Large-torque and compact-structure joint module

Abstract

The utility model provides a large-torque and compact-structure joint module. The large-torque and compact-structure joint module comprises a shell, a motor device and a planetary speed reducing mechanism, wherein the motor device and the planetary speed reducing mechanism are arranged in the shell; the motor device comprises a stator assembly, a rotor assembly and an output shaft, the stator assembly is fixedly connected with the shell, and the stator assembly, the rotor assembly and the output shaft are coaxially arranged; the output shaft is used for transmitting the torque of the rotor assembly to the planetary reducing mechanism; the output shaft and the planetary speed reducing mechanism are arranged in an internal space defined by the stator assembly and the rotor assembly; and the planetary reducing mechanism is used for increasing and outputting the torque provided by the motor device. According to the joint module provided by the utility model, the initial torque is provided through the motor device and then is output after being increased through the planetary speed reducing mechanism, and the planetary speed reducing mechanism is arranged in the internal space defined by the stator assembly and the rotor assembly; and the device has the advantages of compact structure, small size, light weight and large output torque, and is suitable for being mounted on a joint of a robot.

Description

Technical Field

[0001] This utility model relates to the field of robot joint module technology, and in particular to a high-torque, compact joint module. Background Technology

[0002] Robots typically have multiple movable joints, with joint modules positioned between each joint to drive joint movement. These joint modules work together to help the robot perform complex actions. With advancements in robotics technology, robots are trending towards more compact structures, smaller sizes, lighter weights, and higher torque output.

[0003] To increase torque, existing joint modules typically include a motor and other mechanical structures to amplify torque. The torque output from the motor must be increased through multiple mechanical structures before being transmitted to the joint module. Due to the complexity of the existing technology and the significant torque transmission losses, it suffers from problems such as complex structure, large size, heavy weight, and low output torque. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide a high-torque, compact joint module that provides initial torque through a motor device, and then increases the torque through a planetary reduction mechanism before outputting it. The planetary reduction mechanism is set in the internal space enclosed by the stator assembly and the rotor assembly. It has the advantages of compact structure, small size, light weight, and high output torque, and is suitable for installation on the joints of robots.

[0005] This utility model provides a high-torque, compact joint module, including a housing and a motor device and a planetary reduction mechanism disposed inside the housing;

[0006] The motor device includes a stator assembly, a rotor assembly, and an output shaft. The stator assembly is fixedly connected to the housing, and the stator assembly, the rotor assembly, and the output shaft are coaxially arranged.

[0007] One end of the output shaft is fixedly connected to the rotor assembly, and the other end is drivenly connected to the planetary reduction mechanism, for transmitting the torque of the rotor assembly to the planetary reduction mechanism; both the output shaft and the planetary reduction mechanism are disposed in the internal space enclosed by the stator assembly and the rotor assembly.

[0008] The planetary reduction mechanism is provided with an output end, which is used to increase the torque provided by the motor device and then output it.

[0009] Specifically, the motor device is an external rotor motor, the rotor assembly is sleeved on the outer ring of the stator assembly, and both the output shaft and the rotor assembly are located in the internal space of the stator assembly.

[0010] Specifically, the planetary reduction mechanism includes a planetary gear assembly and an internal gear. The internal gear is fixedly connected to the housing, and the inner ring gear of the internal gear meshes with the outer ring gear of the planetary gear assembly.

[0011] Specifically, the planetary gear assembly includes a planetary carrier main support and a planetary carrier end cap that are fixedly connected to form a frame, as well as multiple planetary gears and multiple planetary gear support shafts;

[0012] The planetary gear is sleeved on the planetary gear support shaft, and the two ends of the planetary gear support shaft are fixedly connected to the planetary carrier main support and the planetary carrier end cover, respectively.

[0013] The output shaft passes through the main support of the planetary carrier and engages with one side of the planetary gear, while the other side of the planetary gear engages with the internal gear.

[0014] The output end is located on the side of the planet carrier end cover facing away from the planetary gear.

[0015] Specifically, the planetary gear assembly further includes a first bearing; the first bearing is sleeved between the planetary gear support shaft and the planetary gear, and is used to reduce the friction between the planetary gear support shaft and the planetary gear; the first bearing is a needle roller bearing.

[0016] Specifically, the high-torque, compact joint module also includes a connector, which is a ring. The connector is fixedly connected to the end face of the stator assembly and the end face of the internal gear, respectively, for fixing the stator assembly, the internal gear, and the housing together.

[0017] Specifically, the housing has an opening, and the output end extends out of the housing through the opening for outputting torque externally.

[0018] Specifically, the high-torque, compact joint module also includes a seal, which is disposed in the gap between the opening and the output end, and the seal is a skeleton oil seal.

[0019] Specifically, the housing is provided with a heat dissipation structure, which consists of multiple heat dissipation grooves of varying lengths, with intervals between the heat dissipation grooves.

[0020] Specifically, the motor device further includes a drive control board electrically connected to the stator assembly; the housing also includes a protective cover, which is fastened onto the housing to form a cavity and is fixedly connected thereto, and the drive control board is fixedly connected to the protective cover and disposed within the cavity.

[0021] In summary, the high-torque, compact joint module of this invention provides initial torque through a motor device, and then increases the torque through a planetary reduction mechanism before outputting it. The planetary reduction mechanism is set in the internal space enclosed by the stator assembly and the rotor assembly. It has the advantages of compact structure, small size, light weight, and high output torque, and is suitable for installation on the joints of robots.

[0022] Optionally, the housing has an opening through which the output end extends out to output torque. The high-torque, compact joint module also includes a seal, which is located in the gap between the opening and the output end. The seal is a skeleton oil seal. The seal makes the joint module waterproof, increasing its applicability, and it is particularly suitable for underwater robots or other robots working in water-filled environments.

[0023] Optionally, the housing is provided with a heat dissipation structure, which consists of multiple heat dissipation slots of varying lengths, spaced apart. This is used to improve the heat dissipation effect of the joint module and continuously provide high torque output. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the joint module in an embodiment of the present invention;

[0026] Figure 2 This is an exploded view of the joint module in an embodiment of this utility model;

[0027] Figure 3 This is a schematic diagram of the planetary gear assembly in an embodiment of the present invention;

[0028] Figure 4 This is an exploded view of the planetary gear assembly in an embodiment of this utility model.

[0029] In the above-mentioned figures, the reference numerals for the embodiments of this utility model are as follows:

[0030] 100. Housing; 110. First housing; 120. Second housing; 130. Opening; 140. Heat dissipation structure; 150. Protective cover;

[0031] 200. Motor assembly; 210. Stator assembly; 220. Rotor assembly; 230. Output shaft; 240. Drive control board;

[0032] 300. Planetary reduction mechanism; 310. Output end; 320. Planetary gear assembly; 321. Main support for planetary carrier; 322. Planetary carrier end cover; 323. Planetary gear; 324. Planetary gear support shaft; 325. First bearing; 326. Wear-resistant part; 330. Internal gear; 340. Second bearing;

[0033] 400. Connectors;

[0034] 500. Sealing components. Detailed Implementation

[0035] The specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of this utility model. Based on the description of this utility model, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this utility model.

[0036] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect," 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. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0037] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of description and simplification, 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 utility model.

[0038] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0039] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0040] The following detailed description uses specific examples.

[0041] like Figures 1 to 2As shown, this utility model embodiment provides a high-torque, compact joint module, including a housing 100 and a motor device 200 and a planetary reduction mechanism 300 disposed inside the housing 100.

[0042] The motor device 200 includes a stator assembly 210, a rotor assembly 220, and an output shaft 230. The stator assembly 210 is fixedly connected to the housing 100, and the stator assembly 210, the rotor assembly 220, and the output shaft 230 are coaxially arranged.

[0043] One end of the output shaft 230 is fixedly connected to the rotor assembly 220, and the other end is drivenly connected to the planetary reduction mechanism 300, which is used to transmit the torque of the rotor assembly 220 to the planetary reduction mechanism 300; both the output shaft 230 and the planetary reduction mechanism 300 are arranged in the internal space enclosed by the stator assembly 210 and the rotor assembly 220.

[0044] The planetary reduction mechanism 300 is provided with an output end 310, which is used to increase the torque provided by the motor device 200 and output it.

[0045] Specifically, this invention integrates the planetary reduction mechanism 300 into the motor device 200, making the structure more compact and reducing unnecessary mechanical structures between the motor device 200 and the planetary reduction mechanism 300. The joint module outputs power through the planetary reduction mechanism 300. The planetary reduction mechanism 300 and the output shaft 230 of the motor device 200 are combined into one, which has the advantages of simple mechanical structure, low power transmission loss, and simultaneous reduction in manufacturing and maintenance costs.

[0046] Specifically, the cross-section of the output shaft 230 inserted into the planetary reduction mechanism 300 is gear-shaped. The output shaft 230 engages with the inner ring gear of the planetary reduction mechanism 300 to transmit the torque of the rotor assembly 220 to the planetary reduction mechanism 300.

[0047] In this embodiment, the center points of the main components are all set on a straight line, and the axis of the output shaft 230 coincides with this straight line.

[0048] Specifically, the housing 100 includes a first housing 110 and a second housing 120. The housing 100 is in the shape of a hollow cylinder, the second housing 120 is in the shape of one end face of a cylinder, and the first housing 110 is in the shape of a combination of the side face and the other end face of a cylinder.

[0049] In this embodiment, the motor device 200 is an external rotor motor, the rotor assembly 220 is sleeved on the outer ring of the stator assembly 210, and both the output shaft 230 and the rotor assembly 220 are disposed in the internal space of the stator assembly 210.

[0050] Specifically, the rotor assembly 220 and the stator assembly 210 are both mainly circular in shape, and the diameter of the rotor assembly 220 is larger than the diameter of the stator assembly 210.

[0051] Alternatively, the motor unit 200 can also be an internal rotor motor or other types of motor, as long as the planetary reduction mechanism 300 is located inside the motor space.

[0052] In this embodiment, the planetary reduction mechanism 300 includes a planetary gear assembly 320 and an internal gear 330. The internal gear 330 is fixedly connected to the housing 100, and the inner ring gear of the internal gear 330 engages with the outer ring gear of the planetary gear assembly 320.

[0053] Specifically, the planetary reduction mechanism 300 also includes a second bearing 340, which is sleeved on the planetary gear assembly 320. The inner ring of the second bearing 340 is connected to the side wall of the planetary gear assembly 320, and the outer ring of the second bearing 340 contacts the inner ring of the internal gear 330. This improves the smoothness of the rotation of the planetary gear assembly 320 within the internal gear 330 and also serves to support the planetary gear assembly 320. Although there is a supporting effect between the outer ring gear of the planetary gear assembly 320 and the inner ring gear of the internal gear 330, the weight of the planetary gear assembly 320 will press down on the internal gear 330, causing the rotation of the planetary gear assembly 320 within the internal gear 330 to be less smooth. Therefore, a second bearing 340 is needed to provide auxiliary support and smooth rotation.

[0054] like Figures 3 to 4 As shown, in this embodiment, the planetary gear assembly 320 includes a planetary carrier main support 321 and a planetary carrier end cap 322 that are fixedly connected to form a frame, as well as a plurality of planetary gears 323 and a plurality of planetary gear support shafts 324.

[0055] Planetary gear 323 is sleeved on planetary gear support shaft 324, and the two ends of planetary gear support shaft 324 are fixedly connected to planetary carrier main support 321 and planetary carrier end cover 322 respectively.

[0056] The output shaft 230 passes through the planetary carrier main support 321 and engages with one side of the planetary gear 323, while the other side of the planetary gear 323 engages with the internal gear 330.

[0057] The output end 310 is located on the side of the planet carrier end cover 322 facing away from the planet gear 323.

[0058] Specifically, the number of planetary gears 323 is the same as the number of planetary gear support shafts 324, which is three in this embodiment. The planetary gear support shafts 324 are used to support the planetary gears 323. In this embodiment, the planetary carrier main support 321 has a large hole in its center for the output shaft 230 to pass through; there are three small holes on the side for the planetary gear support shafts 324 to pass through and be fixed; there are also three pillar-like structures on the side for fixed connection with the planetary carrier end cover 322, and a portion of the planetary gears 323 protrudes from the gap between the pillars, serving as the outer ring gear of the planetary gear assembly 320. The side of the planetary carrier end cover 322 has a protrusion for cooperating with the seal 500 described below.

[0059] Specifically, planetary gear 323 is driven by output shaft 230 to rotate along planetary gear support shaft 324. However, because the outer ring gear of planetary gear assembly 320 is in contact with the inner gear 330, planetary gear 323 is forced to move along the circumference of inner gear 330, squeezing planetary gear support shaft 324, causing planetary carrier main support 321 and planetary carrier end cover 322 to rotate together. Output end 310 is located on the surface of planetary carrier end cover 322 away from planetary gear 323. Output end 310 is a circular surface with circular holes and other connections to other mechanical transmissions to output large torque.

[0060] Specifically, the planetary gear assembly 320 also includes a wear-resistant component 326. The wear-resistant component 326 is disposed between the end face of the planetary gear 323 and the main support 321 of the planetary carrier. The wear-resistant component 326 is fixedly connected to the main support 321 of the planetary carrier and is used to reduce wear and friction between the main support 321 of the planetary carrier and the planetary gear 323. Optionally, the wear-resistant component 326 can also be disposed between the end face of the planetary gear 323 and the end cover 322 of the planetary carrier. The wear-resistant component 326 is fixedly connected to the end cover 322 of the planetary carrier and is used to reduce wear and friction between the end cover 322 of the planetary carrier and the planetary gear 323.

[0061] Wear-resistant component 326 is used to prevent the two end faces of planetary gear 323 from rubbing against planetary carrier end cover 322 or planetary carrier main support 321. To reduce weight, planetary carrier end cover 322 and planetary carrier main support 321 are made of aluminum alloy, while planetary gear 323 is made of steel. Aluminum alloy is less hard than steel, and direct contact between the two would cause wear and scratches, producing debris. Wear-resistant component 326, however, is made of manganese steel. The surface of wear-resistant component 326 that contacts planetary carrier end cover 322 or planetary carrier main support 321 is fixed, reducing friction on the end faces of planetary gear 323 and preventing direct wear between planetary gear 323 and planetary carrier end cover 322 and planetary carrier main support 321.

[0062] In this embodiment, the wear-resistant part 326 has a large hole in the center for the output shaft 230 to pass through, and three small holes on the side for the planetary gear support shaft 324 to pass through and be fixed.

[0063] In this embodiment, the planetary gear assembly 320 further includes a first bearing 325; the first bearing 325 is sleeved between the planetary gear support shaft 324 and the planetary gear 323, and is used to reduce the friction between the planetary gear support shaft 324 and the planetary gear 323; the first bearing 325 is a needle roller bearing.

[0064] Specifically, planetary gear 323 rotates on its own axis while revolving around output shaft 230. The first bearing 325 is a needle roller bearing, which facilitates the rotation of planetary gear support shaft 324 inside. Since the inner hole of planetary gear 323 is a pin hole and is relatively rough, the first bearing 325 can prevent the planetary gear support shaft 324 from directly contacting the inner hole of planetary gear 323 and generating heat through friction, thereby improving power transmission efficiency, reducing friction and energy loss, and making the rotation of planetary gear 323 smoother.

[0065] In this embodiment, the high-torque, compact joint module also includes a connector 400, which is a ring. The connector 400 is fixedly connected to the end face of the stator assembly 210 and the end face of the internal gear 330, respectively, for fixing the stator assembly 210, the internal gear 330 and the housing 100 together.

[0066] In this embodiment, the housing 100 has an opening 130, and the output end 310 extends out of the housing 100 through the opening 130 for outputting torque externally.

[0067] Specifically, the opening 130 is located on the end face of the first housing 110.

[0068] In this embodiment, the high-torque, compact joint module also includes a seal 500, which is disposed in the gap between the opening 130 and the output end 310. The seal 500 is a skeleton oil seal.

[0069] Specifically, since the housing 100 is fixed and the output end 310 rotates at the opening 130, the seal 500 is a dynamic seal 500, preferably a skeleton oil seal, applied to the rotating component. The seal 500 has an outer annular surface and an inner annular surface, which respectively mate with the side wall at the opening 130 and the side of the output end 310 (that is, the protrusion on the side of the planetary carrier end cap 322). Other joints of the joint module are sealed with sealant for static waterproofing to further increase the sealing performance of the joint module, such as the joint between the protective cover 150 and the second housing 120, and the joint between the first housing 110 and the second housing 120. After implementing the above sealing measures, the joint module of this embodiment has sufficient waterproof function and can be used in underwater robots or other robots working in environments with water interference, preventing the joint module from stopping operation due to water ingress.

[0070] In this embodiment, a heat dissipation structure 140 is provided on the housing 100. The heat dissipation structure 140 consists of multiple heat dissipation grooves of different lengths, with intervals between the heat dissipation grooves.

[0071] Specifically, the heat dissipation structure 140 helps to quickly and effectively dissipate the heat generated during generator operation.

[0072] In this embodiment, the motor device 200 further includes a drive control board 240 electrically connected to the stator assembly 210; the housing 100 further includes a protective cover 150, which is fastened onto the housing 100 to form a cavity and is fixedly connected thereto, and the drive control board 240 is fixedly connected to the protective cover 150 and disposed within the cavity.

[0073] Specifically, the drive control board 240 is used to control the operation of the entire motor assembly 200. The drive control board 240 is electrically connected to the stator assembly 210 and outputs current to the stator assembly 210, causing the rotor assembly 220 to start rotating along the central axis, which in turn drives the output shaft 230 to rotate. The drive control board 240 controls the operation of the entire joint module by controlling the start / stop and power of the stator assembly 210.

[0074] The working principle of this embodiment is explained below:

[0075] Please refer to Figure 2 and Figure 4 The first housing 110 is fixed, the internal gear 330 is fixedly connected to the first housing 110 by fasteners, the stator assembly 210 is fixedly connected to the internal gear 330 by connector 400, the second housing 120 is fixedly connected to the first housing 110, and the protective cover 150 is fixedly connected to the second housing 120; one end of the output shaft 230 is fixedly connected to the rotor assembly 220, and the gear at the other end is inserted into the planetary reduction mechanism 300 and is connected to the planetary gear assembly 320 for transmission; the inner ring gear of the planetary gear assembly 320 is connected to the output shaft 230 for transmission, and the outer ring gear of the planetary gear assembly 320 is connected to the inner ring gear of the internal gear 330 for transmission.

[0076] The stator assembly 210 is driven by the drive control board 240 to output current, which drives the rotor assembly 220 to rotate with the output shaft 230. The torque is transmitted to the planetary gear assembly 320 through the output shaft 230. However, since the internal gear 330 is fixed, the outer ring gear of the planetary gear assembly 320 will squeeze the internal gear 330, and the planetary gear assembly 320 will start to rotate. The output end 310 will start to output torque. The planetary reduction mechanism 300 is a reduction mechanism, so the output torque is greater than the torque of the output shaft 230.

[0077] In summary, the high-torque, compact joint module of this utility model provides initial torque through a motor device 200, and then increases the torque through a planetary reduction mechanism 300 before outputting it. The planetary reduction mechanism 300 is set in the internal space enclosed by the stator assembly 210 and the rotor assembly 220. It has the advantages of compact structure, small size, light weight, and high output torque, and is suitable for installation on the joints of robots.

[0078] Optionally, the housing 100 has an opening 130, through which the output end 310 extends out of the housing 100 for outputting torque. The high-torque, compact joint module also includes a seal 500, which is disposed in the gap between the opening 130 and the output end 310. The seal 500 is a skeleton oil seal. The seal 500 makes the joint module waterproof, improving its applicability, and is particularly suitable for underwater robots or other robots working in water-filled environments.

[0079] Optionally, a heat dissipation structure 140 is provided on the housing 100. The heat dissipation structure 140 consists of multiple heat dissipation slots of varying lengths, with intervals between them. This is used to improve the heat dissipation effect of the joint module and continuously provide high torque output.

[0080] Optionally, the sealing performance of the joint module can be improved by using seal 500 and other sealing methods.

[0081] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A high-torque, compact joint module, characterized in that, It includes a housing and a motor and a planetary reduction gear mechanism disposed inside the housing; The motor device includes a stator assembly, a rotor assembly, and an output shaft. The stator assembly is fixedly connected to the housing, and the stator assembly, the rotor assembly, and the output shaft are coaxially arranged. One end of the output shaft is fixedly connected to the rotor assembly, and the other end is drivenly connected to the planetary reduction mechanism, for transmitting the torque of the rotor assembly to the planetary reduction mechanism; both the output shaft and the planetary reduction mechanism are disposed in the internal space enclosed by the stator assembly and the rotor assembly; The planetary reduction mechanism is provided with an output end, which is used to increase the torque provided by the motor device and then output it.

2. The high-torque, compact joint module as described in claim 1, characterized in that, The motor device is an external rotor motor, the rotor assembly is sleeved on the outer ring of the stator assembly, and the output shaft and the rotor assembly are both located in the internal space of the stator assembly.

3. The high-torque, compact joint module as described in claim 1, characterized in that, The planetary reduction mechanism includes a planetary gear assembly and an internal gear. The internal gear is fixedly connected to the housing, and the inner ring gear of the internal gear meshes with the outer ring gear of the planetary gear assembly.

4. A high-torque, compact joint module as described in claim 3, characterized in that, The planetary gear assembly includes a planetary carrier main support and a planetary carrier end cap that are fixedly connected to form a frame, as well as multiple planetary gears and multiple planetary gear support shafts. The planetary gear is sleeved on the planetary gear support shaft, and the two ends of the planetary gear support shaft are fixedly connected to the planetary carrier main support and the planetary carrier end cover, respectively. The output shaft passes through the main support of the planetary carrier and engages with one side of the planetary gear, while the other side of the planetary gear engages with the internal gear. The output end is located on the side of the planet carrier end cover facing away from the planetary gear.

5. A high-torque, compact joint module as described in claim 4, characterized in that, The planetary gear assembly further includes a first bearing; the first bearing is sleeved between the planetary gear support shaft and the planetary gear, and is used to reduce the friction between the planetary gear support shaft and the planetary gear; the first bearing is a needle roller bearing.

6. A high-torque, compact joint module as described in claim 3, characterized in that, The high-torque, compact joint module also includes a connector, which is a ring. The connector is fixedly connected to the end face of the stator assembly and the end face of the internal gear, respectively, for fixing the stator assembly, the internal gear and the housing together.

7. A high-torque, compact joint module as described in claim 1, characterized in that, The housing has an opening, and the output end extends out of the housing through the opening to output torque externally.

8. A high-torque, compact joint module as described in claim 7, characterized in that, The high-torque, compact joint module also includes a seal, which is disposed in the gap between the opening and the output end, and the seal is a skeleton oil seal.

9. A high-torque, compact joint module as described in claim 1, characterized in that, The housing is provided with a heat dissipation structure, which consists of multiple heat dissipation grooves of varying lengths, with intervals between the grooves.

10. A high-torque, compact joint module as described in claim 1, characterized in that, The motor device further includes a drive control board electrically connected to the stator assembly; the housing also includes a protective cover, which is fastened onto the housing to form a cavity and is fixedly connected thereto, and the drive control board is fixedly connected to the protective cover and disposed within the cavity.

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