Joint module cavity heat dissipation temperature control system, joint module and robot

Abstract

The invention relates to a joint module cavity heat dissipation temperature control system, a joint module and a robot, the joint module comprises a first shell, an electric drive controller and a motor, the electric drive controller comprises a second shell and an electric drive control module arranged in the second shell, and the system comprises a heat dissipation temperature control module arranged in the first shell; the heat dissipation temperature control module comprises a temperature detection unit, a control unit and a heat dissipation fan. The control unit is electrically connected with the temperature detection unit and the heat dissipation fan. The temperature detection unit is used for detecting a temperature signal in the second shell and transmitting the temperature signal to the control unit; the control unit is used for sending a fan operation instruction according to the temperature signal; the cooling fan is used for running according to the fan running instruction so as to promote flow of internal gas and external gas of the electric drive controller; an air circulation hole is formed in the second shell and used for exhausting high-temperature gas in the second shell and supplementing external low-temperature gas into the second shell. The structure compactness and the heat dissipation efficiency can be both considered.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a joint module cavity heat dissipation and temperature control system, a joint module, and a robot. Background Technology

[0002] As a highly integrated power unit, the robot's joint module compactly integrates core drive components such as controllers, motors, and reducers. The electrical and mechanical losses generated by these components during operation are continuously converted into heat energy and accumulate in a confined space, forming obvious localized high-temperature areas.

[0003] Because the gas flow rate inside the joint module cavity is extremely low, the heat dissipation method of contact between the sealed space and the outside is inefficient. Furthermore, the heat radiated by the motor and the heat generated by the MOSFETs, power devices and other heat-generating components inside the controller are continuously superimposed inside the cavity. After a few minutes, the operating temperature of the electronic components inside the cavity can reach as high as 130°C, which far exceeds the normal operating temperature of some electronic components.

[0004] Prolonged operation in high-temperature environments directly leads to accelerated aging of electronic components, decreased insulation performance of motor windings, and demagnetization of permanent magnet materials, severely impacting the operating efficiency and lifespan of the joint module. To ensure stable operation of critical components within safe temperature ranges, an efficient heat dissipation mechanism is essential. However, due to the strict space constraints of the joint module, traditional passive cooling solutions, such as adding phase-change heat dissipation materials or using finned heat conduction, are insufficient to meet the heat dissipation demands arising from ever-increasing power density.

[0005] Therefore, developing a new generation of electric drive control and heat dissipation technology that balances structural compactness and efficient heat dissipation has become an important technical issue for improving the reliability of joint modules and ensuring the long-term stable operation of robot systems. Summary of the Invention

[0006] The purpose of this invention is to provide a joint module cavity heat dissipation and temperature control system, a joint module and a robot, which can balance structural compactness and efficient heat dissipation.

[0007] In a first aspect, the present invention provides a joint module cavity heat dissipation and temperature control system, wherein the joint module includes a first housing, and an electric drive controller and a motor disposed within the first housing, the electric drive controller includes a second housing and an electric drive control module disposed within the second housing, and the heat dissipation and temperature control system includes a heat dissipation and temperature control module disposed within the first housing;

[0008] The heat dissipation and temperature control module includes a temperature detection unit, a control unit, and a cooling fan. The control unit is electrically connected to the temperature detection unit and the cooling fan, respectively.

[0009] The temperature detection unit is used to detect the temperature signal inside the second housing and transmit it to the control unit;

[0010] The control unit is used to issue a fan operation command based on the temperature signal;

[0011] The cooling fan is used to operate according to the fan operation command to promote the flow of gas inside the electric drive controller and external gas.

[0012] The second housing has an air circulation hole for discharging high-temperature gas from inside the second housing and replenishing the interior of the second housing with low-temperature gas from outside.

[0013] In the above technical solution, a heat dissipation and temperature control module consisting of a temperature detection unit, a control unit, and a cooling fan is installed in the first housing. This module, along with air circulation holes on the second housing, enables real-time detection and active heat dissipation of the internal temperature of the electric drive controller. This solves the problem of heat accumulation and rapid internal gas temperature rise caused by the close proximity of the electric drive controller and motor during joint module operation. It promotes efficient air circulation between the internal and external gases of the electric drive controller, quickly expelling high-temperature gases and replenishing low-temperature gases, thereby reducing the internal temperature of the electric drive controller, ensuring stable operation of the electric drive controller and motor, and improving the reliability and service life of the joint module.

[0014] In one possible implementation, the control unit is a separate control unit independent of the electric drive controller, and the heat dissipation temperature control system further includes a DC-DC power supply for powering the cooling fan;

[0015] Alternatively, the control unit is integrated into the electric drive controller, and the power supply for the cooling fan is generated by the power management unit on the electric drive controller.

[0016] The above technical solution provides two control unit configuration methods to adapt to different installation spaces and usage requirements. When the control unit is an independent unit, the cooling fan is powered separately by a DC-DC power supply, which does not occupy the internal resources of the electric drive controller and ensures the stable operation of the electric drive controller's own control functions. When the control unit is integrated into the electric drive controller, there is no need to configure an additional DC-DC power supply, saving internal space of the joint module and simplifying the overall structure.

[0017] In one possible implementation, the control unit controls the cooling fan using either fixed speed control or continuously variable speed control.

[0018] The fixed speed control includes single-stage control or two-stage control.

[0019] The single-level control is as follows: after the control unit is powered on, it identifies the temperature signal detected by the temperature detection unit. When the temperature value corresponding to the temperature signal is higher than the fan-on temperature threshold, it controls the cooling fan to rotate at a fixed speed. When the temperature value corresponding to the temperature signal is lower than the fan-off temperature threshold, it controls the cooling fan to stop running, wherein the fan-off temperature threshold is lower than the fan-on temperature threshold.

[0020] The two-level control is as follows: After the control unit is powered on, it identifies the temperature signal detected by the temperature detection unit. When the temperature threshold of the first-level fan speed is less than or equal to the temperature value corresponding to the temperature signal but less than the temperature threshold of the second-level fan speed, the cooling fan is controlled to run at a lower fixed speed. When the temperature value corresponding to the temperature signal is greater than or equal to the temperature threshold of the second-level fan speed, the cooling fan is controlled to run at a higher fixed speed, wherein the temperature threshold of the second-level fan speed is greater than the temperature threshold of the first-level fan speed. The two-level control also sets a fan speed degradation threshold one and a fan speed degradation threshold two. The fan speed degradation threshold one is less than the temperature threshold of the second-level fan speed. When the cooling fan is running at high speed, if the detected temperature value is less than the fan speed degradation threshold one, it switches to low speed operation. When the cooling fan is running at low speed, if the detected temperature value is less than the fan speed degradation threshold two, it stops operating.

[0021] The continuously variable speed control is as follows: after the control unit is powered on, it identifies the temperature signal detected by the temperature detection unit, retrieves a suitable fan speed based on the temperature signal, and issues a corresponding fan operation command. The cooling fan adjusts its speed in real time based on the fan operation command. The control unit is equipped with a first speed lookup table, which is a table showing the correspondence between temperature and speed. The control unit obtains the corresponding speed by querying the first speed lookup table through the temperature signal and generates a speed command.

[0022] The above technical solutions offer multiple control methods for cooling fans to adapt to different heat dissipation needs and scenarios. The single-stage control structure is simple and convenient, achieving basic active heat dissipation, which is more efficient than passive heat dissipation. The two-stage control can adjust the fan speed according to temperature changes, ensuring rapid heat dissipation at high temperatures while saving power consumption at medium and low temperatures, balancing heat dissipation efficiency and energy saving. The stepless speed control achieves real-time dynamic adjustment of the fan speed through precise correspondence between temperature and speed, ensuring that the heat dissipation effect is precisely matched with the temperature state of the electric drive controller, further improving heat dissipation efficiency and saving energy, while avoiding damage to components caused by sudden changes in speed.

[0023] In one possible implementation, the electric drive control module is installed in the middle of the second housing, dividing the inner cavity of the second housing into a first cavity and a second cavity that are connected. The first cavity is closer to the motor side, and the second cavity is farther away from the motor side.

[0024] The air circulation holes are respectively opened at the bottom of the first cavity, the bottom of the second cavity, and the top of the second cavity.

[0025] In the above technical solution, by installing the electric drive control module in the middle of the second housing, a first cavity (close to the motor) and a second cavity (away from the motor) are separated and connected, and air flow holes are opened at specific positions to form a unique air passage structure; this allows external low-temperature gas to enter the second housing in an orderly manner, fully contact the internal high-temperature gas, complete heat exchange, and quickly exhaust the high-temperature gas, further improving the heat dissipation efficiency of the electric drive controller; it also avoids the heat generated by the motor being directly and extensively conducted to the electric drive control module, reducing heat accumulation and ensuring the working stability of the electric drive control module.

[0026] In one possible implementation, the heat dissipation and temperature control system further includes a thermally conductive metal structure for guiding hot air from the second housing to the airflow hole;

[0027] The thermally conductive metal structure is in the form of fins integrated with the second housing, or is a high thermally conductive metal sheet disposed on the inner wall of the second housing.

[0028] In the above technical solution, by adding a thermally conductive metal structure, its excellent thermal conductivity is utilized to quickly guide the hot air in the second housing to the air circulation hole, accelerating the discharge of hot air and further improving heat dissipation efficiency. The two configuration forms of the thermally conductive metal structure can be flexibly selected according to the actual installation space and heat dissipation requirements. The integrated fin structure is more stable and has higher thermal conductivity, while the high thermal conductivity metal sheet form on the inner wall is flexible in installation and has strong adaptability. At the same time, the thermally conductive metal structure can help absorb heat in the second housing, reduce heat accumulation, and protect the electric drive control module from high temperature damage.

[0029] In one possible implementation, each of the air vents is provided with a waterproof, dustproof, and breathable material layer, which covers the air vent.

[0030] Technical benefits: By installing a waterproof, dustproof, and breathable material layer at the air circulation holes, it can effectively prevent external water, dust, and other impurities from entering the interior of the second housing, avoiding impurities from adhering to the surface of the electric drive control module, preventing problems such as short circuits and component wear, and protecting the internal structure of the electric drive controller from damage. At the same time, the waterproof, dustproof, and breathable material layer does not affect gas circulation, ensuring normal heat exchange between the inside and outside of the electric drive controller. While achieving waterproof and dustproof protection, it ensures that the heat dissipation effect is not affected, further improving the working stability and service life of the joint module.

[0031] In one possible implementation, the second housing is provided with heat dissipation fins, which are located at corresponding positions where heat is concentrated within the second housing; the heat dissipation fins are located on the outside or inside of the second housing.

[0032] In the above technical solution, heat dissipation fins are provided on the second housing and arranged corresponding to the heat concentration position. They can quickly absorb the gas heat in the second housing and conduct it to the second housing. With the introduction of external low-temperature gas, passive heat dissipation is achieved, which accelerates the cooling effect. The heat dissipation fins can be flexibly set on the outside or inside of the second housing to adapt to different internal spaces and heat dissipation requirements, further enhance the heat dissipation capacity, assist the active heat dissipation module to improve the overall heat dissipation efficiency, avoid damage to the electric drive control module due to local overheating, and ensure the stable operation of the electric drive controller.

[0033] In one possible implementation, the second housing has a hollow structure, and the hollow structure is filled with a phase change heat dissipation material.

[0034] In the above technical solution, the second housing adopts a hollow structure and is filled with phase change heat dissipation material. When the internal temperature of the second housing rises, the phase change heat dissipation material can achieve temperature regulation through passive heat absorption, absorb and store the heat generated by the electric drive controller, effectively reduce the temperature inside the second housing, and improve the heat dissipation and cooling effect. The passive heat dissipation of the phase change heat dissipation material and the active heat dissipation of the cooling fan work together to form a dual heat dissipation mechanism, further optimize the heat dissipation performance, ensure that the electric drive controller can still work stably in high temperature environment, and extend the service life of the joint module.

[0035] Secondly, the joint module of the present invention employs the joint module cavity heat dissipation and temperature control system as described in the present invention.

[0036] In the above technical solution, the joint module adopts the above heat dissipation and temperature control system, which can effectively solve the heat dissipation problem of the electric drive controller and motor during its operation, avoid component damage caused by heat accumulation, and ensure the stable operation of the joint module. At the same time, the multiple adaptable designs of the heat dissipation and temperature control system can be adapted to different types of joint modules, improve the working reliability, stability and service life of the joint module, and enhance the market competitiveness of the joint module.

[0037] Thirdly, the robot described in this invention employs the joint module as described in this invention.

[0038] In the above technical solution, the robot adopts the aforementioned joint module. With the help of the joint module's efficient heat dissipation and temperature control system, the long-term stable operation of the joint module can be ensured, avoiding the impact of joint module overheating failure on the overall operation of the robot. At the same time, the stable operation of the joint module can improve the robot's working accuracy, work efficiency and endurance, reduce the frequency and cost of robot maintenance, extend the overall service life of the robot, and adapt to more complex work scenarios. Attached Figure Description

[0039] Figure 1 This is a structural schematic diagram (including the motor) of the electric drive controller in the embodiments of this application;

[0040] Figure 2 This is a control principle diagram of the heat dissipation and temperature control system for the joint module cavity in this embodiment of the application;

[0041] Figure 3 This is a flowchart of a single-level control in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of a single-level control system in an embodiment of this application.

[0043] Figure 5 This is a flowchart of the two-level control in the embodiments of this application;

[0044] Figure 6 This is a schematic diagram of the two-level control system in an embodiment of this application;

[0045] Figure 7 This is a flowchart of the continuously variable transmission (CVT) in the embodiments of this application;

[0046] Figure 8 This is a schematic diagram of the continuously variable transmission (CVT) in an embodiment of this application;

[0047] Explanation of icon numbers:

[0048] 1. Electric drive controller; 11. Second housing; 12. Heat sink fins; 13. Electric drive control module; 14. Thermally conductive metal structure; 15. Phase change heat dissipation material; 16. Waterproof, dustproof and breathable material layer; 17. Air circulation hole; 2. Temperature detection unit; 3. Motor; 4. First housing; 5. Control unit; 6. Cooling fan; 7. DC-DC power supply. Detailed Implementation

[0049] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0050] The joint module includes a first housing 4, and an electric drive controller 1 and a motor 3 disposed within the first housing 4. The electric drive controller 1 includes a second housing 11 and an electric drive control module 13 disposed within the second housing 11. When the joint module is working, both the electric drive controller 1 and the motor 3 located within the first housing 4 generate heat. In addition, since the electric drive controller 1 and the motor 3 are close together, the gas inside the electric drive controller is also radiated by the heat from the motor 3. Simultaneously, the heat generated by the heating element of the electric drive controller is accumulated, causing the gas inside the electric drive controller to absorb heat and rise in temperature.

[0051] Please see Figure 2 , Figure 2 This is a schematic diagram of the control principle of the heat dissipation and temperature control system for the joint module cavity disclosed in the embodiments of this application.

[0052] To address the above issues, this application provides a joint module cavity heat dissipation and temperature control system. A heat dissipation and temperature control module is provided inside the first housing 4. The heat dissipation and temperature control module includes a temperature detection unit 2, a control unit 5, and a cooling fan 6. The control unit 5 is connected to the temperature detection unit 2 and the cooling fan 6, respectively.

[0053] Temperature detection unit 2 detects the temperature signal inside the second housing 11 and transmits it to control unit 5. Control unit 5 issues fan operation commands (fan start / stop commands, speed commands, etc.) based on the temperature signal. Cooling fan 6 operates according to the fan operation commands to promote the flow of gas between the inside and outside of electric drive controller 1. To ensure the exchange of gas between the inside and outside of electric drive controller 1, air circulation holes 17 are provided on the second housing 11. High-temperature gas inside the second housing 11 is discharged through air circulation holes 17, and low-temperature gas from the outside is replenished into the second housing 11, thereby reducing the temperature inside the electric drive controller 1 and achieving efficient and rapid heat dissipation.

[0054] In one possible embodiment, the temperature detection unit 2 can be a general thermistor, and its installation location is recommended to be in a location where heat is concentrated.

[0055] Please see Figure 2In one possible embodiment, the control unit 5 can be a separate control unit 5, that is, separate and independent from the electric drive controller 1, and does not occupy the resources of the electric drive controller 1. This method requires configuring a DC-DC power supply 7 to power the cooling fan 6.

[0056] If space needs to be saved, the control unit 5 can also be integrated into the electric drive controller 1. In this case, the power supply for the cooling fan 6 is generated by the power management unit on the electric drive controller 1.

[0057] In this embodiment, the cooling fan 6 can be controlled by fixed speed control or stepless speed control. The following control flow is illustrated using three control methods: single-stage constant speed, two-stage constant speed, and stepless speed control.

[0058] (a) Single-stage control: fixed fan speed heat dissipation

[0059] Please see Figure 3 and Figure 4 , Figure 3 This is a flowchart of a single-level control disclosed in the embodiments of this application. Figure 4 This is a schematic diagram of the single-stage control disclosed in this application embodiment. After power-on, the control unit 5 synchronously identifies the temperature signal detected by the temperature detection unit 2. If the temperature value corresponding to the temperature signal is higher than the fan-on temperature threshold, the control of the cooling fan 6 is triggered. The cooling fan 6 rotates at a fixed speed, expelling the hot gas inside the joint module, thereby achieving active cooling. Compared to passive cooling, active cooling is faster and more efficient. When the temperature value corresponding to the temperature signal is lower than the fan-off temperature threshold, the fan is turned off. The fan-off temperature threshold is lower than the fan-on temperature threshold.

[0060] (ii) Two-stage control of fixed fan speed for heat dissipation

[0061] Please see Figure 5 and Figure 6 , Figure 5 This is a flowchart of the two-level control disclosed in the embodiments of this application. Figure 6This is a schematic diagram of the two-level control system disclosed in this application embodiment. After power-on, the control unit 5 synchronously identifies the temperature signal detected by the temperature detection unit 2 (i.e., the temperature value inside the second housing 11, also referred to as the cavity temperature). When the temperature threshold of the first-level fan speed is less than or equal to the temperature value corresponding to the temperature signal, and less than the temperature threshold of the second-level fan speed, low-speed control is triggered, i.e., the control unit 5 issues a low-speed operation command, and the cooling fan 6 runs at a lower fixed speed. When the temperature value corresponding to the temperature signal is greater than or equal to the temperature threshold of the second-level fan speed, high-speed control is triggered, i.e., the control unit 5 issues a high-speed operation command, and the cooling fan 6 runs at a higher fixed speed. The fan speed of the cooling fan 6 is adjustable in two levels according to temperature changes, which can efficiently and quickly dissipate heat while saving power consumption. The temperature threshold of the second-level fan speed is greater than the temperature threshold of the first-level fan speed.

[0062] like Figure 6 As shown, fixed hysteresis thresholds are set during recovery, including a first fan speed degradation threshold and a second fan speed degradation threshold. The first fan speed degradation threshold is lower than the second-level fan speed temperature threshold. When the cooling fan 6 is running at high speed, if the temperature detected by the temperature detection unit 2 is lower than the first fan speed degradation threshold, the fan enters low-speed operation. When the cooling fan 6 is running at low speed, if the temperature detected by the temperature detection unit 2 is lower than the second fan speed degradation threshold, the cooling fan 6 stops operating.

[0063] (iii) Continuously variable speed fan cooling

[0064] Please see Figure 7 and Figure 8 , Figure 7 This is a flowchart of the continuously variable transmission (CVT) disclosed in the embodiments of this application. Figure 8 This is a schematic diagram of the continuously variable transmission (CVT) disclosed in this application embodiment. After power-on, the control unit 5 synchronously identifies the temperature signal detected by the temperature detection unit 2. The control unit 5 retrieves a suitable fan speed based on the temperature signal and issues corresponding fan operation commands (including fan start command, fan stop command, speed command, etc.). The cooling fan 6 adjusts its airflow speed in real time based on the fan operation commands.

[0065] Control unit 5 retrieves the appropriate fan speed based on the temperature signal, specifically as follows:

[0066] By setting a first speed lookup table in the system, which is a correspondence table between temperature and speed, the corresponding speed can be obtained by looking up the first speed lookup table through the temperature signal detected by the temperature detection unit 2, and the corresponding speed command can be generated.

[0067] Please see Figure 1 , Figure 1This is a schematic diagram of the structure of the electric drive controller 1 disclosed in this application embodiment (including the motor 3). In this application embodiment, a joint module cavity heat dissipation and temperature control system, in addition to providing a cooling fan 6 inside the first housing 4, also improves the electric drive controller 1, specifically as follows:

[0068] The electric drive control module 13 is installed inside the second housing 11. Air circulation holes 17 are provided at the bottom and top of the second housing 11, respectively, to introduce cold air and exhaust hot air, thereby achieving heat exchange.

[0069] Preferably, the electric drive control module 13 is installed in the middle of the second housing 11. The electric drive control module 13 divides the inner cavity of the second housing 11 into two parts: the part closer to the motor 3 is the first cavity, and the part farther from the motor 3 is the second cavity. The first cavity and the second cavity are connected. Air flow holes 17 are respectively opened at the bottom of the first cavity, the bottom of the second cavity, and the top of the second cavity. Through the above arrangement, a unique air passage can be formed to ensure sufficient heat exchange between hot and cold air.

[0070] For example, the air circulation hole 17 can be a single hole design or a multi-hole arrangement.

[0071] In one possible embodiment, in order to guide the hot air inside the second housing 11 to the air vent 17 and improve heat dissipation, a thermally conductive metal structure 14 may or may not be installed, depending on the actual situation. If a thermally conductive metal structure 14 is required, it may be designed as a fin integrated with the second housing 11, or a high thermal conductivity metal sheet may be provided on the inner wall of the second housing 11.

[0072] In one possible embodiment, according to the waterproof and dustproof requirements of the joint module, a waterproof, dustproof and breathable material layer 16 that can cover the air circulation hole 17 is provided on the inner side of each air circulation hole 17. The waterproof, dustproof and breathable material layer 16 can block impurities from entering the interior of the second housing 11, play a filtering role, and at the same time ensure gas flow and improve the air cooling effect.

[0073] In one possible embodiment, to achieve better heat dissipation, heat dissipation fins 12 are provided on the second housing 11. Based on the circuit device layout, the heat dissipation fins 12 are positioned at locations where heat is concentrated. The heat dissipation fins 12 absorb heat from the gas inside the second housing 11 and conduct it to the outside of the second housing 11. Simultaneously, cooler external air is introduced into the second housing 11 to absorb heat and lower the temperature, thus passively accelerating the cooling effect. Considering the internal space of the second housing 11 and the heat dissipation requirements, the heat dissipation fins 12 can be placed on the outside of the second housing 11 or on the inside of the second housing 11.

[0074] In one possible embodiment, for better heat dissipation, the second housing 11 adopts a hollow structure and is filled with phase change heat dissipation material 15. When the temperature inside the second housing 11 rises, the phase change heat dissipation material 15 passively absorbs heat, thereby improving the heat dissipation and cooling effect.

[0075] In this embodiment of the application, a joint module adopts the joint module cavity heat dissipation and temperature control system as described in this embodiment of the application.

[0076] In this embodiment of the application, a robot employs a joint module as described in this embodiment of the application.

[0077] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A joint module cavity heat dissipation and temperature control system, wherein, The joint module includes a first housing (4), an electric drive controller (1) and a motor (3) disposed in the first housing (4), the electric drive controller (1) includes a second housing (11) and an electric drive control module (13) disposed in the second housing (11), characterized in that the heat dissipation temperature control system includes a heat dissipation temperature control module disposed in the first housing (4); The heat dissipation temperature control module includes a temperature detection unit (2), a control unit (5) and a cooling fan (6), wherein the control unit (5) is electrically connected to the temperature detection unit (2) and the cooling fan (6) respectively; The temperature detection unit (2) is used to detect the temperature signal inside the second housing (11) and transmit it to the control unit (5). The control unit (5) is used to issue a fan operation command based on the temperature signal; The cooling fan (6) is used to operate according to the fan operation command to promote the flow of gas inside the electric drive controller (1) and the external gas. The second housing (11) is provided with an air circulation hole (17) for discharging the high-temperature gas inside the second housing (11) and replenishing the interior of the second housing (11) with external low-temperature gas.

2. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The control unit (5) is a separate control unit independent of the electric drive controller (1). The heat dissipation temperature control system also includes a DC-DC power supply (7), which is used to power the cooling fan (6). Alternatively, the control unit (5) is integrated into the electric drive controller (1), and the power supply for the cooling fan (6) is generated by the power management unit on the electric drive controller (1).

3. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The control unit (5) controls the cooling fan (6) in a fixed speed control or stepless speed control manner. The fixed speed control includes single-stage control or two-stage control. The single-level control is as follows: after the control unit (5) is powered on, it identifies the temperature signal detected by the temperature detection unit (2). When the temperature value corresponding to the temperature signal is higher than the fan-on temperature threshold, it controls the cooling fan (6) to rotate at a fixed speed. When the temperature value corresponding to the temperature signal is lower than the fan-off temperature threshold, it controls the cooling fan (6) to stop running, wherein the fan-off temperature threshold is less than the fan-on temperature threshold. The two-level control is as follows: after the control unit (5) is powered on, it identifies the temperature signal detected by the temperature detection unit (2). When the temperature threshold of the first-level fan speed is less than or equal to the temperature value corresponding to the temperature signal and less than the temperature threshold of the second-level fan speed, the cooling fan (6) is controlled to run at a lower fixed speed. When the temperature value corresponding to the temperature signal is greater than or equal to the temperature threshold of the second-level fan speed, the cooling fan (6) is controlled to run at a higher fixed speed, wherein the temperature threshold of the second-level fan speed is greater than the temperature threshold of the first-level fan speed. The two-level control is also provided with a fan speed reduction threshold one and a fan speed reduction threshold two. The fan speed reduction threshold one is less than the temperature threshold of the second-level fan speed. When the cooling fan (6) is running at high speed, if the detected temperature value is less than the fan speed reduction threshold one, it switches to low speed operation. When the cooling fan (6) is running at low speed, if the detected temperature value is less than the fan speed reduction threshold two, it stops running. The continuously variable speed control is as follows: after the control unit (5) is powered on, it identifies the temperature signal detected by the temperature detection unit (2), retrieves the appropriate fan speed according to the temperature signal and issues the corresponding fan operation command, and the cooling fan (6) adjusts the wind speed in real time based on the fan operation command; the control unit (5) is provided with a first speed lookup table, which is a table of the correspondence between temperature and speed, and the control unit (5) obtains the corresponding speed by querying the first speed lookup table through the temperature signal and generates a speed command.

4. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The electric drive control module (13) is installed in the middle of the second housing (11), dividing the inner cavity of the second housing (11) into a first cavity and a second cavity that are connected. The first cavity is close to the motor (3), and the second cavity is away from the motor (3). The air circulation holes (17) are respectively opened at the bottom of the first cavity, the bottom of the second cavity, and the top of the second cavity.

5. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The heat dissipation and temperature control system also includes a thermally conductive metal structure (14), which is used to guide the hot air in the second housing (11) to the air flow hole (17). The thermally conductive metal structure (14) is in the form of a fin integrated with the second housing (11), or a high thermally conductive metal sheet disposed on the inner wall of the second housing (11).

6. The joint module cavity heat dissipation and temperature control system according to claim 1 or 4, characterized in that, Each of the air vents (17) is provided with a waterproof, dustproof and breathable material layer (16), which covers the air vents (17).

7. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The second housing (11) is provided with heat dissipation fins (12), which are located at corresponding positions where heat is concentrated inside the second housing (11); the heat dissipation fins (12) are located on the outside or inside of the second housing (11).

8. The joint module cavity heat dissipation and temperature control system according to claim 1, characterized in that, The second housing (11) has a hollow structure and is filled with a phase change heat dissipation material (15).

9. A joint module, characterized in that, The joint module cavity heat dissipation and temperature control system described in any one of claims 1-8 is adopted.

10. A robot, characterized in that, The joint module as described in claim 9 is used.

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