Joint module and robot

Abstract

This application provides a joint module and a robot, relating to the field of robot joint module technology. The joint module provided in this application includes a drive motor, a piezoelectric device, and a vibration device. The piezoelectric device is configured to generate electrical energy under the vibration of the drive motor and drive the vibration device to vibrate. A cooling channel is provided inside the motor housing, and the vibration device is disposed within the cooling channel. The coolant is configured to flow along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device. Through this configuration, the coolant flows along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device. This allows the energy to be converted from the vibration of the drive motor during operation and to drive the coolant flow, improving the heat dissipation capacity inside the joint module. Consequently, without significantly increasing the structural burden and energy consumption, the integration, heat dissipation efficiency, and long-term reliability of the joint module are improved.

Description

Technical Field

[0001] This application relates to robot joint module technology, and more particularly to a joint module and robot. Background Technology

[0002] With the increasing demands for robot performance in industrial automation, intelligent manufacturing, and high-end manufacturing, robot technology is developing towards higher precision, higher load capacity, and longer continuous operation.

[0003] In related technologies, robots need to frequently perform complex actions, and their core components such as joint modules and drive motors generate a lot of heat when operating at high speeds or under heavy loads. Traditional solutions often use passive heat dissipation with sheet metal parts or active cooling structures with fans to cool the joint modules.

[0004] However, in traditional solutions, passive cooling of sheet metal parts has low heat dissipation efficiency and poor heat dissipation effect, while active cooling of fans not only occupies a large installation space, but also cannot meet the high heat dissipation requirements of robots. Summary of the Invention

[0005] In view of this, this application provides a joint module and a robot, which aims to improve the heat dissipation efficiency of the robot.

[0006] To achieve the above objectives, this application provides a joint module and robot, which adopts the following technical solution:

[0007] In a first aspect, this application provides a joint module, including a drive motor. The drive motor includes a motor housing, a piezoelectric device, and a vibration device. The piezoelectric device is disposed on the outer wall of the motor housing and is electrically connected to the vibration device. The piezoelectric device is configured to generate electrical energy under the vibration of the drive motor and drive the vibration device to vibrate.

[0008] The motor housing is provided with cooling channels, which are filled with coolant.

[0009] The vibration device is disposed inside the cooling channel and is in contact with the coolant.

[0010] The coolant is configured to flow along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device.

[0011] In one possible implementation, the joint module provided in this application includes a plurality of axial channels in the cooling channel, the axial channels extending along the axial direction of the motor housing, a connecting channel being provided between two adjacent axial channels, and the plurality of axial channels being arranged circumferentially along the motor housing.

[0012] The vibration device is installed inside the axial flow channel or inside the connecting channel.

[0013] In one possible implementation, the joint module provided in this application includes a vibration device comprising a vibration element and a vibrating plate, wherein the vibration element is electrically connected to the piezoelectric device and the vibrating plate is connected to the vibration element;

[0014] The vibrating element generates vibrational energy, which drives the flow of the coolant through the vibrating plate.

[0015] In one possible implementation, the joint module provided in this application has a connecting rod between the vibration element and the piezoelectric device, one end of the connecting rod being connected to the piezoelectric device, and the other end of the connecting rod passing through the motor housing and being connected to the vibration element;

[0016] The vibrating plate is located near or at the center of the cross-section of the cooling channel.

[0017] In one possible implementation, the joint module provided in this application further includes a motor body, a rotating shaft, and a controller;

[0018] One end of the rotating shaft is connected to the motor body, and the other end extends to the outside of the motor housing. The portion of the rotating shaft located outside the motor housing is used for transmission connection with the harmonic reducer.

[0019] The controller is mounted on the motor body, and a wiring channel is provided inside the rotating shaft. The wiring channel is configured to lay the controller's wires.

[0020] In one possible implementation, the joint module provided in this application has a bottom cover on the motor housing, a wiring sleeve on the bottom cover, the wiring sleeve being inserted into the wiring channel, and the controller's wires passing through the side wall of the wiring sleeve to be laid inside the wiring sleeve.

[0021] In one possible implementation, the joint module provided in this application also includes a heat-conducting plate;

[0022] Some of the cooling channels extend into the bottom cover;

[0023] The bottom cover has a mounting groove on the side facing the motor body, and at least part of the heat-conducting plate is embedded in the mounting groove. The heat-conducting plate is connected to the wiring sleeve.

[0024] In one possible implementation, the joint module provided in this application has an upper end cover and a bottom cover respectively provided at both ends of the motor housing, and the rotating shaft extends through the upper end cover to the outside of the motor housing;

[0025] A sealing assembly is provided between the rotating shaft and the upper end cover.

[0026] In one possible implementation, the joint module provided in this application includes a sealing assembly comprising a first sealing ring, a second sealing ring, and an elastic element;

[0027] The first sealing ring is sleeved on the outer side wall of the rotating shaft, the second sealing ring is embedded in the upper end cover, and the elastic element is disposed between the first sealing ring and the second sealing ring;

[0028] One end of the elastic element is connected to the first sealing ring, and the other end is connected to the second sealing ring. The elastic element is configured to always apply an elastic force to the first sealing ring and the second sealing ring to seal the gap between the rotating shaft and the upper end cover.

[0029] Secondly, this application provides a robot, including a robot body and at least one joint module as described above, the joint module being disposed at a joint of the robot body.

[0030] The joint module and robot provided in this application embodiment include a drive motor, which includes a motor housing, a piezoelectric device, and a vibration device. The piezoelectric device is disposed on the outer wall of the motor housing and is electrically connected to the vibration device. The piezoelectric device is configured to generate electrical energy under the vibration of the drive motor and drive the vibration device to vibrate. A cooling channel is provided inside the motor housing and is filled with coolant. The vibration device is disposed inside the cooling channel and is in contact with the coolant. The coolant is configured to flow along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device.

[0031] By installing a piezoelectric device on the outer wall of the motor housing of the drive motor and electrically connecting the piezoelectric device to a vibration device installed in the cooling channel, and by installing a cooling channel inside the motor housing, the coolant flows along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device. The vibration of the drive motor during operation can be used to convert energy and drive the flow of coolant, thereby improving the heat dissipation capacity inside the joint module. This improves the module integration, heat dissipation efficiency and long-term reliability without significantly increasing the structural burden and energy consumption.

[0032] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the technical solutions provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0034] Figure 1 This is a schematic diagram of the joint module provided in the embodiments of this application;

[0035] Figure 2 for Figure 1 A schematic diagram of part of the internal structure of the mid-joint module;

[0036] Figure 3 This is a schematic diagram of the structure of the piezoelectric device and the vibration device provided in the embodiments of this application;

[0037] Figure 4 This is a partial internal structure diagram of the cooling channel provided in an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the internal structure of the joint module provided in the embodiments of this application;

[0039] Figure 6 This is a schematic diagram of the internal structure of the sealing assembly provided in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the internal structure of a sealing assembly provided in another embodiment of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10. Harmonic reducer; 100. Drive motor; 110. Motor housing; 120. Motor body; 130. Shaft; 1301. Wiring channel; 140. Bottom cover; 1401. Mounting slot; 150. Controller; 160. Top cover; 200. Piezoelectric device; 300. Vibration device; 310. Vibration element; 320. Vibrating plate; 330. Connecting rod; 400. Cooling channel; 410. Axial channel; 420. Connecting channel; 500. Wiring sleeve; 600. Heat-conducting plate; 700. Sealing assembly; 710. First sealing ring; 720. Second sealing ring; 730. Elastic element.

[0043] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0044] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application.

[0045] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0046] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0047] In the description of the embodiments of this application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application 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 application.

[0048] In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise specified precisely.

[0049] The terms “first,” “second,” “third,” “fourth,” etc., used in the description of this application and in the above-mentioned figures are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0050] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0051] As the background technology states, with the increasing demands on robot performance in industrial automation, intelligent manufacturing, and high-end manufacturing, robot technology is developing towards high precision, high load capacity, and long-term continuous operation.

[0052] In related technologies, robots include humanoid robots. Humanoid robots need to complete tasks such as high-precision assembly and heavy object handling through joint modules. Therefore, humanoid robots need to frequently perform complex movements. The joint modules mainly used in hip, knee, ankle and upper limb joints need to continuously output torque and withstand frequent reciprocating motion. They generate a lot of heat when operating at high speed or under high load.

[0053] Traditional solutions often employ passive cooling with sheet metal parts or active cooling with fans to dissipate heat from the joint modules. Conventional passive cooling has limited heat dissipation capabilities, while active cooling with fans introduces additional energy consumption and structural complexity, occupies too much internal space in the robot structure, hinders integration and miniaturization, and further causes difficulties in controlling the temperature rise of the joint modules, reduced energy utilization, and insufficient long-term operational reliability.

[0054] Based on the above-mentioned technical problems, this application provides a joint module and a robot. In this technical solution, the joint module includes a drive motor, which includes a motor housing, a piezoelectric device, and a vibration device. The piezoelectric device is disposed on the outer wall of the motor housing and is electrically connected to the vibration device. The piezoelectric device is configured to generate electrical energy under the vibration of the drive motor and drive the vibration device to vibrate. A cooling channel is provided inside the motor housing, and the cooling channel is filled with coolant. The vibration device is disposed inside the cooling channel and is in contact with the coolant. The coolant is configured to flow along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device.

[0055] By installing a piezoelectric device on the outer wall of the motor housing of the drive motor and electrically connecting the piezoelectric device to a vibration device installed in the cooling channel, and by installing a cooling channel inside the motor housing, the coolant flows along the cooling channel under the vibration of the drive motor and / or the vibration of the vibration device. The vibration of the drive motor during operation can be used to convert energy and drive the flow of coolant, thereby improving the heat dissipation capacity inside the joint module. This improves the module integration, heat dissipation efficiency and long-term reliability without significantly increasing the structural burden and energy consumption.

[0056] It should be noted that, Figures 1 to 7 The diagram shows a simplified representation of the joint module and various components of the robot. The specific structures of the joint module and other components of the robot are not limited to these examples. Figures 1 to 7 of examples.

[0057] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0058] Reference Figure 1 and Figure 2 As shown in the embodiment of this application, a joint module is provided. The joint module includes a drive motor 100, a piezoelectric device 200, and a vibration device 300. The drive motor 100 includes a motor housing 110, and a cooling channel 400 is provided inside the motor housing 110. The piezoelectric device 200 is disposed on the outer wall of the motor housing 110 and electrically connected to the vibration device 300. The piezoelectric device 200 is configured to generate electrical energy under the vibration action of the drive motor 100 and drive the vibration device 300 to vibrate. The cooling channel 400 is filled with coolant. The vibration device 300 is disposed in the cooling channel 400 and in contact with the coolant. The coolant is configured to flow along the cooling channel 400 under the vibration action of the drive motor 100 and / or the vibration action of the vibration device 300.

[0059] In the above configuration, the drive motor 100 refers to the power unit used to output torque and drive the joint to perform movements. During operation, mechanical vibration will be generated due to the movement between the rotor and the stator. The drive motor 100 includes a motor housing 110.

[0060] The piezoelectric device 200 refers to an energy conversion component installed on the outer wall of the motor housing 110. It generates electrical energy under the vibration of the drive motor 100 and outputs this electrical energy to the vibration device 300 to drive its operation. It should be noted that the piezoelectric device 200 utilizes the piezoelectric effect. The piezoelectric device 200 includes a piezoelectric material that can generate electrical energy under the piezoelectric effect. The principle of the piezoelectric effect is that when a certain external force is applied to the piezoelectric material, a potential difference is generated, i.e., the direct piezoelectric effect; if a voltage is applied to the piezoelectric material, mechanical stress is generated, also known as the inverse piezoelectric effect. In this case, if the external force comes from the high-frequency vibration of the drive motor 100, the piezoelectric device 200 will generate a current. In this embodiment, the high-speed relative rotation between the rotor and stator during the operation of the drive motor 100 causes the drive motor 100 to generate high-frequency vibration. This high-frequency vibration is transmitted to the motor housing 110 and then further to the piezoelectric device 200. The piezoelectric device 200 is disposed on the outer wall of the motor housing 110. It can sense the vibration of the motor housing 110 and complete the conversion of mechanical energy into electrical energy, so as to form an electrical connection with the vibration device 300 and realize the power supply to the vibration device 300.

[0061] The vibration device 300 refers to a disturbance component installed inside the cooling channel 400 and in direct contact with the coolant. It is used to generate vibration after receiving electrical energy output from the piezoelectric device 200, so as to disturb the coolant and cause the coolant to flow in the cooling channel 400.

[0062] The cooling channel 400 refers to a closed or semi-closed fluid channel formed inside the motor housing 110, used to contain and guide the flow of coolant, and is used for heat exchange around the heat-generating area of ​​the drive motor 100. The cooling channel 400 is filled with coolant. The coolant is the working medium for carrying heat exchange and flow heat transfer. Under the vibration of the drive motor 100 and / or the vibration device 300, it flows along the cooling channel 400, thereby carrying away the heat generated by the motor housing 110 and its internal heat-generating components from the heat source area. The coolant is in direct contact with the vibration device 300, allowing the mechanical vibration of the vibration device 300 to be converted into fluid disturbance, thereby driving the coolant to flow within the cooling channel 400; simultaneously, when the drive motor 100 is operating, the housing vibration is transmitted to the coolant, which can also jointly drive the coolant flow. Exemplarily, the coolant can be cooling water, cooling oil, or a synthetic ester coolant; the composition of the coolant is not limited in this embodiment.

[0063] In one possible implementation, the motor housing 110 is provided with a coolant inlet and a coolant outlet, both of which are connected to a cooling channel 400. The coolant enters the cooling channel 400 through the coolant inlet and flows out of the cooling channel 400 through the coolant outlet. In addition, for example, the robot body may be provided with a liquid storage device (not shown in the figure) for storing coolant. The coolant inlet and coolant outlet are both connected to the liquid storage device to form a circulating flow of coolant.

[0064] The joint module provided in this application embodiment drives the motor 100 to output torque and drive the robot joint to perform actions. The motor housing 110 vibrates as the motor runs. The piezoelectric device 200 installed on the outer wall of the motor housing 110 generates electrical energy after being vibrated. This electrical energy is transmitted to the vibration device 300 in the cooling channel 400 through an electrical connection, causing the vibration device 300 to vibrate and disturb the flow of coolant. At the same time, the vibration of the drive motor 100 itself is also directly transmitted to the coolant inside the motor housing 110, causing the coolant to flow in the cooling channel 400.

[0065] Through the above-described configuration, the joint module can achieve coolant flow and enhanced heat dissipation. The piezoelectric device 200 harvests energy through the vibration of the motor housing 110, and the vibration device 300, located within the cooling channel 400, applies disturbance to the fluid. This links the heat dissipation function with the vibration conditions of the drive motor 100, achieving a coordinated arrangement of drive, energy harvesting, and cooling within a limited space. This allows for a relatively compact internal structure of the joint module, facilitating coolant flow without requiring additional structures, improving the heat dissipation efficiency of the joint module, and thus maintaining a more stable temperature rise during continuous operation.

[0066] In one possible implementation, multiple piezoelectric devices 200 and vibration devices 300 are provided, with each piezoelectric device 200 and vibration device 300 arranged in a one-to-one correspondence. Multiple piezoelectric devices 200 are arranged circumferentially along the motor housing 110, and vibration devices 300 are also arranged circumferentially along the motor housing 110 within the cooling channel 400. By increasing the number of piezoelectric devices 200 and vibration devices 300, the utilization rate of vibration energy of the drive motor 100 is further improved.

[0067] In one possible implementation, the cooling channel 400 includes multiple axial channels 410 extending axially along the motor housing 110. A connecting channel 420 is provided between adjacent axial channels 410. The multiple axial channels 410 are arranged circumferentially along the motor housing 110, so that the cooling channel 400 is serpentine and arranged circumferentially along the motor housing 110. The vibration device 300 is disposed within the axial channels 410 or within the connecting channel 420. In one possible embodiment, after the axial channels 410 are arranged circumferentially along the motor housing 110, the multiple axial channels 410 are connected end-to-end in the circumferential direction. This allows the coolant to enter along the axial channels 410 when subjected to vibration from the drive motor 100 and synchronous action from the vibration device 300. The coolant then flows through the connecting channel 420 into the next axial channel 410, and then sequentially propagates circumferentially along the motor housing 110 to all cooling channels 400, thereby extending the cooling path without significantly increasing the external dimensions of the motor housing 110. This allows for an increase in effective heat exchange length within a limited space. Combined with the continuous disturbance of the coolant by the vibration device 300, it can reduce local heat accumulation and improve the temperature distribution consistency of the motor housing 110, thereby improving the heat dissipation efficiency, operational stability, and long-term reliability of the joint module under high-frequency reciprocating motion and continuous load conditions.

[0068] For example, the cross-sections of the axial flow channel 410 and the connecting channel 420 can be circular or square.

[0069] Based on the foregoing embodiments, further referring to... Figure 3 As shown, the vibration device 300 includes a vibration element 310 and a vibration plate 320. The vibration element 310 is electrically connected to the piezoelectric device 200, and the vibration plate 320 is connected to the vibration element 310. The vibration element 310 generates vibration energy and drives the coolant to flow through the vibration plate 320.

[0070] In one possible implementation, the vibrating element 310 can be electrically connected to the piezoelectric device 200 via a wire, or it can be electrically connected to the piezoelectric device 200 via a conductive copper busbar. The key is to ensure electrical conductivity between the vibrating element 310 and the piezoelectric device 200, allowing the piezoelectric device 200 to supply power to the vibrating element 310.

[0071] The piezoelectric device 200 outputs electrical energy under the vibration of the drive motor 100 and applies it to the vibration element 310. After receiving the electrical energy, the vibration element 310 generates periodic reciprocating vibration. The vibrating plate 320 swings synchronously with the vibration element 310 and transfers the vibration energy to the coolant in contact with it, so that the coolant forms additional flow velocity, local eddies or circulating disturbances in the cooling channel 400, thereby promoting the continuous flow of the coolant along the cooling channel 400 and strengthening the convective heat transfer between the coolant and the inner wall of the motor housing 110.

[0072] Since the vibrating plate 320 directly intervenes in the coolant and effectively couples the mechanical energy converted from the electrical signal to the coolant, the coolant flow efficiency can be improved without relying on an additional external pumping device, the formation of stagnant areas and heat accumulation areas inside the cooling channel 400 can be suppressed, and the temperature rise of the joint module under high-frequency operation and continuous load conditions can be reduced.

[0073] In one possible implementation, refer to Figure 3 and Figure 4 As shown. A connecting rod 330 is provided between the vibrating element 310 and the piezoelectric device 200. One end of the connecting rod 330 is connected to the piezoelectric device 200, and the other end of the connecting rod 330 passes through the motor housing 110 and is connected to the vibrating element 310. The vibrating plate 320 is close to or located in the middle of the cross-section of the cooling channel 400 to ensure effective flow of coolant.

[0074] In one possible embodiment, the connecting rod 330 is a structural component that connects the piezoelectric device 200 and the vibrating element 310, and provides a mounting base for the vibrating element 310. One end of the connecting rod 330 is connected to the piezoelectric device 200, and the other end passes through the motor housing 110 and is connected to the vibrating element 310. Typically, a through hole, guide hole, or through hole with a sealing structure is pre-formed on the motor housing 110 to minimize the risk of coolant leakage and maintain assembly positioning accuracy while allowing the connecting rod 330 to axially reciprocate or swing slightly.

[0075] In one possible implementation, such as Figure 4 As shown, when the vibrating element 310 is electrically connected to the piezoelectric device 200 via a wire, the connecting rod 330 can be configured as a hollow structure, and the wire ( Figure 4 (As shown by the dashed line inside the connecting rod 330) can be installed inside the hollow structure of the connecting rod 330, which can provide a certain degree of protection for the electrical conductor.

[0076] The vibrating plate 320 is fixedly connected to or integrally formed with the vibrating element 310, and is located near or at the center of the cross-section of the cooling channel 400. This allows it to occupy or be close to the mainstream area of ​​the cooling channel 400 during vibration, thereby more effectively agitating the coolant and driving it to form a continuous circulation along the cooling channel 400. When the vibrating plate 320 is positioned at the center of the cross-section of the cooling channel 400, the vibration energy can directly act on the mainstream area where fluid flow resistance is high, avoiding limited turbulence range due to excessive offset placement, thus improving the driving efficiency of the coolant and the uniformity of heat transfer.

[0077] In an exemplary embodiment, the connecting rod 330 can be implemented as a solid round rod, a hollow rod, or a rod-spring composite. A solid round rod facilitates higher support and connection stiffness, while a hollow rod helps reduce weight and provides space for wiring or vibration damping structures. The connection end between the connecting rod 330 and the piezoelectric device 200 can be achieved through threaded connection, welding, crimping, hinge, or adhesive bonding. The section passing through the motor housing 110 can be equipped with a sealing bushing, an elastic sealing ring, or a wear-resistant guide sleeve to form a fit that balances freedom of movement and sealing.

[0078] For example, the vibrating plate 320 can be a rectangular plate, an arc-shaped plate, a blade-shaped thin plate, or a thin-walled plate with flow-guiding openings. Rectangular plates facilitate obtaining a regular flow-receiving area, arc-shaped plates help reduce local flow resistance, blade-shaped thin plates are suitable for inducing directional disturbances along the flow direction, and thin-walled plates with flow-guiding openings can improve fluid permeability while maintaining strength. The vibrating plate 320 can be made of stainless steel sheet, spring steel sheet, titanium alloy sheet, or high-strength composite material sheet to balance the requirements of fatigue resistance, corrosion resistance, and lightweight design.

[0079] Reference Figure 5 As shown, in one possible implementation, the drive motor 100 further includes a motor body 120, a rotating shaft 130, and a controller 150; one end of the rotating shaft 130 is connected to the motor body 120, and the other end extends to the outside of the motor housing 110. The portion of the rotating shaft 130 located outside the motor housing 110 is used for transmission connection with the harmonic reducer 10; the specific structure of the harmonic reducer 10 is not limited here.

[0080] The controller 150 is mounted on the motor body 120, and a wiring channel 1301 is provided inside the rotating shaft 130. The wiring channel 1301 is configured to lay the wires of the controller 150.

[0081] In one possible embodiment, the motor body 120 is the main electromagnetic conversion component in the drive motor 100, used to convert input electrical energy into output mechanical rotational energy, and together with the rotating shaft 130, it constitutes the power source of the joint module; the rotating shaft 130 is a transmission shaft that transmits the rotational power output by the motor body 120 to the external transmission mechanism; the controller 150 is an electronic control unit used to adjust and control the start / stop, speed, torque and operating status of the motor.

[0082] In the above structure, the motor body 120 is fixedly connected or coaxially connected to one end of the rotating shaft 130, and the other end of the rotating shaft 130 passes through the motor housing 110 and extends to the outside of the motor housing 110 so that the output end can be directly connected to the input end of the harmonic reducer 10 for transmission, thereby transmitting the motor output to the joint actuator after being reduced by the harmonic reducer 10.

[0083] After the controller 150 is mounted on the motor body 120, it can be compactly arranged by being close to the motor windings or magnetic circuit. The wiring channel 1301 inside the rotating shaft 130 provides a protected path for the controller 150's wires, allowing the controller 150's power supply lines, signal lines, or feedback sampling lines to run along the axis of the rotating shaft 130 and avoid external motion interference areas. Structurally, the wiring channel 1301 can be designed as an axial channel running the entire length of the rotating shaft 130. This allows heat generated by the controller 150 and its power supply or signal lines during operation to diffuse into and dissipate through the wiring channel 1301, improving the controller 150's heat dissipation effect. Alternatively, a partially continuous structure can be formed on the side closest to the controller 150 to ensure that the wires maintain a reasonable bending radius and fixed state during rotation and assembly.

[0084] When the drive motor 100 is powered on and started, the motor body 120 outputs a predetermined torque under the regulation of the controller 150, driving the shaft 130 connected to it to rotate synchronously. The part of the shaft 130 extending outside the motor housing 110 is directly connected to the input end of the harmonic reducer 10, transmitting the rotational power to the joint output mechanism after reduction and torque amplification. At the same time, the power lines, drive lines, and feedback signal lines required by the controller 150 are laid through the wiring channel 1301 inside the shaft 130, so that the wiring harness forms a short and concentrated transmission path between the motor body 120 and the external control system, avoiding the controller 150's cables from spreading outside the motor housing 110 and interfering with the shaft 130, harmonic reducer 10, or other structures. Because the wiring harness is confined inside the rotating shaft 130, it can maintain a relatively stable wiring path under conditions of motor rotation, joint oscillation and external vibration, and reduce the risk of wire damage caused by repeated bending, dragging or friction, thereby improving the integration, space utilization and operational reliability of the transmission unit, while also facilitating the compact design of the joint module and long-term stable operation.

[0085] In one possible implementation, a bottom cover 140 is provided on the motor housing 110, where the motor housing 110 may be integrally formed with the bottom cover 140. A cable routing sleeve 500 is provided on the bottom cover 140, and the cable routing sleeve 500 is inserted into the cable routing channel 1301. The wires of the controller 150 pass through the side wall of the cable routing sleeve 500 to be laid inside the cable routing sleeve 500.

[0086] In this application, the bottom cover 140 and the wiring sleeve 500 thereon constitute the wiring encapsulation structure at the bottom of the motor housing 110. The bottom cover 140 is an end cover plate disposed on the motor housing 110, and the wiring sleeve 500 is a wire guiding and protection component disposed on the bottom cover 140, used to guide the wires of the controller 150 out of the inside of the motor housing 110 and provide guidance, insulation, wear protection and partial sealing during the passage. The wiring sleeve 500 is inserted into the wiring channel 1301 in the rotating shaft 130, so that the wires form a stable passage path between the motor housing 110, the bottom cover 140 and the rotating shaft 130, avoiding the wire harness from swaying, being squeezed or scratched during long-term swinging and vibration of the joint module.

[0087] It should be noted that when the wires of the controller 150 are installed in the wiring channel 1301, relative movement between the wires of the controller 150 and the inner wall of the wiring channel 1301 can easily occur, causing the wires of the controller 150 to rub against the inner wall of the wiring channel 1301. By installing the wiring sleeve 500, which is fixed on the bottom cover 140, the wires of the controller 150 are relatively fixed to the wiring sleeve 500, reducing the rubbing against the wires of the controller 150 and improving operational stability.

[0088] In one possible embodiment, the cable sleeve 500 can be a cylindrical, stepped, or flanged sleeve structure to accommodate bottom covers 140 with different wall thicknesses and cable channels 1301 with different inner diameters. The bottom cover 140 can be a flat cover, a grooved cover, or a reinforcing cover to balance assembly rigidity and housing strength. In terms of materials, the cable sleeve 500 can be made of engineering plastics, metal bushings, ceramic insulating sleeves, or rubber sealing sleeves, and can be coated with wear-resistant coatings, insulating coatings, or low-friction coatings on its inner or outer walls as needed to improve durability when in contact with cables and channel walls.

[0089] Because the cable routing sleeve 500 provides continuous guidance and coverage for the wires of the controller 150, the wires of the controller 150 can maintain a relatively centered arrangement in the transition section between the motor housing 110 and the rotating shaft 130, avoiding direct friction with the channel wall or damage from sharp edges during the reciprocating motion of the joint module. Simultaneously, the bottom cover 140 provides auxiliary support to the base of the cable routing sleeve 500, making the wiring area less prone to loosening under vibration. Therefore, the laying stability and wear resistance of the controller 150's wires are improved, the continuity of electrical signal and power transmission is more easily maintained, which helps reduce the frequency of maintenance and the risk of operational interruptions caused by wire harness damage, and improves the long-term reliability of the joint module under frequent rotation conditions.

[0090] In one possible implementation, a heat-conducting plate 600 is also included; a portion of the cooling channel 400 extends into the bottom cover 140; the bottom cover 140 has a mounting groove 1401 on the side facing the motor body 120, at least a portion of the heat-conducting plate 600 is embedded in the mounting groove 1401, and the heat-conducting plate 600 is connected to the wiring sleeve 500.

[0091] In one possible embodiment, the heat-conducting plate 600 is used to diffuse the heat of the wiring sleeve 500 outward and together with the cooling channel 400 extending into the bottom cover 140, it forms a heat dissipation structure. On the one hand, it reduces the temperature of the bottom cover 140 through indirect heat exchange with the coolant, and on the other hand, it conducts heat near the wire in a timely manner through the connection with the wiring sleeve 500, thereby suppressing the accumulation of heat inside the bottom cover 140 and near the wiring sleeve 500.

[0092] The heat-conducting plate 600 can be understood as a passive heat-conducting element, which mainly relies on the high thermal conductivity of the material itself and the close contact with adjacent components to achieve heat conduction. When the mounting groove 1401 is located on the side of the bottom cover 140 facing the motor body 120, after the heat-conducting plate 600 is at least partially embedded in the mounting groove 1401, its outer surface can be in contact with the inner wall of the bottom cover 140, and its inner surface can be in contact with the outer wall or connection part of the wiring sleeve 500, thereby forming a heat transfer path from the partial cooling channel 400, the bottom cover 140 to the wiring sleeve 500, so as to remove the heat on the wiring sleeve 500.

[0093] For example, if copper or aluminum is used, the heat-conducting plate 600 can be processed into a single stamped part, machined part, or extruded part; if graphite sheets or graphene composite materials are used, it can be made into a flexible bonding sheet and fixed in the mounting groove 1401 with thermally conductive adhesive. This arrangement allows the heat from the cable sleeve 500 to be transferred more quickly along the heat-conducting plate 600 to the bottom cover 140, and carried away by the coolant flow in the cooling channel 400. This achieves heat dissipation for the cable sleeve 500, thereby improving local temperature rise and reducing the risk of heat aging of the wire insulation layer and the sealing parts of the bottom cover 140.

[0094] Reference Figure 6 and Figure 7 As shown, based on the aforementioned embodiment, the motor housing 110 is further provided with an upper end cover 160 and a bottom cover 140 at both ends, and the rotating shaft 130 extends through the upper end cover 160 to the outside of the motor housing 110; a sealing assembly 700 is provided between the rotating shaft 130 and the upper end cover 160.

[0095] The upper cover 160 and the bottom cover 140 are end-capping components respectively installed at both ends of the motor housing 110. The upper cover 160 is used to form an end face seal for one end of the shaft 130 that protrudes, and to provide axial support and external connection interface for the shaft 130. The bottom cover 140 is used to seal the other end of the motor housing 110, so as to form a relatively complete receiving space together with the motor housing 110.

[0096] The shaft 130 passes through the upper end cover 160 and extends to the outside of the motor housing 110 to enable transmission connection with the harmonic reducer 10. The sealing component 700 provided between the shaft 130 and the upper end cover 160 is used to close the dynamic through gap to prevent leakage of lubricating medium or external dust and moisture from entering the motor body 120 through the gap, thereby maintaining the protective performance and operational stability of the motor housing 110.

[0097] In one possible embodiment, the sealing assembly 700 can be a lip seal, a mechanical seal, a labyrinth seal structure, or a combined seal structure, preferably arranged between the periphery of the central hole of the upper end cover 160 and the outer peripheral surface of the rotating shaft 130, so that it can continuously fit or form multi-level barriers when the rotating shaft 130 rotates relative to each other.

[0098] Furthermore, the sealing assembly 700 includes a first sealing ring 710, a second sealing ring 720, and an elastic member 730; the first sealing ring 710 is sleeved on the outer side wall of the rotating shaft 130, the second sealing ring 720 is embedded in the upper end cover 160, and the elastic member 730 is disposed between the first sealing ring 710 and the second sealing ring 720; one end of the elastic member 730 is connected to the first sealing ring 710, and the other end is connected to the second sealing ring 720, and the elastic member 730 is configured to always apply an elastic force to the first sealing ring 710 and the second sealing ring 720 to seal the gap between the rotating shaft 130 and the upper end cover 160.

[0099] In one possible embodiment, through the synergistic action of the first sealing ring 710, the second sealing ring 720 and the elastic element 730, the sealing contact state is maintained continuously under the conditions of the rotation of the shaft 130 and the possible slight axial movement, radial runout or long-term wear, thereby preventing oil mist, dust or external moisture from entering the motor housing 110 through the shaft 130 or leaking from the inside to the outside.

[0100] The first sealing ring 710 is usually fitted on the outer wall of the rotating shaft 130. Its inner diameter can form an interference fit or a slight interference fit with the outer diameter of the rotating shaft 130 so as to maintain a stable fit with the outer surface of the rotating shaft 130 after assembly. The second sealing ring 720 is embedded in the upper end cover 160. The two are pre-tightened through the elastic element 730 so that the sealing surface is always under pressure.

[0101] The elastic element 730 can be understood as a component that applies a continuous elastic compensation force to the first sealing ring 710 and the second sealing ring 720. Its function is not only to provide initial clamping force, but also to automatically compensate for displacement when the sealing gap of the rotating shaft 130 changes due to thermal expansion, vibration or wear, so as to ensure stable sealing performance.

[0102] like Figure 6 and Figure 7 As shown, the first sealing ring 710 and the second sealing ring 720 can be arranged axially along the rotating shaft 130 or nested radially along the rotating shaft 130. The elastic element 730 is always disposed between the first sealing ring 710 and the second sealing ring 720.

[0103] The first sealing ring 710 and the second sealing ring 720 can be made of fluororubber, polytetrafluoroethylene, rubber composite, metal skeleton coated with rubber, or wear-resistant ceramic parts to meet the requirements of coolant medium, shaft speed 130 and temperature rise environment; the elastic element 730 can be in the form of helical spring, disc spring, wave spring, rubber elastomer or metal spring, etc., so as to select different elastic constants and preload characteristics according to the sealing force requirements.

[0104] When the shaft 130 rotates with the motor body 120, the first sealing ring 710 tends to move relative to the shaft 130, and the second sealing ring 720 is fixed to the inside of the upper end cover 160 and remains relatively stationary. The elastic element 730 between the two continuously provides compensating preload, so that the sealing lip or end face of the first sealing ring 710 is always pressed against the corresponding sealing surface of the second sealing ring 720, thereby forming a continuous seal for the annular gap between the shaft 130 and the upper end cover 160.

[0105] Even if the shaft 130 experiences slight swaying, movement, or diameter change under high-speed operation, load changes, or temperature rise, the elastic element 730 can still maintain the fit between the first sealing ring 710 and the second sealing ring 720 through elastic deformation, preventing coolant leakage or intrusion of external contaminants due to widening gap.

[0106] This application also provides a robot, including a robot body and at least one of the aforementioned joint modules, the joint modules being disposed at the joints of the robot body. The structure of the joint modules has been described above and will not be repeated here.

[0107] By arranging the aforementioned joint modules at the joints of the robot body, the driving and load-bearing requirements of high-frequency reciprocating motion parts such as the hip, knee, ankle, and upper limb joints can be directly addressed. This allows joint output, heat dissipation, sealing, and internal wiring to be achieved collaboratively within a single joint module. Furthermore, the piezoelectric device 200 and vibration device 300 enhance heat dissipation efficiency and reduce reliance on additional cooling power. This, in turn, helps reduce energy consumption and localized frictional heat generation, improving the robot's stability during continuous operation.

[0108] Finally, it should be noted that those skilled in the art, upon considering the specification and practicing the embodiments disclosed herein, will readily conceive of other embodiments of this application. The embodiments of this application are intended to cover any variations, uses, or adaptations of the embodiments of this application that follow the general principles of the embodiments of this application and include common knowledge or customary technical means in the art not disclosed in the embodiments of this application. They are not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from their scope.

Claims

1. A joint module, comprising a drive motor (100), the drive motor (100) comprising a motor housing (110), characterized in that: It also includes a piezoelectric device (200) and a vibration device (300). The piezoelectric device (200) is disposed on the outer wall of the motor housing (110). The piezoelectric device (200) is electrically connected to the vibration device (300). The piezoelectric device (200) is configured to generate electrical energy under the vibration of the drive motor (100) and drive the vibration device (300) to vibrate. The motor housing (110) is provided with a cooling channel (400), and the cooling channel (400) is filled with coolant; The vibration device (300) is disposed in the cooling channel (400) and is in contact with the coolant; The coolant is configured to flow along the cooling channel (400) under the vibration of the drive motor (100) and / or the vibration of the vibration device (300).

2. The joint module according to claim 1, characterized in that, The cooling channel (400) includes a plurality of axial channels (410), which extend along the axial direction of the motor housing (110). A connecting channel (420) is provided between two adjacent axial channels (410), and the plurality of axial channels (410) are arranged circumferentially along the motor housing (110). The vibration device (300) is disposed in the axial flow channel (410) or in the connecting channel (420).

3. The joint module according to claim 2, characterized in that, The vibration device (300) includes a vibration element (310) and a vibrating plate (320). The vibration element (310) is electrically connected to the piezoelectric device (200), and the vibrating plate (320) is connected to the vibration element (310). The vibrating element (310) generates vibration energy and drives the coolant to flow through the vibrating plate (320).

4. The joint module according to claim 3, characterized in that, A connecting rod (330) is provided between the vibration element (310) and the piezoelectric device (200). One end of the connecting rod (330) is connected to the piezoelectric device (200), and the other end of the connecting rod (330) passes through the motor housing (110) and is connected to the vibration element (310). The vibrating plate (320) is located near or at the center of the cross-section of the cooling channel (400).

5. The joint module according to claim 1, characterized in that, The drive motor (100) also includes a motor body (120), a rotating shaft (130), and a controller (150). One end of the shaft (130) is connected to the motor body (120), and the other end extends to the outside of the motor housing (110). The portion of the shaft (130) located outside the motor housing (110) is used for transmission connection with the harmonic reducer (10). The controller (150) is mounted on the motor body (120), and a wiring channel (1301) is provided inside the rotating shaft (130). The wiring channel (1301) is configured to lay the wires of the controller (150).

6. The joint module according to claim 5, characterized in that, The motor housing (110) is provided with a bottom cover (140), and a wiring sleeve (500) is provided on the bottom cover (140). The wiring sleeve (500) is inserted into the wiring channel (1301), and the wires of the controller (150) pass through the side wall of the wiring sleeve (500) to be laid in the wiring sleeve (500).

7. The joint module according to claim 6, characterized in that, It also includes a heat-conducting plate (600); Part of the cooling channel (400) extends into the bottom cover (140); The bottom cover (140) has a mounting groove (1401) on the side facing the motor body (120), and at least part of the heat-conducting plate (600) is embedded in the mounting groove (1401). The heat-conducting plate (600) is connected to the wiring sleeve (500).

8. The joint module according to any one of claims 5 to 7, characterized in that, The motor housing (110) is provided with an upper end cover (160) and a bottom cover (140) at both ends, and the rotating shaft (130) passes through the upper end cover (160) and extends to the outside of the motor housing (110); A sealing assembly (700) is provided between the rotating shaft (130) and the upper end cover (160).

9. The joint module according to claim 8, characterized in that, The sealing assembly (700) includes a first sealing ring (710), a second sealing ring (720), and an elastic element (730); The first sealing ring (710) is sleeved on the outer side wall of the rotating shaft (130), the second sealing ring (720) is embedded in the upper end cover (160), and the elastic element (730) is disposed between the first sealing ring (710) and the second sealing ring (720). One end of the elastic element (730) is connected to the first sealing ring (710), and the other end is connected to the second sealing ring (720). The elastic element (730) is configured to always apply an elastic force to the first sealing ring (710) and the second sealing ring (720) to seal the gap between the rotating shaft (130) and the upper end cover (160).

10. A robot, characterized in that, It includes a robot body and at least one joint module as described in any one of claims 1 to 9, the joint module being disposed at a joint of the robot body.

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