Robot outer rotor joint module

Abstract

This invention discloses a robot external rotor joint module applied in the field of motor-related technology. It features temperature-sensitive fan blades on the external rotor support that generate airflow as the rotor rotates. A reversible phase change material temperature-sensitive column adaptively changes the fan blade's angle of attack to regulate airflow, achieving adaptive adjustment of the fan blade's angle of attack based on heat dissipation requirements. Furthermore, a large-area heat sink is added to the outer shell to increase the effective heat dissipation area and accelerate the transfer of internal heat to the outside. This heat sink further employs an overlapping heat sink structure; when the temperature exceeds the critical value of the shape memory alloy, the heat sink automatically opens and separates, effectively increasing the contact area with the outside air and dynamically enhancing heat dissipation capacity with temperature rise. The overall solution, while maintaining the compactness and high torque density of the joint module, constructs an adaptive heat dissipation system from forced convection to area expansion, effectively meeting the heat dissipation requirements of high-performance joints such as legged robots for instantaneous overload and compact space.

Description

Technical Field

[0001] This invention relates to the field of motor-related technologies, and in particular to a robot external rotor joint module. Background Technology

[0002] External rotor motors are widely used as drive components for joints in high-performance robots such as legged robots due to their advantages such as high torque density and compact structure. However, the joint space of legged robots is extremely limited, and high-power motors generate a large amount of heat under instantaneous overload conditions. If this heat cannot be dissipated in time, it will lead to problems such as deterioration of motor electrical characteristics, lubricant failure, and excessive wear of precision parts, severely restricting the output capacity and service life of the joint module. Therefore, how to achieve efficient heat dissipation of the joint module in a compact space has become a key technical problem that urgently needs to be solved in the field of robot joint design.

[0003] In existing technologies, commonly used heat dissipation solutions mainly include external forced air cooling and liquid cooling. For external forced air cooling, heat exchange is typically achieved by installing heat sink fins or connecting an external axial fan to the joint motors. However, external heat dissipation devices occupy a large space, and for scenarios with extremely high requirements for structural compactness, such as legged robots, the large number of joint motors makes installation difficult, leading to an increase in the overall weight and size of the robot. Regarding liquid cooling, patent application CN121004631A discloses a liquid-cooled robot joint module and robot, which integrates liquid cooling channels surrounding the stator within the housing to utilize coolant to remove the heat generated by the stator. However, liquid cooling solutions require additional pumps, piping, and sealing structures, resulting in higher system complexity and cost, and the risk of coolant leakage cannot be ignored.

[0004] To ensure compactness and lightweight design, existing technologies have developed solutions that utilize the rotation of the outer rotor to achieve air cooling. For example, patent CN120528164B discloses an external rotor permanent magnet motor that automatically delivers air by driving a self-circulating component on the end cover when the outer rotor rotates. Patent CN119483116B, on the other hand, uses a rotor assembly to drive the blades to rotate, thereby accelerating airflow within the protective housing to achieve heat dissipation.

[0005] However, in the above solutions, the blades are usually fixedly installed on the rotor or end cover in an inclined shape. Their structure is relatively fixed and lacks the ability to adaptively adjust according to the actual temperature rise of the motor. Furthermore, if the tilt angle is too large, it will result in greater wind resistance, while if the angle is too small, the air volume will be small, making it difficult to meet the dynamic heat dissipation requirements of legged robot joints under complex working conditions such as instantaneous overload and rapid temperature changes. Summary of the Invention

[0006] The core of this invention lies in setting temperature-sensitive fan blades that generate airflow as the rotor rotates on the outer rotor support, and using a reversible phase change material temperature-sensitive column to adaptively change the fan blade's windward angle to adjust the airflow. This solves the contradiction between wind resistance and airflow in existing technologies where the blade angle in the robot joint module is fixed and it is difficult to adjust according to the actual heat generation.

[0007] To solve the above problems, the present invention adopts the following technical solution.

[0008] A robot external rotor joint module includes an end cover, a reducer, and a central shaft located between the end cover and the reducer. A stator is disposed outside the central shaft. A rotor support is connected to the outside of the central shaft via bearings. A rotor is fixedly connected to the inner wall of the rotor support. The stator is located inside the rotor. An outer shell is also connected between the end cover and the reducer. The outer shell is fitted outside the rotor support. The central shaft, stator, rotor, rotor support, and outer shell are coaxially arranged. The end cover is also chiseled with multiple evenly distributed air inlet holes, and the axial end face of the rotor support is chiseled with multiple evenly distributed airflow holes. A temperature sensing fan blade is fixedly connected to one side of the inner wall of the airflow hole. The multiple temperature sensing fan blades are also arranged in a ring array. The inner wall of the rotor does not contact the stator, and the gap between the two forms a flow channel. The outer shell is chiseled with multiple evenly distributed heat exhaust holes. The openings of the multiple heat exhaust holes on the inner side of the outer shell correspond to the side of the flow channel away from the temperature sensing fan blade. The temperature-sensing fan blade includes a triangular liner fixedly connected to the inner wall of the airflow hole, a positioning strip, and an adaptive piece fixedly connected to the end of the positioning strip away from the axis of the housing. The triangular liner and the positioning strip are arranged axially side by side, and the triangular liner is located on the side of the positioning strip closer to the guide channel.

[0009] Furthermore, the outer wall of the rotor support does not contact the inner wall of the outer casing, and the inner wall of the airflow hole on the side away from the shaft of the outer casing is opposite to the guide channel.

[0010] Furthermore, the temperature-sensing fan blades are inclined in the axial direction of the outer casing, and except for the fixed end of the temperature-sensing fan blades that is connected to the inner wall of the airflow hole, the other ends of the temperature-sensing fan blades do not contact the inner wall of the airflow hole. The included angle between the temperature-sensing fan blades and the normal direction of the axial end face of the rotor support is 15-30°.

[0011] Furthermore, the adaptive plate includes a fixed plate fixedly connected to the positioning strip, a movable plate rotatably connected to the end of the positioning strip away from the fixed plate, and a limiting block fixedly connected to the end of the fixed plate facing the movable plate. A temperature sensing plate is also fixedly connected between the ends of the fixed plate and the movable plate away from the positioning strip, and at room temperature, the fixed plate and the movable plate are parallel to each other.

[0012] Furthermore, when the moving plate and the limiting block are in contact with each other, the angle between the moving plate and the normal direction of the axial end face of the rotor support is 30°, and the angle between the fixed plate and the normal direction of the axial end face of the rotor support is always 15°.

[0013] Furthermore, the temperature sensing plate includes an elastic layer fixedly connected between the fixed plate and the moving plate, and multiple temperature sensing columns fixedly connected to the fixed plate, with the multiple temperature sensing columns fixedly embedded in the elastic layer.

[0014] Furthermore, the multiple temperature-sensing columns have different lengths and are cylindrical hollow bladder structures. Compression springs are fixedly connected between the inner walls of the two axes of the hollow bladder, and the temperature-sensing columns are filled with reversible phase change materials. Along the direction away from the central axis of the outer shell, the length of the multiple temperature-sensing columns gradually decreases, and the melting point temperature of the reversible phase change materials in the multiple temperature-sensing columns gradually increases, with the melting point temperature being 45-65℃.

[0015] Optionally, an annular groove is cut into the outer wall of the outer shell, a heat sink is fixedly embedded in the annular groove, and a heat conduction ring is fixedly embedded in the inner wall of the outer shell, with the heat conduction ring and the heat sink being thermally connected.

[0016] Optionally, the heat sink includes an inner heat-concentrating layer fixedly embedded in the inner wall of the annular groove, multiple outer heat sinks rotatably connected to the outer wall of the inner heat-concentrating layer, and multiple temperature-sensing shims spaced apart from the outer heat sinks. The multiple outer heat sinks overlap sequentially, and adjacent outer heat sinks and the outer wall of the inner heat-concentrating layer form a triangular cavity. The multiple temperature-sensing shims are located in the multiple triangular cavities, with one end connected to the inner heat-concentrating layer and the other end connected to the root of the corresponding outer heat sink. The temperature-sensing shims are inlaid with shape memory alloy wires and are made of a highly elastic material.

[0017] Compared with the prior art, the advantages of this invention are: (1) This solution uses temperature-sensing fan blades on the rotor support to generate airflow by rotating the outer rotor itself, without the need for additional fans or liquid cooling devices, thus avoiding increasing the volume and weight of the joint module. The temperature-sensing fan blades use reversible phase change material temperature-sensing columns in combination with elastic layers. When the motor overheats, the temperature-sensing columns soften step by step, and the moving plate adaptively increases the windward angle under wind pressure, so that the air intake and air output increase with the temperature rise, thereby realizing dynamic adjustment of heat dissipation capacity according to the actual temperature rise, effectively coping with the thermal shock under the instantaneous overload condition of the legged robot.

[0018] (2) A heat-conducting ring is added to the inner wall of the outer shell, and a heat dissipation cylinder with a large heat exchange area is embedded in the outer wall of the outer shell. While the hot air flows through the heat dissipation hole, some of the heat is transferred to the heat dissipation cylinder through the heat-conducting ring, which increases the effective heat dissipation area and allows the heat accumulated inside the module to be conducted to the external environment more quickly, further reducing the temperature inside the joint, avoiding local heat accumulation caused by insufficient heat radiation path, and improving the continuous high load operation capability of the joint module.

[0019] (3) The heat sink adopts a multi-layered overlapping structure of external heat sinks and has built-in temperature-sensing shims with embedded shape memory alloy wires. When the module temperature is normal, the heat sinks remain overlapping; when the temperature exceeds the critical temperature of the shape memory alloy, the shape memory alloy wires deform and drive the external heat sinks to unfold, effectively increasing the contact area between the heat sink and the outside air, and further accelerating the heat dissipation speed. This design enables the heat dissipation area to expand adaptively according to the module's own temperature rise, achieving efficient dynamic thermal management in a compact space. Attached Figure Description

[0020] Figure 1 This is an exploded view of the present invention; Figure 2 This is a partial half-sectional view of the present invention; Figure 3 This is a cross-sectional perspective view of the present invention; Figure 4 This is a perspective view of the present invention; Figure 5 This is another perspective view of the present invention; Figure 6 This is a perspective view of the rotor support of the present invention; Figure 7 This is a cross-sectional view of the internal portion of the airflow hole in this invention; Figure 8 This is a schematic diagram showing the increased angle of the windward side of the temperature-sensing fan blade of the present invention. Figure 9 This is a cross-sectional schematic diagram of the outer shell portion of the present invention after the addition of the heat dissipation cylinder; Figure 10 A cross-sectional schematic diagram of the outer shell portion after further improvement of the heat dissipation cylinder of the present invention; Figure 11 This is a partial schematic diagram of the external heat sink deploying when the module temperature of the present invention is too high.

[0021] Explanation of the labels in the diagram: 11 End cap, 12 Reducer, 13 Housing, 14 Central shaft, 15 Stator, 16 Rotor, 17 Rotor support, 101 Airflow hole, 102 Heat dissipation hole, 2 Temperature sensing fan blade, 21 Triangular liner, 22 Positioning strip, 231 Fixed plate, 232 Moving plate, 233 Limiting block, 241 Elastic layer, 242 Temperature sensing column, 31 Heat sink, 32 Heat conducting ring, 311 Inner heat-concentrating layer, 312 Outer heat sink, 313 Temperature sensing liner. Detailed Implementation

[0022] The technical solutions will now be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention.

[0023] First implementation method: like Figures 1-5A robot external rotor joint module includes an end cap 11, a reducer 12, and a central shaft 14 located between the end cap 11 and the reducer 12. A stator 15 is disposed outside the central shaft 14. A rotor support 17 is connected to the outside of the central shaft 14 via bearings. A rotor 16 is fixedly connected to the inner wall of the rotor support 17. The stator 15 is located inside the rotor 16. A housing 13 is also connected between the end cap 11 and the reducer 12. The housing 13 is sleeved on the outside of the rotor support 17. The central shaft 14, stator 15, rotor 16, rotor support 17, and housing 13 are coaxially arranged. The input end of the reducer 12 is connected to the rotor support 17 for transmission, and the output end of the reducer 12 is used to form the joint output end.

[0024] The outer wall of the rotor support 17 does not contact the inner wall of the outer casing 13. The inner wall of the airflow hole 101 on the side away from the axis of the outer casing 13 is opposite to the guide channel. When the rotor support 17 and the rotor 16 rotate and drive the temperature-sensing fan blades 2 to rotate, the airflow generated by the multiple inclined temperature-sensing fan blades 2 can be blown directly out of the guide channel, thereby accelerating the flow speed of the airflow in the guide channel and thus improving heat dissipation. like Figure 2 , Figure 3 , Figure 6 The end cap 11 has multiple air inlets, and the axial end face of the rotor support 17 has multiple evenly distributed airflow holes 101. A temperature-sensing fan blade 2 is fixedly connected to one inner wall of each airflow hole 101. These multiple temperature-sensing fan blades 2 are also arranged in a ring array. The inner wall of the rotor 16 does not contact the stator 15, and the gap between them forms a flow channel. The outer casing 13 has multiple evenly distributed heat exhaust holes 102. The openings of these heat exhaust holes 102 on the inner side of the outer casing 13 correspond to the side of the flow channel away from the temperature-sensing fan blade 2. Through the arrangement of the temperature-sensing fan blade 2, the rotor 16 can utilize... The rotatable nature of the rotor bracket 17 drives the temperature-sensing fan blade 2 to rotate, generating suction. This causes external air to circulate along the path of air inlet - airflow hole 101 - temperature-sensing fan blade 2 - stator-rotor inter-channel flow - heat exhaust hole 102 - outside, achieving open air cooling. No additional fan or liquid cooling device is required. Active heat dissipation is achieved by utilizing the moving parts themselves, while reducing rotational inertia. This allows the external rotor module to maintain high torque density while improving heat dissipation capacity in a compact structure. It is especially suitable for legged robots that require instantaneous overload and adapts to the compact and lightweight characteristics of the motor.

[0025] It is worth noting that dustproof nets, breathable protective membranes, or labyrinth-style protective structures can be optionally installed on the air inlet and heat exhaust holes 102 to reduce the risk of dust, water mist, or foreign objects entering the joint module while maintaining the airflow channel. This part is a conventional existing technical means, so it is not described in detail.

[0026] like Figure 7The temperature-sensing fan blade 2 includes a triangular liner 21 fixedly connected to the inner wall of the airflow hole 101, a positioning strip 22, and an adaptive piece fixedly connected to the end of the positioning strip 22 away from the axis of the outer shell 13. The triangular liner 21 and the positioning strip 22 are arranged side by side axially, and the triangular liner 21 is located on the side of the positioning strip 22 closer to the guide channel. The temperature-sensing fan blade 2 is inclined in the axial direction of the outer shell 13. Except for the fixed end of the temperature-sensing fan blade 2 connected to the inner wall of the airflow hole 101, the other ends of the temperature-sensing fan blade 2 do not contact the inner wall of the airflow hole 101. The angle between the temperature-sensing fan blade 2 and the normal direction of the axial end face of the rotor support is 15-30°. Within this inclination range, it can meet both low wind resistance and high heat dissipation requirements. It is not easy to affect the normal rotation of the robot joint due to excessive wind resistance. At the same time, it can effectively avoid the problem of air backflow caused by excessive inclination, and effectively ensure the heat dissipation effect.

[0027] like Figure 7 The adaptive plate includes a fixed plate 231 fixedly connected to the positioning strip 22, a movable plate 232 rotatably connected to the end of the positioning strip 22 away from the fixed plate 231, and a limiting block 233 fixedly connected to the end of the fixed plate 231 facing the movable plate 232. A temperature sensing plate is also fixedly connected between the ends of the fixed plate 231 and the movable plate 232 away from the positioning strip 22. At room temperature, the fixed plate 231 and the movable plate 232 are parallel to each other. When the movable plate 232 and the limiting block 233 are in contact, the angle between the movable plate 232 and the normal direction of the axial end face of the rotor support is 30°, and the angle between the fixed plate 231 and the normal direction of the axial end face of the rotor support is always 15°. Under normal circumstances, the tilt angle of the adaptive plate is 1. At 5°, the heat dissipation demand is small, the angle is small, and the wind resistance is small. When the motor overheats and the temperature is high, the reversible phase change material in one or more temperature sensing columns 242 melts, which weakens its support force on the moving plate 232. When the rotor 16 and rotor support 17 rotate, under the action of the wind pressure generated by the temperature sensing fan blade 2, the moving plate 232 will rotate towards the fixed plate 231, thereby increasing the tilt angle of the air inlet side end face of the temperature sensing fan blade 2, thereby increasing the air intake volume per unit time, that is, increasing the air output volume, making the effect of accelerating the air flow in the guide channel better and the heat dissipation effect better. Through the setting of the temperature sensing plate, the effect of adaptively adjusting the angle of the windward surface of the adaptive plate according to the heat dissipation demand can be achieved.

[0028] The temperature sensing plate includes an elastic layer 241 fixedly connected between a fixed plate 231 and a moving plate 232, and multiple temperature sensing columns 242 fixedly connected to the fixed plate 231. The multiple temperature sensing columns 242 are fixedly embedded in the elastic layer 241, and the multiple temperature sensing columns 242 have different lengths. The temperature sensing column 242 has a cylindrical hollow bladder structure. A compression spring is fixedly connected between the two axial inner walls of the hollow bladder, and the temperature sensing column 242 is filled with a reversible phase change material. The reversible phase change material can be paraffin-based phase change material, fatty acid-based phase change material, or polyethylene glycol-based phase change material. Its phase change temperature is set to 45℃-65℃ according to the allowable operating temperature of the motor. The temperature sensing column 242 is sealed with a heat-resistant elastic bladder to prevent leakage of the phase change material.

[0029] When the reversible phase change material is in a solid state, the temperature sensing column 242 exhibits high support stiffness, providing support for or limiting the compression of the moving plate 232. After reaching the preset temperature, a phase change occurs, which reduces the axial stiffness of the temperature sensing column 242 and weakens the support force on the moving plate 232. The moving plate 232 deflects under the action of airflow pressure. After the temperature decreases, the reversible phase change material is re-solidified, and the compression spring and elastic layer 241 jointly push the moving plate 232 back to the low angle state.

[0030] Along the direction away from the central axis of the outer casing 13, the length of the multiple temperature sensing columns 242 gradually decreases, and the melting point temperature of the reversible phase change material inside the multiple temperature sensing columns 242 gradually increases, with the melting point temperature being 45-65℃. This causes the multiple temperature sensing columns 242 to gradually reduce their support stiffness in the order from long to short after the temperature inside the motor abnormally rises above the preset abnormal temperature value, thereby weakening their support force on the moving plate 232 and achieving the effect of adaptively adjusting the angle of the windward side of the temperature sensing fan blade 2.

[0031] Second implementation method: This embodiment adds a heat sink 31 and its related structures to the first embodiment, while the rest remains the same as the first embodiment.

[0032] like Figure 9 The outer wall of the outer shell 13 has an annular groove, and a heat sink 31 is fixedly embedded in the annular groove. A heat conduction ring 32 is fixedly embedded in the inner wall of the outer shell 13, and the heat conduction ring 32 and the heat sink 31 are thermally connected.

[0033] When the hot airflow is discharged from the guide channel to the side of the heat dissipation hole 102, some of the heat is discharged to the outside with the air through the heat dissipation hole 102, and some of the heat is absorbed by the heat conduction ring 32 after passing through the guide channel to the side of the heat dissipation hole 102. The heat is then transferred radially outward along the heat conduction ring 32 to the heat dissipation cylinder 31. Since the heat dissipation cylinder 31 surrounds the outer shell 13, its area is large and it is directly exposed, which increases the area for heat exchange with the outside air, making it less likely for heat to accumulate in this module and improving the heat dissipation effect.

[0034] It is worth noting that thermal bridges, thermal pillars, or thermal through holes are generally provided on the outer shell 13 in the wall thickness direction. These are existing technologies and will not be described in detail here. In this embodiment, the thermal ring 32 can be thermally connected to the heat sink 31 through the thermal bridges, thermal pillars, or thermal through holes in the wall thickness direction of the outer shell 13, so as to realize a continuous heat transfer path.

[0035] The third implementation method: This embodiment further improves the heat dissipation cylinder 31 based on the second embodiment, as detailed below: like Figures 10-11 The heat sink 31 includes an inner heat-concentrating layer 311 fixedly embedded in the inner wall of an annular groove, multiple outer heat sinks 312 rotatably connected to the outer wall of the inner heat-concentrating layer 311, and multiple temperature-sensing shims 313 spaced apart from the outer heat sinks 312. The multiple outer heat sinks 312 overlap sequentially, and two adjacent outer heat sinks 312 and the outer wall of the inner heat-concentrating layer 311 form a triangular cavity. The multiple temperature-sensing shims 313 are located in the multiple triangular cavities, with one end of the temperature-sensing shim 313 connected to the inner heat-concentrating layer 311 and the other end connected to the root of the corresponding outer heat sink 312. The temperature-sensing shims 313 are inlaid with shape memory alloy wires and are made of a highly elastic material. Under normal temperature, the shape memory alloy wires remain in their original shape. Figure 10 Multiple external heat sinks 312 overlap to form a single unit for heat dissipation. When the temperature inside the module abnormally rises above the phase transition temperature of the shape memory alloy wire (e.g., 55°C, or a temperature set above 55°C as needed), shape recovery deformation occurs, driving the temperature-sensing shim 313 to deform and causing the external heat sinks 312 to switch from an overlapping state to an unfolded state, thus... Figure 11 This separates the two overlapping outer heat sinks 312, thereby increasing the contact area with the outside air, further increasing the heat dissipation area, and accelerating heat dissipation.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent substitutions, modifications, or improvements made within the spirit and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A robot external rotor joint module, comprising an end cap (11), a reducer (12), and a central shaft (14) located between the end cap (11) and the reducer (12), characterized in that: A stator (15) is provided outside the central shaft (14). A rotor support (17) is connected to the outside of the central shaft (14) via a bearing. A rotor (16) is fixedly connected to the inner wall of the rotor support (17). The stator (15) is located inside the rotor (16). A housing (13) is also connected between the end cover (11) and the reducer (12). The housing (13) is sleeved on the outside of the rotor support (17). The central shaft (14), stator (15), rotor (16), rotor support (17) and housing (13) are coaxially arranged. The end cap (11) is also provided with a number of evenly distributed air inlet holes. The axial end face of the rotor support (17) is provided with a number of evenly distributed airflow holes (101). A temperature-sensing fan blade (2) is fixedly connected to one side of the inner wall of the airflow hole (101). The multiple temperature-sensing fan blades (2) are also arranged in a ring array. The inner wall of the rotor (16) does not contact the stator (15), and the gap between the two forms a flow channel. The outer shell (13) is provided with a number of evenly distributed heat exhaust holes (102). The openings of the multiple heat exhaust holes (102) located on the inner side of the outer shell (13) correspond to the side of the flow channel away from the temperature-sensing fan blade (2). The temperature-sensing fan blade (2) includes a triangular liner (21) fixedly connected to the inner wall of the airflow hole (101), a positioning strip (22), and an adaptive piece fixedly connected to the end of the positioning strip (22) away from the axis of the outer shell (13). The triangular liner (21) and the positioning strip (22) are arranged axially side by side, and the triangular liner (21) is located on the side of the positioning strip (22) close to the flow channel.

2. The robot external rotor joint module according to claim 1, characterized in that: The outer wall of the rotor support (17) does not contact the inner wall of the outer shell (13), and the inner wall of the airflow hole (101) on the side away from the axis of the outer shell (13) is opposite to the flow channel.

3. The robot external rotor joint module according to claim 1, characterized in that: The temperature-sensing fan blade (2) is inclined in the axial direction of the outer shell (13), and except for the fixed end of the temperature-sensing fan blade (2) connected to the inner wall of the airflow hole (101), the other ends of the temperature-sensing fan blade (2) do not contact the inner wall of the airflow hole (101). The included angle between the temperature-sensing fan blade (2) and the normal direction of the axial end face of the rotor support is 15-30°.

4. A robot external rotor joint module according to claim 3, characterized in that: The adaptive plate includes a fixed plate (231) fixedly connected to the positioning bar (22), a movable plate (232) rotatably connected to the end of the positioning bar (22) away from the fixed plate (231), and a limiting block (233) fixedly connected to the end of the fixed plate (231) facing the movable plate (232). A temperature sensing plate is also fixedly connected between the ends of the fixed plate (231) and the movable plate (232) away from the positioning bar (22), and at room temperature, the fixed plate (231) and the movable plate (232) are parallel to each other.

5. A robot external rotor joint module according to claim 4, characterized in that: When the moving plate (232) and the limiting block (233) are in contact with each other, the angle between the moving plate (232) and the normal direction of the axial end face of the rotor support is 30°, and the angle between the fixed plate (231) and the normal direction of the axial end face of the rotor support is always 15°.

6. A robot external rotor joint module according to claim 5, characterized in that: The temperature sensing plate includes an elastic layer (241) fixedly connected between a fixed plate (231) and a moving plate (232) and a plurality of temperature sensing columns (242) fixedly connected to the fixed plate (231), and the plurality of temperature sensing columns (242) are fixedly embedded in the elastic layer (241).

7. A robot external rotor joint module according to claim 6, characterized in that: The multiple temperature-sensing columns (242) have different lengths. The temperature-sensing column (242) is a cylindrical hollow bladder structure. A compression spring is fixedly connected between the two axial inner walls of the hollow bladder, and the temperature-sensing column (242) is filled with a reversible phase change material. Along the direction away from the central axis of the outer shell (13), the length of the multiple temperature-sensing columns (242) gradually decreases, and the melting point temperature of the reversible phase change material in the multiple temperature-sensing columns (242) gradually increases, and the melting point temperature is 45-65℃.

8. A robot external rotor joint module according to claim 1, characterized in that: The outer wall of the outer shell (13) is chiseled with an annular groove, and a heat sink cylinder (31) is fixedly embedded in the annular groove. A heat conduction ring (32) is fixedly embedded in the inner wall of the outer shell (13), and the heat conduction ring (32) and the heat sink cylinder (31) are thermally connected.

9. A robot external rotor joint module according to claim 8, characterized in that: The heat sink (31) includes an inner heat-gathering layer (311) fixedly embedded in the inner wall of the annular groove, a plurality of outer heat sinks (312) rotatably connected to the outer wall of the inner heat-gathering layer (311), and a plurality of temperature-sensing shims (313) spaced apart from the outer heat sinks (312). The plurality of outer heat sinks (312) overlap sequentially, and two adjacent outer heat sinks (312) and the outer wall of the inner heat-gathering layer (311) form a triangular cavity. The plurality of temperature-sensing shims (313) are located in the plurality of triangular cavities respectively, and one end of the temperature-sensing shim (313) is connected to the inner heat-gathering layer (311), and the other end is connected to the root of the corresponding outer heat sink (312). The temperature-sensing shims (313) are inlaid with shape memory alloy wires and are made of a high elastic material.

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