. Flexible wheel; 4. Rear end cover; 41. Oil passage hole; 51. Connecting disc; 52. Intermediate tube; 53. Bearing B; 54. Bearing bush. Detailed Implementation

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

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

[0035] Furthermore, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0037] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments:

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

[0041] The above structure divides the space between the outer shell 11 and the inner ring plate 120 into multiple independent inner oil chambers 12 through the circumferential partition 123, forming parallel oil circuits to avoid oil short circuits and ensure uniform heat dissipation of the stator circumferentially.

[0042] The rotor assembly is housed within the stator assembly 13, and is rotatably connected to one end of the base plate 17, such as... Figure 7 and Figure 8 As shown, the rotor assembly includes a rotating shaft 14 and a rotor hub disposed on the rotating shaft 14. The rotor hub includes an inner shell 151 and an outer shell 152 arranged concentrically. The inner shell 151 and the outer shell 152 are fixed together by a connecting piece 153. The connecting piece 153 between the inner shell 151 and the outer shell 152 is a spiral strip, so that an oil stirring channel 154 is formed between the inner shell 151 and the outer shell 152. An annular magnet 16 that cooperates with the stator assembly is also fixed on the outer wall of the rotor hub.

[0043] The aforementioned spiral connecting plate 153 converts the tangential motion of the rotor rotation into the axial flow of the oil, forming a vortex-shaped oil flow, which prolongs the residence time of the oil in the oil stirring channel 154, enhances the oil stirring efficiency, and improves the heat dissipation effect; at the same time, the spiral structure reduces the impact loss between the oil and the connecting plate, and reduces the rotor rotation load.

[0044] The rotating shaft 14 is also provided with a limiting ring 141, and a bearing A18 is fixed on the rotating shaft 14. The bearing A18 and the rotor hub abut against the two sides of the limiting ring 141 respectively. The base plate 17 is also provided with a raised ring 171, and the outer ring of the bearing A18 is interference-fitted with the raised ring 171. The base plate 17 is also provided with a through hole, through which the rotating shaft 14 passes. An oil seal 231 is also provided between the rotating shaft 14 and the through hole. The above structure strengthens the axial seal and prevents oil from leaking axially along the rotating shaft to the outside or entering the motor control cavity.

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

[0046] The outer shell 11 is further provided with a support step 110 at one end near the bottom plate 17. The circumferential partition 123 is L-shaped, with one set of adjacent edges fixed to the support step 110 and the inner wall of the outer shell 11, and another set of adjacent edges fixed to the inner ring plate 120. In the above structure, the L-shaped circumferential partition 123 is fixed by the support step 110, which not only shares the force on the shell, but also prevents the oil cavity from failing to seal due to vibration deformation; at the same time, it reduces the risk of oil leakage.

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

[0048] The rear end cover 4 is also provided with an oil passage hole 41 connecting the motor cavity and the harmonic reducer cavity. The sealing ring 311 between the rear end cover 4 and the outer ring 31 of the support bearing is located outside the oil passage hole 41. The above structure realizes integrated cooling of the motor and the harmonic reducer: oil flows into the harmonic reducer cavity through the oil passage hole 41 of the rear end cover 4, realizing seamless connection of the oil circuit between the motor and the reducer, and synchronously cooling the gear meshing area of ​​the reducer.

[0049] As a preferred embodiment, the rear end cover 4 can be replaced with a torque sensor. Similarly, this torque sensor also has an oil passage hole 41 connecting the motor cavity and the harmonic reducer cavity. The sealing ring 311 between the torque sensor and the outer ring 31 of the support bearing is located outside the oil passage hole 41. The sealing ring 311 is located outside the oil passage hole 41, isolating the reducer from the external environment and preventing oil leakage or contaminant intrusion.

[0050] The harmonic reducer of the present invention also includes a T-shaped wire harness tube, which includes a connecting disc 51 and an intermediate tube 52. The connecting disc 51 is fixed to one end of the intermediate tube 52 and communicates through it. The connecting disc 51 is fixed to the inner ring 32 of the support bearing, and a sealing ring is provided between the connecting disc 51 and the inner ring 32 of the support bearing. The intermediate tube 52 passes through the harmonic reducer and the hollow rotating shaft 14, and a gap is left between it and the harmonic reducer and the hollow shaft body 221. One end of the intermediate tube 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 centrally runs the motor control wiring harness through the tube, avoiding short circuits or signal interference caused by contact between the wiring harness and the oil. At the same time, the two ends of the intermediate tube 52 are rotatably connected to the wave generator and the rotating shaft 14 through the support members, which improves the support stability and avoids the impact of tube vibration on the detection accuracy.

[0052] A cover 21 is also fixed on the base plate 17, and a control circuit board 22 is also provided in the mounting cavity formed by the base plate 17 and the cover 21. A magnetic ring seat A23 is also fixed at one end of the rotating shaft 14 near the control circuit board 22. A magnetic ring A24 is fixed on the magnetic ring seat A23. One end of the intermediate tube 52 also extends into the mounting cavity, and a magnetic ring seat B27 is fixed at the end of the intermediate tube 52. 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 aforementioned structure employs non-contact position detection, using magnetic signals to detect the relative position of the rotating shaft and the wiring harness components, achieving high-precision speed or angle feedback. Furthermore, the concentric arrangement of magnetic rings A24 and B26 within the same plane helps reduce the module's axial length.

[0054] The rotating shaft 14 is also provided with a positioning ring 142 at one end near the control circuit board 22. A retaining sleeve 232 is provided on one side of the magnetic ring seat A23. A pressure ring 233 is provided at the connection between the retaining sleeve 232 and the magnetic ring seat A23. The retaining sleeve 232 and the positioning ring 142 are press-fitted, and a bowl-shaped sealing sleeve 25 is sandwiched between the pressure ring 233 and the end of the positioning ring 142. The bowl-shaped sealing sleeve 25 abuts against the intermediate tube 52. Figure 9 and Figure 10 As shown.

[0055] Since the joint module of this application contains coolant, in order to prevent oil leakage, a sealing redundancy structure is further designed. The cup-shaped sealing sleeve 25 cooperates with the pressure ring 233, and on the basis of the interference connection between the sleeve 232 and the positioning ring 142, it further prevents oil from seeping into the control circuit cavity.

[0056] This invention employs a combined sealing and oil circuit design to achieve closed-loop oil circulation within a compact space, balancing heat dissipation and leak prevention. This invention solves the problems of structural redundancy, uneven heat dissipation, and insufficient reliability in traditional cooling solutions, providing a highly efficient and lightweight thermal management solution for high-power-density joint modules.

[0057] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled 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 modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A joint module with oil internal circulation and oil cooling, comprising a motor and a harmonic reducer, characterized in that: the motor comprises a shell, a stator assembly (13) and a rotor assembly, both ends of the shell are respectively provided with a bottom plate (17) and a rear end cover (4), the shell comprises an outer shell (11) and an inner oil cavity (12) arranged inside the outer shell (11), both ends of the inner oil cavity (12) form a first oil port (121) and a second oil port (122) respectively, and the stator assembly (13) is fixed inside the inner oil cavity (12); the rotor assembly is arranged in the stator assembly (13) and is rotatably connected to one end of the bottom plate (17), the rotor assembly comprises a rotating shaft (14) and a rotor hub arranged on the rotating shaft (14), the rotor hub comprises an inner shell (151) and an outer shell (152) arranged concentrically, the inner shell (151) and the outer shell (152) are fixed by a connecting plate (153), and an oil stirring channel (154) is formed between the inner shell (151) and the outer shell (152), and an annular magnet (16) is further fixed on the outer wall of the rotor hub; the harmonic reducer comprises a wave generator, a flexspline (35), a support bearing outer ring (31) and a support bearing inner ring (32), one end of the rotating shaft (14) penetrates through the rear end cover (4) and is connected with the wave generator, the wave generator is arranged in the flexspline (35), the wave generator rotates together with the rotating shaft (14) and drives the flexspline (35) to deform, the flexspline (35) is fixed with the rear end cover (4), the support bearing outer ring (31) is fixed with the rear end cover (4), and a gear ring is arranged on the inner wall of the support bearing inner ring (32), the support bearing inner ring (32) is sleeved outside the flexspline (35) and is in gear transmission with the flexspline (35); the rear end cover (4) is a torque sensor, an oil communication hole (41) is further arranged on the torque sensor and communicates the motor cavity and the harmonic reducer cavity, a sealing ring (311) is further arranged between the torque sensor and the support bearing outer ring (31), and the sealing ring (311) is located outside the oil communication hole (41); a through hole is further arranged on the bottom plate (17), the rotating shaft (14) penetrates through the through hole, and an oil seal (231) is further arranged between the rotating shaft (14) and the through hole. the inner oil cavity (12) is composed of the outer shell (11), an inner ring plate (120) and a circumferential partition plate (123), the inner ring plate (120) is arranged concentrically in the outer shell (11), and the circumferential partition plate (123) is fixed between the outer shell (11) and the inner ring plate (120), so that a plurality of inner oil cavities (12) are formed between the outer shell (11) and the inner ring plate (120).

2. The joint module of claim 1, wherein, the axial length of the inner ring plate (120) is less than the axial length of the outer shell (11), and gaps are left between both ends of the inner ring plate (120) and the rear end cover (4) and the bottom plate (17), forming a plurality of first oil ports (121) and second oil ports (122).

3. The joint module of claim 2, wherein, ​ 4. The joint module of claim 2, wherein, The outer shell (11) is further provided with a support step (110) near one end of the bottom plate (17), the circumferential partition plate (123) is L-shaped, and one group of adjacent edges are fixed with the support step (110) and the inner wall of the outer shell (11) respectively, and the other group of adjacent edges are fixed with the inner ring plate (120) respectively.

5. The joint module of claim 1, wherein, The connecting piece (153) between the inner shell (151) and the outer shell (152) is in the shape of a spiral long strip.

6. The joint module of claim 1, wherein, The T-shaped wire harness pipe piece comprises a connecting disc (51) and a middle pipe (52), the connecting disc (51) is fixed at one end of the middle pipe (52) and is in through communication with the hollow middle pipe (52), the connecting disc (51) is fixed with the support bearing inner ring (32), the middle pipe (52) penetrates through the harmonic reducer, the hollow rotating shaft (14), and leaves a gap between the harmonic reducer and the hollow shaft body (221), and both ends of the middle pipe (52) are respectively connected with the wave generator and the hollow rotating shaft (14) in rotation through two support pieces.

7. The joint module with oil cooling realized by oil internal circulation according to claim 6, characterized in that, The bottom plate (17) is further fixed with a buckle cover (21), and the mounting cavity formed by the bottom plate (17) and the buckle cover (21) is further provided with a control circuit board (22), one end of the rotating shaft (14) near the control circuit board (22) is further fixed with a magnetic ring seat A (23), the magnetic ring seat A (23) is fixed with a magnetic ring A (24), one end of the middle pipe (52) also extends into the mounting cavity, and the end of the middle pipe (52) is fixed with a magnetic ring seat B (27), the magnetic ring seat B (27) is fixed with a magnetic ring B (26), and the magnetic ring B (26) and the magnetic ring A (24) are concentrically arranged.

8. The joint module of claim 7, wherein, One end of the rotating shaft (14) near the control circuit board (22) is further provided with a positioning ring (142), one side of the magnetic ring seat A (23) is provided with a clamping sleeve (232), the connecting part of the clamping sleeve (232) and the magnetic ring seat A (23) is provided with a pressing ring (233), the clamping sleeve (232) is in interference fit with the positioning ring (142), and the bowl-shaped sealing sleeve (25) is clamped between the pressing ring (233) and the end of the positioning ring (142), and the bowl-shaped sealing sleeve (25) abuts against the middle pipe (52).

Images