Robot joint module driving mechanism

Abstract

The utility model belongs to the technical field of humanoid robots, and discloses a robot joint module driving mechanism which comprises a shell, the two ends of the shell are open, a supporting plate is fixedly connected to the interior of the shell and divides the interior of the shell into a first installation area and a second installation area, a stator is fixedly installed in the first installation area, and a motor is fixedly installed in the second installation area. A rotor is rotatably installed on the inner side of the stator, a speed reducer unit is arranged in the second installation area, a rear cover is detachably installed at one end of the shell, a front cover is detachably installed at the other end of the shell, a heat dissipation unit used for conducting active heat dissipation on the interior of the shell is embedded in the rear cover, and the output end of the speed reducer unit rotatably penetrates through the front cover. The rotating shaft is provided with a circulating fan assembly used for disturbing air in the shell, heat in the shell can be rapidly dissipated through the circulating fan assembly and the heat dissipation unit, the overall sealing performance is good, and the service life of equipment is effectively prolonged.

Description

A robot joint module drive mechanism Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a robot joint module drive mechanism. Background Technology

[0002] In the field of humanoid robots, joint modules, as the core execution components enabling flexible limb movement, posture adjustment, and precise operation, directly determine the robot's motion accuracy, motion stability, endurance, and ability to adapt to complex scenarios. They represent one of the key technological bottlenecks hindering the transition of humanoid robots from the laboratory to practical applications in homes, factories, and outdoors. As humanoid robots rapidly evolve towards lightweight, miniaturized, high-precision, and long-endurance designs, increasingly stringent requirements are being placed on the integration, heat dissipation, sealing, and operational reliability of joint module drive mechanisms.

[0003] The joint movements of humanoid robots need to be able to switch flexibly between forward and reverse (such as arm flexion and extension, leg walking, wrist rotation, etc.), and the joint module integrates core components such as stator, rotor, and reducer. These components generate a lot of heat during high-speed, high-frequency start-stop operation. If the heat cannot be dissipated in time, the component temperature will rise, thereby reducing transmission accuracy, aggravating component wear, and even triggering overheat protection, affecting the continuous working ability of the humanoid robot.

[0004] Currently, most existing humanoid robot joint module drive mechanisms employ a single fan with ventilation holes to address heat dissipation issues. The fan is directly mounted on the drive shaft, relying on the shaft's rotation to drive the fan for cooling. However, this structure has significant technical drawbacks: First, the direct connection between the fan and shaft means that when the humanoid robot joint needs to reverse, causing the shaft to rotate, the fan will also reverse synchronously. Since fan blades are typically designed for a single direction of rotation, this not only fails to provide effective cooling during reversal but also generates significant mechanical resistance. Prolonged use can lead to fan blade deformation, increased motor load, and even fan damage, severely impacting the drive mechanism's lifespan. Second, while ventilation holes can aid in heat dissipation, they compromise the joint module's sealing integrity. External dust and particles can easily penetrate the drive mechanism through these holes, accelerating wear on core components such as the stator, rotor, and reducer.

[0005] To address this, we propose a robot joint module drive mechanism. Summary of the Invention

[0006] The purpose of this invention is to provide a robot joint module drive mechanism, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0007] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0008] A robot joint module drive mechanism includes a housing with openings at both ends. A support plate is fixedly connected inside the housing, dividing the interior of the housing into a first mounting area and a second mounting area. A stator is fixedly mounted in the first mounting area, and a rotor is rotatably mounted inside the stator. A reducer unit is disposed in the second mounting area, and the rotor's shaft is connected to the input end of the reducer unit. A rear cover is detachably mounted on one end of the housing, and a front cover is detachably mounted on the other end. A heat dissipation unit for actively cooling the interior of the housing is embedded in the rear cover. The output end of the reducer unit rotatably passes through the front cover. A circulating fan assembly for agitating the air inside the housing is disposed on the shaft.

[0009] In a robot joint module drive mechanism according to the present invention, the heat dissipation unit includes a semiconductor cooling chip. A mounting groove is provided on the side of the rear cover away from the housing. The semiconductor cooling chip is fixedly embedded in the mounting groove. A first finned heat sink is fixedly connected to the heating surface of the semiconductor cooling chip. The first finned heat sink is located on the side of the semiconductor cooling chip away from the housing. A mounting hole is provided on the side of the rear cover close to the housing. A second finned heat sink is fixedly embedded in the mounting hole. One side of the second finned heat sink contacts the cooling surface of the semiconductor cooling chip. The fins of the second finned heat sink are located inside the housing.

[0010] In a robot joint module drive mechanism according to the present invention, a clearance groove is provided on the side of the rear cover away from the housing. The clearance groove is funnel-shaped, and the fins of the first finned heat sink are located inside the clearance groove.

[0011] According to the present invention, a robot joint module drive mechanism includes a reducer unit comprising a steel wheel, a flexible wheel, and a wave generator. The steel wheel is fixedly installed in the second mounting area. The flexible wheel is disposed inside the steel wheel and meshes with it. The wave generator is rotatably disposed inside the flexible wheel. One end of the rotating shaft passes through the support plate via a first ball bearing and is fixedly connected to the wave generator. A bearing seat is provided on the side of the rear cover near the housing. A second ball bearing is disposed in the bearing seat. The other end of the rotating shaft is inserted into the inner ring of the second ball bearing.

[0012] In a robot joint module drive mechanism according to the present invention, a plurality of first through holes are provided on the support plate, a plurality of second through holes are provided on the flexible wheel, and a plurality of third through holes are provided on the wave generator, wherein the first through holes, the second through holes and the third through holes connect the first mounting area and the second mounting area.

[0013] In a robot joint module drive mechanism according to the present invention, a guide groove is provided on the inner wall of the housing, which penetrates the first mounting area and the second mounting area.

[0014] In a robot joint module drive mechanism according to the present invention, the circulating fan assembly includes a first circulating fan and a second circulating fan. The first circulating fan is sleeved on one end of the rotating shaft through a first one-way bearing and is located in the first mounting area. The second circulating fan is sleeved on the other end of the rotating shaft through a second one-way bearing and is located inside the flexible wheel.

[0015] In a robot joint module drive mechanism according to the present invention, the first one-way bearing is configured to lock in forward rotation and overtake in reverse rotation, the first circulating fan is fixedly sleeved on the outer ring of the first one-way bearing, the second one-way bearing is configured to lock in reverse rotation and overtake in forward rotation, the second circulating fan is fixedly sleeved on the outer ring of the second one-way bearing, the inner rings of the first one-way bearing and the second one-way bearing are both fixedly sleeved on the rotating shaft, the first circulating fan is a forward rotating fan, the second circulating fan is a counter-rotating fan, and the air outlets of the first circulating fan and the second circulating fan both face the front cover direction.

[0016] In a robot joint module drive mechanism according to the present invention, the outer wall of the housing is provided with a plurality of evenly distributed heat dissipation grooves.

[0017] In a robot joint module drive mechanism according to the present invention, one end of the flexible wheel is provided with a flange, and the flange is disposed outside the housing after rotating through the front cover via a sealed bearing.

[0018] This utility model has at least the following beneficial effects:

[0019] By using a dual-circulation fan with two unidirectional bearings that adapt to different rotation directions, the outer ring of the first unidirectional bearing locks when rotating forward and overtakes when rotating in reverse, while the outer ring of the second unidirectional bearing locks when rotating in reverse and overtakes when rotating forward. This ensures that only the first circulation fan works when the shaft rotates forward and only the second circulation fan works when rotating in reverse. This avoids the mechanical resistance and structural damage caused by the fan rotating in reverse, extending the service life of the fan and the overall drive mechanism. At the same time, the dual circulation fans act on the first mounting area and the inner side of the flexible wheel respectively. With the forward and reverse rotation blade design and the same air outlet direction, directional airflow is achieved inside the housing, significantly improving heat dissipation efficiency.

[0020] By setting up an active heat dissipation unit with a semiconductor cooling chip and a finned heat sink, the active absorption of heat inside the housing and rapid dissipation of heat from the outside are achieved. The semiconductor cooling chip can adaptively adjust the heat dissipation intensity to adapt to different workloads. At the same time, the through holes on the support plate, flexible wheel, and wave generator, together with the guide grooves on the inner wall of the housing, form a complete internal air circulation loop, allowing cool air to flow evenly through all heat-generating components inside the housing. Combined with the heat dissipation grooves on the outer wall of the housing, the internal and external heat dissipation is coordinated, ensuring the heat dissipation effect of the drive mechanism under high-speed and high-frequency start-stop conditions. Moreover, the overall sealing is strong, which greatly improves the service life and makes it suitable for complex environments.

[0021] The interior is divided into two installation areas by a support plate inside the housing, which integrates the stator and rotor drive unit and the harmonic reducer unit respectively. The overall structure is compact and small in size, which greatly reduces the space occupied, simplifies the assembly process, and improves the structural integration of the joint module. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 is a schematic diagram of the structure of this utility model;

[0024] Figure 2 is a structural schematic diagram of this utility model from another perspective;

[0025] Figure 3 is a partial structural schematic diagram of this utility model;

[0026] Figure 4 is one of the cross-sectional structural schematic diagrams of this utility model;

[0027] Figure 5 is a second cross-sectional structural schematic diagram of this utility model.

[0028] Explanation of icon numbers:

[0029] 1. Housing; 101. Heat dissipation groove; 102. Support plate; 1021. First through hole; 103. Flow guide groove; 2. Rear cover; 201. Clearance groove; 3. Front cover; 4. Stator; 5. Rotor; 501. Shaft; 6. Steel wheel; 7. Flexible wheel; 701. Second through hole; 702. Flange; 8. Wave generator; 801. Third through hole; 9. Semiconductor cooling chip; 10. First finned heat sink; 11. Second finned heat sink; 12. First one-way bearing; 13. First circulating fan; 14. Second circulating fan; 15. Second one-way bearing. Detailed Implementation

[0030] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0031] Referring to Figures 1 to 5, an embodiment of this utility model provides a robot joint module drive mechanism, including a housing 1. Both ends of the housing 1 are open. A support plate 102 is fixedly connected inside the housing 1, dividing the interior of the housing 1 into a first mounting area and a second mounting area. A stator 4 is fixedly installed in the first mounting area, and a rotor 5 is rotatably installed on the inner side of the stator 4. A reducer unit is provided in the second mounting area. The rotating shaft 501 of the rotor 5 is connected to the input end of the reducer unit. A rear cover 2 is detachably installed at one end of the housing 1, and a front cover 3 is detachably installed at the other end of the housing 1. A heat dissipation unit for actively cooling the interior of the housing 1 is embedded in the rear cover 2. The output end of the reducer unit rotatably passes through the front cover 3. A circulating fan assembly for disturbing the air inside the housing 1 is provided on the rotating shaft 501.

[0032] By adopting the above technical solution, the support plate 102 inside the housing 1 divides the interior of the housing 1 into a first installation area and a second installation area. After the stator 4 inside the first installation area is energized, it drives the rotor 5 to rotate. The rotating shaft 501 of the rotor 5 transmits the rotational power to the input end of the reducer unit. After the reducer unit reduces the power and increases the torque, the output end of the reducer unit rotates through the front cover 3 to realize external power output. The heat dissipation unit on the rear cover 2 performs active heat dissipation work inside the housing 1. The circulating fan assembly on the rotating shaft 501 disturbs the air inside the housing 1 and improves the heat exchange efficiency inside the housing 1. The rear cover 2 and the front cover 3 are detachably connected to the housing 1, which facilitates the assembly of various components inside the housing 1 and subsequent maintenance and repair.

[0033] In this embodiment, the housing 1 is made of aluminum alloy. Aluminum alloy has both good structural strength and thermal conductivity, which can help improve the heat dissipation efficiency of the housing 1. The support plate 102 and the housing 1 are processed by an integral molding process to ensure the connection strength between the support plate 102 and the housing 1 and to avoid loosening and deformation after long-term use.

[0034] In this embodiment, the heat dissipation unit includes a semiconductor cooling chip 9. A mounting groove is provided on the side of the rear cover 2 away from the housing 1. The semiconductor cooling chip 9 is fixedly embedded in the mounting groove. A first finned heat sink 10 is fixedly connected to the heating surface of the semiconductor cooling chip 9. The first finned heat sink 10 is located on the side of the semiconductor cooling chip 9 away from the housing 1. A mounting hole is provided on the side of the rear cover 2 close to the housing 1. A second finned heat sink 11 is fixedly embedded in the mounting hole. One side of the second finned heat sink 11 is in contact with the cooling surface of the semiconductor cooling chip 9. The fins of the second finned heat sink 11 are located inside the housing 1.

[0035] By adopting the above technical solution, the thermoelectric cooler 9 is embedded and fixed inside the mounting groove of the rear cover 2. The heating surface of the thermoelectric cooler 9 is connected to the first finned heat sink 10. The first finned heat sink 10 dissipates the heat generated by the heating surface of the thermoelectric cooler 9 to the external environment. The cooling surface of the thermoelectric cooler 9 is connected to the second finned heat sink 11. The second finned heat sink 11 absorbs the heat inside the shell 1 and completes the cooling through the cooling surface of the thermoelectric cooler 9. The second finned heat sink 11 is embedded and fixed inside the mounting hole of the rear cover 2 to ensure the installation stability of the second finned heat sink 11. The fins of the second finned heat sink 11 are located inside the shell 1, increasing the contact area with the air inside the shell 1 and improving the heat absorption and cooling effect.

[0036] In this embodiment, thermally conductive silicone grease is filled between the heating surface of the semiconductor cooling chip 9 and the first finned heat sink 10, and thermally conductive silicone grease is also filled between the cooling surface of the semiconductor cooling chip 9 and the second finned heat sink 11.

[0037] In this embodiment, the semiconductor cooling chip 9 adopts a DC low-voltage power supply method, which can adjust the power supply according to the real-time temperature inside the housing 1 to achieve adaptive adjustment of heat dissipation intensity. The first finned heat sink 10 and the second finned heat sink 11 both adopt aluminum alloy fin structure, and the fins are evenly distributed at equal intervals to further improve the efficiency of heat exchange.

[0038] In this embodiment, a clearance groove 201 is provided on the side of the rear cover 2 away from the housing 1. The clearance groove 201 is funnel-shaped, and the fins of the first finned heat sink 10 are located inside the clearance groove 201.

[0039] By adopting the above technical solution, the clearance groove 201 on the rear cover 2 provides installation clearance space for the first finned heat sink 10. The clearance groove 201 is flared, which increases the air circulation space around the first finned heat sink 10, making it easier for the first finned heat sink 10 to fully exchange heat with the outside air and improve the heat dissipation effect of the first finned heat sink 10.

[0040] In this embodiment, the reducer unit includes a steel wheel 6, a flexible wheel 7, and a wave generator 8. The steel wheel 6 is fixedly installed in the second mounting area. The flexible wheel 7 is located inside the steel wheel 6 and meshes with it. The wave generator 8 is rotatably located inside the flexible wheel 7. One end of the rotating shaft 501 is rotatably connected to the wave generator 8 after passing through the support plate 102 via a first ball bearing. A bearing seat is provided on the side of the rear cover 2 near the housing 1. A second ball bearing is provided inside the bearing seat. The other end of the rotating shaft 501 is inserted into the inner ring of the second ball bearing.

[0041] By adopting the above technical solution, the reducer unit adopts a harmonic reducer structure composed of a steel wheel 6, a flexible wheel 7, and a wave generator 8. The steel wheel 6 is fixed inside the second mounting area. The rotating shaft 501 of the rotor 5 drives the wave generator 8 to rotate. The wave generator 8 drives the flexible wheel 7 to mesh with the steel wheel 6 to achieve the transmission effect of speed reduction and torque increase. The rotating shaft 501 is rotatably connected to the support plate 102 through the first ball bearing, and the rotating shaft 501 is rotatably connected to the bearing seat of the rear cover 2 through the second ball bearing. The double bearing support ensures the coaxiality and stability of the rotating shaft 501, and reduces the shaking and component wear during the rotation process.

[0042] In this embodiment, the support plate 102 has a plurality of first through holes 1021, the flexible wheel 7 has a plurality of second through holes 701, and the wave generator 8 has a plurality of third through holes 801. The first through holes 1021, the second through holes 701 and the third through holes 801 connect the first mounting area and the second mounting area.

[0043] By adopting the above technical solution, a first through hole 1021 is opened on the support plate 102, a second through hole 701 is opened on the flexible wheel 7, and a third through hole 801 is opened on the wave generator 8. The first through hole 1021, the second through hole 701 and the third through hole 801 are interconnected, so as to realize the air circulation between the first installation area and the second installation area, provide a circulation channel for the air circulation inside the housing 1, and ensure that the heat dissipation airflow can flow smoothly between the first installation area and the second installation area.

[0044] In this embodiment, a guide channel 103 is provided on the inner wall of the housing 1, which passes through the first installation area and the second installation area.

[0045] By adopting the above technical solution, the guide channel 103 opened on the inner wall of the housing 1 runs through the first installation area and the second installation area. The guide channel 103 cooperates with the first through hole 1021, the second through hole 701 and the third through hole 801 to form a complete air circulation loop, which further improves the circulation efficiency of the air inside the housing 1 and accelerates the transfer and dissipation of heat.

[0046] In this embodiment, the guide channel 103 extends along the axial direction of the housing 1, and the number of guide channels 103 is set to six. The six guide channels 103 are evenly distributed along the circumferential direction of the inner wall of the housing 1, thereby expanding the coverage of air circulation and improving the overall heat dissipation uniformity.

[0047] In this embodiment, the circulating fan assembly includes a first circulating fan 13 and a second circulating fan 14. The first circulating fan 13 is sleeved on one end of the rotating shaft 501 through a first one-way bearing 12 and is located in the first mounting area. The second circulating fan 14 is sleeved on the other end of the rotating shaft 501 through a second one-way bearing 15 and is located inside the flexible wheel 7.

[0048] By adopting the above technical solution, the circulating fan assembly adopts a dual-fan structure of a first circulating fan 13 and a second circulating fan 14. The first circulating fan 13 is sleeved on one end of the rotating shaft 501 through a first one-way bearing 12 and is located inside the first mounting area. The second circulating fan 14 is sleeved on the other end of the rotating shaft 501 through a second one-way bearing 15 and is located inside the flexible wheel 7. The dual-fan structure disturbs the air in the first mounting area and inside the flexible wheel 7 respectively, thereby improving the heat dissipation effect in different areas.

[0049] In this embodiment, the first one-way bearing 12 is configured to lock in forward rotation and overtake in reverse rotation. The first circulating fan 13 is fixedly sleeved on the outer ring of the first one-way bearing 12. The second one-way bearing 15 is configured to lock in reverse rotation and overtake in forward rotation. The second circulating fan 14 is fixedly sleeved on the outer ring of the second one-way bearing 15. The inner rings of the first one-way bearing 12 and the second one-way bearing 15 are both fixedly sleeved on the rotating shaft 501. The first circulating fan 13 is a forward rotating fan, and the second circulating fan 14 is a reverse rotating fan. The air outlets of the first circulating fan 13 and the second circulating fan 14 both face the front cover 3.

[0050] By adopting the above technical solution, the outer ring of the first one-way bearing 12 locks when rotating forward and overtakes when rotating backward. The first circulating fan 13 is fixed to the outer ring of the first one-way bearing 12. When the shaft 501 rotates forward, the first one-way bearing 12 locks and drives the first circulating fan 13 to rotate. When the shaft 501 rotates backward, the first one-way bearing 12 overtakes and the first circulating fan 13 stops rotating. The outer ring of the second one-way bearing 15 locks in reverse and overtakes when rotating forward. The second circulating fan 14 is fixed to the outer ring of the second one-way bearing 15. When the shaft 501 rotates backward, the second one-way bearing 15 locks and drives the second circulating fan 14 to rotate. When the shaft 501 rotates forward, the second one-way bearing 15 overtakes and the second circulating fan 14 stops rotating. The first circulating fan 13 is a forward-rotating fan, and the second circulating fan 14 is a counter-rotating fan. The air outlets of the first circulating fan 13 and the second circulating fan 14 both face the front cover 3, ensuring directional airflow and improving the targeted heat dissipation. Moreover, the air can be delivered evenly when the shaft 501 rotates forward and backward, without damaging the fan.

[0051] In this embodiment, both the first one-way bearing 12 and the second one-way bearing 15 adopt roller-type one-way overrunning clutches, which have fast locking response speed and smooth overrunning rotation without jamming.

[0052] In this embodiment, the outer wall of the housing 1 is provided with a plurality of evenly distributed heat dissipation grooves 101.

[0053] By adopting the above technical solution, a number of evenly distributed heat dissipation grooves 101 are opened on the outer wall of the shell 1. The heat dissipation grooves 101 increase the contact area between the outer wall of the shell 1 and the external air, and help the heat inside the shell 1 to dissipate outward, forming a heat dissipation structure that combines the inside and outside, and further improving the overall heat dissipation performance.

[0054] In this embodiment, a flange 702 is provided at one end of the flexible wheel 7. The flange 702 is rotated through the front cover 3 and is located outside the housing 1 after passing through the front cover 3 via a sealed bearing.

[0055] By adopting the above technical solution, the flange 702 at one end of the flexible wheel 7 serves as a power output component. The flange 702 extends through the front cover 3 to the outside of the housing 1 via a sealed bearing. The sealed bearing ensures the sealing of the flange 702 during rotation, preventing external dust and impurities from entering the housing 1, while also ensuring the smoothness of power output.

[0056] Based on the above technical solutions, the working steps of this solution are summarized as follows:

[0057] When the robot's joint module drive mechanism is in use, the stator 4 is energized to generate a magnetic field that drives the rotor 5 to rotate. The rotor 5's shaft 501 rotates accordingly, driving the wave generator 8 to rotate. The wave generator 8 drives the flexible wheel 7 to mesh with the fixed steel wheel 6 for transmission. The flexible wheel 7 achieves power output after deceleration and torque amplification through the flange 702 at its end. The semiconductor cooling chip 9 is energized and starts working. The heating surface of the semiconductor cooling chip 9 dissipates heat to the external environment through the first finned heat sink 10, and the cooling surface of the semiconductor cooling chip 9 absorbs heat from inside the casing 1 through the second finned heat sink 11 to achieve internal cooling. When the shaft 501 rotates forward, the first one-way bearing 12 is in a locked state, driving the first circulating fan 13 to rotate, and the second one-way bearing 15 is in an overrunning state, so that the second circulating fan 14 rotates without external force. When the shaft 501 rotates in reverse, the second one-way bearing 15 is in a locked state, driving the second circulating fan 14 to rotate, and the first one-way bearing 12 is in an overrunning state, so that the first circulating fan 13 rotates without external force. When the first circulating fan 13 or the second circulating fan 14 rotates, the cool air on the second finned heat sink 11 is blown from the first mounting area through the gap between the stator 4 and the rotor 5, the first through hole 1021, the third through hole 801 and the second through hole 701 into the second mounting area. After the cool air carries the heat inside the second mounting area, it flows back to the first mounting area through the guide groove 103 on the inner wall of the housing 1, forming a continuous circulating airflow. Together with the heat dissipation groove 101 on the outer wall of the housing 1, it achieves efficient and uniform heat dissipation inside the housing 1, and the overall sealing is good.

[0058] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the present invention's conception through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A robot joint module drive mechanism, characterized in that, The device includes a housing (1) with openings at both ends. A support plate (102) is fixedly connected inside the housing (1). The support plate (102) divides the interior of the housing (1) into a first installation area and a second installation area. A stator (4) is fixedly installed in the first installation area. A rotor (5) is rotatably installed on the inner side of the stator (4). A speed reducer unit is provided in the second installation area. The shaft (501) of the rotor (5) is connected to the input end of the speed reducer unit. A rear cover (2) is detachably installed at one end of the housing (1). A front cover (3) is detachably installed at the other end of the housing (1). A heat dissipation unit for actively cooling the interior of the housing (1) is embedded in the rear cover (2). The output end of the speed reducer unit rotatably passes through the front cover (3). A circulating fan assembly for disturbing the air inside the housing (1) is provided on the shaft (501).

2. The robot joint module drive mechanism according to claim 1, characterized in that, The heat dissipation unit includes a semiconductor cooling chip (9). The rear cover (2) has an assembly groove on the side away from the housing (1). The semiconductor cooling chip (9) is fixedly embedded in the assembly groove. The heating surface of the semiconductor cooling chip (9) is fixedly connected to a first finned heat sink (10). The first finned heat sink (10) is located on the side of the semiconductor cooling chip (9) away from the housing (1). The rear cover (2) has an installation hole on the side close to the housing (1). A second finned heat sink (11) is fixedly embedded in the installation hole. One side of the second finned heat sink (11) is in contact with the cooling surface of the semiconductor cooling chip (9). The fins of the second finned heat sink (11) are located inside the housing (1).

3. The robot joint module drive mechanism according to claim 2, characterized in that, The rear cover (2) has a relief groove (201) on the side away from the housing (1). The relief groove (201) is horn-shaped, and the fins of the first finned radiator (10) are located inside the relief groove (201).

4. The robot joint module drive mechanism according to claim 3, characterized in that, The reducer unit includes a steel wheel (6), a flexible wheel (7), and a wave generator (8). The steel wheel (6) is fixedly installed in the second mounting area. The flexible wheel (7) is located inside the steel wheel (6) and meshes with the steel wheel (6). The wave generator (8) is rotatably located inside the flexible wheel (7). One end of the shaft (501) is rotatably connected to the wave generator (8) after passing through the support plate (102) via a first ball bearing. A bearing seat is provided on the side of the rear cover (2) near the housing (1). A second ball bearing is provided in the bearing seat. The other end of the shaft (501) is inserted into the inner ring of the second ball bearing.

5. A robot joint module drive mechanism according to claim 4, characterized in that, The support plate (102) has a plurality of first through holes (1021), the flexible wheel (7) has a plurality of second through holes (701), and the wave generator (8) has a plurality of third through holes (801). The first through holes (1021), the second through holes (701) and the third through holes (801) connect the first mounting area and the second mounting area.

6. A robot joint module drive mechanism according to claim 5, characterized in that, The inner wall of the housing (1) is provided with a guide channel (103) that runs through the first installation area and the second installation area.

7. A robot joint module drive mechanism according to claim 6, characterized in that, The circulating fan assembly includes a first circulating fan (13) and a second circulating fan (14). The first circulating fan (13) is sleeved on one end of the rotating shaft (501) through a first one-way bearing (12) and is located in the first mounting area. The second circulating fan (14) is sleeved on the other end of the rotating shaft (501) through a second one-way bearing (15) and is located inside the flexible wheel (7).

8. A robot joint module drive mechanism according to claim 7, characterized in that, The first one-way bearing (12) is configured to lock in the outer ring when rotating forward and to override in the reverse direction. The first circulating fan (13) is fixedly sleeved on the outer ring of the first one-way bearing (12). The second one-way bearing (15) is configured to lock in the outer ring when rotating backward and to override in the forward direction. The second circulating fan (14) is fixedly sleeved on the outer ring of the second one-way bearing (15). The inner rings of the first one-way bearing (12) and the second one-way bearing (15) are both fixedly sleeved on the rotating shaft (501). The first circulating fan (13) is a forward rotating fan, and the second circulating fan (14) is a reverse rotating fan. The air outlets of the first circulating fan (13) and the second circulating fan (14) both face the front cover (3).

9. The robot joint module drive mechanism according to claim 1, wherein The outer wall of the housing (1) is provided with several evenly distributed heat dissipation grooves (101).

10. The robot joint module drive mechanism according to claim 4, wherein One end of the flexible wheel (7) is provided with a flange (702), which is located outside the housing (1) after passing through the front cover (3) by a sealed bearing.

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