A robot joint module with heat dissipation function and a robot

Abstract

The application discloses a robot joint module with a heat dissipation function and a robot, and relates to the technical field of robots.The joint module comprises a cycloidal speed reducer, a motor assembly and a heat dissipation mechanism.The cycloidal speed reducer comprises a hollow shaft body, and a first flow guide hole is formed in an extension section of the shaft body.The motor assembly comprises a motor shell and a rotor shaft sleeve, the rotor shaft sleeve is provided with an overflow channel and a second flow guide hole corresponding to the first flow guide hole, and the overflow channel is connected with the hollow channel of the shaft body through the second flow guide hole and the first flow guide hole.A gas flow channel network is formed on the motor shell, and the heat dissipation space in the motor shell is communicated with the space outside the motor shell through the gas flow channel network.The application can significantly improve the heat dissipation efficiency of the motor end, and does not additionally increase the volume and weight of the joint module, thereby guaranteeing the stability and efficiency of the joint module under high load working conditions, and improving the continuous operation capability and service life of the joint module.

Description

Technical Field

[0001] The inventors of this invention relate to the field of robot joint module technology, and more particularly to a robot joint module and robot with heat dissipation function. Background Technology

[0002] In robot joint modules, the frameless motor serves as the power source for driving the cycloidal pinwheel reducer. Under continuous operation, a large amount of heat will rapidly accumulate inside the sealed joint module, causing the temperature of the frameless motor windings to rise sharply. This, in turn, accelerates the aging of the frameless motor's insulation, reducing the continuous operating capability and lifespan of the joint module.

[0003] In related technologies, joint modules often use forced air cooling to dissipate heat from frameless motors. For example, a fan is installed at the end of the frameless motor away from the cycloidal pinwheel reducer for air cooling. For this type of air cooling solution, for miniaturized joint modules, additional space is required to install the fan, which increases the weight and volume of the joint module. Summary of the Invention

[0004] To address or partially address the problems existing in related technologies, this invention provides a robot joint module and robot with heat dissipation function, which can efficiently dissipate heat from the frameless motor without increasing the weight and volume of the joint module.

[0005] The first aspect of the present invention provides a robot joint module with heat dissipation function, including a cycloidal pinwheel reducer, a motor assembly and a drive board, wherein the drive board is connected to the motor assembly and the cycloidal pinwheel reducer is connected to the output end of the motor assembly;

[0006] The cycloidal pinwheel reducer includes a pin tooth housing and an output flange assembly, a cycloidal pinwheel assembly, an input flange assembly, and a hollow shaft installed inside the pin tooth housing. The shaft includes an assembly section and an extension section. The output flange assembly, the cycloidal pinwheel assembly, and the input flange assembly are sequentially installed on the assembly section. The extension section extends out of the pin tooth housing and has a first guide hole.

[0007] The motor assembly includes a motor housing, a frameless motor, and a rotor bushing. The frameless motor is fitted around the outer periphery of the rotor bushing and is installed inside the motor housing. The rotor bushing includes an inner ring, an outer ring, and multiple webs connecting the inner ring and the outer ring, with flow channels formed between adjacent webs. The inner ring is mounted on an extension of the shaft and has a second flow hole opposite to the first flow hole.

[0008] The motor housing has an airflow channel network formed thereon. The airflow channel network includes several flow channel grooves and several guide grooves that are alternately distributed along the circumference of the motor housing, as well as several hidden heat dissipation fins that are connected to the guide grooves one by one. The flow channel grooves penetrate the wall of the motor housing, and the guide grooves partially penetrate the wall of the motor housing with their openings facing inward. The hidden heat dissipation fins are disposed in the wall of the motor housing, with their inlets connected to the corresponding guide grooves and their outlets located on the outer wall of the motor housing.

[0009] In this invention, the inlet ends of both the flow channel and the guide channel are connected to the inner cavity of the motor housing. The flow channel penetrates the wall of the motor housing and thus communicates with the outer space of the motor housing. The guide channel partially penetrates the wall of the motor housing, and its outlet is connected to the hidden heat dissipation fins. The outlet of the hidden heat dissipation fins communicates with the outer space of the motor housing.

[0010] In some embodiments, the concealed heat dissipation fins include a pipe and a plurality of fins; the main channel of the pipe extends axially along the motor housing, one end of the main channel is connected to a guide groove corresponding to the concealed heat dissipation fins, and the tail end of the main channel is connected to a branch channel extending radially along the motor housing to the outer wall of the motor housing, and the plurality of fins are distributed in parallel at intervals in the pipe.

[0011] In some embodiments, a third guide hole is also provided on the shaft, and the third guide hole connects the corresponding heat dissipation space with the hollow channel inside the shaft; the corresponding heat dissipation space refers to the space formed by the inner side wall of the motor housing and the end of the frameless motor near the cycloidal pinwheel reducer.

[0012] In some embodiments, at least one end of the rotor bushing is fitted with an impeller, and the impeller is located inside the frameless motor cavity.

[0013] In some embodiments, the joint module further includes an isolation end cap; the isolation end cap is located between the pin tooth shell and the motor housing, the isolation end cap is sleeved on the shaft body by a skeleton oil seal, the skeleton oil seal is embedded in the central hole of the isolation end cap and slides and seals with the outer peripheral surface of the shaft body; and a semiconductor cooling ring is provided on the end face of the isolation end cap near the motor housing.

[0014] Furthermore, multiple centrifugal turbine fans are arranged on the semiconductor cooling ring, and the multiple centrifugal turbine fans are distributed in a ring outside the shaft body, with the air inlet side of the centrifugal turbine fans facing the rotor shaft sleeve.

[0015] In some embodiments, a shaft end impeller is installed at the end of the assembly section of the shaft, the shaft end impeller covering the port of the hollow channel of the shaft.

[0016] In some embodiments, a fluid flow channel is formed inside the motor housing, and the fluid flow channel is in the shape of a Tesla valve pipe.

[0017] In some embodiments, the motor bearing housing of the motor assembly is embedded with a plurality of axial fans, which are distributed in a ring around the shaft body; and the joint module further includes an end cap with a channel, the end cap being fixedly connected to the motor bearing housing, the drive plate being located between the end cap and the motor bearing housing; and an end cap axial fan is arranged inside the end cap.

[0018] A second aspect of the present invention provides a robot comprising the aforementioned joint module with heat dissipation function.

[0019] The technical solution provided by this invention may include the following beneficial effects:

[0020] This invention integrates a wind-cooled heat dissipation airflow channel network into the motor housing, with hidden heat dissipation fins integrated into the side wall of the motor housing. This, combined with the axial airflow generated by the impeller, enables efficient heat dissipation. Furthermore, the structure of the rotor bushing is optimized by incorporating a flow channel within it. This flow channel is connected to the hollow channel of the shaft body via guide holes on the rotor bushing and shaft. This allows heat from the motor assembly to be dispersed and carried away from the motor housing and cycloidal pinwheel reducer, significantly improving heat dissipation efficiency at the motor end without increasing the volume or weight of the joint module. This ensures the stability and efficiency of the joint module under high load conditions, enhancing its continuous operation and service life. Attached Figure Description

[0021] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same parts in the exemplary embodiments of the invention.

[0022] Figure 1 This is a schematic diagram of the appearance of a joint module with heat dissipation function shown in an embodiment of this application;

[0023] Figure 2 This is an exploded view of a joint module with heat dissipation function shown in an embodiment of this application;

[0024] Figure 3 This is an exploded schematic diagram of a cycloidal pinwheel reducer shown in an embodiment of this application;

[0025] Figure 4 This is a cross-sectional schematic diagram of a cycloidal pinwheel reducer shown in an embodiment of this application;

[0026] Figure 5This is a schematic diagram of the structure of the eccentric shaft shown in the embodiments of this application;

[0027] Figure 6 This is an exploded view of the motor assembly shown in an embodiment of this application;

[0028] Figure 7 This is a cross-sectional schematic diagram of the motor assembly shown in an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the airflow channel network on the motor housing as shown in the embodiments of this application;

[0030] Figure 9 This is a schematic diagram of the structure of the fluid flow channel on the motor housing shown in the embodiments of this application;

[0031] Figure 10 This is a cross-sectional schematic diagram of the skeleton oil seal, semiconductor cooling ring and isolation end cap shown in the embodiments of this application;

[0032] Figure 11 This is a schematic diagram of the end cap structure shown in an embodiment of this application;

[0033] Figure 12 This is an exploded schematic diagram of the skeleton oil seal, semiconductor cooling ring, centrifugal turbine fan and isolation end cap shown in the embodiments of this application;

[0034] Figure 13 This is a cross-sectional schematic diagram of the skeleton oil seal, semiconductor cooling ring, centrifugal turbine fan and isolation end cap shown in the embodiments of this application;

[0035] Figure 14 This is another exploded view of the motor assembly shown in the embodiments of this application;

[0036] In the diagram: 1. Cycloidal pinwheel reducer; 11. Pin tooth housing; 12. Output flange assembly; 121. Output flange; 122. Output flange rolling bearing; 123. Limiting flange; 13. Cycloidal pinwheel assembly; 130. Cycloidal wheel; 131. First cycloidal wheel; 132. Second cycloidal wheel; 133. Needle roller pin; 1331. First needle roller pin; 1332. Second needle roller pin; 134. Pin tooth pin; 14. Input flange assembly; 141. Input flange; 142. Input flange rolling bearing; 15. Shaft; 150. Hollow channel; 151. First guide hole; 152. Stepped section; 1 53. Partition; 154. Limiting groove; 155. Magnetic sleeve; 156. Magnet; 157. Third guide hole; 158. Limiting shoulder; 161. First bearing; 162. Second bearing; 163. Shim; 1631. First shim; 1632. Second shim; 164. Spring retainer ring for hole; 171. Pin; 172. Plug bolt; 173. Pin sleeve; 174. Locking bolt; 2. Motor assembly; 201. Inner chamber; 202. Heat dissipation space; 203. Outer space; 21. Motor housing; 211. Shoulder; 22. Frameless motor; 221. Stator; 222. Rotor; 2220 1. Rotor inner cavity; 23. Rotor bushing; 230. Flow passage; 231. Second guide hole; 232. Inner ring; 233. Outer ring; 234. Web plate; 235. Limiting strip; 236. Extension; 24. Motor bearing housing; 241. Through hole in empty sector area; 242. Through hole in mounting area; 25. Motor bearing; 26. Wave washer; 3. Drive plate; 41. Shaft end impeller; 42. Airflow channel network; 421. Groove group; 4211. Flow channel groove; 4212. Guide groove; 422. Concealed heat dissipation fins; 4221. Pipe; 4222. Fin; 4223. Main pipe; 4224. Branch pipe 423, First groove group; 4231, First flow channel groove; 4232, First guide groove; 424, First concealed heat dissipation fin; 425, Second groove group; 4251, Second flow channel groove; 4252, Second guide groove; 426, Second concealed heat dissipation fin; 43, Impeller; 431, First impeller; 432, Second impeller; 44, Liquid flow channel; 441, Liquid inlet; 442, Liquid outlet; 45, Semiconductor cooling ring; 46, Turbine fan; 47, Axial fan; 51, Isolation end cap; 511, Flange; 52, Skeleton oil seal; 61, End cap; 62, Channel; 63, Threaded hole. Detailed Implementation

[0037] Embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be more thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0038] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0039] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] The technical solutions of the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] See Figure 1 and Figure 2 This invention provides a robot joint module with heat dissipation function, including a cycloidal pinwheel reducer 1, a motor assembly 2, and a drive board 3. The drive board 3 is connected to the motor assembly 2 and reads the real-time position information of the motor assembly 2 to control the operation of the motor assembly 2 and generate output power. The cycloidal pinwheel reducer 1 is connected to the output end of the motor assembly 2 and the motor assembly 2 transmits the output power to the cycloidal pinwheel reducer 1. The cycloidal pinwheel reducer 1 reduces the output speed of the motor assembly 2 before outputting it.

[0042] See Figure 3 and Figure 4 The cycloidal pinwheel reducer 1 includes a pin tooth housing 11 and an output flange assembly 12, a cycloidal pinwheel assembly 13, an input flange assembly 14, and a hollow shaft 15 installed in the pin tooth housing 11. The shaft 15 includes an assembly section and an extension section. The output flange assembly 12, the cycloidal pinwheel assembly 13, and the input flange assembly 14 are sequentially installed on the assembly section. The extension section extends out of the pin tooth housing 11 and has a first guide hole 151.

[0043] In the cycloidal pinwheel reducer 1, the shaft 15 can be a central shaft or an eccentric shaft. If the shaft 15 is a central shaft, an eccentric sleeve is also required. In this embodiment, the cycloidal pinwheel reducer 1 is described with the shaft 15 as an eccentric shaft as an example.

[0044] The cycloidal pinwheel assembly 13 includes two cycloidal wheels 130. Each cycloidal wheel 130 has an eccentric shaft on its inner circumference and a toothed housing 11 on its outer circumference. The two cycloidal wheels 130 are connected to the eccentric shaft via corresponding needle roller pins 133 and to the toothed housing 11 via toothed pins 134. In this embodiment, the eccentric shaft is a hollow stepped shaft, with the stepped portion 152 located in the assembly section. See also... Figures 3-5 In this design, a partition 153 extends radially from the center of the stepped portion 152, dividing the stepped portion 152 into two parts with different central axes and a 180° phase difference in rotation between them. (See also...) Figure 3 and Figure 4 The cycloidal wheel 130 includes a first cycloidal wheel 131 and a second cycloidal wheel 132. The first cycloidal wheel 131 and the second cycloidal wheel 132 are distributed on the left and right sides of the partition plate 153. A plurality of circumferential needle pins 134 are evenly distributed on the outer periphery of the first cycloidal wheel 131 and the second cycloidal wheel 132. The needle pins 134 are embedded in the grooves of the inner sidewall of the needle housing 11. A plurality of circumferential first needle roller pins 1331 are evenly distributed on the inner periphery of the first cycloidal wheel 131. A plurality of circumferential second needle roller pins 1332 are evenly distributed on the inner periphery of the second cycloidal wheel 132. Each needle pin 134, the first needle roller pin 1331 and the second needle roller pin 1332 are distributed along the axial direction. The two ends of the stepped portion 152 are a first bearing 161 and a second bearing 162. Both the first bearing 161 and the second bearing 162 are sleeved on the eccentric shaft and are interference-fitted with the eccentric shaft. A shim 163 is used between the first bearing 161, the second bearing 162 and the stepped portion 152. The shim 163 encloses the first shim 1631 and the second shim 1632. The first bearing 161, the first shim 1631, the stepped portion 152, the second shim 1632 and the second bearing 162 are distributed sequentially along the axial direction of the eccentric shaft. The first shim 1631 and the second shim 1632 can respectively restrict the axial displacement of the first needle roller pin 1331 and the second needle roller pin 1332.

[0045] Furthermore, the output flange assembly 12 and the input flange assembly 14 are distributed on the left and right sides of the cycloidal pinwheel assembly 13, and are both assembled on the assembly section of the eccentric shaft. The output flange assembly 12 includes an output flange 121 and an output flange rolling bearing 122. Along the radial direction of the eccentric shaft, from the inside to the outside, the eccentric shaft, the first bearing 161, the output flange 121, the output flange rolling bearing 122, and the pin gear housing 11 are distributed in sequence. The input flange assembly 14 includes an input flange 141 and an input flange rolling bearing 142. Along the radial direction of the eccentric shaft, from the inside to the outside, the eccentric shaft, the second bearing 162, the input flange 141, the input flange rolling bearing 142, and the pin gear housing 11 are distributed in sequence. The first bearing 161 and the second bearing 162 are located at the center holes of the output flange 121 and the input flange 141, respectively. The end of the output flange 121 away from the input flange 141 extends radially inward to form a limiting flange 123, which contacts the left end face of the first bearing 161 to limit the axial displacement of the first bearing 161. The end of the second bearing 162 near the motor assembly 2 is provided with a spring retainer 164, which abuts against the center hole of the input flange 141.

[0046] In this embodiment, all bearings in the cycloidal pinwheel reducer 1 are rolling bearings. Compared with traditional sliding bearings, the cycloidal pinwheel reducer 1 has a lower coefficient of friction and less heat loss. At the same time, it has a smaller starting torque, smoother operation, and less noise. Under the same load-bearing capacity, the axial dimension is smaller, which is beneficial to the lightweight and miniaturized design of the joint module.

[0047] In at least one embodiment, the input flange assembly 14, the cycloidal pinwheel assembly 13, and the output flange assembly 12 are fixedly connected by a bolt assembly and a pin 171, wherein the bolt assembly includes a stop bolt 172 and a locking bolt 174 threadedly connected to the stop bolt 172.

[0048] See Figure 3 and Figure 4The input flange 141 is provided with multiple first pin holes and multiple first threaded holes. The end of the pin 171 is installed in the first pin hole, and the end of the plug bolt 172 is installed in the first threaded hole. The output flange 121 is provided with multiple bolt through holes. The other end of the pin 171 and the other end of the plug bolt 172 are located in the corresponding bolt through holes, and the end of the locking bolt 174 passes through the corresponding bolt through hole and is installed in the second threaded hole at the other end of the corresponding plug bolt 172. The first cycloidal wheel 131 and the second cycloidal wheel 132 are provided with multiple pin holes. When the pin holes of the first cycloidal wheel 131 and the corresponding pin holes of the second cycloidal wheel 132 are coaxial, the pin sleeve 173 is inserted, thereby realizing the connection of the pin sleeve 173 to the first cycloidal wheel 131 and the second cycloidal wheel 132. By inserting the pins 171 and locking bolts 172 on the input flange 141 and output flange 121 into the corresponding pin sleeves 173, and locking the locking bolts 172 with locking bolts 174, the input flange 141 and output flange 121 can be connected to the two ends of the two cycloidal wheels 130. In this embodiment, while the pins 171 connect the input flange 141, cycloidal wheels 130 and output flange 121, the combination of locking bolts 172 and locking bolts 174 not only achieves the traditional axial locking function of locking bolts, but also effectively controls the transmission clearance between the input flange 141 and output flange 121, preventing the frictional torque of the cycloidal pinwheel reducer 1 from increasing due to excessive clearance. The first cycloidal wheel 131 and the second cycloidal wheel 132 undergo planar motion of revolution and rotation under the drive of the eccentric shaft and the joint constraint of the pin 134. The motion of the first cycloidal wheel 131 and the second cycloidal wheel 132 is further transmitted to the pin 171 and the stop bolt 172 passing through the cycloidal wheel 130, and is synchronously transmitted to the output flange 121 through the pin 171 and the stop bolt 172 to realize the output of power.

[0049] To transmit the output speed of the motor assembly 2 to the output flange 121, multiple pins 171 and bolts 172 arranged in a circular array are provided on the input flange 141. The pins 171 pass through the cycloidal wheel 130 and are also connected to the output flange 121. When the rotor 222 in the motor assembly 2 drives the eccentric shaft to rotate, and the eccentric shaft drives the cycloidal wheel 130 to rotate in the pin tooth housing 11, the pins 171 transmit the motion of the cycloidal wheel 130 to the output flange 121, causing the output flange 121 to decelerate relative to the rotor 222.

[0050] See Figure 6 and Figure 7The motor assembly 2 includes a motor housing 21, a frameless motor 22, and a rotor bushing 23. The shaft 15 passes through the rotor bushing 23. The frameless motor 22 is fixedly sleeved on the outer periphery of the rotor bushing 23. The frameless motor 22 is fixedly installed on the inner side wall of the motor housing 21. The rotor bushing 23 includes an axially extending flow channel 230 and a second flow hole 231 connecting the flow channel 230 and the first flow hole 151. The first flow hole 151 connects the second flow hole 231 and the hollow channel 150 of the shaft 15.

[0051] In this embodiment, the frameless motor 22 includes a stator 221 and a rotor 222. The rotor 222 is assembled on the inner circumference of the stator 221, and the stator 221 is fixedly installed on the inner side of the motor housing 21. The rotor bushing 23 adopts a spoked hub hollow design, which can significantly reduce the weight of the rotor bushing 23. The rotor bushing 23 includes an inner ring 232, an outer ring 233, and multiple webs 234 connecting the inner ring 232 and the outer ring 233. A flow channel 230 is formed between two adjacent webs 234 and the inner and outer rings 232. The inner ring 232 is fixedly sleeved on the outer circumference of the eccentric shaft, and the outer ring 233 is fixedly inserted through the inner circumference of the rotor 222. The motor assembly 2 is mounted on the extension of the eccentric shaft, and a second guide hole 231 is formed on the inner ring 232. A first guide hole 151 aligns with the second guide hole 231, connecting the flow channel 230 of the rotor bushing 23 with the hollow channel 150 of the eccentric shaft to form a heat dissipation airflow channel. To improve the heat dissipation capacity of this airflow channel, the first guide hole 151 and the second guide hole 231 can be distributed circumferentially along the eccentric shaft and the inner ring 232, respectively.

[0052] Furthermore, a limiting strip 235 is protruding from the inner circumference of the inner ring 232 of the rotor bushing 23, and a limiting groove 154 is correspondingly provided on the outer circumference of the eccentric shaft. The limiting strip 235 and the limiting groove 154 cooperate to ensure that the rotor bushing 23 and the eccentric shaft rotate together.

[0053] See Figure 1 , Figure 3 and Figure 4 A shaft-end impeller 41 is installed at the end of the shaft 15 near the cycloidal pinwheel reducer 1, covering the port of the hollow channel 150 of the shaft 15. The shaft-end impeller 41 is attached to this end with high-strength flat sealant. When the eccentric shaft rotates, the blades on the shaft-end impeller 41 generate axial airflow, which can quickly dissipate the heat generated by the motor assembly 2 and the cycloidal pinwheel reducer 1 through the heat dissipation airflow channel formed by the hollow channel 150 of the eccentric shaft and the first guide hole 151, forming an efficient heat dissipation system. The power source of the shaft-end impeller 41 is the eccentric shaft, and it rotates together with the eccentric shaft.

[0054] See Figure 4Furthermore, a magnetic sleeve 155 and a magnet 156 are provided at the end of the eccentric shaft near the motor assembly 2. The magnetic sleeve 155 fixes the magnet 156 to the end of the eccentric shaft so as to cooperate with the motor assembly 2 to achieve the positioning of the rotor 222 in the frameless motor 22.

[0055] See Figures 6-8 An airflow channel network 42 is formed on the motor housing 21, and at least one impeller 43 is also installed thereon. The airflow channel network 42 is integrally formed on the motor housing 21. The airflow channel network 42 includes at least one groove group 421 and several hidden heat dissipation fins 422. The hidden heat dissipation fins 422 are arranged in the wall of the motor housing 21. The groove group 421 is distributed along the circumference of the motor housing 21. It includes alternating flow channel grooves 4211 and guide grooves 4212. One airflow port of the flow channel groove 4211 and the guide groove 4212 are directly connected to the inner cavity 201 of the motor housing 21. The other airflow port of the flow channel groove 4211 is directly connected to the outer space 203 of the motor housing 21. The other airflow port of the guide groove 4212 is indirectly connected to the outer space 203 through the corresponding hidden heat dissipation fins 422. The impeller 43 is fixedly sleeved on the shaft 15, and one end face is opposite to the flow channel 230.

[0056] In this embodiment, when the eccentric shaft rotates, it drives the impeller 43 to rotate, and the impeller 43 generates axial airflow. On the one hand, it pushes the heat in the motor housing 21 from the inner chamber 201 of the motor housing 21 through the flow channel 230 and the second guide hole 231 to the eccentric shaft, and then the shaft-end impeller 41 at the end of the eccentric shaft quickly carries the heat out. On the other hand, it pushes the heat in the motor housing 21 from the inner chamber 201 through the airflow channel network 42 to the outer space 203 of the motor housing 21. Part of the heat is directly transferred from the inner chamber 201 to the outer space 203 through the flow channel groove 4211 in the groove group 421, and the other part of the heat is indirectly transferred from the inner chamber 201 to the outer space 203 through the guide groove 4212 in the groove group 421. In the heat dissipation airflow channel through the guide groove 4212, the hidden heat dissipation fins 422 can improve the heat exchange efficiency.

[0057] See Figure 7 and Figure 8In some embodiments, the concealed heat dissipation fins 422 include pipes 4221 and multiple fins 4222. Pipes 4221 are divided into a main pipe 4223 and branch pipes 4224. The main pipe 4223 extends axially along the motor housing 21, and one end of the main pipe 4223 is connected to the guide groove 4212. Branch pipes 4224 are provided on the sidewall of the main pipe 4223 and extend radially along the motor housing 21. The end of the branch pipe 4224 away from the main pipe 4223 is connected to the outer sidewall of the motor housing 21. Multiple fins 4222 are distributed parallel and spaced apart within the pipes 4221, extending along the pipes 4221. To enhance heat dissipation, a semi-concealed design can be adopted, where the tail ends of the fins 4222 are exposed, i.e., the tail ends of the fins 4222 are located at the outlet end of the branch pipe 4224. This ensures that high-speed airflow carries away heat from the heat dissipation fins 4222 to the maximum extent.

[0058] Furthermore, the flow channel 4211 penetrates the wall of the motor housing 21, and the guide channel 4212 partially penetrates the wall of the motor housing 21, with the end of the guide channel 4212 away from the inner cavity 201 closed. In this embodiment, the flow channel 4211 in the motor housing 21 is similar to a through hole penetrating the side wall of the motor housing 21, while the guide channel 4212 in the motor housing 21 is similar to sealing the end of the flow channel, thereby changing the airflow direction and allowing it to enter the hidden heat dissipation fins 422, thus effectively improving heat dissipation efficiency. The guide channel 4212 has a U-shaped structure with its opening facing the inner cavity 201. In the same groove group 421, multiple flow channels 4211 and multiple guide channels 4212 are alternately distributed, realizing the dissipation of motor heat through multiple channels.

[0059] See Figure 7 In at least one embodiment, in the inner chamber 201, the inner wall of the motor housing 21 and the two ends of the frameless motor 22 respectively form a heat dissipation space 202; and the airflow channel network 42 includes two groove groups 421, each groove group 421 connecting the corresponding heat dissipation space 202 and the outer space 203.

[0060] See Figure 8When the motor housing 21 has a first groove group 423 and a second groove group 425, the first groove group 423 is connected to the heat dissipation space 202 on the left side of the stator 221, and the second groove group 425 is connected to the heat dissipation space 202 on the right side of the stator 221. The first flow channel groove 4231 and the first guide groove 4232 are alternately distributed on one side, and the second flow channel groove 4251 and the second guide groove 4252 are alternately distributed on the other side. At the same time, the first guide groove 4232 and the second guide groove 4252 on different sides are also staggered, so that the first hidden heat dissipation fins 424 and the second hidden heat dissipation fins 426 are staggered on the motor housing 21. This allows the motor housing 21 to have more and longer hidden heat dissipation fins 422, which can effectively dissipate heat in both forward and reverse rotation of the motor. For the motor housing 21, the design of adding the groove group 421 does not increase the volume and weight of the motor housing 21.

[0061] In some embodiments, an impeller 43 is arranged at each end of the rotor bushing 23, and both impellers 43 are located in the rotor cavity 2220 of the frameless motor 22. Figure 6 As shown, the rotor bushing 23 includes an inner ring 232, an outer ring 233, and multiple webs 234 connecting the inner ring 232 and the outer ring 233. A flow channel 230 is formed between two adjacent webs 234 and the inner ring 232 and outer ring 233. The inner ring 232 is fixedly sleeved on the shaft 15. Both ends of the inner ring 232 extend axially to form extensions 236. A corresponding impeller 43 is fixedly sleeved on the outer periphery of each extension 236. The two impellers 43 are arranged at both ends of the rotor bushing 23 and housed within the rotor cavity 2220 of the frameless motor 22. This eliminates the need for additional space outside the frameless motor 22, facilitating the miniaturization design of the motor assembly 2. Furthermore, the frame structure of the rotor bushing 23 significantly reduces its weight, contributing to the lightweight design of the motor assembly 2. Specifically, there are six web plates 234, which form six flow channels 230 between the inner ring 232 and the outer ring 233. Correspondingly, the impeller 43 can be designed with six blades, each blade corresponding to one flow channel 230.

[0062] See Figure 7 and Figure 9 Preferably, a fluid flow channel 44 is integrally formed within the wall of the motor housing 21, and the channel shape is that of a Tesla valve pipe. The overall direction of the fluid flow channel 44 is roughly serpentine, which can increase the length of the fluid flow channel 44. A Tesla valve is installed in the fluid flow channel 44 to enhance the turbulence of the coolant and thus enhance heat dissipation. The inlet 441 and outlet 442 of the fluid flow channel 44 are arranged in the same row on the end face of the motor housing 21. Specifically, the overall direction of the fluid flow channel 44 can be sinusoidal and surround the motor housing 21.

[0063] The motor housing 21 is 3D printed from polymer material and has an overall ring structure. The motor housing 21 integrates an airflow channel network 42 and a liquid flow channel 44, which can reduce the weight of the motor housing 21 itself. Both the airflow channel and the liquid flow channel 44 are located in the side wall of the motor housing 21, without the need to increase the volume.

[0064] See Figure 4 and Figure 5 In some embodiments, a third guide hole 157 is also provided on the shaft 15, which connects the corresponding heat dissipation space 202 and the hollow channel 150. The third guide hole 157 on the eccentric shaft is close to the cycloidal pinwheel reducer 1 and corresponds to the heat dissipation space 202 close to the cycloidal pinwheel reducer 1, thereby increasing the outward heat dissipation airflow channel inside the motor assembly 2 and improving the heat dissipation effect of the motor.

[0065] See Figure 10 The joint module also includes an isolation end cap 51. The isolation end cap 51 is located between the pin tooth housing 11 and the motor housing 21, and is fixedly connected to both. The isolation end cap 51 is fitted onto the shaft 15 via a skeleton oil seal 52, which is embedded in the center hole of the isolation end cap 51 and slides in a sealing fit with the outer circumferential surface of the shaft 15. Furthermore, a semiconductor cooling ring 45 is attached to the end face of the isolation end cap 51 near the motor housing 21.

[0066] See Figure 2 The left and right sides of the isolation end cap 51 mate with the needle tooth shell 11 and the motor housing 21 respectively, and the three are bonded together with high-strength flat sealant. For example... Figure 4 , Figure 5 and Figure 10 As shown, a flange 511 is provided on the inner side of the central hole of the isolation end cover 51 near the motor housing 21. The flange 511 mates with one side of the skeleton oil seal 52, and the other side of the skeleton oil seal 52 mates with the limiting shoulder 158 on the eccentric shaft. The limiting shoulder 158 has a stepped structure to prevent the lubricating grease inside the cycloidal pinwheel reducer 1 from contaminating the motor assembly 2. The limiting shoulder 158 and the flange 511 limit the axial position of the skeleton oil seal 52. A thin-walled annular semiconductor cooling ring 45 is attached to the end face of the isolation end cover 51 near the motor housing 21 with thermally conductive silicone. The semiconductor cooling ring 45 dissipates heat for the motor assembly 2 and the cycloidal pinwheel reducer 1, and can also effectively prevent heat from the motor assembly 2 from radiating to the cycloidal pinwheel reducer 1. It works in conjunction with air cooling to achieve efficient heat dissipation. The semiconductor cooling ring can achieve different heat dissipation effects by controlling the current according to the working conditions and running time of the joint module, and has good adaptability.

[0067] Further, see Figure 6 and Figure 7The motor assembly 2 also includes a motor bearing housing 24, which is movably connected to the free end of the eccentric shaft via a motor bearing 25 and is fixedly connected to the end of the motor housing 21 away from the pin tooth housing 11. A heat dissipation space 202 is formed between the motor bearing housing 24 and the isolation end cover 51 and the two ends of the frameless motor 22, respectively.

[0068] And, see also Figure 6 , Figure 7 and Figure 11 The joint module also includes an end cap 61 with holes 62. The end cap 61 is fixedly connected to the motor bearing housing 24 of the motor assembly 2, and the drive plate 3 is located between the end cap 61 and the motor bearing housing 24. Multiple holes 62 are evenly distributed circumferentially on the end face of the end cap 61. The holes 62 are arc-shaped and allow for airflow for heat dissipation, thus facilitating heat dissipation for the motor assembly 2 and the drive plate 3. Furthermore, a threaded hole 63 is also provided on the end face of the end cap 61. This threaded hole 63 is bolted to the motor bearing housing 24, thereby encapsulating the joint module.

[0069] See Figure 6 , Figure 7 The first impeller 431 is the left impeller, and the second impeller 432 is the right impeller. In the motor assembly 2, along the axial direction of the eccentric shaft away from the isolation end cover 51, the first impeller 431, rotor sleeve 23, second impeller 432, motor bearing 25, and wave washer 26 are sequentially mounted on the eccentric shaft. Along the radial direction of the eccentric shaft from the inside to the outside, the rotor sleeve 23 is sequentially mounted with a rotor 222, stator 221, and motor housing 21, which is annular. The motor bearing seat 24 is assembled on the outer periphery of the motor bearing 25 and is fixedly connected to the motor housing 21. The first impeller 431 and the second impeller 432 are bonded to the extension 236 in the rotor sleeve 23 by high-strength flat adhesive, and the connection between the extension 236 and the inner ring 232 of the rotor sleeve 23 is stepped. The side end of the inner ring 232 mates with the corresponding impeller 43. A limiting strip 235 is provided on the inner circumferential side of the inner ring 232 of the rotor bushing 23. This limiting strip 235 cooperates with the limiting groove 154 on the eccentric shaft to limit the rotor bushing 23 to rotate synchronously with the eccentric shaft, preventing mutual movement in the circumferential direction. The outer wall of the stator 221 is adhered to the inner wall of the motor housing 21 with high-strength flat adhesive. Furthermore, the side of the motor housing 21 near the isolation end cover 51 extends radially inward to form a shoulder 211. This shoulder 211 cooperates with the stator 221 to limit the axial movement of the stator 221. Figure 7As shown. When the rotor 222 rotates forward or reverse, it drives the first impeller 431 and the second impeller 432 on the rotor bushing 23 to rotate and generate axial airflow. Part of the airflow flows through the first impeller 431, the flow channel 230, and the second impeller 432 to the isolation end cover 51 or the drive plate 3. Then, it carries away the heat through the flow channel groove 4211 on the motor housing 21, the hidden heat dissipation fins 422, and the holes 62 on the end cover 61. Another part of the airflow enters the hollow channel 150 of the eccentric shaft through the first impeller 431, the flow channel 230, the second guide hole 231, and the first guide hole 151. Then, the shaft end impeller 41 carries away the heat from the joint module, thereby achieving efficient heat dissipation through multiple heat dissipation channels.

[0070] like Figure 12 and Figure 13 As shown, further, multiple centrifugal turbine fans 46 are attached to the semiconductor cooling ring 45. These centrifugal turbine fans 46 are arranged in a ring around the outside of the shaft 15, with their air intake sides facing the rotor bushing 23. In this embodiment, four centrifugal turbine fans are arranged on the outside of the eccentric shaft. All four centrifugal turbine fans are bonded to the semiconductor cooling ring 45 using high-strength planar sealant, forming a uniform ring arrangement with symmetrical distribution at equal angles around the circumference. Each centrifugal turbine fan 46 has its own drive source, and the rotation of the centrifugal turbine fan 46 can be realized through the control system. When the first impeller 431 and the second impeller 432 are running with the eccentric shaft and the airflow flows from right to left, the centrifugal turbine fan 46 can draw in the airflow from the first impeller 431. The centrifugal force generated by the high-speed rotation of the built-in blades of the centrifugal turbine fan 46 is used to throw the airflow out from the side air duct of the centrifugal turbine fan 46. The airflow is then cooled by the flow channel groove 4211 on the left side of the motor housing 21 and the hidden heat dissipation fins 422, which enhances the airflow cooling effect of the motor assembly 2 when it is enabled.

[0071] like Figure 14As shown, preferably, a plurality of axial flow fans 47 are embedded in the motor bearing housing 24 of the motor assembly 2, and the plurality of axial flow fans 47 are distributed in a ring around the outside of the shaft 15. In this embodiment, both the axial fan 47 and the centrifugal turbine fan 46 are self-driven fans. The axial fan 47 can be rotated forward and backward by the control system to guide the airflow from left to right or from right to left. There are three axial fans 47. The motor bearing housing 24 can adopt a spoke-like hub design, dividing the six hub through holes into three empty fan area through holes 241 and three mounting area through holes 242. The empty fan area through holes 241 and the mounting area through holes 242 are alternately distributed. The mounting area through holes 242 are stepped through holes. Each axial fan 47 can be glued into the stepped through holes by high-strength flat sealant. With the help of the control system, forward and reverse rotation can be achieved to match the forward and reverse airflow, thereby increasing the heat dissipation effect of the joint module. In addition, when the frameless motor 22 of the joint module is not running, the axial fan 47 can also be actively driven under the action of the control system to generate a stable axial airflow, continuously dissipating heat from the motor assembly 2 and the drive plate 3, effectively reducing the heat accumulation temperature under standby conditions, and ensuring the operational stability of the joint module.

[0072] Similarly, an end-cap axial fan is attached to one end of the end cap 61 near the drive plate 3. This end-cap axial fan can be used in conjunction with the axial fan 47, or in conjunction with both the axial fan 47 and the centrifugal turbine fan 46, thereby accelerating the heat dissipation in the motor assembly 2. The fan can actively drive the airflow to form a stable airflow through the direction of the fan under the control system, effectively dissipating heat during both operation and standby of the frameless motor 22, thus improving the operational stability of the joint module. It should be noted that the operating logic of the end-cap axial fan is similar to that of the axial fan 47, therefore it will not be described or illustrated in detail here.

[0073] This application embodiment employs a combined structure of air cooling, liquid cooling, and a semiconductor cooling ring. The air cooling structure improves upon existing components, integrating some elements into the motor housing 21. The rotor bushing 23 structure is optimized, increasing airflow and reducing its weight. Holes can be opened in the rotor bushing 23 to remove motor heat via an eccentric shaft, eliminating the need for additional space. Two sets of grooves 421 ensure efficient heat dissipation regardless of whether the motor assembly 2 rotates forward or backward. Furthermore, the centrifugal turbine fan 46, axial fan 47, and end-cover axial fan are actively driven to further enhance heat dissipation. Liquid cooling is integrated into the motor housing 21, utilizing a sinusoidal Tesla valve liquid cooling structure to continuously and stably remove the large amount of heat generated by the motor assembly 2. The needle-tooth shell 11 can also be designed with liquid cooling channels similar to those in the electrode shell. The semiconductor cooling ring is attached to the end face of the isolation end cover 51, resulting in a simple and compact structure that facilitates the assembly and integration of heat dissipation components without significantly increasing additional space. As can be seen, the embodiments of this application can efficiently dissipate heat from the motor assembly 2, ensuring the stability and efficiency of the joint module under high load conditions and improving the continuous operation capability of the joint module.

[0074] This invention also provides a robot, including the aforementioned joint module with heat dissipation function.

[0075] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robot joint module with heat dissipation function, characterized in that, It includes a cycloidal pinwheel reducer, a motor assembly, and a drive plate, wherein the drive plate is connected to the motor assembly, and the cycloidal pinwheel reducer is connected to the output end of the motor assembly; The cycloidal pinwheel reducer includes a pin tooth housing and an output flange assembly, a cycloidal pinwheel assembly, an input flange assembly, and a hollow shaft installed inside the pin tooth housing. The shaft includes an assembly section and an extension section. The output flange assembly, the cycloidal pinwheel assembly, and the input flange assembly are sequentially installed on the assembly section. The extension section extends out of the pin tooth housing and has a first guide hole. The motor assembly includes a motor housing, a frameless motor, and a rotor bushing. The frameless motor is fitted around the outer periphery of the rotor bushing and is installed inside the motor housing. The rotor bushing includes an inner ring, an outer ring, and multiple webs connecting the inner ring and the outer ring, with flow channels formed between adjacent webs. The inner ring is mounted on an extension of the shaft and has a second flow hole opposite to the first flow hole. The motor housing has an airflow channel network formed thereon. The airflow channel network includes several flow channel grooves and several guide grooves that are alternately distributed along the circumference of the motor housing, as well as several hidden heat dissipation fins that are connected to the guide grooves one by one. The flow channel grooves penetrate the wall of the motor housing, and the guide grooves partially penetrate the wall of the motor housing with their openings facing inward. The hidden heat dissipation fins are disposed in the wall of the motor housing, with their inlets connected to the corresponding guide grooves and their outlets located on the outer wall of the motor housing.

2. The robot joint module with heat dissipation function according to claim 1, characterized in that, The concealed heat dissipation fins include a pipe and multiple fins; the main channel of the pipe extends along the axial direction of the motor housing, one end of the main channel is connected to the guide groove corresponding to the concealed heat dissipation fins, and the tail end of the main channel is connected to a branch channel extending radially along the motor housing to the outer wall of the motor housing, and the multiple fins are distributed in parallel and spaced apart in the pipe.

3. The robot joint module with heat dissipation function according to claim 1, characterized in that, A third guide hole is also provided on the shaft, and the third guide hole connects the corresponding heat dissipation space with the hollow channel inside the shaft; the corresponding heat dissipation space refers to the space formed by the inner wall of the motor housing and the end of the frameless motor near the cycloidal pinwheel reducer.

4. The robot joint module with heat dissipation function according to claim 1, characterized in that, An impeller is fitted at at least one end of the rotor bushing, and the impeller is located inside the frameless motor cavity.

5. The robot joint module with heat dissipation function according to claim 1, characterized in that, It also includes an isolation end cap; the isolation end cap is located between the needle tooth shell and the motor housing, the isolation end cap is sleeved on the shaft body by a skeleton oil seal, the skeleton oil seal is embedded in the center hole of the isolation end cap and slides and seals with the outer peripheral surface of the shaft body; and a semiconductor cooling ring is provided on the end face of the isolation end cap near the motor housing.

6. The robot joint module with heat dissipation function according to claim 5, characterized in that, Multiple centrifugal turbine fans are arranged on the semiconductor cooling ring, and the multiple centrifugal turbine fans are distributed in a ring outside the shaft body, with the air inlet side of the centrifugal turbine fans facing the rotor shaft sleeve.

7. The robot joint module with heat dissipation function according to claim 1, characterized in that, A shaft end impeller is installed at the end of the assembly section of the shaft, and the shaft end impeller covers the port of the hollow channel of the shaft.

8. The robot joint module with heat dissipation function according to claim 1, characterized in that, The motor housing has a fluid flow channel formed inside, and the fluid flow channel is shaped like a Tesla valve pipe.

9. The robot joint module with heat dissipation function according to claim 1, characterized in that, The motor assembly has a motor bearing housing with multiple axial fans embedded in it, and the multiple axial fans are distributed in a ring around the outside of the shaft; and the joint module also includes an end cover with a channel, the end cover is fixedly connected to the motor bearing housing, and the drive plate is located between the end cover and the motor bearing housing; and an end cover axial fan is arranged inside the end cover.

10. A robot, characterized in that, Including the robot joint module with heat dissipation function as described in any one of claims 1 to 9.

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