Novel PCB electric fan joint module

Abstract

The application relates to a novel PCB electric motor joint module, which comprises a PCB electric motor, a harmonic reducer and a control circuit board, the PCB electric motor comprises a first casing, a second casing, a PCB stator and a rotor, the middle part of the PCB stator is provided with a heat conduction plate, the rotor comprises a rotating shaft and a first rotating disc, a circle of turbulence ribs are arranged on the first rotating disc at intervals along the circumference, a circle of heat dissipation ribs are further arranged on the second casing at intervals along the circumference, the harmonic reducer comprises a cam, a flexible bearing, a flexible wheel, an output steel wheel and a reducer outer ring, the cam is fixed on the end of the rotating shaft penetrating through the second casing, the flexible bearing is arranged outside the cam, one end of the flexible wheel is sleeved outside the flexible bearing, the reducer outer ring is fixed on the second casing, the other end of the flexible wheel is clamped and fixed between the reducer outer ring and the second casing, the output steel wheel is rotationally arranged in the reducer outer ring, the output steel wheel is located outside the flexible wheel and is in transmission connection with the flexible wheel, and a T-shaped output piece is further fixed on the output steel wheel. The joint module has the advantages of compact structure and good heat dissipation effect.

Description

Technical Field

[0001] This invention relates to the field of robot joint drive technology, specifically to a novel PCB motor joint module, and more particularly to a robot joint drive device that highly integrates a PCB motor and a harmonic reducer and has excellent heat dissipation performance. Background Technology

[0002] As robotics technology rapidly advances towards lightweight, high-precision, and highly integrated designs, the joint drive module, as a core actuator of the robot, directly determines the overall motion accuracy, load capacity, and dynamic response characteristics. Traditional robot joint drive solutions typically employ a separate structure using a servo motor and harmonic reducer, connected via a coupling or flange. This approach suffers from inherent drawbacks such as long axial dimensions, heavy weight, and low integration. In recent years, the emergence of PCB axial flux motors (PCB motors) has provided a new technological path for robot joint drives.

[0003] A PCB motor is an axial flux motor that uses a printed circuit board (PCB) as its stator. Its stator windings are directly fabricated on the PCB, eliminating the need for the iron core structure and copper wire windings of traditional motors. Compared to traditional motors, PCB motors offer significant weight reduction advantages—copper usage is reduced by approximately 66%, resulting in a substantial weight reduction. Simultaneously, the axial flux structure reduces flux path losses, and the coreless design eliminates hysteresis and eddy current losses, significantly improving efficiency. Furthermore, PCB motors boast excellent thermal stability, automated production capabilities, extremely low noise, and flexible design. Based on these advantages, PCB motors are considered a highly promising technology in the field of robot joint actuation.

[0004] However, existing PCB motor joint modules still have many technical problems that urgently need to be solved.

[0005] First, heat dissipation is one of the core challenges facing PCB motors. The copper foil coils in the PCB stator generate significant Joule heat when energized, but the PCB substrate itself has limited thermal conductivity, making it difficult to effectively dissipate this heat. Although existing research has proposed solutions such as installing heat dissipation layers between the PCB winding boards or using fans on the shaft for forced air cooling, these measures are either structurally complex, increasing the axial dimensions of the module, or have limited cooling effects, failing to meet the heat dissipation requirements under high power density conditions. Poor heat dissipation not only leads to excessive motor temperature rise and decreased efficiency but also affects the performance of the permanent magnets and even the reliability and lifespan of the entire module.

[0006] Secondly, there is still room for improvement in terms of integration and axial dimensions. Although existing integration solutions arrange the PCB motor and harmonic reducer in series axially, the motor body lacks an effective heat dissipation structure design, and the layout of the control circuit board often increases the axial length of the module. How to further reduce the axial dimensions and increase power density while ensuring heat dissipation is an important direction for current technological development.

[0007] Third, functional integration is still imperfect. In existing joint modules, the integration of auxiliary functions such as braking, torque detection, and position feedback varies. Some solutions require additional independent brakes, sensors, and other components, which not only increases the complexity and cost of the module but also hinders the control of the overall size.

[0008] In addition, when a PCB motor is running at high speed, the airflow in the air gap between the rotor and the stator helps with heat dissipation. However, existing technologies lack effective utilization and optimized design of the airflow organization in the air gap, and fail to fully utilize the convective heat dissipation potential brought about by the motor's own rotation.

[0009] To address the shortcomings of the existing technologies, a new type of PCB motor joint module needs to be developed. This module should ensure high integration and high torque density while effectively solving the heat dissipation problem of the PCB motor and further optimizing the axial dimensions and functional integration of the module. Summary of the Invention

[0010] To address the aforementioned technical problems, the present invention aims to provide a novel PCB motor joint module with a compact structure and good heat dissipation.

[0011] To achieve the objectives of the invention described above, the present invention adopts the following technical solution:

[0012] A novel PCB motor joint module includes a PCB motor, a harmonic reducer, and a control circuit board. The control circuit board is fixed at the end of the PCB motor away from the harmonic reducer. The PCB motor includes a first housing, a second housing, a PCB stator, and a rotor. A heat spreader is sandwiched in the middle of the PCB stator, and the outer edge of the heat spreader is sandwiched between the first housing and the second housing. The rotor includes a shaft and a first turntable fixed on the shaft. The first turntable is located on one side of the PCB stator, and a ring of baffles is arranged at intervals along the circumference of the first turntable. A ring of heat dissipation fins is also arranged at intervals along the circumference of the second housing. The harmonic reducer includes a cam, a flexible bearing, a flexible wheel, an output steel wheel, and a reducer outer ring. The cam is fixed at the end of the shaft that passes through the second housing. The flexible bearing is disposed outside the cam. One end of the flexible wheel is sleeved outside the flexible bearing. The outer ring of the reducer is fixed on the second housing. The other end of the flexible wheel is clamped and fixed between the outer ring of the reducer and the second housing. The output steel wheel is rotatably disposed inside the outer ring of the reducer and is located outside the flexible wheel, and is connected to the flexible wheel for transmission. A T-shaped output component is also fixed on the output steel wheel.

[0013] As a preferred embodiment, a second turntable is also fixed on the rotating shaft, and the second turntable is located on the other side of the PCB stator.

[0014] As a preferred embodiment, the system also includes a brake body and a brake swivel ring, wherein the brake swivel ring is fixed on a second turntable and the brake body is fixed in a first housing.

[0015] As a preferred embodiment, the PCB stator includes a fixing frame and a winding disc. Both the winding disc and the heat spreader are provided with through holes. The fixing frame is provided with a protrusion, which is inserted into the through hole, so that the two winding discs clamp the heat spreader together and are fixed together.

[0016] As a preferred embodiment, the heat spreader includes an outer shell and an inner shell that are nested together. A first cavity for containing phase change coolant is formed between the outer shell and the inner shell. A second cavity is formed by the hollow interior of the inner shell. Multiple capillary columns are spaced apart in the second cavity.

[0017] As a preferred embodiment, a torque sensor is also fixedly clamped between the flexible wheel and the outer ring of the reducer.

[0018] As a preferred embodiment, the T-shaped output component includes an output disk and a hollow shaft. The output disk is fixed to one end of the hollow shaft and is fixed to the output steel wheel. The shaft is hollow inside and passes through the harmonic reducer and is installed in the shaft.

[0019] As a preferred embodiment, the control circuit board integrates a first encoder and a second encoder, with the first magnetic ring corresponding to the first encoder fixed to one end of the rotating shaft, and the second magnetic ring corresponding to the second encoder fixed to one end of the hollow shaft.

[0020] As a preferred embodiment, a sealing ring is also provided between the output steel wheel and the outer ring of the reducer.

[0021] As a preferred embodiment, one end of the first housing is also fixed with a rear cover for covering the control circuit board.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This invention involves clamping a heat spreader plate in the middle of the PCB stator, with its outer edge directly sandwiched between the first and second housings. This design allows the Joule heat generated by the winding discs on both sides of the PCB stator to be collected on the heat spreader plate via the shortest heat conduction path. Furthermore, the outer edge of the heat spreader plate is in direct metal-to-metal contact with the housing, forming a highly efficient solid-state heat conduction channel from the windings, heat spreader plate, housing, and external environment, effectively solving the inherent defect of poor thermal conductivity in PCB substrates.

[0024] The first turntable of the present invention has a ring of turbulence ribs arranged at intervals along the circumference. When the rotor rotates at high speed, the ribs rotate accordingly, continuously stirring the air in the air gap between the stator and rotor, forming forced turbulence, which destroys the thermal resistance boundary of the static air layer in the air gap, significantly enhances the convective heat transfer coefficient of the internal air, and enables heat to be transferred from the stator surface to the casing more efficiently.

[0025] The second housing of the present invention has a ring of heat dissipation fins arranged at intervals along the circumference, which greatly increases the heat dissipation area of ​​the outer surface of the housing, so that the heat conducted to the housing can be quickly dissipated into the environment through natural convection and thermal radiation.

[0026] In summary, this invention features a triple heat dissipation mechanism (solid-state conduction, internal forced convection, and external extended heat dissipation) working in tandem. Without the need for an additional independent fan or liquid cooling system, it achieves efficient heat removal from the motor's interior, ensuring the module's temperature stability and long-term reliability under high power density conditions. Attached Figure Description

[0027] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a cross-sectional structural schematic diagram of the present invention;

[0030] Figure 3 and Figure 4 These are two different angles showing the exploded structure of the present invention;

[0031] Figure 5 and Figure 6 This is a schematic diagram of the overall structure of the PCB motor of the present invention from two different angles (excluding the housing);

[0032] Figure 7 and Figure 8 These are exploded structural diagrams of the PCB motor of the present invention from two different angles (excluding the housing);

[0033] Figure 9 This is a cross-sectional structural diagram of the heat spreader of the present invention.

[0034] The attached figures are labeled as follows: 11, first housing; 12, second housing; 121, heat dissipation fins; 21, winding disc; 22, heat spreader; 221, outer shell; 222, inner shell; 223, capillary column; 224, first cavity; 225, second cavity; 31, rotating shaft; 311, first magnetic ring; 33, first turntable; 32, second turntable; 331, turbulence ribs; 34, fixing frame; 341, protrusion; 35, through hole; 41, cam; 42, flexible bearing; 43, flexible wheel; 44, output steel wheel; 441, sealing ring; 45, reducer outer ring; 5, torque sensor; 6, T-shaped output component; 61, second magnetic ring; 7, bearing; 8, rear cover; 81, control circuit board; 9, brake body; 91, brake rotating ring. Detailed Implementation

[0035] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0036] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0037] Furthermore, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, unless explicitly defined otherwise.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0042] like Figures 1 to 4As shown, a novel PCB motor joint module includes a PCB motor, a harmonic reducer, and a control circuit board 81. The control circuit board 81 is fixed at the end of the PCB motor away from the harmonic reducer. The PCB motor includes a first housing 11, a second housing 12, a PCB stator, and a rotor. A heat dissipation plate 22 is sandwiched in the middle of the PCB stator, and the outer edge of the heat dissipation plate 22 is sandwiched between the first housing 11 and the second housing 12. The rotor includes a rotating shaft 31 and a first turntable 33 fixed on the rotating shaft 31. The first turntable 33 is located on one side of the PCB stator, and a ring of baffle ribs 331 is arranged at intervals along the circumference of the first turntable 33. A ring of heat dissipation ribs 121 is also arranged at intervals along the circumference of the second housing 12. The harmonic reducer includes a cam 41, a flexible bearing 42, a flexible wheel 43, an output steel wheel 44, and a reducer outer ring 45. The cam 41 is fixed to the end of the rotating shaft 31 that extends out of the second housing 12. The flexible bearing 42 is disposed outside the cam 41. One end of the flexible wheel 43 is sleeved outside the flexible bearing 42. The outer ring 45 of the reducer is fixed on the second housing 12. The other end of the flexible wheel 43 is clamped and fixed between the outer ring 45 of the reducer and the second housing 12. The output steel wheel 44 is rotatably disposed inside the outer ring 45 of the reducer and is located outside the flexible wheel 43, and is connected to the flexible wheel 43 in a transmission. A T-shaped output component 6 is also fixed on the output steel wheel 44.

[0043] The aforementioned joint module employs a triple-layered heat dissipation structure, including a centrally located heat spreader, active convection enhancement via ribs, and passive radiation cooling via heat dissipation fins, resulting in a significant improvement in heat dissipation performance. This structure also allows for a more compact harmonic reducer: the cam is directly fixed to the end of the shaft extending out of the second housing, the reducer's outer ring is fixed outside the second housing, and one end of the flex wheel is fitted onto a flexible bearing, while the other end is clamped and fixed between the reducer's outer ring and the second housing. This structure eliminates the need for couplings or flanges between the motor shaft and the wave generator in traditional designs, enabling direct coaxial drive between the motor rotor and the input of the harmonic reducer. This shortens the transmission chain length, reduces axial dimensions and the number of parts, and avoids transmission errors caused by connection gaps, thus improving joint rigidity and control precision. Furthermore, the T-shaped output provides a standard mechanical interface with the end effector, facilitating the rapid installation and removal of components such as the robot arm.

[0044] The ribs 331 on the first turntable 33 can be S-shaped, C-shaped, or I-shaped. Compared to conventional radial straight ribs, S-shaped or C-shaped curved ribs can generate stronger tangential vortices and turbulence effects during rotation, making the airflow path in the air gap more tortuous and complex, increasing the contact time and contact area between the air and the turntable and stator surfaces, thereby significantly improving the convective heat transfer coefficient. S-shaped ribs can also produce an axial flow splitting effect, promoting the axial flow and exchange of air in the air gap, making the heat distribution more uniform. I-shaped ribs provide the most direct radial air pressure and have the advantages of simple processing and easy dynamic balance control. The design selection of the three shapes can be optimized and matched according to the specific motor speed, air gap size, and heat flux density to achieve the best balance between heat dissipation efficiency, manufacturing process, and rotor dynamic balance.

[0045] A second turntable 32 is also fixed on the rotating shaft 31. The second turntable 32 is located on the other side of the PCB stator, forming a symmetrical axial magnetic flux structure of "dual rotor disc clamping the stator". The permanent magnets on both turntables interact with the PCB stator simultaneously, effectively balancing the axial magnetic attraction force on the rotor, eliminating the unilateral axial tension present in the single rotor scheme, significantly reducing the axial load on the rotating shaft and the axial stress of the bearings, extending the bearing service life, and improving the smoothness of rotor operation and the overall dynamic response performance of the module. In addition, the dual rotor structure increases the effective magnetic flux area, and can output a larger torque density under the same axial dimension.

[0046] The shutdown module also includes a brake body 9 and a brake rotating ring 91. The brake rotating ring 91 is fixed on the second turntable 32, and the brake body 9 is fixed in the first housing 11. By fully integrating the brake function within the motor housing and utilizing the second turntable as the rotating component of the brake, "one component, multiple uses" is achieved—the second turntable both outputs electromagnetic torque and acts as the brake disc. This integrated design eliminates the need for an additional independent rotating shaft or flange structure for the brake, significantly saving axial space and component costs. The brake body, fixed in the first housing, can immediately lock the rotating shaft in the event of a power outage, achieving safe braking and position holding of the joint, meeting the safety requirements of the robot joint under unexpected power outages or emergency stops.

[0047] A torque sensor 5 is also clamped and fixed between the flexible wheel 43 and the outer ring 45 of the reducer. The torque sensor is integrated into the structural assembly surface of the harmonic reducer in a "sandwich" manner. The sensor's positioning and pre-tensioning are achieved using the clamping force between the flexible wheel and the outer ring of the reducer, eliminating the need for additional supports or adapters. This sensor can directly detect the torque transmitted by the flexible wheel and convert it into the load torque at the output end, providing real-time force / torque feedback signals for the robot joints, enabling the module to have force control capabilities. This is crucial for achieving advanced robot functions such as precision force-controlled assembly, compliant control, and collision detection. Furthermore, because the sensor is built into the reducer, it is unaffected by external load installation deviations, resulting in higher measurement accuracy.

[0048] A sealing ring 441 is also provided between the output steel wheel 44 and the outer ring 45 of the reducer. The sealing ring forms a dynamic seal between the relative rotating interface of the output steel wheel and the outer ring of the reducer. This sealing structure prevents the grease inside the harmonic reducer from leaking out during operation, ensuring the lubrication condition and transmission efficiency of the reducer during long-term operation; on the other hand, it prevents contaminants such as dust, moisture, and fine particles from entering the reducer, avoiding abrasive wear and corrosion of the flexible bearings and gear teeth. This is of great significance for ensuring the service life and reliability of the joint module in industrial or humanoid robot applications.

[0049] The T-shaped output component 6 includes an output disk and a hollow shaft. The output disk is fixed to one end of the hollow shaft and is also fixed to the output steel wheel 44. The rotating shaft 31 is hollow inside, and the hollow shaft 6 passes through the harmonic reducer and runs through the rotating shaft 31. This structure achieves a large hollow cable routing structure with "shaft-in-shaft". The hollow interior of the rotating shaft provides a through channel for the hollow shaft, allowing it to extend from the rear end of the module to the front output end. This structure achieves the following key effects: First, the hollow channel running through the entire module can be used to run power lines, signal lines, air pipes, or liquid cooling pipes, allowing the cables to pass through the inside of the joint, completely avoiding the problems of external cables getting tangled, twisted, and worn during joint rotation; Second, the hollow shaft is coaxially arranged with the rotating shaft, without increasing the radial dimension of the module; Third, the output disk serves as a standard interface for connection to the load, with a simple structure and a direct mechanical transmission path, improving output rigidity.

[0050] The control circuit board 81 integrates a first encoder and a second encoder. The first magnetic ring 311 corresponding to the first encoder is fixed to one end of the rotating shaft 31, and the second magnetic ring 61 corresponding to the second encoder is fixed to one end of the hollow shaft. The control circuit board integrates dual encoder detection function, realizing synchronous position / speed detection at the motor end and the output end. Specifically, the first encoder detects the rotation angle and speed of the rotating shaft (i.e., the motor rotor / wave generator input end), and the second encoder detects the rotation angle and speed of the hollow shaft (i.e., the output steel wheel / load output end). By comparing the readings of the two encoders, the transmission error, torsional stiffness, and absolute position of the output end of the harmonic reducer can be calculated in real time, realizing full closed-loop control. This is of great significance for eliminating the hysteresis and transmission nonlinearity error of the reducer itself and improving the absolute positioning accuracy of the joint. At the same time, the dual encoder signals can also be used to calculate the joint output torque (through the relationship between the torsional angle and the stiffness coefficient), replacing or redundant the independent torque sensor. Integrating the encoder chip on the control circuit board reduces the space occupied by a separate encoder board and the connection harness, further compressing the axial dimension.

[0051] One end of the first housing 11 is also fixed with a rear cover 8 for covering the control circuit board 81. The rear cover provides physical protection and electromagnetic shielding for the control circuit board. Physically, it prevents damage, short circuits, or electrostatic discharge faults to the circuit board caused by impacts from external foreign objects or touches by operators. At the same time, the rear cover and the first housing together form a closed electromagnetic shielding cavity, effectively suppressing the leakage of high-frequency electromagnetic radiation generated by the control circuit board itself, and also blocking the coupling effect of external electromagnetic interference on sensitive signals on the circuit board (such as encoder feedback and drive control signals), thus improving the electromagnetic compatibility (EMC) of the module. In addition, the rear cover makes the module look neat and uniform, facilitating installation and wiring on the robot body.

[0052] like Figures 5 to 8 As shown, the PCB stator includes a fixing frame 34 and a winding disk 21. Both the winding disk 21 and the heat spreader 22 are provided with through holes 35. The fixing frame 34 is provided with a protrusion 341, which is inserted into the through hole 35, so that the two winding disks 21 clamp the heat spreader 22 together.

[0053] The precise coaxial positioning and stable clamping of the winding disk and the heat spreader plate are achieved through the interlocking of the protrusions and through holes on the fixing bracket. This assembly method has the following advantages: First, the cooperation between the protrusions and through holes ensures the concentricity between the stator layers, avoiding torque fluctuations caused by uneven air gaps between the winding disk and the permanent magnet; second, the clamping structure ensures a large-area tight fit between the heat spreader plate and the winding disk, eliminating air gap thermal resistance and ensuring that heat can be efficiently conducted from the winding disk to the heat spreader plate; third, no additional screws, rivets, or adhesives are required, simplifying the assembly process, reducing manufacturing costs, and facilitating the thinner design of the module.

[0054] like Figure 9 As shown, the heat spreader 22 includes an outer shell 221 and an inner shell 222 that are nested together. A first cavity 224 for containing phase change coolant is formed between the outer shell 221 and the inner shell 222. The inner shell 222 is hollow to form a second cavity 225. A plurality of capillary columns 223 are spaced apart in the second cavity 225.

[0055] This design constitutes a high-performance phase change heat spreader. Its working principle and effects are as follows: the coolant in the first chamber absorbs heat and evaporates in the high-temperature region corresponding to the PCB winding. The vaporized working fluid, carrying a large amount of latent heat, rapidly diffuses to the periphery of the heat spreader (low-temperature region), where it condenses and releases heat, efficiently transferring the heat to the outer edge in contact with the casing. In the second chamber, spaced capillary columns form a dense capillary reflux channel, using capillary force to quickly draw the condensed liquid working fluid back to the high-temperature evaporation zone, forming a rapid cycle of "evaporation, diffusion, condensation, and reflux." Compared to pure copper or pure aluminum heat-conducting plates, the phase change heat spreader has an equivalent thermal conductivity of several thousand W / (m·K), which is dozens of times that of traditional metal materials. It can effectively eliminate hot spots on the stator surface, achieve temperature uniformity, and significantly improve the short-term overload capacity and continuous output power of the PCB motor.

[0056] In summary, the joint module structure of this invention achieves a high degree of synergy in four dimensions: heat dissipation management, structural compactness, functional integration, and precise control. The heat dissipation system, composed of a heat spreader and a baffle / heat dissipation fin, allows the PCB motor to accommodate higher current density within a limited volume, providing a thermal capacity foundation for higher torque output from the module. The integrated design of dual turntables, a hollow shaft, built-in brakes, and built-in sensors allows the module to integrate complete joint functions such as driving, deceleration, braking, sensing, and wiring while minimizing axial dimensions. The dual-encoder closed-loop control fully leverages the high precision advantage of the harmonic reducer's hysteresis-free operation. Overall, this solution solves the technical bottlenecks of insufficient heat dissipation, low integration, and limited functionality in existing PCB motor joint modules, achieving a high-power-density, high-precision, and high-reliability robot joint drive solution.

[0057] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A novel PCB motor joint module, characterized in that, The device includes a PCB motor, a harmonic reducer, and a control circuit board (81). The control circuit board (81) is fixed at the end of the PCB motor away from the harmonic reducer. The PCB motor includes a first housing (11), a second housing (12), a PCB stator, and a rotor. A heat dissipation plate (22) is sandwiched in the middle of the PCB stator. The outer edge of the heat dissipation plate (22) is sandwiched between the first housing (11) and the second housing (12). The rotor includes a rotating shaft (31) and a first turntable (33) fixed on the rotating shaft (31). The first turntable (33) is located on one side of the PCB stator. A ring of turbulence ribs (331) is arranged at intervals along the circumference on the first turntable (33). A ring of heat dissipation ribs (121) is also arranged at intervals along the circumference on the second housing (12). The harmonic reducer includes a cam (41), a flexible bearing (42), a flexible wheel (43), an output steel wheel (44), and a reducer outer ring (45). The cam (41) is fixed at the end of the shaft (31) that passes through the second housing (12). The flexible bearing (42) is disposed outside the cam (41). One end of the flexible wheel (43) is sleeved outside the flexible bearing (42). The outer ring (45) of the reducer is fixed on the second housing (12). The other end of the flexible wheel (43) is clamped and fixed between the outer ring (45) of the reducer and the second housing (12). The output steel wheel (44) is rotatably disposed inside the outer ring (45) of the reducer, and the output steel wheel (44) is located outside the flexible wheel (43) and is connected to the flexible wheel (43) for transmission. A T-shaped output component (6) is also fixed on the output steel wheel (44).

2. The novel PCB motor joint module according to claim 1, characterized in that, A second turntable (32) is also fixed on the rotating shaft (31), and the second turntable (32) is located on the other side of the PCB stator.

3. A novel PCB motor joint module according to claim 2, characterized in that, It also includes a brake body (9) and a brake ring (91), the brake ring (91) being fixed on the second turntable (32), and the brake body (9) being fixed in the first housing (11).

4. A novel PCB motor joint module according to claim 1, characterized in that, The PCB stator includes a fixing frame (34) and a winding disc (21). Both the winding disc (21) and the heat spreader (22) are provided with through holes (35). The fixing frame (34) is provided with a protrusion (341). The protrusion (341) is inserted into the through hole (35), so that the two winding discs (21) clamp the heat spreader (22) together.

5. A novel PCB motor joint module according to claim 1, characterized in that, The heat spreader (22) includes an outer shell (221) and an inner shell (222) nested together. A first cavity (224) for containing phase change coolant is formed between the outer shell (221) and the inner shell (222). The inner shell (222) is hollow to form a second cavity (225). Multiple capillary columns (223) are spaced apart in the second cavity (225).

6. A novel PCB motor joint module according to claim 1, characterized in that, A torque sensor (5) is also fixed between the flexible wheel (43) and the outer ring (45) of the reducer.

7. A novel PCB motor joint module according to claim 1, characterized in that, The T-shaped output component (6) includes an output disk and a hollow shaft. The output disk is fixed at one end of the hollow shaft. The output disk is fixed to the output steel wheel (44). The rotating shaft (31) is hollow inside. The hollow shaft (6) passes through the harmonic reducer and is installed in the rotating shaft (31).

8. A novel PCB motor joint module according to claim 7, characterized in that, The control circuit board (81) integrates a first encoder and a second encoder. The first magnetic ring (311) corresponding to the first encoder is fixed at one end of the rotating shaft (31), and the second magnetic ring (61) corresponding to the second encoder is fixed at one end of the hollow shaft.

9. A novel PCB motor joint module according to claim 1, characterized in that, A sealing ring (441) is also provided between the output steel wheel (44) and the outer ring (45) of the reducer.

10. A novel PCB motor joint module according to claim 1, characterized in that, One end of the first housing (11) is also fixed with a rear cover (8) for covering the control circuit board (81).

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