Planetary joint module and robot

Abstract

The utility model relates to a planetary joint module and a robot. The planetary joint module comprises a shell, a first connecting piece and a second connecting piece, wherein a first ventilation opening and a second ventilation opening are formed in the shell; the motor assembly is arranged in a cavity defined by the shell, and the motor assembly comprises an inner stator and an outer rotor, and blades are annularly arranged on the outer circumferential surface of the outer rotor; wherein a first flow channel is formed between the outer rotor and the inner stator, a second flow channel is formed between the outer rotor and the shell, and the first flow channel and the second flow channel are both communicated with the first ventilation opening; the speed change assembly is arranged on the inner side of the motor assembly in the radial direction of the cavity; the outer rotor connecting piece is used for connecting the outer rotor and the speed change assembly, and an air guide opening communicated with the first flow channel is formed in the outer rotor connecting piece; and the motor driving plate is arranged in the cavity and is close to the second ventilation opening, and a third flow channel is formed between the motor driving plate and the inner wall of the shell.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to planetary joint modules and robots. Background Technology

[0002] With the rapid development of robotics technology, planetary joint modules have been widely used in automation and other fields due to their superior performance. However, existing planetary joint modules, due to their high output torque and high power density, generate a large amount of heat during operation, such as that generated by the motors. If this heat cannot be dissipated in time, the temperature inside the planetary joint module will continue to rise, affecting the operating efficiency and reliability of the motors and other components, and may even cause thermal failures that affect the normal operation of the planetary joint module. Utility Model Content

[0003] This section provides a general overview of the present invention, rather than a complete disclosure of the full scope or all features of the present invention.

[0004] The purpose of this invention is to provide a planetary joint module and robot that can dissipate heat from the motor and motor drive board in a timely manner.

[0005] To achieve the above objectives, according to one aspect of the present invention, a planetary joint module is provided, the planetary joint module comprising:

[0006] The housing has a first ventilation opening and a second ventilation opening.

[0007] A motor assembly is disposed within a cavity enclosed by a housing, and the motor assembly includes an inner stator and an outer rotor with blades arranged around its outer circumference; wherein a first flow channel is formed between the outer rotor and the inner stator, and a second flow channel is formed between the outer rotor and the housing, and both the first flow channel and the second flow channel are connected to a first vent.

[0008] The speed change assembly is disposed inside the motor assembly along the radial direction of the cavity;

[0009] An outer rotor connector, used to connect the outer rotor and the transmission assembly, and having an air guide port communicating with the first flow channel; and

[0010] The motor drive board is located inside the cavity and near the second vent, and a third flow channel is formed between it and the inner wall of the housing.

[0011] Optionally, in some embodiments, a fourth flow channel communicating with the third flow channel is formed between the motor drive board and the outer rotor connector.

[0012] Optionally, in some embodiments, the transmission assembly includes a primary planetary gear transmission unit and a secondary planetary gear transmission unit; wherein,

[0013] This primary planetary gear transmission unit includes:

[0014] The gear ring is disposed on the inner side of the inner stator along the radial direction of the cavity and is fixedly connected to the inner stator;

[0015] The first sun gear is disposed on the inner side of the gear ring along the radial direction of the cavity and is fixedly connected to the outer rotor connector;

[0016] Multiple first planetary gears are positioned between the first sun gear and the ring gear and mesh with both;

[0017] The first planetary carrier is fixedly connected to the first planetary gear;

[0018] The two-stage planetary gear transmission unit includes:

[0019] The second sun gear is fixedly connected to the first planet carrier;

[0020] Multiple second planetary gears are positioned between the second sun gear and the ring gear and mesh with both;

[0021] The second planetary carrier is fixedly connected to the second planetary gear, and the second planetary carrier is configured to connect to the power output end of the load.

[0022] Optionally, in some embodiments, the outer rotor connector is rotatably connected to the gear ring via a first bearing.

[0023] Optionally, in some embodiments, the second planetary carrier is rotatably connected to the gear ring via a second bearing.

[0024] Optionally, in some embodiments, the housing is provided with a plurality of first ventilation openings, which are evenly distributed along the circumferential direction of the housing.

[0025] Alternatively, in some embodiments, the housing includes a removable cover with a second vent formed on the cover.

[0026] Optionally, in some embodiments, a plurality of second vents are formed on the cover, and the plurality of second vents are evenly distributed.

[0027] Optionally, in some embodiments, the motor drive board is fixedly connected to the cover.

[0028] According to another aspect of the present invention, a robot is provided, which includes the planetary joint module in any of the foregoing embodiments.

[0029] According to the above technical solution, blades are installed on the outer rotor to accelerate airflow. Simultaneously, flow channels are provided between the outer rotor and the housing, and between the outer rotor and the inner stator, offering multiple flow paths for air. This design, combining active cooling and optimized flow channels, significantly accelerates heat dissipation, preventing damage to components within the planetary joint module due to overheating, thus ensuring stable operation of the planetary joint module under high-power conditions. Attached Figure Description

[0030] 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.

[0031] Figure 1 This is a cross-sectional view of a planetary joint module provided according to an embodiment of the present utility model.

[0032] Figure 2 for Figure 1 The image shows an exploded view of the planetary joint module from one perspective.

[0033] Figure 3 for Figure 1 The image shows an exploded view of the planetary joint module from another perspective.

[0034] Figure 4 for Figure 1 The image shows a perspective view of a planetary joint module according to an embodiment of the present invention, wherein the cover is opened to show the internal structure of the planetary joint module.

[0035] Figure 5 This is a perspective view of a planetary joint module according to an embodiment of the present invention.

[0036] Figure 6 This is a perspective view of the planetary joint module from another angle according to an embodiment of the present invention.

[0037] Figure 7 This is a structural diagram of a transmission assembly from one perspective, according to an embodiment of the present invention.

[0038] Figure 8 This is a structural diagram of a transmission assembly from another perspective according to an embodiment of the present invention.

[0039] In the picture:

[0040] 1: Planetary joint module; 10: Housing; 101: Cavity; 102: First vent; 103: Second vent; 104: Cover; 20: Motor assembly; 201: Inner stator; 202: Outer rotor; 2021: Blade; 30: First flow channel; 40: Second flow channel; 50: Transmission assembly; 501: First-stage planetary gear transmission unit; 5011: Gear ring; 5012: First sun gear; 5013: First planetary gear; 5014: First planetary carrier; 502: Second-stage planetary gear transmission unit; 5021: Second sun gear; 5022: Second planetary gear; 5023: Second planetary carrier; 60: Outer rotor connector; 601: Air guide; 70: Motor drive board; 80: Third flow channel; 90: Fourth flow channel; 100: First bearing; 110: Second bearing. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this utility model, it should be noted that the terms "upper", "lower", 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 in which the product is usually placed when in use. They are only used to facilitate the description of this utility model and to simplify 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 utility model.

[0045] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" 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, etc. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0046] As mentioned earlier, planetary joint modules generate a significant amount of heat during operation, particularly from components such as the motor. If this heat cannot be dissipated promptly, it will affect the performance of these components. Currently, related technologies typically employ passive cooling methods to dissipate this heat, such as adding heat sinks. However, this passive cooling method usually relies on natural convection and heat conduction, resulting in low cooling efficiency and making it difficult to meet the heat dissipation requirements of planetary joint modules under high-power conditions.

[0047] To address the aforementioned issues, this invention employs active heat dissipation and optimizes the flow channels in the planetary joint module to improve heat dissipation efficiency, thereby extending the service life of components such as the motor and ensuring the stable operation of the planetary joint module.

[0048] Specifically, see Figures 1 to 4 According to an embodiment of the present invention, a planetary joint module 1 is provided. The planetary joint module 1 includes a housing 10, such as... Figure 4 As shown, the housing 10 defines a cavity 101 by its bottom wall and side walls.

[0049] In the embodiments of this utility model, such as Figure 5 and Figure 6 As shown, the housing 10 has a first ventilation opening 102 and a second ventilation opening 103. The first ventilation opening 102 and the second ventilation opening 103 can be opened on the upper wall and the bottom wall of the housing 10, respectively. Of course, the positions of the ventilation openings on the housing 10 can also be selected according to actual needs.

[0050] In practical implementation, both the first vent 102 and the second vent 103 can be configured to function as either air intake or air exhaust. That is, air used to remove heat can enter the planetary joint module 1 through the first vent 102 and exit the planetary joint module 1 through the second vent 103; or the air can enter the planetary joint module 1 through the second vent 103 and exit the planetary joint module 1 through the first vent 102.

[0051] In an embodiment of the present invention, the planetary joint module 1 further includes a motor assembly 20, which is disposed within a cavity 101 enclosed by the housing 10, and the motor assembly 20 includes an inner stator 201 and an outer rotor 202.

[0052] It should be understood that the motor 20 is used to provide power to the entire articulated planetary module 1.

[0053] Continue as Figure 3 As shown, blades 2021 are arranged in a ring around the outer circumference of the outer rotor 202. It should be understood that with a series of blades 2021 arranged in a ring around the outer circumference of the outer rotor 202, when the outer rotor 202 rotates during the operation of the planetary joint module 1, the aforementioned blades 2021 also rotate, thereby applying force to the air through the blades 2021, causing the air to gain kinetic energy and accelerate its flow. In this case, the heat dissipation efficiency is significantly improved through forced convection, ensuring that the planetary joint module 1 maintains a stable temperature during long-term, high-power operation, thus extending the service life of key components such as the motor assembly 20 and improving the overall reliability of the planetary joint module 1.

[0054] In embodiments of this utility model, the blade 2021 can be connected to the rotor 202 by means of, but not limited to, welding.

[0055] Continue as Figure 1 As shown, a first flow channel 30 is formed between the outer rotor 202 and the inner stator 201, and a second flow channel 40 is formed between the outer rotor 202 and the housing 10. Both the first flow channel 30 and the second flow channel 40 are connected to the first vent 102.

[0056] In this configuration, air used to remove heat can enter the planetary joint module 1 from either the first vent 102 or the second vent 103, and flow through the first flow channel 30 and the second flow channel 40 to another vent, namely the second vent 103 or the first vent 102. The design of these two flow channels ensures that heat within the planetary joint module 1 is expelled to the outside at the fastest possible flow rate, thereby guaranteeing the temperature stability within the planetary joint module 1 and preventing damage to critical components such as the electrode assembly 20 due to overheating.

[0057] It should be noted that the air intake or exhaust function of the first vent 102 and the second vent 103 can be flexibly controlled by setting the rotation direction of the outer rotor 202. For example, when the outer rotor 202 rotates clockwise, the first vent 102 acts as an air intake, allowing air to enter the planetary joint module 1 from the first vent 102; at this time, the second vent 103 acts as an air exhaust, expelling the air from the planetary joint module 1. Conversely, if the outer rotor 202 is set to rotate counterclockwise, the second vent 103 acts as an air intake, and the first vent 102 acts as an air exhaust.

[0058] In embodiments of this disclosure, such as Figure 1As shown, the planetary joint module 1 also includes a speed change component 50, which is disposed inside the motor assembly 20 along the radial direction of the cavity 101.

[0059] The speed change component 50 is the core transmission component of the planetary joint module 1. It is used to effectively convert the high-speed rotation generated by the motor component 20 into a low-speed, high-torque output, so that the planetary joint module 1 can provide sufficient torque to drive the load and thus meet the load requirements of the robot's joints.

[0060] In embodiments of this disclosure, such as Figure 1 As shown, the planetary joint module 1 also includes an outer rotor connector 60 for connecting the outer rotor 202 and the transmission assembly 50, and as... Figure 2 As shown, the outer rotor connector 60 has an air guide 601 that communicates with the first flow channel 30; and

[0061] The motor drive plate 70 is located inside the cavity 101 and near the second vent 103, and a third flow channel 80 is formed between it and the inner wall of the housing 10.

[0062] In the planetary joint module 1, the motor drive plate 70 is used to drive the outer rotor 201 in the motor assembly 20 to rotate, and it is also the main heat-generating component in the planetary joint module 1. To ensure the stable operation of the planetary joint module 1, a third flow channel 80 is formed between the motor drive plate 70 and the housing 10 in this invention. In this case, combined with Figure 1 As can be seen, taking the first vent 102 as an air inlet as an example, when air enters the cavity 101 through the first vent 102, it splits into two parts. One part of the air flows through the second flow channel 40 and is accelerated by the blades 2021, then flows to the third flow channel 80 and is finally discharged through the second vent 103. The other part of the air flows through the first flow channel 30, then enters the third flow channel 80 through the air guide 601, and is also finally discharged through the second vent 103. For the specific airflow path, please refer to [link to relevant documentation]. Figure 1 As shown by the dashed arrow in the diagram. Through this split-flow design, the air entering the planetary joint module 1 can not only pass through the motor assembly 20, but also pass through the motor drive plate 70 upon exhaust, thereby cooling the motor drive plate 70. In this case, the air achieves an efficient flow path within the planetary joint module 1, ensuring that heat can be quickly carried away and exhausted.

[0063] Furthermore, by opening an air guide 601 on the outer rotor connector 60, the air entering the first flow channel 30 can be effectively guided to flow smoothly, preventing air from accumulating in the first flow channel 30. This not only optimizes the airflow path but also prevents damage to the outer rotor connector 60 caused by excessive pressure or heat accumulation due to air accumulation, further improving the reliability and stability of the planetary joint module 1.

[0064] According to the above technical solution, blades are installed on the outer rotor 202 to accelerate airflow. Simultaneously, flow channels are provided between the outer rotor 202 and the housing 10, and between the outer rotor 202 and the inner stator 201, providing multiple flow paths for airflow. This design, combining active cooling and optimized flow channels, significantly accelerates heat dissipation, preventing damage to components within the planetary joint module 1 due to overheating, thereby ensuring stable operation of the planetary joint module 1 under high-power conditions.

[0065] In some implementations, continue as Figure 1 As shown, a fourth flow channel 90, which is connected to the third flow channel 80, is formed between the motor drive plate 70 and the outer rotor connector 60.

[0066] In this case, continuing to take the first vent 102 as the air inlet as an example, the air entering the planetary joint module 1 from the first vent 102 passes through the first flow channel 30 and the second flow channel 40, and then converges into the fourth flow channel 90 to contact the motor drive board 70, thus cooling the motor drive board 70. Finally, it flows through the third flow channel 80 to the second vent 103, and is finally discharged to the outside of the planetary joint module 1.

[0067] In some implementations, combined Figure 1 , Figure 7 as well as Figure 8 The transmission assembly 50 includes a primary planetary gear transmission unit 501 and a secondary planetary gear transmission unit 502; wherein,

[0068] The primary planetary gear transmission unit 501 includes:

[0069] The gear ring 5011 is disposed on the inner side of the inner stator 201 along the radial direction of the cavity 101 and is fixedly connected to the inner stator 201.

[0070] The first sun gear 5012 is disposed on the inner side of the gear ring 5011 along the radial direction of the cavity 101 and is fixedly connected to the outer rotor connector 60.

[0071] Multiple first planetary gears 5013 are positioned between the first sun gear 5012 and the ring gear 5011 and mesh with them;

[0072] The first planetary carrier 5014 is fixedly connected to the first planetary gear 5013;

[0073] The two-stage planetary gear transmission unit 502 includes:

[0074] The second sun gear 5021 is fixedly connected to the first planet carrier 5014;

[0075] Multiple second planetary gears 5022 are positioned between the second sun gear 5021 and the ring gear 5011 and mesh with both;

[0076] The second planetary carrier 5023 is fixedly connected to the second planetary gear 5022, and the second planetary carrier 5023 is configured to be connected to the power output end of the load.

[0077] In this configuration, when the outer rotor 202 rotates, the outer rotor connector 20 rotates synchronously. Since the first sun gear 5012 is fixed to the outer rotor connector 20, it also rotates. The first sun gear 5012 meshes with the first planet gear 5013, while the ring gear 5011 remains stationary. Therefore, the first planet gear 5013 drives the first planet carrier 5014 to rotate. Simultaneously, the second sun gear 5021 rotates with the first planet carrier 5014. The second sun gear 5021 meshes with the second planet gear 5022, so its rotation drives the second planet gear 5022 to rotate. The second planet gear 5022 also meshes with the ring gear 5011, which remains stationary. Therefore, the second planet gear 5022 drives the second planet carrier 5023 to rotate. Finally, the second planet carrier 5023 can be connected to the power output end of the load, thereby achieving torque output.

[0078] In this invention, the transmission assembly 50 includes a primary planetary gear transmission unit 501 and a secondary planetary gear transmission unit 502. This multi-stage planetary gear transmission structure can significantly increase the output torque of the planetary joint module 1, thereby enabling it to meet the requirements of high-torque operating conditions. Furthermore, each stage of the planetary gear transmission unit in the transmission assembly 50 shares the same gear ring 5011, which not only reduces manufacturing costs but also simplifies the assembly process.

[0079] It should be noted that when the transmission assembly 50 includes only a first-stage planetary gear transmission unit 501 and a second-stage planetary gear transmission unit 502, the second planetary carrier 5023 is directly connected to the power output terminal of the load. However, when the transmission assembly 50 includes not only the first-stage planetary gear transmission unit 501 and the second-stage planetary gear transmission unit 502, but also, for example, a third-stage planetary gear transmission unit, the second planetary carrier 5023 is connected to the third sun gear in the third-stage planetary gear transmission unit, and the third planetary carrier in the third-stage planetary gear transmission unit is used to connect to the power output terminal of the load.

[0080] In some implementations, such as Figure 1 As shown, the outer rotor connector 60 is rotatably connected to the gear ring 5011 via the first bearing 100.

[0081] In this invention, the gear ring 5011 is fixedly connected to the inner stator 201, thus keeping the gear ring 5011 stationary. To enable the outer rotor connector 60 to follow the rotation of the outer rotor 202 and drive the first sun gear 5012 to rotate, the outer rotor connector 60 is connected to the gear ring 5011 via the first bearing 100. With the rotational function of the first bearing 100, the outer rotor connector 60 can rotate around the gear ring 5011 while it remains stationary.

[0082] In some implementations, such as Figure 1 As shown, the second planetary carrier 5023 is rotatably connected to the gear ring 5011 via the second bearing 110.

[0083] In this case, with the help of the rotation function of the second bearing 110, the second planetary carrier 5023 can rotate relative to the gear ring 5011 under the drive of the second planetary gear 5022.

[0084] In some implementations, such as Figure 5 As shown, the housing 10 has a plurality of first ventilation openings 102, which are evenly distributed along the circumferential direction of the housing 10.

[0085] It should be noted that, in this utility model, the shape of the first ventilation opening 102 is not limited to a roughly trapezoidal or fan-shaped shape, but can also be square, etc. Furthermore, the number of first ventilation openings 102 can be determined according to the actual situation.

[0086] Since the first flow channel 30 and the second flow channel 40 are both arranged circumferentially along the cavity 101, and multiple first vents 102 are evenly distributed along the circumferential direction of the housing 10, the air entering / exiting from the first vents 102 can be distributed as evenly as possible within the first flow channel 30 and / or the second flow channel 40, avoiding the accumulation of air within the first flow channel 30 and / or the second flow channel 40, thereby preventing component damage caused by uneven local airflow and ensuring the stable operation of the planetary joint module 1.

[0087] In some implementations, such as Figure 2 As shown, the housing 10 includes a removable cover 104, and the second vent 103 is formed on the cover 104. Furthermore, a plurality of second vents 103 are formed on the cover 104, and the plurality of second vents 103 are evenly distributed.

[0088] It should be noted that, in this invention, the shape of the second ventilation opening 103 is not limited to a fan shape, but can also be square, etc. Furthermore, the number of second ventilation openings 103 can be determined according to the actual situation.

[0089] In this case, the air entering or exiting from the second vent 102 can enter or exit the planetary joint module 1 with a more uniform pressure, avoiding component damage caused by uneven local airflow.

[0090] Furthermore, in some implementations, such as Figure 1 As shown, the motor drive board 70 is fixedly connected to the cover 104.

[0091] Finally, this embodiment of the invention also provides a robot that includes the planetary joint module 1 according to the foregoing embodiments of the invention.

[0092] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A planetary joint module, characterized in that, The planetary joint module includes: The housing (10) has a first vent (102) and a second vent (103) on it. A motor assembly (20) is disposed within a cavity (101) enclosed by the housing (10), and the motor assembly (20) includes an inner stator (201) and an outer rotor (202) with blades (2021) arranged around its outer circumference; wherein a first flow channel (30) is formed between the outer rotor (202) and the inner stator (201), and a second flow channel (40) is formed between the outer rotor (202) and the housing (10), and both the first flow channel (30) and the second flow channel (40) are connected to the first vent (102); The speed change assembly (50) is disposed inside the motor assembly (20) along the radial direction of the cavity (101); An outer rotor connector (60) is used to connect the outer rotor (202) and the transmission assembly (50), and has an air guide (601) communicating with the first flow channel (30); and The motor drive plate (70) is located in the cavity (101) and near the second vent (103), and a third flow channel (80) is formed between it and the inner wall of the housing (10).

2. The planetary joint module according to claim 1, characterized in that, A fourth flow channel (90) is formed between the motor drive plate (70) and the outer rotor connector (60) and is connected to the third flow channel (80).

3. The planetary joint module according to claim 1 or 2, characterized in that, The transmission assembly (50) includes a primary planetary gear transmission unit (501) and a secondary planetary gear transmission unit (502); wherein, The first-stage planetary gear transmission unit (501) includes: A gear ring (5011) is disposed on the inner side of the inner stator (201) along the radial direction of the cavity (101) and is fixedly connected to the inner stator (201); The first sun gear (5012) is disposed on the inner side of the gear ring (5011) along the radial direction of the cavity (101) and is fixedly connected to the outer rotor connector (60); A plurality of first planetary gears (5013) are positioned between the first sun gear (5012) and the ring gear (5011) and mesh with the two; The first planetary carrier (5014) is fixedly connected to the first planetary gear (5013); The secondary planetary gear transmission unit (502) includes: The second sun gear (5021) is fixedly connected to the first planet carrier (5014); Multiple second planetary gears (5022) are positioned between the second sun gear (5021) and the ring gear (5011) and mesh with both; The second planetary carrier (5023) is fixedly connected to the second planetary gear (5022), and the second planetary carrier (5023) is configured to be connected to the power output end of the load.

4. The planetary joint module according to claim 3, characterized in that, The outer rotor connector (60) is rotatably connected to the gear ring (5011) via the first bearing (100).

5. The planetary joint module according to claim 3, characterized in that, The second planetary carrier (5023) is rotatably connected to the gear ring (5011) via the second bearing (110).

6. The planetary joint module according to claim 1 or 2, characterized in that, The housing (10) has a plurality of first ventilation openings (102), which are evenly distributed along the circumferential direction of the housing (10).

7. The planetary joint module according to claim 1 or 2, characterized in that, The housing (10) includes a removable cover (104) on which the second vent (103) is formed.

8. The planetary joint module according to claim 7, characterized in that, The cover (104) has a plurality of second ventilation openings (103) formed thereon, and the plurality of second ventilation openings (103) are evenly distributed.

9. The planetary joint module according to claim 7, characterized in that, The motor drive board (70) is fixedly connected to the cover (104).

10. A robot, characterized in that, The robot includes a planetary joint module (1) according to any one of claims 1 to 9.

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