Motor structure, joint module and robot

Abstract

The application discloses a motor structure, a joint module and a robot, and relates to the technical field of motors, and comprises a motor body, a controller, a heat dissipation channel and an airflow driving component. The motor body comprises a motor shell, a stator assembly and a rotor assembly. The axial end face of the motor shell is in contact with the stator assembly. The motor body is provided with an air inlet and an air outlet. The heat dissipation channel is arranged between the axial end face of the motor shell and the controller. The heat dissipation channel is in communication with the air inlet and the air outlet. The airflow driving component is arranged on the rotor assembly. According to the application, the heat dissipation channel is arranged between the axial end face of the motor shell and the controller, and the airflow driving component is arranged on the rotor assembly. When the motor operates, the airflow driving component operates synchronously with the rotor assembly, actively drives external air to flow through the heat dissipation channel, and carries away the heat generated by the stator assembly and the controller, so that active heat dissipation driven by the operation of the motor itself is realized.

Description

Technical Field

[0001] This invention relates to the field of motor technology, specifically to a motor structure, a joint module, and a robot. Background Technology

[0002] With the rapid development of robotics technology, joint modules, as the core driving components of robots, directly affect the robot's motion accuracy, response speed, and continuous working capability. Motors are widely used in robot joint modules.

[0003] However, existing articulated module motors suffer from significant heat dissipation problems in practical applications. Specifically, during operation, the stator and controller generate a large amount of heat in a short period. Due to the lack of effective heat dissipation paths and structures in existing technologies, heat accumulates rapidly inside the articulated module, leading to the following issues: First, excessively high motor temperatures prevent continuous operation for extended periods, severely limiting the robot's efficiency and application scenarios. Joint modules typically require high power density output within a compact space. The power devices in the stator windings and controller generate significant Joule heat during operation. If this heat cannot be dissipated promptly, it causes a rapid increase in the motor's internal temperature, triggering overheat protection mechanisms and forcing the motor to reduce power or even shut down, severely impacting the robot's operational efficiency and reliability.

[0004] Secondly, the electronic components in the controller may experience performance degradation or even damage due to high temperatures. Controllers typically include electronic components such as drive circuits, control chips, and capacitors, all of which are highly sensitive to operating temperature. When the ambient temperature exceeds the rated operating temperature of these components, their performance parameters will drift, reducing control accuracy. Prolonged exposure to high temperatures will also accelerate component aging, shorten their lifespan, and may even lead to thermal failure and irreversible damage, thus reducing the reliability of the entire system.

[0005] Third, due to poor heat dissipation, the motor's output power needs to be limited, preventing the joint module from fully realizing its performance potential. To prevent motor overheating, existing technologies typically employ derating, limiting the motor's continuous output power to operate at a lower power level and control heat generation. While this compromise can mitigate overheating to some extent, it sacrifices the motor's performance potential, preventing the joint module's power output capability from being fully utilized.

[0006] Therefore, there is an urgent need for a motor structure with an efficient heat dissipation structure to solve the problem of insufficient heat dissipation in joint module motors in the existing technology, so that the motor can operate stably for a long time. Summary of the Invention

[0007] In view of this, the present invention provides a motor structure, joint module and robot to solve the problem that the existing motor structure has insufficient heat dissipation, which cannot effectively dissipate heat from the stator assembly and controller, resulting in the motor being unable to operate continuously for a long time.

[0008] In a first aspect, the present invention provides a motor structure, comprising: The motor body includes a motor housing, a stator assembly, and a rotor assembly. The stator assembly and the rotor assembly are disposed inside the motor housing. The axial end face of the motor housing is in contact with the stator assembly. The motor body is provided with an air inlet and an air outlet. The controller is located at one end of the motor body; A heat dissipation channel is disposed between the axial end face of the motor housing and the controller, and the heat dissipation channel is connected to the air inlet and the air outlet respectively; An airflow drive component is disposed on the rotor assembly. The airflow drive component is used to drive airflow through the heat dissipation channel during the operation of the rotor assembly to dissipate heat from the stator assembly and the controller.

[0009] The beneficial effects of the above-described motor structure are as follows: By setting a heat dissipation channel between the axial end face of the motor housing and the controller, and by setting an airflow drive component on the rotor assembly, when the motor is running, the airflow drive component rotates synchronously with the rotor assembly, actively driving external air to flow through the heat dissipation channel and carrying away the heat generated by the stator assembly and the controller, thus achieving active heat dissipation driven by the motor's own operation. Furthermore, this heat dissipation process does not require an additional heat dissipation power source, such as an independent fan motor. It features a compact structure, low energy consumption, and high heat dissipation efficiency, effectively dissipating heat from both the stator assembly and the controller—the two major heat sources inside the motor—significantly reducing the overall temperature rise of the motor and enabling it to operate continuously and stably for extended periods.

[0010] Furthermore, the heat dissipation channel is naturally formed by the gap between the axial end face of the motor housing and the PCB substrate of the controller, without adding any additional heat dissipation channel structure. It makes full use of the assembly gap between the motor body and the controller as heat dissipation space, resulting in a compact and reasonable structural design. The airflow drive component is set on the rotor assembly, using the rotational motion of the motor rotor itself to provide driving force for airflow. It does not require an additional power unit and does not increase the energy consumption or complexity of the motor.

[0011] Furthermore, the rotor assembly is connected to a reducer, the output end of the reducer is connected to a rotating shaft, the rotating shaft has an internal channel, at least one axial end of the internal channel serves as an air inlet communicating with the outside air, and at least one ventilation hole is provided on the rotating shaft, the internal channel communicating with a heat dissipation channel through the ventilation hole.

[0012] The beneficial effects of the above technical solution are as follows: by designing the shaft as a hollow structure, the internal channel of the shaft serves as the air intake channel for the heat dissipation system, achieving multi-functional reuse of the structure. External air enters the internal channel from the axial end opening of the shaft, flows axially along the internal channel, and enters the heat dissipation channel after reaching the ventilation hole, forming a complete airflow path from the inside of the motor to the heat dissipation area. This embodiment makes full use of the internal space of the shaft without adding additional pipe structures. The airflow can also cool the shaft to a certain extent as it passes through the inside of the shaft, further improving the heat dissipation effect.

[0013] Furthermore, the two axial ends of the internal channel serve as air inlets, communicating with the outside air. The fact that both ends of the shaft can function as air inlets, along with the bidirectional air intake design, increases the airflow and improves heat dissipation efficiency.

[0014] Furthermore, the controller includes a PCB substrate and a cover. The PCB substrate has a gap with the axial end face of the motor housing to form a heat dissipation channel. The cover is connected to the motor housing and covers the end of the motor body.

[0015] The beneficial effects of the above technical solution are as follows: The controller adopts a separate design of PCB substrate and cover. The PCB substrate is used to install electronic components and faces the heat dissipation channel directly, allowing the back of the PCB substrate to be fully exposed to the heat dissipation airflow for efficient heat dissipation; the cover provides structural protection and electromagnetic shielding. The distance between the PCB substrate and the end face of the motor housing forms a heat dissipation channel, which can be flexibly designed according to heat dissipation requirements, taking into account both structural compactness and heat dissipation efficiency.

[0016] Furthermore, multiple heat dissipation guide ribs are protruding on the outer side wall of the motor housing, and a first air guide groove is formed between two adjacent heat dissipation guide ribs; the cover is placed on the outside of the heat dissipation guide ribs, and the cover and the first air guide groove cooperate to form an air outlet, and the airflow discharged from the air outlet is guided to the outer surface of the motor housing.

[0017] The beneficial effects of the above technical solution are as follows: the heat dissipation guide ribs not only increase the heat dissipation area of ​​the outer surface of the motor housing, but also act as an airflow guiding structure. The airflow discharged from the heat dissipation channel enters the first air guide groove under the guidance of the cover, flows along the channels between the heat dissipation guide ribs across the outer surface of the motor housing, and dissipates heat from the outside of the motor housing, forming a dual heat dissipation mechanism of internal heat dissipation channel + external surface heat dissipation. The internal heat dissipation channel mainly removes the heat generated by the stator assembly and controller, while the external airflow further removes the residual heat conducted to the outer surface of the motor housing, maximizing the heat dissipation effect.

[0018] Furthermore, a first heat dissipation fin is provided on the side of the PCB substrate facing the stator assembly, and the first heat dissipation fin extends into the heat dissipation channel.

[0019] The beneficial effects of the above technical solution are as follows: The first heat dissipation fin increases the heat dissipation area of ​​the PCB substrate in the heat dissipation channel, enabling the heat generated by the electronic components on the PCB substrate to be transferred to the heat dissipation airflow more efficiently. The design of the heat dissipation fin extending into the heat dissipation channel directly exposes the surface of the heat dissipation fin to the high-speed airflow, which greatly improves the convective heat transfer coefficient and significantly enhances the heat dissipation efficiency.

[0020] Furthermore, a second heat dissipation rib is provided on the side of the motor housing facing the PCB substrate. The second heat dissipation rib extends into the heat dissipation channel and is arranged radially along the motor housing. Each second heat dissipation rib divides the heat dissipation channel into multiple second air guide slots, which are connected to the first air guide slot.

[0021] The beneficial effects of the above technical solution are as follows: Firstly, the second heat dissipation fin increases the heat dissipation area of ​​the motor housing end face in the heat dissipation channel, enabling the heat generated by the stator assembly to be more efficiently conducted to the cooling airflow through the motor housing. Secondly, the second heat dissipation fin is arranged radially, dividing the heat dissipation channel into multiple second air guide slots, which plays a role in airflow distribution and guidance, allowing the airflow to flow evenly through all areas of the heat dissipation channel, avoiding heat dissipation dead zones, and improving the uniformity and efficiency of heat dissipation. The second air guide slots are connected to the first air guide slots, forming a continuous airflow path from the inside of the heat dissipation channel to the outer surface of the motor housing, ensuring that heat can be continuously carried away from the outside of the motor.

[0022] Furthermore, the motor body is an axial flux motor; The stator assembly includes a plastic encapsulation body, coil windings, and a stator core. Multiple coil windings are provided and are respectively wound on the stator core. The plastic encapsulation body covers the circumferential periphery of the coil windings and the stator core. The stator core is flush with or at least partially protrudes from the axial end face of the plastic encapsulation body. The stator core is in contact with the axial end face of the motor housing. The rotor assembly includes a rotor disk, a rotor connecting shaft, and multiple rotor magnets. Each rotor magnet is spaced apart on the rotor disk. The rotor magnets correspond to the stator teeth of the stator core. The rotor magnets are flush with the axial end faces of the stator teeth of the stator core and have a gap. The rotor connecting shaft is connected to the input end of the reducer and is coaxially arranged with the rotor shaft.

[0023] The beneficial effects of the above technical solution are as follows: the stator core is flush with or at least partially protrudes from the axial end face of the encapsulation, allowing the stator core to directly contact the axial end face of the motor housing. This shortens the heat conduction path from the stator to the motor housing, reduces thermal resistance, and enables the heat generated by the stator to be conducted to the motor housing more quickly, and then carried away through the heat dissipation channel and external airflow. The design of the rotor magnets being flush with the axial end face of the stator and having a gap ensures a reasonable air gap between the stator and rotor in the axial flux motor, achieving efficient electromagnetic energy conversion.

[0024] Furthermore, the motor housing includes a motor housing body and a convex ring portion. The convex ring portion is located at the center of the motor housing body and extends into the inner ring position of the encapsulated body. A first bearing is provided between the convex ring portion and the rotor connecting shaft. The convex ring portion has at least one hollow area on the side facing the controller. The hollow area opens towards the heat dissipation channel side, and the airflow generated by the airflow drive component flows through the hollow area.

[0025] The beneficial effects of the above technical solution are as follows: The hollowed-out area cuts off the physical heat conduction path between the stator assembly and the first bearing, effectively isolating the influence of stator heating on the bearing and the influence of bearing frictional heating on the stator, avoiding the superposition and mutual conduction of heat between the two, significantly reducing the operating temperature of the bearing area, and extending the service life of the bearing. The design of the hollowed-out area opening towards the heat dissipation channel side allows the airflow generated by the airflow drive component to flow through the hollowed-out area, carrying away any residual heat, achieving an organic combination of thermal isolation and active heat dissipation, further improving the heat dissipation effect. The convex ring extends into the inner ring position of the plastic seal and cooperates with the rotor connecting shaft to set up the first bearing, providing reliable radial support for the rotor assembly and ensuring stable rotor operation.

[0026] Furthermore, the airflow drive component includes a fan or impeller, which is mounted on the rotor connecting shaft and located outside the ventilation hole of the shaft.

[0027] The advantages of the above technical solution are as follows: the fan or impeller is mounted on the rotor connecting shaft and rotates synchronously with the rotor assembly, requiring no additional power source. The airflow drive component is located outside the ventilation holes of the rotating shaft, allowing the air exhausted from the ventilation holes to be directly accelerated by the fan and guided to the heat dissipation channel, resulting in a short airflow path, low resistance, and high drive efficiency.

[0028] Furthermore, the motor body and the reducer are connected by a transmission interface, and the rotating shaft passes through the reducer, the motor body and the controller in sequence.

[0029] The beneficial effects of the above technical solution are as follows: the controller and reducer are located at opposite ends of the motor body, forming a modular layout of the controller, motor body, and reducer, resulting in a compact structure. The rotating shaft passes sequentially through the controller, motor body, and reducer, serving as the air intake channel for the cooling system. The motor body and reducer are connected via a transmission interface, and both are independent, separate structures that can be manufactured and assembled independently, reducing manufacturing and assembly difficulties and facilitating later maintenance and replacement.

[0030] In a second aspect, the present invention provides a joint module including the motor structure described in the first aspect.

[0031] The aforementioned joint module includes a motor structure, which has the same beneficial effects as the motor structure, and will not be described in detail here.

[0032] Thirdly, the present invention provides a robot including the joint module described in the second aspect. The robot including the joint module has the same beneficial effects as the joint module, which will not be elaborated further here. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a first-view structural diagram of a joint module provided by the present invention; Figure 2 This is a schematic diagram of a second-view structure of a joint module provided by the present invention; Figure 3 A plan view of a joint module provided by the present invention; Figure 4 For the present invention Figure 3 Sectional view along axis AA; Figure 5 A cross-sectional view of a joint module provided by the present invention; Figure 6 This is a partial cross-sectional view of a joint module provided by the present invention; Figure 7 This is a partial cross-sectional view of a joint module provided by the present invention; Figure 8 A schematic diagram showing the connection between the motor body and the reducer of a joint module provided by the present invention; Figure 9 A schematic diagram of the connection between the motor body and the reducer of a joint module provided by the present invention; Figure 10 A cross-sectional view of the motor body of a joint module provided by the present invention; Figure 11 An exploded view of a joint module provided by the present invention; Figure 12 An exploded view of a joint module provided by the present invention; Figure 13 A schematic diagram of the structure of a motor body provided by the present invention; Figure 14 A first-view exploded view of the motor body of an electric motor structure provided by the present invention; Figure 15 A second-view exploded view of the motor body of a motor structure provided by the present invention; Figure 16 A schematic diagram of the structure of a PCB substrate for an electric motor provided by the present invention; Figure 17 This is a schematic diagram of the stator assembly of a motor structure provided by the present invention.

[0035] Explanation of reference numerals in the attached figures: 1. Controller; 11. PCB substrate; 111. First heat dissipation fin; 112. Hall sensor; 12. Cover; 13. Second bearing; 2. Motor body, 21. Shaft, 211. Ventilation hole, 212. Magnetic ring, 22. Stator assembly, 222. Encapsulated body, 223. Coil winding, 224. Stator core, 2241. Stator yoke, 2242. Stator teeth, 23. Rotor assembly, 231. Rotor disc, 232. Rotor connecting shaft, 233. Rotor magnet, 24. First bearing, 25. Motor housing, 251. Heat dissipation guide rib, 252. Second heat dissipation rib, 253. Hollowed-out area, 254. First air guide groove, 255. Second air guide groove, 256. Motor housing body, 257. Protruding ring, 26. Air inlet, 27. Air outlet; 3. Reducer; 31. Third bearing; 32. Output end of reducer; 33. Connecting part; 4. Heat dissipation channels; 5. Airflow driving components; 6. Transmission interface. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Currently, articulated motor modules, especially axial flux articulated motor modules, generate a large amount of heat in the stator and controller during operation. Due to the lack of effective heat dissipation paths and structures in existing technologies, heat accumulates rapidly inside the articulated module, leading to excessively high motor temperatures and preventing continuous operation for extended periods. Articulated modules typically require high power density output within a compact space. The power devices in the stator windings and controller generate significant Joule heat during operation. If this heat cannot be dissipated in time, the internal temperature of the motor will rise sharply, triggering overheat protection mechanisms and forcing the motor to reduce power or even shut down. Simultaneously, the performance parameters of electronic components in the controller will drift under high temperatures, reducing control accuracy. Prolonged exposure to high temperatures will also accelerate component aging. Furthermore, the motor housing is usually a one-piece solid structure. Heat generated by the stator assembly is conducted through the motor housing to the bearing area. Under high temperatures, the bearing grease deteriorates more rapidly, shortening its lifespan. The frictional heat generated by the bearings themselves is also conducted back to the stator area, creating a cumulative heat effect. To address the aforementioned issues, this invention proposes a novel motor structure. By setting a heat dissipation channel between the axial end face of the motor housing and the controller, and by setting an airflow drive component on the rotor assembly, an active heat dissipation system driven by the motor's own operation is constructed. This achieves efficient heat dissipation for the stator assembly and the controller, enabling the motor to operate continuously and stably for extended periods.

[0038] Reference Figures 1 to 17 The specific embodiments of the present invention will now be described in detail with reference to the motor structure of the first aspect of the present invention.

[0039] It should be noted that the motor structure of the first aspect of the present invention is only a preferred embodiment of the present invention. The motor structure of the present invention can adopt the motor structure of the first aspect of the present invention or other structures. For ease of explanation, the motor structure of the first aspect of the present invention will be used for explanation below.

[0040] According to an embodiment of the present invention, in a first aspect, a motor structure is provided. This motor structure is primarily used in robot joint modules, but can also be applied to other scenarios requiring compact, high-power-density motors and efficient heat dissipation. The motor structure exhibits excellent heat dissipation performance; by constructing an active cooling system, the temperature rise of the motor is significantly reduced, enabling the motor to operate continuously for extended periods.

[0041] The motor structure includes a motor body 2 and a controller 1. The controller 1 is located at one end of the motor body 2. A heat dissipation channel 4 is provided between the axial end face of the motor housing 25 of the motor body 2 and the controller 1. The heat dissipation channel 4 is connected to the air inlet 26 and the air outlet 27 respectively. An airflow drive component 5 is provided on the rotor assembly 23. The airflow drive component 5 can drive airflow through the heat dissipation channel 4 when the rotor assembly 23 is running, so as to dissipate heat from the stator assembly 22 and the controller 1.

[0042] Specifically, the motor body 2 includes a motor housing 25, a stator assembly 22, and a rotor assembly 23. The stator assembly 22 and rotor assembly 23 are disposed inside the motor housing 25, and the axial end face of the motor housing 25 is in contact with the stator assembly 22. The motor housing 25 is the main structural component of the motor, providing structural support, electromagnetic shielding, and heat conduction functions. The motor body 2 is provided with an air inlet and an air outlet, which are respectively connected to the heat dissipation channel 4 to form a complete heat dissipation airflow path. The controller 1 is disposed at one end of the motor body 2 (i.e., the outer side of the axial end of the motor housing 25). The controller 1 includes electronic components such as a drive circuit and a control chip, and is used to control the operation of the motor.

[0043] The heat dissipation channel 4 is located between the axial end face of the motor housing 25 and the controller 1, specifically formed by the distance between the axial end face of the motor housing 25 and the controller 1. This heat dissipation channel 4 is arranged in a ring around the rotating shaft 21, having a large flow cross-sectional area, which facilitates high-speed airflow. The heat dissipation channel 4 is connected to both the air inlet and the air outlet. External air enters the heat dissipation channel 4 through the air inlet and flows at high speed through the heat dissipation channel 4 under the drive of the airflow drive component 5, exchanging heat with the axial end face of the motor housing 25 and the controller 1, carrying away the heat generated by the stator assembly 22 and the controller 1, and then is discharged from the air outlet.

[0044] An airflow drive component 5 is mounted on the rotor assembly 23. The airflow drive component 5 can be a fan or an impeller, and is installed on the rotor connecting shaft 232 of the rotor assembly 23. When the motor is running, the rotor assembly 23 rotates, and the airflow drive component 5 rotates synchronously with the rotor assembly 23, generating airflow driving force to actively drive external airflow through the heat dissipation channel 4. This design utilizes the motor's own rotational motion to provide driving force for the heat dissipation system, eliminating the need for an additional heat dissipation power source and not increasing the motor's energy consumption or complexity.

[0045] The aforementioned motor structure, by setting a heat dissipation channel 4 between the axial end face of the motor housing 25 and the controller 1, and by setting an airflow drive component 5 on the rotor assembly 23 that rotates synchronously with the rotor assembly, constructs a complete active cooling system. When the motor is running, the airflow drive component 5 generates airflow, which enters the heat dissipation channel 4 from the air inlet. During the high-speed flow through the heat dissipation channel 4, it fully exchanges heat with the end face of the motor housing 25 and the PCB substrate 11 of the controller 1, effectively carrying away the heat generated by the stator assembly 22 and the controller 1, and then exhausting it from the air outlet. This cooling system achieves efficient cooling of the two major heat sources inside the motor, the stator assembly and the controller, simultaneously, significantly reducing the overall temperature rise of the motor and enabling the motor to operate continuously and stably for a long time. At the same time, this cooling system utilizes the rotational motion of the motor itself to drive the airflow, without increasing additional power consumption or structural complexity, and has the advantages of compact structure, low energy consumption, and high heat dissipation efficiency.

[0046] It should be noted that the air inlet refers to the entrance where external air enters the heat dissipation channel 4.

[0047] The air outlet refers to the outlet through which the airflow in the heat dissipation channel 4 is discharged to the outside of the motor. In an optional embodiment, the air outlet is formed by the cooperation of the cover 12 of the controller 1 and the motor housing 25. The airflow discharged from the air outlet is guided to the outer surface of the motor housing 25 to provide external auxiliary heat dissipation for the motor housing 25.

[0048] In some embodiments, refer to Figure 4 The rotor assembly 23 is connected to a reducer 3, and the output end of the reducer 3 is connected to a rotating shaft 21. The rotating shaft 21 has an internal channel (i.e., a hollow structure). At least one axial end of the internal channel of the rotating shaft 21 serves as an air inlet, communicating with the outside air. Specifically, both ends of the rotating shaft 21 extend beyond the two ends of the motor body 2, and both ends have openings communicating with the outside air, forming a bidirectional air inlet. At least one ventilation hole 211 is provided on the rotating shaft 21, and the internal channel communicates with the heat dissipation channel 4 through the ventilation hole 211. The air inlet is located at the axial end of the rotating shaft 21, utilizing the hollow internal channel of the rotating shaft 21 as the air intake path. Outside air enters the internal channel of the rotating shaft 21 from the openings at both ends of the rotating shaft 21, flows axially along the internal channel, reaches the ventilation hole 211 on the rotating shaft 21, and then enters the heat dissipation channel 4.

[0049] In the above technical solution, the hollow internal channel of the rotating shaft 21 serves as the air intake channel for the heat dissipation system, achieving multi-functional reuse of the structure. External air enters the internal channel through the openings at both ends of the rotating shaft 21, flows inward along the internal space of the hollow shaft, and when it reaches the ventilation hole 211, the air flows out radially from the internal channel and enters the heat dissipation channel 4. This embodiment makes full use of the internal space of the rotating shaft 21 without adding additional pipes or air intake structures, making the air intake path concealed and compact. At the same time, during the process of air flowing through the internal channel of the rotating shaft 21, the rotating shaft 21 itself can also be cooled to a certain extent, reducing the temperature rise of the rotating shaft 21 and helping to maintain the mechanical performance of the rotating shaft 21.

[0050] Both ends of the rotating shaft 21 serve as air inlets, employing a bidirectional air intake design. This allows air to enter simultaneously from both directions of the rotating shaft 21, increasing the total air intake volume and improving the flow rate of the cooling airflow, thereby enhancing heat dissipation efficiency. The number and location of the ventilation holes 211 can be optimized according to heat dissipation requirements. For example, multiple ventilation holes can be evenly arranged around the circumference of the rotating shaft 21, allowing airflow to enter the heat dissipation channel 4 evenly from multiple locations, improving the uniformity of airflow distribution within the heat dissipation channel 4 and preventing localized poor heat dissipation.

[0051] In some embodiments, refer to Figure 4 and Figure 11 The controller 1 includes a PCB substrate 11 and a cover 12. A gap exists between the PCB substrate 11 and the axial end face of the motor housing 25, forming a heat dissipation channel 4. The PCB substrate 11 is used to mount electronic components such as motor drive circuits and control circuits, including power switching devices, control chips, capacitors, and resistors. The side of the PCB substrate 11 facing the stator assembly 22 (i.e., the side facing the heat dissipation channel 4) is directly exposed to the heat dissipation airflow. The heat generated by the electronic components is conducted through the PCB substrate 11 to the side of the heat dissipation channel 4 and carried away by the flowing airflow. The cover 12 is connected to the motor housing 25 and covers the end of the motor body 2, providing structural protection, dust and water resistance, and electromagnetic shielding for the controller 1.

[0052] The rotating shaft 21 passes through the cover 12 and is rotatably mounted on the cover 12 via the second bearing 13. A through hole is provided on the PCB substrate 11, and the rotating shaft 21 moves through the through hole of the PCB substrate 11.

[0053] In a preferred embodiment, the PCB substrate 11 is made of a material with good thermal conductivity, such as an aluminum PCB substrate or a copper PCB substrate. The aluminum PCB substrate has the advantages of being lightweight, having high thermal conductivity, and being reasonably priced. It can quickly conduct the heat generated by electronic components to the back side of the PCB substrate 11 (i.e., the side facing the heat dissipation channel 4), achieving efficient heat dissipation. The cover 12 is made of metal, providing both structural strength and electromagnetic compatibility shielding. This prevents electromagnetic interference generated during motor operation from affecting the normal operation of the controller 1, and also prevents electromagnetic radiation generated by the controller 1 from interfering with the external environment.

[0054] The spacing between the PCB substrate 11 and the axial end face of the motor housing 25 can be flexibly designed according to heat dissipation requirements. A larger spacing results in a larger cross-sectional area for the heat dissipation channel 4, higher airflow rate and velocity, and better heat dissipation, but also increases the axial dimension of the motor. Conversely, a smaller spacing results in a more compact motor structure, but limits the flow capacity of the heat dissipation channel 4. In specific designs, a reasonable spacing value can be determined by comprehensively considering factors such as the motor's power rating, heat dissipation requirements, and ambient temperature.

[0055] In some embodiments, refer to Figure 11 and Figure 12 Multiple heat dissipation guide ribs 251 protrude from the outer wall of the motor housing 25. The heat dissipation guide ribs 251 extend axially along the motor housing 25 and are evenly distributed circumferentially around the motor housing 25. A first air guide groove 254 is formed between two adjacent heat dissipation guide ribs 251. A cover 12 partially covers the outside of the heat dissipation guide ribs 251. The inner wall of the cover 12 abuts against the top of the heat dissipation guide ribs 251, or a gap is formed between the inner wall of the cover 12 and the heat dissipation guide ribs 251. An air outlet is formed between the edge of the cover 12 and the first air guide groove 254 of the motor housing 25. The cover 12, in conjunction with the first air guide groove 254, guides the airflow discharged from the heat dissipation channel 4 to the outer surface of the motor housing 25.

[0056] In the above technical solution, the heat dissipation guide rib 251 has multiple functions. First, the heat dissipation guide rib 251 increases the heat dissipation area of ​​the outer surface of the motor housing 25, allowing the heat conducted to the outer surface of the motor housing 25 to be more fully dissipated into the external environment. Even without forced air cooling, it can effectively reduce the surface temperature of the motor housing 25 through natural convection. Second, the heat dissipation guide rib 251 acts as an airflow guiding structure. The first air guide groove 254 between adjacent heat dissipation guide ribs 251 provides a clear flow path for the airflow discharged from the air outlet, allowing the airflow to flow directionally along the first air guide groove 254 across the outer surface of the motor housing 25, significantly improving the convective heat transfer coefficient of the outer surface of the motor housing 25. Third, the heat dissipation guide rib 251 enhances the structural strength and rigidity of the motor housing 25, improving the mechanical properties of the motor housing 25 while ensuring heat dissipation performance.

[0057] The airflow exiting from the heat dissipation channel 4 is guided by the cover 12 into the first air guide groove 254, and flows along the first air guide groove 254 over the outer surface of the motor housing 25. During this process, the airflow exchanges heat with the outer surface of the motor housing 25 and the heat dissipation guide ribs 251, carrying away the heat from the outer surface of the motor housing 25, forming external auxiliary heat dissipation. Thus, the motor structure of this embodiment achieves a dual heat dissipation mechanism: the internal heat dissipation channel carries away the heat from the stator and controller, and the external airflow assists in carrying away the residual heat on the surface of the motor housing. The heat dissipation effect is significantly better than the traditional solution that relies solely on internal heat dissipation.

[0058] In some embodiments, refer to Figure 7 and Figure 16 A first heat dissipation rib 111 is provided on the side of the PCB substrate 11 facing the stator assembly 22 (i.e., the side facing the heat dissipation channel 4). The first heat dissipation rib 111 extends from the surface of the PCB substrate 11 into the heat dissipation channel 4, thereby increasing the heat dissipation area of ​​the PCB substrate 11 in the heat dissipation channel 4.

[0059] The beneficial effects of the above technical solution are as follows: When the electronic components of the controller 1 are working, they generate a large amount of heat. This heat is conducted through the PCB substrate 11 to the surface of the first heat dissipation fin 111. The first heat dissipation fin 111 extends into the heat dissipation channel 4, and its surface is directly exposed to the high-speed airflow. As the airflow passes over the surface of the first heat dissipation fin 111, efficient convective heat transfer occurs, rapidly carrying away the heat. Compared to a flat PCB substrate 11, the arrangement of the first heat dissipation fin 111 increases the heat dissipation area of ​​the PCB substrate 11, improving the heat dissipation efficiency of the controller 1.

[0060] The specific shape, quantity, and arrangement of the first heat dissipation fin 111 can be flexibly designed according to heat dissipation requirements. For example, the first heat dissipation fin 111 can be a straight strip fin extending radially along the PCB substrate 11, an arc-shaped fin distributed circumferentially, or a columnar heat dissipation pin arranged in an array. In a preferred embodiment, the first heat dissipation fin 111 adopts a radially extending straight strip fin design, with each fin evenly distributed circumferentially, forming a favorable angle with the airflow direction within the heat dissipation channel 4, which increases the heat dissipation area without causing excessive resistance to airflow.

[0061] In some embodiments, refer to Figure 12 A second heat dissipation fin 252 is provided on the side of the motor housing 25 facing the PCB substrate 11. The second heat dissipation fin 252 extends from the axial end face of the motor housing 25 into the heat dissipation channel 4. The second heat dissipation fins 252 are arranged radially along the motor housing 25, and are evenly distributed circumferentially. Each second heat dissipation fin 252 divides the heat dissipation channel 4 into multiple second air guide slots 255, which are connected to the first air guide slots 254.

[0062] In the above technical solution, the second heat dissipation fin 252 has two technical effects. First, the second heat dissipation fin 252 increases the heat dissipation area of ​​the axial end face of the motor housing 25 in the heat dissipation channel 4. The heat generated by the stator assembly 22 is conducted to the axial end face of the motor housing 25 through the stator core 224, and then, through the increased surface area of ​​the second heat dissipation fin 252, the heat is more efficiently dissipated into the airflow flowing through the heat dissipation channel 4. Second, the second heat dissipation fin 252 is arranged radially, dividing the heat dissipation channel 4 (which is an annular space) into multiple radially extending second air guide slots 255, which plays a role in airflow distribution and guidance. After the airflow discharged from the ventilation hole 211 of the rotating shaft 21 enters the heat dissipation channel 4, it is guided by the second heat dissipation fin 252 into each second air guide slot 255, flows radially outward, and then the airflow enters the first air guide slot 254 through the outer area of ​​the heat dissipation channel 4, and is finally discharged. The second heat dissipation fin 252 ensures that airflow can flow evenly through all areas of the heat dissipation channel 4, including the inner area near the rotating shaft 21 and the outer area near the outer periphery of the motor housing 25, avoiding the occurrence of heat dissipation dead zones and improving the uniformity and overall efficiency of heat dissipation.

[0063] The connection between the second air guide slot 255 and the first air guide slot 254 forms a continuous airflow path that starts from the ventilation hole 211 of the rotating shaft 21, passes through the second air guide slot 255 inside the heat dissipation channel 4, then passes through the first air guide slot 254 on the outer surface of the motor housing 25, and finally exits to the outside of the motor. Along this complete airflow path, the airflow sequentially dissipates heat from the PCB substrate 11 of the controller 1, the axial end face of the motor housing 25, and the outer surface of the motor housing 25, achieving a step-by-step transfer and continuous discharge of heat, maximizing the heat dissipation effect.

[0064] In some embodiments, refer to Figure 14 and Figure 15 The motor body 2 is an axial flux motor. The flux path of the axial flux motor is along the axial direction, which has the characteristics of compact axial dimensions and high torque density, making it very suitable for use in robot joint modules with strict space constraints.

[0065] The stator assembly 22 includes a plastic encapsulation 222, coil windings 223, and a stator core 224. (See reference...) Figure 17 The stator core 224 includes a stator yoke 2241 and multiple stator teeth 2242, which are circumferentially arranged on the axial end face of the stator yoke 2241. Multiple coil windings 223 are provided and wound around the stator teeth 2242 of the stator core 224. A plastic encapsulation body 222 covers the circumferential periphery of the coil windings 223 and the stator core 224. After the coil windings 223 are wound on the stator core 224, they are then integrally encapsulated with epoxy material to form the plastic encapsulation body 222.

[0066] The stator core 224 is flush with or at least partially protrudes from the axial end face of the encapsulation 222. The stator core 224 is in contact with the axial end face of the motor housing 25. The stator core 224 is made of a material with excellent thermal conductivity (such as aluminum alloy or copper alloy), and its main function is to quickly conduct the heat generated by the stator assembly to the motor housing 25. The design of the stator core 224 being flush with or protruding from the axial end face of the encapsulation 222 ensures that the stator core 224 can form a reliable direct contact with the axial end face of the motor housing 25, eliminating the thermal resistance caused by the intermediate air gap, shortening the heat conduction path from the stator assembly to the motor housing 25, and enabling the heat generated by the stator assembly to be conducted to the motor housing 25 more quickly and efficiently, and then carried away by the airflow in the heat dissipation channel 4 and the external airflow.

[0067] The rotor assembly 23 includes a rotor disk 231, a rotor connecting shaft 232, and multiple rotor magnets 233. The rotor disk 231 is a disk-shaped structure that serves as the mounting carrier for the rotor magnets 233. The rotor magnets 233 are spaced apart on the rotor disk 231, and each rotor magnet 233 corresponds to a stator tooth 2242 of the stator core 224, meaning each rotor magnet 233 is axially aligned with the stator tooth 2242, forming an electromagnetic coupling relationship for the axial flux motor. The axial end faces of the rotor magnets 233 and the stator teeth 2242 are flush and spaced apart; this space is the axial air gap of the motor. The size of the air gap is determined according to electromagnetic design requirements to ensure efficient electromagnetic energy conversion between the stator and rotor. The rotor connecting shaft 232 is connected to the input end of the reducer 3 and is coaxially arranged with the rotor shaft 21. When the rotor magnet 233 and rotor disk 231 rotate, they drive the reducer 3 to rotate through the rotor connecting shaft 232, and the reducer 3 drives the rotating shaft 21 to rotate.

[0068] In some embodiments, refer to Figure 15 The motor housing 25 includes a motor housing body 256 and a convex ring portion 257. The convex ring portion 257 is located at the center of the motor housing body 256 and extends into the inner ring position of the encapsulated body 222. A first bearing 24 is provided between the convex ring portion 257 and the rotor connecting shaft 232.

[0069] The convex ring is an annular protrusion extending inward from the motor housing 25, penetrating into the inner ring of the encapsulation body 222 (i.e., the central hole of the encapsulation body 222), providing an installation position for the first bearing 24. The outer ring of the first bearing 24 is installed in the inner hole of the convex ring, and the inner ring is installed on the rotor connecting shaft 232, providing radial support and axial positioning for the rotor assembly 23, ensuring the stable operation of the rotor assembly 23 within the motor housing 25.

[0070] The protruding ring has at least one hollow area 253 on the side facing the controller 1. The hollow area 253 opens towards the heat dissipation channel 4. The airflow generated by the airflow drive component 5 flows through the hollow area 253.

[0071] The hollowed-out area 253 is an opening area formed by partially hollowing out the area between the stator assembly 22 and the first bearing 24 in the motor housing 25. In traditional motor structures, the motor housing between the stator and the bearing is usually a solid structure. The heat generated by the stator is conducted to the bearing area through the solid housing, and the frictional heat generated by the bearing is also conducted back to the stator area, with the heat from both influencing and superimposing each other. The hollowed-out area 253 cuts off this solid heat conduction path, forming a thermal isolation area between the stator assembly 22 and the first bearing 24. This effectively isolates the influence of stator heating on the bearing (reducing bearing temperature and extending bearing life) and the influence of bearing frictional heat on the stator (reducing stator temperature rise and improving motor efficiency).

[0072] Meanwhile, the perforated area 253 opens towards the heat dissipation channel 4, allowing the airflow generated by the airflow drive component 5 to flow through it. As the airflow passes through the perforated area 253, air convection carries away any remaining heat, further enhancing the thermal insulation effect. This design organically combines thermal insulation with active heat dissipation, both cutting off the heat conduction path and utilizing airflow to remove residual heat, achieving precise temperature control in the stator-bearing area. The number, shape, and size of the perforated areas 253 can be optimized according to the specific structure, maximizing heat dissipation and insulation effects while ensuring structural strength.

[0073] In some embodiments, the airflow drive component 5 includes a fan or an impeller. The airflow drive component 5 is mounted on the rotor connecting shaft 232 and is located outside the ventilation hole 211 of the rotating shaft 21.

[0074] In a preferred embodiment, the airflow drive component 5 is a centrifugal fan. The centrifugal fan is mounted on the rotor connecting shaft 232 and rotates synchronously with the rotor assembly 23. When the rotor assembly 23 rotates, the fan blades drive the air to rotate at high speed. Under the action of centrifugal force, the air is drawn in from the ventilation hole 211 of the rotating shaft 21 (i.e., the air flowing out from the internal channel of the rotating shaft), and then thrown out radially by the fan blades into the heat dissipation channel 4. The centrifugal fan is characterized by its ability to generate large air pressure and air volume within a small radial dimension, making it suitable for use in space-constrained articulated module motors.

[0075] In an alternative embodiment, the airflow drive component 5 may also be an axial flow impeller. The airflow direction of an axial flow impeller is axial, making it suitable for heat dissipation scenarios requiring axial airflow. The specific type of the airflow drive component 5 can be selected based on the geometry of the heat dissipation channel 4 and the airflow path requirements.

[0076] The airflow drive component 5 is located outside the ventilation hole 211 of the rotating shaft 21, allowing the air exhausted from the ventilation hole 211 to directly enter the working area of ​​the fan and be rapidly guided to the heat dissipation channel 4 after being accelerated by the fan. This layout shortens the airflow path from the air inlet to the heat dissipation channel 4, reduces airflow resistance, and improves airflow drive efficiency and heat dissipation response speed. When the motor body starts, the airflow drive component 5 starts rotating synchronously with the rotor assembly 23, immediately generating cooling airflow without waiting for the independent cooling system to start, resulting in rapid heat dissipation response.

[0077] The rotating shaft 21 moves through the interior of the rotor connecting shaft 232, with a gap between them. Because the rotating shaft 21 is connected to the reducer 3 and the rotor connecting shaft 232 is connected to the motor body 2, the rotational speed of the rotating shaft 21 is less than that of the rotor connecting shaft 232. Consequently, the rotational speed of the airflow drive component 5 is greater than that of the rotating shaft 21, further increasing the air circulation volume per unit time and effectively enhancing the heat dissipation effect. Even if the rotating shaft 21 reduces its speed due to connection to the reducer 3, the airflow drive component 5 can maintain a sufficiently strong cooling airflow, ensuring that the temperature rise of the core heat-generating components inside the motor remains stable within the allowable range, preventing overheating aging or overheating shutdown faults in the motor.

[0078] In some embodiments, the reducer 3 and the controller 1 are located on opposite sides of the motor body 2, forming a modular three-section layout of controller 1—motor body 2—reducer 3. The motor body 2 and the reducer 3 are connected by a transmission interface 6. The rotating shaft 21 passes sequentially through the reducer 3, the motor body 2, and the controller 1.

[0079] In the above technical solution, the controller 1 and the reducer 3 are located at opposite ends of the motor body 2, resulting in a compact and reasonable structural layout. The controller 1 is located at one end of the motor body 2, allowing its PCB substrate 11 to directly face the end face of the motor housing 25, forming a heat dissipation channel 4. This results in a short heat dissipation path and high heat dissipation efficiency. The reducer 3 is located at the other end of the motor body 2 and is connected to the motor body 2 via a transmission interface 6. It converts the high-speed, low-torque output of the motor into a low-speed, high-torque output, meeting the output torque requirements of the joint module.

[0080] The motor body 2 and the reducer 3 are connected via a transmission interface. In a preferred embodiment, the transmission interface 6 adopts a non-circular cross-section mating structure, such as a regular hexagon, regular octagon, spline, or elliptical shape. The non-circular cross-section transmission interface can reliably transmit torque while allowing axial disassembly between the motor body 2 and the reducer 3, facilitating assembly, maintenance, and replacement. The motor body 2 and the reducer 3 are independent, separate structures, manufactured and assembled separately before being connected via the transmission interface. This reduces manufacturing and assembly difficulty, improves production efficiency, and facilitates independent maintenance and replacement in the future.

[0081] The reducer 3 also includes a reducer housing. The output end of the reducer is rotatably connected to the reducer housing via a third bearing 31. The rotating shaft 21 passes sequentially through the reducer 3, the motor body 2, and the controller 1. The rotating shaft 21 rotates synchronously with the output end of the reducer 3. A magnetic ring 212 is provided on the outside of the rotating shaft 21 passing through the controller 1. A Hall sensor 112 is provided on the PCB board of the controller 1. The Hall sensor 112 is positioned corresponding to the magnetic ring 212. When the rotating shaft 21 rotates, the PCB board of the controller 1 can obtain the rotational speed of the rotating shaft 21, and thus obtain the rotational speed of the reducer 3. Furthermore, a connecting part 33 is provided on the circumferential end face of the output end 32 of the reducer, through which it can be connected to other components.

[0082] Regarding the overall technical solution, the heat dissipation method for the motor structure provided by this invention includes the following steps: S1. The motor body 2 starts, and the airflow drive component 5 rotates synchronously with the rotor assembly 23 to generate airflow.

[0083] When the motor body 2 is powered on and started, the rotor assembly 23 begins to rotate, and the airflow drive component 5, mounted on the rotor connecting shaft 232, rotates synchronously with the rotor assembly 23. During rotation, the airflow drive component 5 generates centrifugal force, driving airflow and providing airflow driving force for the entire cooling system. This step utilizes the motor's own rotational motion as the airflow drive source, eliminating the need for an additional independent fan motor or other power unit. The cooling system starts instantly upon motor startup, providing rapid response and zero additional energy consumption.

[0084] S2. External air enters the internal channel from both ends of the shaft and flows into the heat dissipation channel through the ventilation holes.

[0085] The rotating shaft 21 is a hollow structure, with its two ends extending out from the sides where the motor body 2 and controller 1 are located, and the reducer 3 is located, respectively. External air enters the internal channel of the rotating shaft 21 through the openings at both ends and flows towards the center of the motor along the internal channel. When the air flows to the ventilation hole 211 on the rotating shaft 21, the air flows out radially from the internal channel through the ventilation hole 211 and enters the heat dissipation channel 4 between the axial end face of the motor housing 25 and the PCB substrate 11 of the controller 1. The bidirectional air intake design allows air to enter from both directions of the rotating shaft 21 simultaneously, increasing the total air intake volume and ensuring sufficient airflow for heat dissipation.

[0086] S3. Airflow flows through the heat dissipation fins in the heat dissipation channel, carrying away the heat from the stator assembly and controller.

[0087] Driven by the airflow driving component 5, the airflow entering the heat dissipation channel 4 flows radially outward along the second air guide groove 255 formed between the second heat dissipation fins 252. During this process, the airflow exchanges heat with the following two main heat sources: First, the airflow passes through the second heat dissipation fins 252 on the axial end face of the motor housing 25. The Joule heat generated by the stator assembly during operation is conducted to the axial end face of the motor housing 25 through the stator core 224, and then transferred to the airflow through the increased surface area of ​​the second heat dissipation fins 252. The second heat dissipation fins 252 divide the heat dissipation channel 4 into multiple second air guide slots 255, so that the airflow is evenly distributed and heat dissipation dead zones are avoided.

[0088] Second, the airflow passes over the first heat dissipation fin 111 on the back of the PCB substrate 11. The heat generated by the electronic components (power switching devices, control chips, etc.) in the controller 1 is conducted through the aluminum PCB substrate to the surface of the first heat dissipation fin 111 and is quickly carried away by the flowing airflow. The first heat dissipation fin 111 extends into the heat dissipation channel 4 and is directly exposed to the high-speed airflow, resulting in high convective heat transfer efficiency.

[0089] Simultaneously, part of the airflow generated by the airflow drive component 5 flows through the hollowed-out area 253 on the convex ring. The hollowed-out area 253 is located between the stator assembly 22 and the first bearing 24, cutting off the physical heat conduction path between the stator and the first bearing, thus achieving thermal isolation. When the airflow flows through the hollowed-out area 253, it carries away any small amount of heat that may remain in the area through forced convection, further enhancing the thermal isolation effect and reducing the operating temperature of the bearing.

[0090] S4. Airflow is discharged from the air outlet and guided to the outer surface of the motor housing for auxiliary heat dissipation.

[0091] The airflow in the heat dissipation channel 4 flows radially outward and reaches the outer periphery of the motor housing 25. It then enters the first air guide trough 254 on the outer wall of the motor housing 25 through the connection between the second air guide trough 255 and the first air guide trough 254. The cover 12 of the controller 1 partially covers the outside of the heat dissipation guide ribs 251, and the cover 12 and the first air guide trough 254 cooperate to form an air outlet. The airflow exiting from the air outlet is guided by the cover 12 and flows directionally along the first air guide trough 254 between the heat dissipation guide ribs 251 across the outer surface of the motor housing 25.

[0092] During this process, the airflow undergoes convective heat exchange with the outer surface of the motor housing 25 and the heat dissipation guide ribs 251, carrying away the residual heat conducted to the outer surface of the motor housing 25. The heat dissipation guide ribs 251 not only increase the heat dissipation area of ​​the outer surface but also provide a guiding channel for the airflow, ensuring that the airflow can efficiently sweep across the entire outer surface area of ​​the motor housing 25. Finally, the airflow that has absorbed heat is discharged from the outlet between the cover 12 and the motor housing 25 into the external environment of the motor.

[0093] The specific embodiments of the present invention will now be described in detail with reference to the joint module of the second aspect and the robot of the third aspect.

[0094] It should be noted that the joint module of the second aspect and the robot of the third aspect of the present invention are only preferred embodiments of the present invention. For ease of explanation, they will be described below.

[0095] According to an embodiment of the present invention, in a second aspect, a joint module is provided, including the motor structure and reducer 3 described in the first aspect. This joint module integrates a motor body 2, a controller 1, and a reducer 3, achieving efficient heat dissipation through built-in heat dissipation channels 4 and airflow drive components 5, enabling long-term continuous and stable operation. This joint module is suitable for various scenarios requiring joint actuation, such as industrial robots, collaborative robots, service robots, and humanoid robots. Due to its excellent heat dissipation, this joint module can operate continuously at high power levels, fully utilizing the performance potential of the motor and improving the robot's motion accuracy, response speed, and work efficiency.

[0096] According to an embodiment of the present invention, in a third aspect, a robot is provided, including the joint module described in the second aspect. Specific types of the robot include, but are not limited to, six-axis industrial robots, SCARA robots, collaborative robots, humanoid robots, AGV drive wheel joints, etc. The robot includes at least one joint, and the joint employs the aforementioned joint module. By integrating a joint module with efficient heat dissipation capabilities, the robot can maintain stable operation under high load and long-term continuous working conditions, without power reduction or shutdown due to joint module overheating, significantly improving the overall performance and reliability of the robot.

[0097] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the above technical solutions.

Claims

1. A motor structure, characterized in that, include: The motor body (2) includes a motor housing (25), a stator assembly (22) and a rotor assembly (23). The stator assembly (22) and the rotor assembly (23) are disposed inside the motor housing (25). The axial end face of the motor housing (25) is in contact with the stator assembly (22). The motor body (2) is provided with an air inlet and an air outlet. The controller (1) is located at one end of the motor body (2); A heat dissipation channel (4) is provided between the axial end face of the motor housing (25) and the controller (1), and the heat dissipation channel (4) is connected to the air inlet and the air outlet respectively; An airflow drive component (5) is disposed on the rotor assembly (23). The airflow drive component (5) is used to drive airflow through the heat dissipation channel (4) when the rotor assembly (23) is running, so as to dissipate heat from the stator assembly (22) and the controller (1).

2. The motor structure according to claim 1, characterized in that, The rotor assembly (23) is connected to a reducer (3), and the output end of the reducer (3) is connected to a shaft (21). The shaft (21) has an internal channel, and at least one axial end of the internal channel serves as the air inlet and communicates with the outside air. At least one ventilation hole (211) is provided on the shaft (21), and the internal channel communicates with the heat dissipation channel (4) through the ventilation hole (211).

3. The motor structure according to claim 2, characterized in that, The two axial ends of the internal channel serve as air inlets, communicating with the outside air.

4. The motor structure according to claim 1, characterized in that, The controller (1) includes: The PCB substrate (11) has a gap with the axial end face of the motor housing (25), and the heat dissipation channel (4) is formed between the PCB substrate (11) and the axial end face of the motor housing (25). The cover (12) is connected to the motor housing (25) and covers the end of the motor body (2).

5. The motor structure according to claim 4, characterized in that, Multiple heat dissipation guide ribs (251) are protruding on the outer side wall of the motor housing (25), and a first air guide groove (254) is formed between two adjacent heat dissipation guide ribs (251). The cover (12) is partially covered on the outside of the heat dissipation guide rib (251). The cover (12) and the air guide groove cooperate to form the air outlet so that the airflow discharged from the air outlet is guided to the outer surface of the motor housing (25).

6. The motor structure according to claim 4, characterized in that, The PCB substrate (11) has a first heat dissipation rib (111) on the side facing the stator assembly (22), and the first heat dissipation rib (111) extends into the heat dissipation channel (4).

7. The motor structure according to claim 5, characterized in that, A second heat dissipation rib (252) is provided on the side of the axial end face of the motor housing (25) facing the PCB substrate (11). The second heat dissipation rib (252) extends into the heat dissipation channel (4). The second heat dissipation rib (252) is arranged radially along the motor housing (25). The second heat dissipation rib (252) divides the heat dissipation channel (4) into a plurality of second air guide grooves (255). The second air guide grooves (255) are connected to the first air guide grooves (254).

8. The motor structure according to claim 2, characterized in that, The motor body (2) is an axial flux motor; The stator assembly (22) includes a plastic encapsulation body (222), coil windings (223) and a stator core (224). The coil windings (223) are provided in multiple ways and are respectively wound on the stator core (224). The plastic encapsulation body (222) covers the circumferential periphery of the coil windings (223) and the stator core (224). The stator core (224) is flush with or at least partially protrudes from the axial end face of the plastic encapsulation body (222). The stator core (224) is in contact with the axial end face of the motor housing (25). The rotor assembly (23) includes a rotor disk (231), a rotor connecting shaft (232), and a plurality of rotor magnets (233). Each rotor magnet (233) is spaced apart on the rotor disk (231). The rotor magnets (233) correspond to the stator teeth of the stator core (224). The rotor magnets (233) are flush with the axial end faces of the stator teeth of the stator core (224) and have a gap. The rotor connecting shaft (232) is connected to the input end of the reducer (3). The rotor connecting shaft (232) is coaxially arranged with the rotating shaft (21).

9. The motor structure according to claim 8, characterized in that, The motor housing (25) includes a motor housing body (256) and a convex ring (257). The convex ring (257) is located at the center of the motor housing body (25) and extends into the inner ring of the encapsulation body (222). A first bearing (24) is provided between the convex ring (257) and the rotor connecting shaft (232). The protruding ring (257) has at least one hollow area (253) on the side facing the controller (1), the hollow area (253) opens towards the heat dissipation channel (4), and the airflow generated by the airflow driving member (5) flows through the hollow area (253).

10. The motor structure according to claim 8, characterized in that, The airflow drive component (5) includes a fan or impeller, and the airflow drive component (5) is mounted on the rotor connecting shaft (232) and located outside the ventilation hole (211) of the rotating shaft (21).

11. The motor structure according to claim 2, characterized in that, The reducer (3) and the controller (1) are located on both sides of the motor body (2). The motor body (2) and the reducer (3) are connected by a transmission interface (6). The rotating shaft (21) passes through the reducer (3), the motor body (2) and the controller (1) in sequence.

12. A joint module, characterized in that, The motor structure includes any one of claims 1-11.

13. A robot, characterized in that, Includes the joint module as described in claim 12.

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