High-stability joint motor and intelligent robot joint module

Abstract

The application provides a high-stability joint motor and an intelligent robot joint module, and belongs to the technical field of motors. The motor comprises a motor module and a heat dissipation module; a motor cover of the motor module is provided with a pneumatic one-way air inlet and a pneumatic one-way air outlet; the heat dissipation module comprises a heat dissipation seat, a transmission input shaft, a transmission assembly and a transmission output shaft, the heat dissipation seat is provided with a gas supply channel communicating with the pneumatic one-way air inlet and an exhaust channel communicating with the pneumatic one-way air outlet, the transmission input shaft and the transmission output shaft are coaxially arranged and are in transmission connection with a power output shaft of the motor module; the transmission assembly comprises a transmission main body, a first piston and a second piston, the first piston is in slidable sealing cooperation with the gas supply channel, the second piston is in slidable sealing cooperation with the exhaust channel, the transmission main body is in transmission connection between the transmission input shaft and the transmission output shaft, and the first piston and the second piston are made to reciprocate in opposite directions. The motor is heat-dissipated by the heat dissipation module on the motor module, and the working stability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric machines, in particular to a high-stability joint electric machine and a joint module of a smart robot. BACKGROUND

[0002] With the development of industry, smart robots have become the focus of research at home and abroad in recent years. In order to realize various actions, a smart robot needs to have multiple joints, and a joint electric machine is installed at the joint to realize multi-dimensional action. When the smart robot is in action, it will adjust the action according to the change of the scene condition, and in the case of sudden change of the scene condition, it may need to make rapid turning and sudden stopping, etc. A higher-stability electric machine is beneficial to better action adjustment. SUMMARY

[0003] The purpose of the present application is to provide a high-stability joint electric machine and a joint module of a smart robot, which can dissipate heat from the electric machine module through a heat dissipation module, thereby improving the working stability of the electric machine.

[0004] The embodiments of the present application are implemented as follows:

[0005] In a first aspect, the embodiments of the present application provide a high-stability joint electric machine, comprising an electric machine module and a heat dissipation module.

[0006] The electric machine module comprises an electric machine shell, an electric machine cover, an electric machine body and a speed reduction mechanism. One end of the electric machine shell is open, and the electric machine cover is sealed at the opening of the electric machine shell. The electric machine cover is provided with a pneumatic one-way air inlet and a pneumatic one-way air outlet. The electric machine body and the speed reduction mechanism are accommodated in the electric machine shell. The power input end of the speed reduction mechanism is connected with the electric machine body, and the power output shaft of the speed reduction mechanism is rotatably arranged in the electric machine cover.

[0007] The heat dissipation module comprises a heat dissipation base, a transmission input shaft, a transmission assembly and a transmission output shaft, the heat dissipation base is used for being connected with a motor cover body, the heat dissipation base is internally provided with a movable cavity, one side of the heat dissipation base close to the motor cover body is provided with a gas supply channel, an exhaust channel and a transmission channel which are communicated with the movable cavity respectively, the gas supply channel and the pneumatic one-way air inlet are one-way communicated, the side surface of one end of the gas supply channel close to the pneumatic one-way air inlet is one-way communicated with the outside of the heat dissipation base through the pneumatic one-way air inlet, the exhaust channel and the pneumatic one-way air outlet are one-way communicated, the side surface of one end of the exhaust channel close to the pneumatic one-way air outlet is one-way communicated with the outside of the heat dissipation base through the pneumatic one-way air outlet, the transmission input shaft is rotatably matched with the transmission channel, the power output shaft is rotatably matched with the transmission channel and is in transmission connection with the transmission input shaft, the transmission output shaft is coaxially arranged with the transmission input shaft, the transmission output shaft is located at one side of the movable cavity away from the transmission input shaft and extends out of the heat dissipation base; the transmission assembly comprises a transmission main body, a first connecting rod, a first piston, a second connecting rod and a second piston, the first piston is slidably and sealingly matched with the gas supply channel, the first connecting rod is in transmission connection between the transmission main body and the first piston, the second piston is slidably and sealingly matched with the exhaust channel, the second connecting rod is in transmission connection between the transmission main body and the second piston, the transmission main body is located in the movable cavity, the transmission main body is in transmission connection between the transmission input shaft and the transmission output shaft, and the first piston and the second piston are reciprocated in the gas supply channel and the exhaust channel respectively in opposite directions.

[0008] In some embodiments, the transmission main body comprises a transmission rotating shaft, an input extension arm, an output extension arm, a rotating disc, a first sliding block and a second sliding block, the line connecting the centers of the end faces of the transmission input shaft and the transmission output shaft is an extension axis, the axis of the transmission rotating shaft is coplanar with the extension axis and intersects at a midpoint, one end of the transmission rotating shaft is connected to the transmission input shaft through the input extension arm, the other end of the transmission rotating shaft is connected to the transmission output shaft through the output extension arm, the transmission rotating shaft is perpendicular to the rotating disc, the input extension arm and the output extension arm are centrally symmetrically arranged relative to the rotating disc, the first sliding block and the second sliding block are respectively connected to two ends of the rotating disc symmetrically relative to the transmission rotating shaft, the first arc-shaped sliding groove for slidably matching with the first sliding block and the second arc-shaped sliding groove for slidably matching with the second sliding block are arranged in the movable cavity, the first arc-shaped sliding groove and the second arc-shaped sliding groove respectively extend from one end of the movable cavity close to the transmission input shaft to the other end close to the transmission output shaft, the first connecting rod is connected to the transmission main body through the end of the rotating disc close to the first sliding block, and the second connecting rod is connected to the transmission main body through the end of the rotating disc close to the second sliding block, so that the first piston and the second piston are reciprocated in the gas supply channel and the exhaust channel respectively in opposite directions.

[0009] In some embodiments, the heat dissipation base is provided with an air inlet channel, one end of the air inlet channel is one-way communicated with the gas supply channel through the pneumatic one-way air inlet, and the other end of the air inlet channel is communicated with the outside of the heat dissipation base through the first dustproof net.

[0010] In some embodiments, the transmission body further comprises a sealing plate connected to the first slider, an end of the sealing plate beyond the first slider is close to a side of the first arc-shaped sliding groove close to the transmission input shaft, the part of the sealing plate beyond the first slider closes the opening of the corresponding first arc-shaped sliding groove, a sealing sliding groove for sliding sealing cooperation with the sealing plate is arranged in the movable cavity, the sealing sliding groove is located at the side of the opening of the first arc-shaped sliding groove close to the transmission input shaft, so that the sealing plate slides into the sealing sliding groove to form a gas compression space on the side of the first slider close to the transmission input shaft;

[0011] The heat dissipation seat is provided with a back-blowing channel, one end of the back-blowing channel is communicated with the air inlet channel, the other end of the back-blowing channel is communicated with the end of the first arc-shaped sliding groove close to the transmission input shaft through the air inlet control structure, so that the gas in the gas compression space after the sealing plate slides into the sealing sliding groove unidirectionally enters the back-blowing channel.

[0012] In some embodiments, the air inlet control structure is provided with a first one-way normally closed baffle and a trigger push rod, the first one-way normally closed baffle is arranged between the back-blowing channel and the first arc-shaped sliding groove, the trigger push rod is connected to the side of the first one-way normally closed baffle close to the first arc-shaped sliding groove, when the first slider slides to the end of the first arc-shaped sliding groove close to the transmission input shaft, the first slider pushes the trigger push rod to make the first one-way normally closed baffle open.

[0013] In some embodiments, the main body side wall of the first slider is slidably attached to the first arc-shaped sliding groove, the main body of the first slider is rotatably connected to the rotating disc through the first rotating shaft, the main body side wall of the second slider is slidably attached to the second arc-shaped sliding groove, and the main body of the second slider is rotatably connected to the rotating disc through the second rotating shaft.

[0014] In some embodiments, the inner wall of the opening of the first arc-shaped sliding groove is provided with a first anti-falling flange for sliding sealing cooperation with the first rotating shaft, and the sealing plate is slidably sealingly cooperated with the first anti-falling flange.

[0015] In some embodiments, the heat dissipation seat is provided with a back-blowing channel, one end of the back-blowing channel is communicated with the air inlet channel, the other end of the back-blowing channel is communicated with the end of the first arc-shaped sliding groove close to the transmission input shaft through the air inlet control structure, so that the gas in the gas compression space after the sealing plate slides into the sealing sliding groove unidirectionally enters the back-blowing channel.

[0016] The first slider is internally provided with a double-pressure through hole and a threaded through hole, one end of the double-pressure through hole is open on the side wall of the main body of the first slider and is communicated with the first arc-shaped sliding groove, the other end of the double-pressure through hole is open on the bottom of the main body of the first slider, the threaded through hole penetrates the first slider along the axial direction of the first rotating shaft, a threaded rod is threadedly connected in the threaded through hole, when the first slider is located at the middle section of the first arc-shaped sliding groove, the bottom end of the threaded rod extends out of the bottom of the main body of the first slider to make the second one-way normally closed baffle open, the threaded rod is threadedly connected with the rotating disc, so that when the first slider slides from one end of the first arc-shaped sliding groove close to the transmission input shaft to the middle part, the bottom of the threaded rod gradually extends out of the bottom of the main body of the first slider, and when the first slider slides from the middle part of the first arc-shaped sliding groove to one end close to the transmission output shaft, the bottom of the threaded rod gradually retracts into the bottom of the main body of the first slider.

[0017] In some embodiments, the heat dissipation module further comprises a distance measuring assembly, the distance measuring assembly comprising a rotating shaft sleeve and a distance sensor, the rotating shaft sleeve being rotatably arranged in the transmission channel, the rotating shaft sleeve being coaxially arranged with and fixedly connected to the transmission input shaft, the rotating shaft sleeve being provided with a sliding distance measuring groove on a side away from the transmission input shaft, the distance sensor being arranged on the groove bottom of the sliding distance measuring groove, the power output shaft being slidably accommodated in the sliding distance measuring groove along the axial direction and being synchronously rotated with the rotating shaft sleeve.

[0018] In the second aspect, the embodiments of the present application provide a smart robot joint module, comprising the high-stability joint motor provided by the above embodiments.

[0019] The high-stability joint motor and the smart robot joint module provided by the embodiments of the present application have the following beneficial effects:

[0020] The motor cover of the motor module is provided with a pneumatic one-way air inlet and a pneumatic one-way air outlet; the heat dissipation module is provided with a gas supply channel communicated with the pneumatic one-way air inlet for supplying air to the pneumatic one-way air inlet; the heat dissipation module is provided with an exhaust channel communicated with the pneumatic one-way air outlet for discharging air from the pneumatic one-way air outlet; in this design, the heat inside the motor housing is taken away by the gas, which can dissipate heat for the motor module, and is beneficial to improve the working stability of the motor.

[0021] The heat dissipation module includes a transmission input shaft, a transmission assembly, and a transmission output shaft. The transmission input shaft is connected to the power output shaft of the reduction mechanism. The transmission input shaft, transmission assembly, and transmission output shaft are sequentially connected, and power is output through the transmission output shaft. The transmission assembly includes a first piston and a second piston. The first piston is slidably sealed to the air supply channel, and the second piston is slidably sealed to the exhaust channel. The transmission assembly is configured such that during transmission, the first and second pistons reciprocate in opposite directions within the air supply and exhaust channels, respectively. When the first piston moves towards the pneumatic one-way air inlet, it pushes the gas in the air supply channel into the pneumatic one-way air inlet. When the second piston moves away from the pneumatic one-way air outlet, it draws air from the pneumatic one-way air outlet into the exhaust channel. In this design, the transmission process provides the power for ventilation, eliminating the need for a separate power and control structure for ventilation, resulting in a simple structure and convenient control. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a highly stable joint motor in its first state, provided as an embodiment of this application.

[0024] Figure 2 for Figure 1 A schematic diagram of the structure of the motor module;

[0025] Figure 3 for Figure 1 A schematic diagram of the heat dissipation module.

[0026] Figure 4 for Figure 3 Schematic diagram of the middle transmission assembly;

[0027] Figure 5 for Figure 4 Schematic diagram of the main structure of the transmission body;

[0028] Figure 6 for Figure 5 A partial structural diagram of the central transmission body from another angle;

[0029] Figure 7 This is a schematic diagram of a highly stable joint motor in a second state, provided as an embodiment of this application.

[0030] Figure 8A structure schematic diagram of a high-stability joint motor in the third state according to an embodiment of the present application;

[0031] Figure 9 A structure schematic diagram of a high-stability joint motor in the fourth state according to an embodiment of the present application;

[0032] Figure 10 For Figure 1 A local enlarged view of X in FIG. 1;

[0033] Figure 11 For Figure 7 A local enlarged view of XI in FIG. 1.

[0034] Icon:

[0035] 100 - high-stability joint motor;

[0036] 110 - motor module; 111 - motor housing; 112 - motor cover; 1121 - pneumatic one-way air inlet; 1122 - pneumatic one-way air outlet; 113 - power output shaft;

[0037] 120 - heat dissipation module; 121 - heat dissipation seat; 1211 - movable cavity; 12111 - first arc-shaped sliding groove; 12111a - first anti-falling flange; 12112 - second arc-shaped sliding groove; 12112a - second anti-falling flange; 12113 - sealing sliding groove; 1212 - air supply channel; 12121 - pneumatic one-way air supply port; 1213 - exhaust channel; 12131 - pneumatic one-way exhaust port; 1214 - transmission channel; 1215 - air inlet channel; 12151 - first dust screen; 1216 - air outlet channel; 12161 - second dust screen; 1217 - backflushing channel; 12171 - air inlet control structure; 12171a - first one-way normally closed baffle; 12171b - trigger push rod; 1218 - re-pressing channel; 12181 - second one-way normally closed baffle; 122 - transmission input shaft; 123 - transmission assembly; 1231 - transmission main body; 12311 - transmission rotating shaft; 12312 - input extension arm; 12313 - output extension arm; 12314 - rotating disc; 12315 - first sliding block; 12315a - first rotating shaft; 12315b - re-pressing through hole; 12315c - threaded through hole; 12315d - threaded rod; 12316 - second sliding block; 12316a - second rotating shaft; 12317 - sealing plate; 1232 - first connecting rod; 1233 - first piston; 1234 - second connecting rod; 1235 - second piston; 124 - transmission output shaft; 1251 - rotating shaft sleeve; 1252 - distance sensor. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0039] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0040] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0041] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] In addition, the terms "first", "second" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0043] In addition, the terms "vertical", "parallel" and the like do not mean that the components must be absolutely vertical or parallel, but can be slightly inclined.

[0044] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] The technical solutions of the present application will be exemplarily described below through some embodiments.

[0046] Reference is made to Figure 1In a first aspect, the embodiments of the present application provide a high-stability joint motor 100, comprising a motor module 110 and a heat dissipation module 120.

[0047] Referring to Figure 2 The motor module 110 comprises a motor shell 111, a motor cover 112, a motor body (not shown in the figure), and a speed reduction mechanism (not shown in the figure). The motor shell 111 is open at one end, and the motor cover 112 is sealed at the opening of the motor shell 111. The motor cover 112 is provided with a pneumatic one-way air inlet 1121 and a pneumatic one-way air outlet 1122. The motor body and the speed reduction mechanism are accommodated in the motor shell 111. The power input end of the speed reduction mechanism is connected with the motor body, and the power output shaft 113 of the speed reduction mechanism is rotatably arranged in the motor cover 112.

[0048] In the motor module 110 of the present application, the motor shell 111, the motor body, and the speed reduction mechanism can be configured in a conventional manner.

[0049] It should be noted that, in the motor cover 112, the pneumatic of the pneumatic one-way air inlet 1121 and the pneumatic one-way air outlet 1122 means that the opening is provided by the pressure difference between the two sides. In other words, the pneumatic one-way air inlet 1121 can be opened to enter the motor shell 111 under the action of external relatively high air pressure, and the pneumatic one-way air outlet 1122 can be opened to exhaust air outside the motor shell 111 under the action of internal relatively high air pressure. The description related to pneumatic in the following can also be explained with reference to the description herein, and will not be repeated.

[0050] Referring to Figure 3 The heat dissipation module 120 comprises a heat dissipation base 121, a transmission input shaft 122, a transmission assembly 123, and a transmission output shaft 124.

[0051] The heat dissipation base 121 serves as the base of the heat dissipation module 120 and is used to be connected with the motor cover 112. The heat dissipation base 121 and the motor cover 112 can be fixedly connected or detachably connected. Alternatively, the two can be detachably connected, so as to facilitate replacement or removal of the heat dissipation module 120 as needed. As an example, the heat dissipation base 121 is provided with a mounting protrusion on the outer side of the end close to the motor cover 112, so as to facilitate detachable connection with the motor cover 112 through fastening connection such as bolt connection.

[0052] The heat dissipation seat 121 is provided with a movable cavity 1211, and the heat dissipation seat 121 is provided with a gas supply channel 1212, an exhaust channel 1213 and a transmission channel 1214 which respectively communicate with the movable cavity 1211 on the side close to the motor cover body 112; that is, the gas supply channel 1212, the exhaust channel 1213 and the transmission channel 1214 are communicated with the movable cavity 1211 at the end away from the motor cover body 112, and the gas supply channel 1212, the exhaust channel 1213 and the transmission channel 1214 penetrate through the end surface of the heat dissipation seat 121 on the side close to the motor cover body 112.

[0053] Referring to Figure 1 and Figure 3 , the gas supply channel 1212 and the pneumatic one-way air inlet 1121 are in one-way communication, that is, the gas supply channel 1212 can supply air to the pneumatic one-way air inlet 1121, and the pneumatic one-way air inlet 1121 cannot supply air to the gas supply channel 1212; the end surface of the gas supply channel 1212 close to the pneumatic one-way air inlet 1121 is in one-way communication with the outside of the heat dissipation seat 121 through the pneumatic one-way air inlet 12121, that is, the outside of the heat dissipation seat 121 can supply air to the gas supply channel 1212 through the pneumatic one-way air inlet 12121. The exhaust channel 1213 and the pneumatic one-way air outlet 1122 are in one-way communication, that is, the pneumatic one-way air outlet 1122 can exhaust air to the exhaust channel 1213, and the exhaust channel 1213 cannot exhaust air to the pneumatic one-way air outlet 1122; the end surface of the exhaust channel 1213 close to the pneumatic one-way air outlet 1122 is in one-way communication with the outside of the heat dissipation seat 121 through the pneumatic one-way air outlet 12131, that is, the exhaust channel 1213 can exhaust air to the outside of the heat dissipation seat 121 through the pneumatic one-way air outlet 12131.

[0054] The transmission input shaft 122 is rotatably connected with the transmission channel 1214, the power output shaft 113 is rotatably connected with the transmission channel 1214 and is in transmission connection with the transmission input shaft 122, so that the power output shaft 113 and the transmission input shaft 122 rotate synchronously. The transmission output shaft 124 is coaxially arranged with the transmission input shaft 122, and the transmission output shaft 124 is located on the side of the movable cavity 1211 away from the transmission input shaft 122 and extends out of the heat dissipation seat 121.

[0055] Referring to Figure 3 and Figure 4The transmission assembly 123 comprises a transmission main body 1231, a first connecting rod 1232, a first piston 1233, a second connecting rod 1234 and a second piston 1235. The first piston 1233 is in slidable sealing cooperation with the air supply channel 1212. The first connecting rod 1232 is in transmission connection between the transmission main body 1231 and the first piston 1233. The second piston 1235 is in slidable sealing cooperation with the air exhaust channel 1213. The second connecting rod 1234 is in transmission connection between the transmission main body 1231 and the second piston 1235. The two ends of the first connecting rod 1232 and the second connecting rod 1234 are connected to the adjacent structures by rotating ball heads.

[0056] The transmission main body 1231 is located in the movable cavity 1211. The transmission main body 1231 is in transmission connection between the transmission input shaft 122 and the transmission output shaft 124, so that the power output shaft 113, the transmission input shaft 122 and the transmission output shaft 124 rotate synchronously and coaxially, and the power output is realized through the transmission output shaft 124.

[0057] The transmission main body 1231 is configured to transmit power and make the first piston 1233 and the second piston 1235 reciprocate in the air supply channel 1212 and the air exhaust channel 1213 in opposite directions, respectively. That is, when the first piston 1233 moves towards the pneumatic one-way air inlet 1121, the second piston 1235 moves away from the pneumatic one-way air outlet 1122.

[0058] The high-stability joint motor 100 provided by the embodiment of the application has the following working principle:

[0059] The power output shaft 113 outputs the rotating power of the motor module 110. The power output shaft 113 drives the transmission input shaft 122 to rotate coaxially. The transmission input shaft 122 drives the transmission output shaft 124 to rotate coaxially through the transmission of the transmission assembly 123, so that the power is output through the transmission output shaft 124. It should be noted that the joint motor usually has a low speed requirement, and thus the working stability can be maintained during the transmission through the transmission input shaft 122, the transmission assembly 123 and the transmission output shaft 124 in sequence.

[0060] The transmission assembly 123 comprises a transmission main body 1231, a first connecting rod 1232, a first piston 1233, a second connecting rod 1234 and a second piston 1235. The first piston 1233 is in slidable sealing cooperation with the air supply channel 1212. The first connecting rod 1232 is in transmission connection between the transmission main body 1231 and the first piston 1233. The second piston 1235 is in slidable sealing cooperation with the air exhaust channel 1213. The second connecting rod 1234 is in transmission connection between the transmission main body 1231 and the second piston 1235. The two ends of the first connecting rod 1232 and the second connecting rod 1234 are connected to the adjacent structures by rotating ball heads. Figure 1The shown state is the initial state, at this time the first piston 1233 is located at the position closest to the pneumatic one-way inlet 1121, and the second piston 1235 is located at the position farthest from the pneumatic one-way outlet 1122. During the transmission process, first enter the first stage, the first piston 1233 moves towards the direction away from the pneumatic one-way inlet 1121, so that the outside of the heat sink 121 supplies gas to the gas supply channel 1212 through the pneumatic one-way gas inlet 12121, and the second piston 1235 moves towards the direction close to the pneumatic one-way outlet 1122, so that the gas in the exhaust channel 1213 is discharged to the outside of the heat sink 121 through the pneumatic one-way exhaust port 12131; Then enter the second stage, the first piston 1233 moves towards the direction close to the pneumatic one-way inlet 1121, so that the gas in the gas supply channel 1212 is pushed into the motor housing 111 through the pneumatic one-way inlet 1121, and the second piston 1235 moves towards the direction away from the pneumatic one-way outlet 1122, so that the gas in the motor housing 111 is sucked into the exhaust channel 1213 through the pneumatic one-way outlet 1122, and the above-mentioned first stage and second stage are alternately cycled.

[0061] During the above working process, the heat inside the motor housing 111 is taken away by the gas, which can cool the motor module 110 and improve the working stability of the motor. In this design, the transmission process provides the gas exchange power, and there is no need to separately configure the power structure and control structure for gas exchange, so the structure is simple and the control is convenient.

[0062] Referring to Figures 3-6 In some embodiments, the transmission body 1231 includes a transmission rotating shaft 12311, an input extension arm 12312, an output extension arm 12313, a rotating disc 12314, a first sliding block 12315, and a second sliding block 12316.

[0063] The line connecting the centers of the end faces of the transmission input shaft 122 and the transmission output shaft 124 is defined as the extension axis; the axis of the transmission rotating shaft 12311 is coplanar with the extension axis and intersects at the midpoint, one end of the transmission rotating shaft 12311 is connected to the transmission input shaft 122 through the input extension arm 12312, the other end of the transmission rotating shaft 12311 is connected to the transmission output shaft 124 through the output extension arm 12313, the transmission rotating shaft 12311 is perpendicular to the rotating disc 12314, and the input extension arm 12312 and the output extension arm 12313 are centrally symmetrically arranged relative to the rotating disc 12314.

[0064] The first slider 12315 and the second slider 12316 are respectively connected to two ends of the rotating disc 12314 symmetrical relative to the transmission rotating shaft 12311, and the movable cavity 1211 is provided with a first arc-shaped sliding groove 12111 for sliding cooperation with the first slider 12315 and a second arc-shaped sliding groove 12112 for sliding cooperation with the second slider 12316, and the first arc-shaped sliding groove 12111 and the second arc-shaped sliding groove 12112 respectively extend from one end of the movable cavity 1211 close to the transmission input shaft 122 to an end close to the transmission output shaft 124. Wherein, the arc-shaped extension trajectories of the first arc-shaped sliding groove 12111 and the second arc-shaped sliding groove 12112 are circular arcs, and the arc-shaped extension trajectories of the two are corresponding to the same center and are centrally symmetric relative to the rotating disc 12314.

[0065] The first connecting rod 1232 is connected with the transmission main body 1231 through one end of the rotating disc 12314 close to the first slider 12315, and the second connecting rod 1234 is connected with the transmission main body 1231 through one end of the rotating disc 12314 close to the second slider 12316, so that the first piston 1233 and the second piston 1235 reciprocate in the gas supply channel 1212 and the exhaust channel 1213 respectively in opposite directions.

[0066] Referring to Figure 1 、 Figures 7-9 , the working principle of the above design is as follows:

[0067] When the transmission assembly 123 transmits between the transmission input shaft 122 and the transmission output shaft 124, the two ends of the transmission rotating shaft 12311 rotate with the transmission input shaft 122 and the transmission output shaft 124 respectively, and the axis movement trajectory of the rotating shaft is a reverse double-cone shape (similar to a sandglass shape) with the midpoint of the extension axis as the center. In this process, the rotating disc 12314 swings around the midpoint of the extension axis following the movement of the rotating shaft, and the rotating disc 12314 drives the first slider 12315 and the second slider 12316 to move in opposite directions in the process of swinging, so that the first piston 1233 and the second piston 1235 reciprocate in the gas supply channel 1212 and the exhaust channel 1213 respectively in opposite directions. The movement trajectory in this process is simple and stable.

[0068] Specifically, the state shown in Figure 1 is the first state, and as the rotating disc 12314 swings, the rotating disc 12314 swings to the states shown in Figure 7 、 Figure 8 and Figure 9 in turn, and then swings back to the state shown in Figure 9 to the state shown in Figure 1 , and so on. Figure 1In the first arc-shaped groove 12111, the first slider 12315 is located at the end of the first arc-shaped groove 12111 near the transmission input shaft 122, and the first piston 1233 is located at the position closest to the pneumatic one-way air inlet 1121; the second slider 12316 is located at the end of the second arc-shaped groove 12112 near the transmission output shaft 124, and the second piston 1235 is located at the position furthest from the pneumatic one-way air outlet 1122. Figures 1-7 During the process and Figures 7-8 During the process, the first slider 12315 slides toward the direction closer to the transmission output shaft 124, and drives the first piston 1233 to move away from the pneumatic one-way air inlet 1121; the second slider 12316 slides toward the direction closer to the transmission input shaft 122, and drives the second piston 1235 to move toward the direction closer to the pneumatic one-way air outlet 1122. Figures 8-9 During the process and Figures 9-1 During the process, the first slider 12315 slides toward the direction of closer to the transmission input shaft 122, and drives the first piston 1233 to move toward the direction of closer to the pneumatic one-way air inlet 1121; the second slider 12316 slides toward the direction of closer to the transmission output shaft 124, and drives the second piston 1235 to move away from the pneumatic one-way air outlet 1122.

[0069] It should be noted that when the turntable 12314 swings around the midpoint of the extended axis following the movement of the rotating shaft, it will rotate relative to the first arc-shaped slide groove 12111 and the second arc-shaped slide groove 12112. In some example solutions, the first slider 12315 and the second slider 12316 can be designed as cylindrical, spherical, or other shapes, so that when they slide within the first arc-shaped slide groove 12111 and the second arc-shaped slide groove 12112, they can rotate relative to the first arc-shaped slide groove 12111 and the second arc-shaped slide groove 12112, respectively. In another example solution, the first slider 12315 and the turntable 12314, as well as the second slider 12316 and the turntable 12314, can be connected by a rotating shaft, so that the first slider 12315 and the turntable 12314, as well as the second slider 12316 and the turntable 12314, can rotate relative to each other.

[0070] Optionally, the turntable 12314 has multiple through holes penetrating both end faces, making the turntable 12314 have a hollow structure, which can reduce the weight of the turntable 12314 and reduce the air resistance during the swinging process of the turntable 12314.

[0071] See also Figure 3In some embodiments, the heat dissipation seat 121 is provided with an air inlet channel 1215, one end of the air inlet channel 1215 is in one-way communication with the air supply channel 1212 through a pneumatic one-way air supply port 12121, and the other end of the air inlet channel 1215 is in communication with the outside of the heat dissipation seat 121 through a first dustproof net 12151. In this design, dustproof isolation is performed at the air supply end through the first dustproof net 12151, dust in the air inlet is reduced, and the clean air environment inside is maintained.

[0072] Optionally, the heat dissipation seat 121 is provided with an air outlet channel 1216 in communication with the outside, one end of the air outlet channel 1216 is in one-way communication with the air exhaust channel 1213 through a pneumatic one-way air exhaust port 12131, and the other end of the air outlet channel 1216 is in communication with the outside of the heat dissipation seat 121 through a second dustproof net 12161. In this design, dustproof isolation is performed at the air exhaust end through the second dustproof net 12161, and the clean air environment inside is maintained.

[0073] Referring to Figures 3-5 In some embodiments, the transmission main body 1231 further comprises a sealing plate 12317 connected to the first sliding block 12315, the end of the sealing plate 12317 is beyond the first sliding block 12315 and close to one side of the transmission input shaft 122, the part of the sealing plate 12317 beyond the first sliding block 12315 will close the opening of the corresponding first arc-shaped sliding groove 12111, and the movable cavity 1211 is provided with a sealing sliding groove 12113 for sliding sealing cooperation with the sealing plate 12317, the sealing sliding groove 12113 is located on the side of the opening of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122, so that the sealing plate 12317 slides into the sealing sliding groove 12113 to form a gas compression space on the side of the first sliding block 12315 close to the transmission input shaft 122.

[0074] The heat dissipation seat 121 is provided with a back blowing channel 1217, one end of the back blowing channel 1217 is in communication with the air inlet channel 1215, and the other end of the back blowing channel 1217 is in communication with one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122 through an air inlet control structure 12171, so that the gas in the gas compression space after the sealing plate 12317 slides into the sealing sliding groove 12113 enters the back blowing channel 1217 in one way.

[0075] In the above design, after the sealing plate 12317 slides into the sealing sliding groove 12113, when the first sliding block 12315 continues to slide towards the one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122, the gas compression space is continuously reduced, the first sliding block 12315 compresses and pushes the gas in the gas compression space, so that the compressed gas is blown into the back-blowing channel 1217 through the air inlet control structure 12171, and the gas blown into the back-blowing channel 1217 enters the air inlet channel 1215 to back-blow the first dust screen 12151, so as to clean the first dust screen 12151. In this design, the back-blowing and dust removal are realized by the movement of the first sliding block 12315, without the need to separately configure a power structure and a control structure for back-blowing and dust removal, so that the structure is simple and the control is convenient.

[0076] Referring to Figure 10 In some embodiments, the air inlet control structure 12171 is provided with a first one-way normally closed baffle 12171a and a trigger push rod 12171b.

[0077] The first one-way normally closed baffle 12171a is arranged between the back-blowing channel 1217 and the first arc-shaped sliding groove 12111. For example, the first one-way normally closed baffle 12171a is rotatably installed in the heat dissipation seat 121 and can be flipped towards the back-blowing channel 1217. The active end of the first one-way normally closed baffle 12171a is abutted by an elastic element such as a spring on the side close to the back-blowing channel 1217, so as to keep the first one-way normally closed baffle 12171a in a normally closed state.

[0078] The trigger push rod 12171b is connected to the side of the first one-way normally closed baffle 12171a close to the first arc-shaped sliding groove 12111. When the first sliding block 12315 slides to the one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122, the first sliding block 12315 pushes the trigger push rod 12171b to open the first one-way normally closed baffle 12171a.

[0079] In the above design, the first one-way normally closed baffle 12171a is opened by the first sliding block 12315 pushing the trigger push rod 12171b, and the trigger of the trigger push rod 12171b is controlled when the first sliding block 12315 slides to the one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122, which is beneficial to more fully compress the gas in the gas compression space before the first sliding block 12315 slides to the one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122, so that the back-blowing has more power, and the first dust screen 12151 is back-blowed and cleaned better.

[0080] It should be noted that in other embodiments, the air inlet control structure 12171 is not limited to the above design, for example, the air inlet control structure 12171 can also be designed as a one-way air inlet valve or other pneumatic one-way control structure.

[0081] Referring to Figures 3-6 In some embodiments, the body side wall of the first slider 12315 is slidably attached to the first arc-shaped sliding groove 12111, the body of the first slider 12315 is rotatably connected to the rotating disc 12314 through the first rotating shaft 12315a, the body side wall of the second slider 12316 is slidably attached to the second arc-shaped sliding groove 12112, and the body of the second slider 12316 is rotatably connected to the rotating disc 12314 through the second rotating shaft 12316a. In this design, the first slider 12315 and the second slider 12316 only perform sliding motion, and the first slider 12315 and the second slider 12316 are rotatably connected to the rotating disc 12314 through corresponding rotation, respectively, and the motion stability of the first slider 12315 and the second slider 12316 is higher.

[0082] Optionally, in some embodiments, the inner wall of the opening of the first arc-shaped sliding groove 12111 is provided with a first anti-falling flange 12111a in sliding sealing cooperation with the first rotating shaft 12315a; the sealing plate 12317 is slidably sealed with the first anti-falling flange 12111a, wherein the sealing plate 12317 can be slidably sealed with the side surface of the first anti-falling flange 12111a, or the sealing plate 12317 can be slidably sealed with the surface of the first anti-falling flange 12111a close to or away from the rotating disc 12314.

[0083] In the above design, by configuring the first anti-falling flange 12111a, the opening of the first arc-shaped sliding groove 12111 is smaller than the groove bottom; on the one hand, the body of the first slider 12315 is prevented from falling out of the first arc-shaped sliding groove 12111, so that the motion stability of the first slider 12315 is higher; on the other hand, it is more convenient for the part of the sealing plate 12317 beyond the first slider 12315 to close the opening of the corresponding first arc-shaped sliding groove 12111.

[0084] As an example, the two opposite side walls of the first arc-shaped sliding groove 12111 are provided with the first anti-falling flange 12111a, so that the first arc-shaped sliding groove 12111 has a T-shaped structure.

[0085] Optionally, the inner wall of the opening of the second arc-shaped sliding groove 12112 is provided with a second anti-falling flange 12112a corresponding to the second rotating shaft 12316a, for preventing the body of the second slider 12316 from falling out of the second arc-shaped sliding groove 12112, so that the motion stability of the second slider 12316 is higher.

[0086] Referring to Figure 3 、 Figure 6 、 Figure 7 and Figure 11In some embodiments, the heat sink 121 is provided with a re-pressurization channel 1218, one end of the re-pressurization channel 1218 is in communication with the air inlet channel 1215, and the other end of the re-pressurization channel 1218 is in one-way communication with the first arc-shaped sliding groove 12111 through a second one-way normally closed baffle 12181, which is located in the middle section of the groove bottom of the first arc-shaped sliding groove 12111.

[0087] For example, the second one-way normally closed baffle 12181 is rotatably installed in the middle section of the groove bottom of the first arc-shaped sliding groove 12111 and can be flipped towards the re-pressurization channel 1218; the active end of the second one-way normally closed baffle 12181 is abutted by a spring or other elastic element on the side close to the re-pressurization channel 1218, for keeping the second one-way normally closed baffle 12181 in the normally closed state.

[0088] Referring to Figure 6 and Figure 11 , the first sliding block 12315 is provided with a re-pressurization through hole 12315b and a threaded through hole 12315c, one end of the re-pressurization through hole 12315b is open on the side wall of the main body of the first sliding block 12315 and is in communication with the first arc-shaped sliding groove 12111, and the other end of the re-pressurization through hole 12315b is open on the bottom of the main body of the first sliding block 12315.

[0089] The threaded through hole 12315c penetrates the first sliding block 12315 along the axial direction of the first rotating shaft 12315a, and a threaded rod 12315d is threadedly connected in the threaded through hole 12315c; when the first sliding block 12315 is located in the middle section of the first arc-shaped sliding groove 12111, the bottom end of the threaded rod 12315d protrudes out of the main body of the first sliding block 12315 to make the second one-way normally closed baffle 12181 open; the threaded rod 12315d is threadedly connected with the rotating disc 12314, so that when the first sliding block 12315 slides from one end of the first arc-shaped sliding groove 12111 close to the transmission input shaft 122 to the middle section, the bottom of the threaded rod 12315d gradually protrudes out of the main body of the first sliding block 12315, and when the first sliding block 12315 slides from the middle section of the first arc-shaped sliding groove 12111 to one end close to the transmission output shaft 124, the bottom of the threaded rod 12315d gradually retracts into the main body of the first sliding block 12315.

[0090] The working principle of the above design is as follows:

[0091] When the transmission assembly 123 transmits between the transmission input shaft 122 and the transmission output shaft 124, the rotating disc 12314 swings around the midpoint of the extension axis following the movement of the rotating shaft. Figure 1 The state shown in FIG. 8A is the first state, which will be described below. Figures 1-7the process, the first slider 12315 slides from the middle of the first arc-shaped sliding groove 12111 to the end close to the transmission output shaft 124, in this process, the rotating disc 12314 rotates counterclockwise relative to the first arc-shaped sliding groove 12111 in the swing process, the threaded rod 12315d and the threaded connection of the rotating disc 12314 make the bottom of the threaded rod 12315d further retract; from Figures 7-8 the process, the first slider 12315 slides from the middle of the first arc-shaped sliding groove 12111 to the end close to the transmission output shaft 124, in this process, the rotating disc 12314 rotates counterclockwise relative to the first arc-shaped sliding groove 12111 in the swing process, the threaded rod 12315d and the threaded connection of the rotating disc 12314 make the bottom of the threaded rod 12315d further retract; from Figures 8-9 the process, the first slider 12315 slides from the middle of the first arc-shaped sliding groove 12111 to the end close to the transmission output shaft 124, in this process, the rotating disc 12314 rotates counterclockwise relative to the first arc-shaped sliding groove 12111 in the swing process, the threaded rod 12315d and the threaded connection of the rotating disc 12314 make the bottom of the threaded rod 12315d further retract; from Figures 9-1 the process, the first slider 12315 slides from the middle of the first arc-shaped sliding groove 12111 to the end close to the transmission output shaft 124, in this process, the rotating disc 12314 rotates counterclockwise relative to the first arc-shaped sliding groove 12111 in the swing process, the threaded rod 12315d and the threaded connection of the rotating disc 12314 make the bottom of the threaded rod 12315d further retract; from

[0092] Based on the above working principle, Figure 1 The state shown in FIG. 1 is the first state, because part of the air is pushed into the back blowing channel 1217, the air pressure in the movable cavity 1211 decreases. Then, the state shown in FIG. 1 is changed to the state shown in FIG. 2. Figure 1 The state shown in FIG. 1 is the first state, because part of the air is pushed into the back blowing channel 1217, the air pressure in the movable cavity 1211 decreases. Then, the state shown in FIG. 1 is changed to the state shown in FIG. 2. Figure 7 When the state shown in FIG. 2 is changed to the state shown in FIG. 3, the bottom end of the threaded rod 12315d extends out of the main body bottom of the first slider 12315 to make the second one-way normally closed baffle 12181 open, at this time, the back pressure channel 1218 and the first arc-shaped sliding groove 12111 are communicated through the back pressure through hole 12315b, so that the air pressure inside the first arc-shaped sliding groove 12111 and the outside of the heat dissipation seat 121 are balanced. In the above design, the relative rotation between the rotating disc 12314 and the first slider 12315 during the swing of the rotating disc 12314 drives the threaded rod 12315d to extend and retract, so as to control the opening and closing of the second one-way normally closed baffle 12181 for back pressure, without separately configuring a power structure and a control structure for back pressure, the structure is simple and the control is convenient.

[0093] Please continue to refer toFigure 1 and Figure 3 In some embodiments, the heat dissipation module 120 further comprises a distance measuring assembly, which comprises a rotating shaft sleeve 1251 and a distance sensor 1252. The rotating shaft sleeve 1251 is rotatably arranged in the transmission channel 1214 and coaxially arranged and fixedly connected with the transmission input shaft 122. The side of the rotating shaft sleeve 1251 away from the transmission input shaft 122 is provided with a sliding distance measuring groove, and the distance sensor 1252 is arranged at the bottom of the sliding distance measuring groove. The power output shaft 113 is slidably accommodated in the sliding distance measuring groove in the axial direction and synchronously rotates with the rotating shaft sleeve 1251. As an example, the power output shaft 113 and the sliding distance measuring groove are matched through a sliding groove and a sliding block extending along the power output shaft 113, so that they can relatively slide in the axial direction of the power output shaft 113, while the power output shaft 113 and the rotating shaft sleeve 1251 are kept synchronous rotation.

[0094] In the above design, the distance sensor 1252 measures the power output shaft 113, which can detect the offset of the power output shaft 113 in the axial direction, and better understand the working state of the motor module 110.

[0095] In a second aspect, the embodiments of the present application provide an intelligent robot joint module (not shown in the figure), which comprises the high-stability joint motor 100 provided by the above embodiments.

[0096] The intelligent robot joint module can integrate multiple high-stability joint motors 100 according to needs, and the multiple high-stability joint motors 100 can correspond to the same joint or different joints.

[0097] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A high-stability joint motor, characterized by, The motor module and the heat dissipation module are included. The motor module includes a motor shell, a motor cover, a motor body and a speed reduction mechanism, one end of the motor shell is open, the motor cover is sealed at the opening of the motor shell, the motor cover is provided with a pneumatic one-way air inlet and a pneumatic one-way air outlet, the motor body and the speed reduction mechanism are accommodated in the motor shell, the power input end of the speed reduction mechanism is connected with the motor body, and the power output shaft of the speed reduction mechanism is rotatably arranged in the motor cover. The heat dissipation module includes a heat dissipation seat, a transmission input shaft, a transmission assembly and a transmission output shaft, the heat dissipation seat is used for being connected with the motor cover, the heat dissipation seat is provided with a movable cavity, one side of the heat dissipation seat close to the motor cover is provided with a gas supply channel, an exhaust channel and a transmission channel which are in communication with the movable cavity respectively, the gas supply channel and the pneumatic one-way air inlet are in one-way communication, the side surface of one end of the gas supply channel close to the pneumatic one-way air inlet is in one-way communication with the outside of the heat dissipation seat through a pneumatic one-way air inlet, the exhaust channel and the pneumatic one-way air outlet are in one-way communication, the side surface of one end of the exhaust channel close to the pneumatic one-way air outlet is in one-way communication with the outside of the heat dissipation seat through a pneumatic one-way air outlet, the transmission input shaft is rotatably matched with the transmission channel, the power output shaft is rotatably matched with the transmission channel and is in transmission connection with the transmission input shaft, the transmission output shaft is coaxially arranged with the transmission input shaft, the transmission output shaft is located on the side of the movable cavity away from the transmission input shaft and extends out of the heat dissipation seat, the transmission assembly includes a transmission body, a first connecting rod, a first piston, a second connecting rod and a second piston, the first piston is slidably and sealingly matched with the gas supply channel, the first connecting rod is in transmission connection between the transmission body and the first piston, the second piston is slidably and sealingly matched with the exhaust channel, the second connecting rod is in transmission connection between the transmission body and the second piston, the transmission body is located in the movable cavity, the transmission body is in transmission connection between the transmission input shaft and the transmission output shaft, and the first piston and the second piston reciprocate in the gas supply channel and the exhaust channel respectively in opposite directions. The transmission main body comprises a transmission rotating shaft, an input extension arm, an output extension arm, a rotating disc, a first sliding block and a second sliding block, the line connecting the center of the end faces of the transmission input shaft and the transmission output shaft is an extension axis, the axis of the transmission rotating shaft is coplanar with the extension axis and intersects at a midpoint, one end of the transmission rotating shaft is connected to the transmission input shaft through the input extension arm, the other end of the transmission rotating shaft is connected to the transmission output shaft through the output extension arm, the transmission rotating shaft is perpendicular to the rotating disc, the input extension arm and the output extension arm are arranged in central symmetry relative to the rotating disc, the first sliding block and the second sliding block are respectively connected to the two ends of the rotating disc that are symmetric relative to the transmission rotating shaft, the movable cavity is provided with a first arc-shaped sliding groove for sliding cooperation with the first sliding block and a second arc-shaped sliding groove for sliding cooperation with the second sliding block, the first arc-shaped sliding groove and the second arc-shaped sliding groove respectively extend from one end of the movable cavity close to the transmission input shaft to the other end close to the transmission output shaft, the first connecting rod is connected to the transmission main body through one end of the rotating disc close to the first sliding block, and the second connecting rod is connected to the transmission main body through one end of the rotating disc close to the second sliding block, so that the first piston and the second piston reciprocate in the gas supply channel and the gas discharge channel respectively in opposite directions.

2. The high-stiffness joint motor according to claim 1, characterized by, The heat dissipation seat is provided with an air inlet channel, one end of the air inlet channel is in one-way communication with the gas supply channel through the pneumatic one-way gas supply port, and the other end of the air inlet channel is in communication with the outside of the heat dissipation seat through a first dustproof net.

3. The high-stiffness joint motor according to claim 2, characterized in that, The transmission main body further comprises a sealing plate, the sealing plate is connected to the first sliding block, the end of the sealing plate exceeds the side of the first sliding block close to the transmission input shaft, the part of the sealing plate exceeding the first sliding block closes the opening of the corresponding first arc-shaped sliding groove, the movable cavity is provided with a sealing sliding groove for sliding sealing cooperation with the sealing plate, the sealing sliding groove is located on the side of the opening of the first arc-shaped sliding groove close to the transmission input shaft, so that the sealing plate slides into the sealing sliding groove to form a gas compression space on the side of the first sliding block close to the transmission input shaft; The heat dissipation seat is provided with a back blowing channel, one end of the back blowing channel is in communication with the air inlet channel, and the other end of the back blowing channel is in communication with one end of the first arc-shaped sliding groove close to the transmission input shaft through an air inlet control structure, so that the gas in the gas compression space after the sealing plate slides into the sealing sliding groove enters the back blowing channel in one direction.

4. The high-stiffness joint motor according to claim 3, characterized in that, The air inlet control structure is provided with a first one-way normally closed baffle and a trigger push rod, the first one-way normally closed baffle is arranged between the back blowing channel and the first arc-shaped sliding groove, the trigger push rod is connected to the side of the first one-way normally closed baffle close to the first arc-shaped sliding groove, when the first sliding block slides to one end of the first arc-shaped sliding groove close to the transmission input shaft, the first sliding block pushes the trigger push rod to make the first one-way normally closed baffle open.

5. The high-stiffness joint motor according to claim 3, characterized by The body side wall of the first slider is slidably attached to the first arc-shaped sliding groove, the body of the first slider is rotatably connected to the rotating disc through a first rotating shaft, the body side wall of the second slider is slidably attached to the second arc-shaped sliding groove, and the body of the second slider is rotatably connected to the rotating disc through a second rotating shaft.

6. The high-stiffness joint motor according to claim 5, characterized in that, The inner wall of the opening of the first arc-shaped sliding groove is provided with a first anti-falling flange in sliding sealing cooperation with the first rotating shaft, and the sealing plate is in sliding sealing cooperation with the first anti-falling flange.

7. The high-stiffness joint motor according to claim 5, characterized by The heat dissipation seat is provided with a re-pressing channel, one end of the re-pressing channel is in communication with the air inlet channel, the other end of the re-pressing channel is in one-way communication with the first arc-shaped sliding groove through a second normally closed one-way baffle, and the second normally closed one-way baffle is located in the middle section of the groove bottom of the first arc-shaped sliding groove. The first slider is provided with a re-pressing through hole and a threaded through hole, one end of the re-pressing through hole is open in the body side wall of the first slider and is in communication with the first arc-shaped sliding groove, the other end of the re-pressing through hole is open in the body bottom of the first slider, the threaded through hole penetrates the first slider along the axial direction of the first rotating shaft, a threaded rod is threadedly connected in the threaded through hole, when the first slider is located in the middle section of the first arc-shaped sliding groove, the bottom end of the threaded rod protrudes from the body bottom of the first slider to make the second normally closed one-way baffle open, and the threaded rod is threadedly connected with the rotating disc, so that when the first slider slides from one end of the first arc-shaped sliding groove close to the transmission input shaft to the middle part, the bottom of the threaded rod gradually protrudes from the body bottom of the first slider, and when the first slider slides from the middle part of the first arc-shaped sliding groove to one end close to the transmission output shaft, the bottom of the threaded rod gradually retracts into the body bottom of the first slider.

8. The high-stability joint motor according to any one of claims 1 to 7, characterized by The heat dissipation module further comprises a distance measuring assembly, the distance measuring assembly comprises a rotating shaft sleeve and a distance sensor, the rotating shaft sleeve is rotatably arranged in the transmission channel, the rotating shaft sleeve is coaxially arranged and fixedly connected with the transmission input shaft, one side of the rotating shaft sleeve away from the transmission input shaft is provided with a sliding distance measuring groove, and the distance sensor is arranged in the groove bottom of the sliding distance measuring groove.

9. An intelligent robot joint module, characterized in that, The heat dissipation module further comprises a distance measuring assembly, the distance measuring assembly comprises a rotating shaft sleeve and a distance sensor, the rotating shaft sleeve is rotatably arranged in the transmission channel, the rotating shaft sleeve is coaxially arranged and fixedly connected with the transmission input shaft, one side of the rotating shaft sleeve away from the transmission input shaft is provided with a sliding distance measuring groove, and the distance sensor is arranged in the groove bottom of the sliding distance measuring groove. The heat dissipation module further comprises a distance measuring assembly, the distance measuring assembly comprises a rotating shaft sleeve and a distance sensor, the rotating shaft sleeve is rotatably arranged in the transmission channel, the rotating shaft sleeve is coaxially arranged and fixedly connected with the transmission input shaft, one side of the rotating shaft sleeve away from the transmission input shaft is provided with a sliding distance measuring groove, and the distance sensor is arranged in the groove bottom of the sliding distance measuring groove.

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