Linear joint module with highly integrated thermal management

Abstract

The present application relates to the technical field of high-precision motion control, and particularly relates to a linear joint module with highly integrated thermal management, which comprises a casing, a stator and a screw transmission assembly composed of a planetary screw nut and a planetary screw shaft, the casing is provided with a liquid cooling channel, the channel is configured as a variable cross-section flow channel, the cross-sectional area corresponding to the stator winding area is small to improve the local heat exchange efficiency, and the cross-sectional area of the end turning area is large to reduce the fluid pressure drop, in addition, the planetary screw nut is provided with a forced air cooling assembly that rotates synchronously and reversely with the screw nut, the assembly has a one-way air guide structure composed of asymmetric aerodynamic angle blades, and no matter the screw nut rotates forward or reversely, the air flow can be discharged to the same axial end of the module. Through the double integrated design of liquid cooling and forced air cooling, the heat generation and locked-rotor temperature of the module are effectively reduced, and the precision and stability of high dynamic operation are ensured.

Description

Technical Field

[0001] This invention relates to the field of high-precision motion control technology, and in particular to a linear joint module with highly integrated thermal management. Background Technology

[0002] Linear joint modules are widely used in high-precision motion control systems. Their core components include ball screws, encoders, sensors, bearings, front and rear end covers, and housings. Under prolonged high load or high-speed operation, the drive unit (stator and rotor) generates a significant amount of heat, leading to localized temperature rise. This temperature increase causes material expansion, encoder sensing deviation, and changes in mechanical clearances, affecting the module's operational accuracy and stability.

[0003] Currently, most linear articulated modules employ passive cooling methods (such as natural convection and heat sinks), which have low heat dissipation efficiency and are unable to cope with transient thermal loads. Furthermore, the compact installation space of articulated modules prevents the installation of numerous external cooling devices. Therefore, there is an urgent need for a compact, precisely temperature-controlled, and integrated thermal management solution to address the thermal stability issues of linear articulated modules under highly dynamic operating conditions. Summary of the Invention

[0004] In view of this, the purpose of this invention is to propose a linear joint module with highly integrated thermal management to solve the problem that the existing linear joint modules have low heat dissipation efficiency in a compact installation space, which leads to mechanical thermal deformation caused by stator heating under high dynamic conditions, thereby impairing the module's motion accuracy and operational stability.

[0005] To achieve the above objectives, the present invention provides a linear joint module with highly integrated thermal management, including a housing, a stator installed within the housing, and a lead screw drive assembly cooperating with the stator. The lead screw drive assembly includes a planetary lead screw nut that rotates under the drive of the stator and a planetary lead screw shaft passing through the planetary lead screw nut. It also includes:

[0006] A liquid cooling channel for cooling the stator is provided on the housing. The liquid cooling channel is constructed as a variable cross-section flow channel in its extension direction. The flow cross-sectional area of ​​the variable cross-section flow channel in the corresponding stator winding area is smaller than its flow cross-sectional area in the corresponding fluid turning or inlet / outlet area, so as to improve the local heat exchange efficiency while reducing the overall fluid pressure drop.

[0007] The air-cooling component is mounted on the planetary screw nut. The air-cooling component rotates synchronously with the planetary screw nut in both forward and reverse directions. The air-cooling component has a one-way airflow structure, which allows the airflow to be driven to the same axial end of the module in both forward and reverse rotation conditions.

[0008] Preferably, the liquid cooling channel includes several heat exchange channels extending along the axial direction, and adjacent heat exchange channels are alternately connected at the axial ends to form a continuous zigzag flow path that is not closed at both ends.

[0009] Each heat exchange channel is constructed as a variable cross-section channel. The width of the variable cross-section channel is non-uniformly set along its extension direction. The heat exchange channel has a first channel width in the axial middle section region corresponding to the stator upper winding and a second channel width in the axial end region corresponding to the fluid return. The first channel width is smaller than the second channel width, so as to enhance the fluid heat transfer coefficient in the stator upper winding region while reducing the fluid dynamic pressure drop in the return region.

[0010] Preferably, the heat exchange channel has a uniform channel height along its extension direction, the channel height is 4.5 mm, the first channel width is 10.3 mm, and the second channel width is 12.3 mm;

[0011] The heat exchange channel has a transition angle between the width of the first channel and the width of the second channel, and a chamfer is provided at the axial end region where the fluid returns, so as to reduce the impact of the fluid at the changes in channel width and the turning point at the end.

[0012] Preferably, one end of the housing extends radially to form a raised limiting step, and a cover for sealing the liquid cooling channel is fitted on the outside of the housing. An annular groove is opened at the end of the limiting step, and an annular insert that matches the annular groove is fixed at the end of the cover.

[0013] The inner wall of the annular groove and the surface of the housing are provided with annular sealing grooves, and O-rings are provided in the annular sealing grooves. One of the O-rings contacts the annular insert. A placement groove is provided at the end where the limiting step contacts the cover, and an annular notch is provided on the inner wall of the cover at the end away from the limiting step. The placement groove and the annular notch are filled with sealant.

[0014] Preferably, the casing is provided with a coolant inlet and a coolant outlet that communicate with the beginning and end of the heat exchange channel, respectively. Both the coolant inlet and the coolant outlet include a straight pipe provided on the casing and a frustum-shaped pipe provided on the straight pipe. The straight pipe is provided with multiple annular rings, and the outer diameter of the multiple annular rings gradually decreases from top to bottom.

[0015] Preferably, the air-cooled assembly includes an impeller that is threaded onto a planetary screw nut. The unidirectional airflow structure is achieved by multiple asymmetric aerodynamic blades disposed on the impeller. Each asymmetric aerodynamic blade has an inner working surface and an outer leeward surface. The angle between the inner working surface and the impeller axis is a first angle, and the angle between the outer leeward surface and the impeller axis is a second angle.

[0016] The first included angle is greater than the second included angle, so that when the planetary screw nut rotates in the forward or reverse direction, the airflow is captured by the inner working surface with a larger angle of attack and guided to the same side for discharge.

[0017] Preferably, the first included angle is 60° to form a high angle of attack intake channel, the second included angle is 30° to form a low angle of attack guide channel, and the flow channel width between adjacent asymmetric aerodynamic angle blades gradually changes along the axial direction to form a gradually expanding channel that reduces flow loss.

[0018] Preferably, the edges of the asymmetric aerodynamic blades are chamfered by 0.1×1mm to reduce air resistance and aerodynamic vibration when the wind cuts in;

[0019] The number of asymmetric aerodynamic blades is 18, and they are evenly arranged in a spiral along the circumference on the impeller to meet the requirement of integer multiple symmetry and avoid vibration resonance.

[0020] The beneficial effects of this invention are as follows:

[0021] I. This invention employs a non-uniform width gradient flow channel design (such as a "12.3mm-10.3mm-12.3mm" structure) in the heat exchange channel of the casing. By utilizing the narrowing of the flow channel width in the high-heat region of the corresponding stator winding, the average fluid velocity is adaptively increased. This achieves efficient heat dissipation at the core heat source by enhancing convective heat transfer, and significantly reduces the overall system pressure drop and fluid turning impact in the fluid turning region by increasing the width and setting transition angles and turning chamfers.

[0022] Second, this invention utilizes the combination of annular grooves and annular inserts, O-ring seals, and sealant filling the placement grooves and annular notches to form a multi-seal structure for the casing. Furthermore, it sets annular rings with gradually decreasing outer diameters from top to bottom on the coolant inlet and coolant outlet. This ensures zero leakage of fluid circulation within a compact space while enhancing the interlocking force of the connecting pipes using the gradient distribution of annular rings. This effectively solves the potential problems of pipe detachment and leakage caused by pressure fluctuations or vibrations under high dynamic operating conditions.

[0023] Third, this invention integrates asymmetric aerodynamic blades with an inner 60° high angle of attack and an outer 30° low angle of attack on the planetary screw nut. By utilizing the dominant capture effect of the high angle of attack on the airflow, the air-cooling component can drive the airflow to always be discharged to the same axial end of the module, regardless of whether the planetary screw nut is rotating forward or backward. This achieves a unidirectional continuous heat dissipation effect with consistent flow. In addition, the chamfered edge of the blades significantly reduces wind shear resistance and aerodynamic vibration.

[0024] Fourth, this invention uses 7075-T6 high-strength material for the housing, combined with Ra0.1 nanometer coating on the flow channel, and is equipped with 18 asymmetric aerodynamic blades arranged in a spiral along the circumference. While reducing fluid pressure drop by utilizing high surface smoothness, the symmetric design of the number of blades in integer multiples avoids vibration resonance frequency. Thus, while reducing the overall temperature rise of the module, it further ensures the mechanical precision and long-term stability of the module under high dynamic operation from the perspective of structural dynamics. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Figure 2 For the present invention Figure 1 A diagram illustrating the breakdown;

[0028] Figure 3 For the present invention Figure 1 Internal structure diagram;

[0029] Figure 4 For the present invention Figure 1 A sectional view;

[0030] Figure 5 This is a schematic diagram of the air-cooled component of the present invention;

[0031] Figure 6 This is a schematic diagram showing the angles between the inner working surface and the outer leeward surface of the present invention and the impeller axis.

[0032] Figure 7 For the present invention Figure 4 Enlarged view of the structure at point A in the middle;

[0033] Figure 8 For the present invention Figure 4 Enlarged view of the structure at point B.

[0034] In the diagram: 1. Housing; 2. Stator; 3. Planetary screw nut; 4. Planetary screw shaft; 5. Liquid cooling channel; 51. Heat exchange channel; 52. Width of the first channel; 53. Width of the second channel; 54. Transition angle; 6. Air-cooled assembly; 61. Impeller; 62. Asymmetric aerodynamic blade; 63. Inner working surface; 64. Outer leeward surface; 7. Cover; 8. Annular insert; 9. O-ring seal; 10. Placement slot; 11. Coolant inlet; 12. Coolant outlet; 13. Frustum tube; 14. Magnet. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0036] like Figures 1-8 As shown, a linear joint module with highly integrated thermal management includes a housing 1, a stator 2 installed in the housing 1, and a lead screw drive assembly that cooperates with the stator 2. To ensure the compactness and assembly integrity of the overall structure of the module, the module also includes a front pull ring and a rear pull ring, which are respectively disposed at both ends of the housing 1.

[0037] The lead screw drive assembly includes a planetary lead screw nut 3 that rotates under the drive of the stator 2 and a planetary lead screw shaft 4 passing through the planetary lead screw nut 3. A magnet 14 is fixed on the planetary lead screw nut 3, forming the rotor of the motor. The rotating magnetic field generated when the windings on the stator 2 are energized drives the planetary lead screw nut 3 to rotate around its axis. The planetary lead screw shaft 4 is engaged with the planetary lead screw nut 3 through a roller screw pair, and the planetary lead screw shaft 4 is configured to move only axially and not rotate. The operating principle is as follows: when current is passed through the lead wires to the windings on the stator 2, the windings generate a magnetic field and drive the planetary lead screw nut 3 to perform circular motion. Subsequently, the planetary lead screw nut 3 engages with the roller screw pair, and through this engagement, it drives the planetary lead screw shaft 4 to perform reciprocating motion. Under this high-dynamic operating condition of high-frequency reciprocating motion and circular motion superimposed, in order to solve the problem of stator 2 heating and heat accumulation in the internal enclosed cavity, the present invention proposes the following technical solution:

[0038] A liquid cooling channel 5 is provided on the housing 1 for cooling the stator 2. The liquid cooling channel 5 is constructed as a variable cross-section flow channel in its extension direction. The flow cross-sectional area of ​​the variable cross-section flow channel in the corresponding stator 2 winding area is smaller than its flow cross-sectional area in the corresponding fluid turning or inlet / outlet area, so as to improve the local heat exchange efficiency while reducing the overall fluid pressure drop.

[0039] In actual operation, the coolant enters the liquid cooling channel 5 and first flows through the inlet area (wide cross-section), where the flow velocity is relatively slow and the kinetic energy is low. Then it enters the stator 2 winding area (narrow cross-section). According to the fluid continuity equation, the flow cross-sectional area decreases, which leads to an increase in flow velocity. The high-speed fluid strongly scours the wall of the liquid cooling channel 5, destroying the thermal boundary layer and greatly improving the convective heat transfer coefficient of the stator 2 winding. Finally, it flows to the outlet area (wide cross-section), where the flow velocity slows down and flows out smoothly. This "wide-narrow-wide" variable cross-section design achieves the dual effect of enhancing heat transfer in the winding area and reducing pressure drop in the turning or inlet / outlet areas.

[0040] The air-cooling component 6 is mounted on the planetary screw nut 3. The air-cooling component 6 rotates synchronously with the planetary screw nut 3 in both forward and reverse directions. The air-cooling component 6 has a one-way airflow structure, which allows the airflow to be driven to the same axial end of the module in both forward and reverse rotation conditions.

[0041] A wind-cooled assembly with a guiding airflow structure is provided in the planetary screw nut 3, namely an impeller 61 with an asymmetric aerodynamic angle blade 62 (60° high angle of attack on the inner side and 30° low angle of attack on the outer side). Based on the asymmetric design, no matter whether the planetary screw nut 3 rotates forward or backward, the airflow is always captured by the inner working surface 63 with a larger angle of attack and guided to the same axial end for discharge.

[0042] This embodiment integrates liquid cooling and air cooling to provide targeted heat dissipation for the windings on the stator 2 (the main heat source) and the internal cavity of the housing 1 (the heat source), forming a three-dimensional heat dissipation system with clear primary and secondary functions.

[0043] In a preferred embodiment of the present invention, the liquid cooling channel 5 includes a plurality of heat exchange channels 51 extending along the axial direction. Adjacent heat exchange channels 51 are alternately connected at the axial ends to form a continuous zigzag flow path that is not closed at the beginning and end. This zigzag layout allows the coolant to flow through the heat-generating area multiple times in a limited space, extending the heat exchange path and improving the coolant utilization rate.

[0044] Each heat exchange channel 51 is constructed as a variable cross-section channel. The width of the variable cross-section channel is non-uniformly arranged along its extension direction. The heat exchange channel 51 has a first channel width 52 in the axial middle section region of the corresponding stator 2 winding and a second channel width 53 in the axial end region of the corresponding fluid return. The first channel width 52 is smaller than the second channel width 53, so as to enhance the fluid heat transfer coefficient in the winding region of the stator 2 while reducing the fluid dynamic pressure drop in the return region.

[0045] The heat exchange channel 51 has a uniform channel height along its extension direction, which is 4.5 mm. The width of the first channel 52 is 10.3 mm and the width of the second channel 53 is 12.3 mm.

[0046] To smoothly transition the width changes, the heat exchange channel 51 has a transition angle of 11.5×5° between the first channel width 52 and the second channel width 53. At the same time, a chamfer of R1.5 is provided in the axial end region where the fluid turns back, so as to reduce the turning impact of the fluid at the width change of the channel and the end bend. In addition, the housing 1 is made of 7075-T6 material, and the inner surface of the heat exchange channel 51 is polished and nano-coated, with a surface finish of Ra0.1, so as to further reduce the frictional resistance and overall pressure drop when the fluid flows inside the variable cross-section channel.

[0047] In actual operation, when the coolant flows in the heat exchange channel 51, it undergoes a gradual flow path with adaptive velocity adjustment, transitioning from wide to narrow to wide (12.3mm-10.3mm-12.3mm). In the stator 2 winding region, where heat generation is highest (i.e., the narrow 10.3mm section in the middle), the fluid velocity increases, achieving sufficient and efficient convective heat dissipation in the first instance. Conversely, in the end reversal region (i.e., the wide 12.3mm sections at both ends), the fluid velocity decreases. Combined with the smooth transition angle 54 and the R1.5 chamfer design, water hammer impact and pressure loss during fluid turns are significantly reduced. Coupled with a high-gloss surface of Ra0.1, the overall dynamic pressure drop of the system is significantly reduced, achieving a perfect combination of localized, highly efficient temperature control and overall low-energy-consumption circulation.

[0048] In another preferred embodiment of the present invention, one end of the housing 1 extends radially to form a protruding limiting step, and the outer side of the housing 1 is fitted with a cover 7 for sealing the liquid cooling channel 5. An annular groove is provided at the end of the limiting step, and an annular insert 8 adapted to the annular groove is fixed at the end of the cover 7.

[0049] The inner wall of the annular groove and the surface of the housing 1 are provided with annular sealing grooves, and O-rings 9 are provided in the annular sealing grooves. One of the O-rings 9 contacts the annular insert 8. A placement groove 10 is provided at the end where the limiting step contacts the cover 7, and an annular notch is provided on the inner wall of the cover 7 at the end away from the limiting step. The placement groove 10 and the annular notch are filled with sealant.

[0050] The casing 7 is provided with a coolant inlet 11 and a coolant outlet 12 that are connected to the beginning and end of the heat exchange channel 51, respectively. Both the coolant inlet 11 and the coolant outlet 12 include a straight pipe provided on the casing 7 and a frustum tube 13 provided on the straight pipe. The straight pipe is provided with multiple annular rings, and the outer diameter of the multiple annular rings gradually decreases from top to bottom.

[0051] During assembly, the O-ring 9 is first installed in the annular sealing groove. Then, the cover 7 is fitted onto the housing 1, allowing the annular insert 8 to be inserted into the annular groove. At this point, the O-ring 9 is compressed, forming a preliminary seal. Subsequently, sealant is injected into the placement groove 10 and the annular notch, and after the sealant cures, a secondary seal is formed. The annular insert 8 at the end of the cover 7 and the annular groove of the housing 1 form a labyrinth structure, increasing the leakage path length and improving the sealing reliability.

[0052] In another preferred embodiment of the present invention, the air-cooled assembly 6 includes an impeller 61 that is threaded onto a planetary screw nut 3. The unidirectional airflow structure is achieved by multiple asymmetric aerodynamic angle blades 62 disposed on the impeller 61. Each asymmetric aerodynamic angle blade 62 has an inner working surface 63 and an outer leeward surface 64. The angle between the inner working surface 63 and the axis of the impeller 61 is a first angle, and the angle between the outer leeward surface 64 and the axis of the impeller 61 is a second angle.

[0053] The first included angle is greater than the second included angle, so that when the planetary screw nut 3 rotates in the forward or reverse direction, the airflow is captured by the inner working surface 63 with a larger angle of attack and guided to the same side for discharge.

[0054] The first included angle is 60° to form a high angle-of-attack inlet channel, which can forcibly capture air. The second included angle is 30° to form a low angle-of-attack guide channel, which aims to reduce air resistance. The flow channel width between adjacent asymmetric aerodynamic angle blades 62 gradually changes along the axial direction, forming a gradually expanding channel. This gradually expanding design conforms to the expansion characteristics of airflow in the impeller 61, which can effectively reduce flow losses and improve aerodynamic efficiency.

[0055] The end of the housing 1 is also provided with a warning end cover, which has 36 ventilation holes.

[0056] During forward rotation, the 60° high angle of attack working face efficiently captures airflow and pushes the air out of the ventilation opening;

[0057] During reversal, the leeward side at a low angle of attack of 30° generates a small reverse thrust, while the working surface at 60° still dominates the airflow direction due to geometric shielding, achieving bidirectional drive and unidirectional air outlet.

[0058] The asymmetric aerodynamic angle blade 62 has a chamfer of 0.1×1mm on its edge to reduce air resistance and aerodynamic vibration when the wind cuts in;

[0059] The impeller 61 has 18 asymmetric aerodynamic blades 62, which are evenly arranged in a spiral shape (3° helix angle) along the circumference. This spiral arrangement allows the asymmetric aerodynamic blades 62 to present a continuously changing angle in three-dimensional space, providing a smooth flow channel from inlet to outlet for the airflow and reducing losses caused by airflow impact and separation. The even number of 18 blades ensures that at least 9 blades are in the effective working area in any rotation direction, improving aerodynamic stability and flow uniformity. The even spiral arrangement satisfies the integer multiple symmetry requirement, effectively avoiding vibration resonance.

[0060] When the planetary screw nut 3 rotates clockwise, the airflow is strongly accelerated by the 60° high angle of attack and discharged backward. When it rotates counterclockwise, the airflow cannot be effectively accelerated when it encounters the outer 30° low angle of attack surface, and is forced to detour before being captured again by the inner 60° high angle of attack surface and guided in the same direction. This structure ensures that no matter how the driving conditions change, the hot air inside the module is always stably discharged to the vent at the same axial end, completely solving the problem of heat dissipation dead zones in the sealed cavity.

[0061] In actual operation, when the impeller 61 rotates, the airflow flows along the gradually expanding channel between the asymmetric aerodynamic angle blades 62, undergoing a smooth acceleration and guidance process. The chamfered edges of the blades reduce the impact noise and vibration when the airflow cuts in. Regardless of whether it rotates clockwise or counterclockwise, because the angle of attack of the inner working surface 63 (60°) is much larger than that of the outer leeward surface 64 (30°), the airflow is always dominated by the inner working surface 63 and guided to be discharged in the same direction.

[0062] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

Claims

1. A linear joint module with highly integrated thermal management, comprising a housing (1), a stator (2) installed within the housing (1), and a lead screw drive assembly cooperating with the stator (2), the lead screw drive assembly comprising a planetary lead screw nut (3) rotating under the drive of the stator (2) and a planetary lead screw shaft (4) passing through the planetary lead screw nut (3), characterized in that, Also includes: A liquid cooling channel (5) for cooling the stator (2) is provided on the housing (1). The liquid cooling channel (5) is constructed as a variable cross-section flow channel in its extension direction. The flow cross-sectional area of ​​the variable cross-section flow channel in the corresponding stator (2) winding area is smaller than its flow cross-sectional area in the corresponding fluid turning or inlet / outlet area, so as to improve the local heat exchange efficiency while reducing the overall fluid pressure drop. The liquid cooling channel (5) includes a number of heat exchange channels (51) extending along the axial direction. Adjacent heat exchange channels (51) are alternately connected at the axial ends to form a non-closed channel. The continuous zigzag flow path; each heat exchange channel (51) is constructed as a variable cross-section channel, and the width of the variable cross-section channel is non-uniformly set along its extension direction. The heat exchange channel (51) has a first channel width (52) in the axial middle section region of the corresponding stator (2) winding and a second channel width (53) in the axial end region of the corresponding fluid zigzag. The first channel width (52) is smaller than the second channel width (53) so as to enhance the fluid heat transfer coefficient in the stator (2) winding region while reducing the flow in the zigzag region. The air-cooling component (6) is installed on the planetary screw nut (3). The air-cooling component (6) rotates synchronously with the planetary screw nut (3) in both forward and reverse directions. The air-cooling component (6) has a one-way airflow structure, which allows the airflow to be driven to the same axial end of the module in both forward and reverse rotation conditions following the planetary screw nut (3). The air-cooling component (6) includes an impeller (61) installed on the planetary screw nut (3) by a thread. The one-way airflow structure consists of multiple impellers installed on the impeller (61). The asymmetric aerodynamic angle blades (62) are implemented, each asymmetric aerodynamic angle blade (62) has an inner working surface (63) and an outer leeward surface (64). The angle between the inner working surface (63) and the axis of the impeller (61) is the first angle, and the angle between the outer leeward surface (64) and the axis of the impeller (61) is the second angle. The first angle is greater than the second angle, so that when the planetary screw nut (3) rotates in the forward or reverse direction, the airflow is captured by the inner working surface (63) with a larger angle of attack and guided to the same side for discharge.

2. A linear joint module with highly integrated thermal management according to claim 1, characterized in that, The heat exchange channel (51) has a uniform channel height along its extension direction, which is 4.5 mm. The first channel width (52) is 10.3 mm and the second channel width (53) is 12.3 mm. The heat exchange channel (51) has a transition angle (54) between the first channel width (52) and the second channel width (53), and a chamfer is provided in the axial end region where the fluid turns back, so as to reduce the impact of the fluid at the changes in channel width and the turning point at the end.

3. The linear joint module with highly integrated thermal management of claim 1, wherein, One end of the housing (1) extends radially to form a protruding limiting step. The outer side of the housing (1) is fitted with a cover (7) for sealing the liquid cooling channel (5). An annular groove is provided at the end of the limiting step. An annular insert (8) that matches the annular groove is fixed at the end of the cover (7). An annular sealing groove is provided on the inner wall of the annular groove and the surface of the housing (1). An O-ring (9) is provided in the annular sealing groove. One of the O-rings (9) contacts the annular insert (8). A placement groove (10) is provided at the end where the limiting step and the cover (7) contact each other. An annular notch is provided on the inner wall of the cover (7) away from the limiting step. The placement groove and the annular notch are filled with sealant.

4. The linear joint module with highly integrated thermal management according to claim 3, characterized in that, The cover (7) is provided with a coolant inlet (11) and a coolant outlet (12) that are connected to the beginning and end of the heat exchange channel (51), respectively. The coolant inlet (11) and the coolant outlet (12) both include a straight pipe provided on the cover (7) and a frustum tube (13) provided on the straight pipe. The straight pipe is provided with multiple annular rings, and the outer diameter of the multiple annular rings gradually decreases from top to bottom.

5. The linear joint module with highly integrated thermal management of claim 1, wherein, The first included angle is 60° to form a high angle of attack intake channel, and the second included angle is 30° to form a low angle of attack guide channel. The flow channel width between adjacent asymmetric aerodynamic angle blades (62) gradually changes along the axial direction to form a gradually expanding channel.

6. The linear joint module with highly integrated thermal management of claim 1, wherein, The edge of the asymmetric aerodynamic angle blade (62) is chamfered by 0.1×1mm to reduce air resistance and aerodynamic vibration when the wind cuts in; The number of asymmetric aerodynamic blades (62) is 18, and they are evenly arranged in a spiral along the circumference on the impeller (61).

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