Heat dissipation structure and joint module

Abstract

The application relates to a heat dissipation structure and a joint module. The heat dissipation structure comprises a driver, a motor, a speed reducer and an output shaft. The driver is used for controlling and driving the motor. A motor shaft of the motor is connected with an input shaft of the speed reducer. The output shaft is connected with an output end of the speed reducer. The heat dissipation structure further comprises a fan. The fan is arranged on one side of the driver and is mounted on the driver. A peripheral side area of the motor, a peripheral side area of the driver, a side area of the driver close to the fan and the fan are communicated to form a first heat dissipation air channel. The output shaft is provided with a first hollow hole which is arranged through along an axial direction of the output shaft. The first hollow hole, a center hole of the driver, the side area of the driver close to the fan and the fan are communicated to form a second heat dissipation air channel. The heat dissipation structure and the joint module provided by the application solve the problem of low heat dissipation efficiency of the existing joint module.

Description

Technical Field

[0001] This application relates to the field of heat dissipation system technology for joint modules, and in particular to a heat dissipation structure and a joint module. Background Technology

[0002] The joint module mainly consists of core components such as a motor, driver, and reducer. These components are connected together via a shaft and housing to form a unified structure. Currently, common joint modules have a solid shaft and housing. Heat generated by the motor and driver during operation is primarily conducted internally to the housing, and then dissipated into the environment through natural convection and radiation. However, due to the limited surface area of ​​the housing, the heat transfer coefficients of natural convection and radiation are not high, resulting in limited heat dissipation efficiency. Especially when the joint module operates at high power, it generates significant heat. If this heat cannot be dissipated into the atmosphere in a timely manner, the joint module's temperature will rise significantly. This will affect the joint module's performance, potentially leading to a decrease in power output, and will also reduce the module's lifespan. Utility Model Content

[0003] Therefore, it is necessary to provide a heat dissipation structure and joint module to solve the problem of low heat dissipation efficiency of existing joint modules.

[0004] The heat dissipation structure provided in this application includes a driver, a motor, a reducer, and an output shaft. The driver is used to control and drive the motor. The motor shaft is connected to the input shaft of the reducer, and the output shaft is connected to the output end of the reducer. The heat dissipation structure also includes a fan. The fan is disposed on one side of the driver and installed on the driver. The outer peripheral area of ​​the motor, the outer peripheral area of ​​the driver, the area of ​​the driver near the fan, and the fan communicate to form a first heat dissipation air passage. The output shaft is provided with a first hollow hole that runs through it along its own axial direction. The first hollow hole, the center hole of the driver, the area of ​​the driver near the fan, and the fan communicate to form a second heat dissipation air passage.

[0005] In one embodiment, the heat dissipation structure further includes a heat dissipation shroud, which is disposed on the outer periphery of the fan. The heat dissipation shroud and the fan are coaxially arranged, and the heat dissipation shroud is disposed through both ends along its own axial direction.

[0006] In one embodiment, the heat dissipation shroud includes a shroud sidewall and a shroud end cap. The shroud sidewall is fitted onto the outer periphery of the fan and connected to the driver. The shroud end cap is fixedly connected to the end of the shroud sidewall away from the driver. The shroud end cap has a fourth through hole that extends through the axial direction of the heat dissipation shroud so that the airflow generated by the fan can be connected to the atmospheric environment through the fourth through hole.

[0007] In one embodiment, the heat dissipation structure further includes fasteners. A mounting post is provided on the outer periphery of the driver. One end of the mounting post is connected to the driver, and the other end protrudes towards the direction close to the fan. The mounting post is provided with a third mounting hole. The fan housing is provided with a fourth mounting hole. The end cap of the shroud is provided with a fifth mounting hole. The fasteners can pass through the fifth mounting hole, the fourth mounting hole, and the third mounting hole to allow the fan and the heat dissipation shroud to be mounted on the driver.

[0008] In one embodiment, the sidewalls of the enclosure and the outer peripheral sidewalls of the fan are spaced apart.

[0009] In one embodiment, the sidewall of the shroud is an annular closed structure, so that airflow can only enter and exit the space enclosed by the sidewall of the shroud along the two ends of the heat dissipation guide shroud axial direction.

[0010] In one embodiment, a limiting post is provided between the end cap of the housing and the fan. One end of the limiting post is connected to one of the end cap of the housing and the fan, and the other end abuts against the other of the end cap of the housing and the fan, so that the end cap of the housing and the fan are spaced apart from the end of the driver.

[0011] In one embodiment, the heat dissipation structure further includes heat dissipation ribs disposed in the first hollow hole and connected to the inner wall of the first hollow hole, so that heat can be transferred to the heat dissipation ribs through the inner wall of the first hollow hole.

[0012] In one embodiment, the heat dissipation fin includes a base column and a first heat dissipation fin. The base column is coaxially arranged with the output shaft. The base column has a second hollow hole that extends through the output shaft along its axial direction. The first heat dissipation fin is connected to the outer side of the base column, and the heat dissipation fin is connected to the inner wall of the output shaft through the first heat dissipation fin.

[0013] This application also provides a joint module, which includes the heat dissipation structure described in any of the above embodiments.

[0014] Compared to existing technologies, the heat dissipation structure and joint module provided in this application, specifically, generate airflow when the fan operates. Part of this airflow flows along the outer periphery of the motor and driver to form a first heat dissipation channel, directly cooling the outer surfaces of the motor and driver. Another part of the airflow enters the first hollow hole of the output shaft through the central hole of the driver, forming a second heat dissipation channel. The airflow absorbs heat as it flows inside the output shaft and is then exhausted by the fan. The first and second heat dissipation channels work together to dissipate heat from the outside and inside of the components, respectively, forming a dual-path heat dissipation system. For example, when the motor and driver are running, the heat they generate is carried away by the airflow from the first heat dissipation channel through the outer periphery area, while the heat from the motor, driver, reducer, and output shaft is transferred to the external environment through the airflow from the second heat dissipation channel.

[0015] Compared to existing technologies, which rely on passive cooling via the casing, this solution achieves active airflow circulation cooling by incorporating a fan and a through-type air duct structure. The first cooling duct covers the outer surface of the motor and driver, directly enhancing surface heat dissipation efficiency; the second cooling duct utilizes the hollow structure of the output shaft to penetrate deep into the module, solving the problem of traditional solid shafts being unable to dissipate heat internally. The synergistic effect of the dual air ducts overcomes the limitations of a single heat dissipation path, making it particularly suitable for high power density scenarios.

[0016] Through the above technical solution, this application effectively improves the heat dissipation efficiency of the joint module and reduces the operating temperature of the motor, driver, and output shaft. The first heat dissipation channel quickly removes heat from the surface of the components through forced convection, while the second heat dissipation channel utilizes internal gas flow to reduce heat accumulation. The combination of the two can avoid performance degradation caused by excessive temperature and extend the service life of the module. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a heat dissipation structure according to an embodiment of this application;

[0019] Figure 2 An exploded view of a heat dissipation structure according to another embodiment of this application;

[0020] Figure 3 for Figure 2 A cross-sectional view of the heat dissipation structure shown.

[0021] Figure 4 A schematic diagram of the structure of a heat dissipation fin is provided for an embodiment of this application;

[0022] Figure 5 A schematic diagram of the assembly structure of the motor heat sink and the second heat sink fin according to an embodiment of this application;

[0023] Figure 6 A schematic diagram of the assembly structure of the drive heat sink, the third heat sink fin, and the fourth heat sink fin according to an embodiment of this application;

[0024] Figure 7 A schematic diagram of the assembly structure of the drive heat sink, the third heat sink fin, and the fourth heat sink fin according to another embodiment provided in this application;

[0025] Figure 8A schematic diagram of the assembly structure of the drive heat sink, the third heat sink fin, the fourth heat sink fin, and the mounting post according to another embodiment provided in this application;

[0026] Figure 9 A schematic diagram of the structure of a heat dissipation shroud according to an embodiment of this application.

[0027] Reference numerals: 100, driver; 110, driver heat sink; 111, second side; 112, second end; 113, third through hole; 114, center hole; 115, protrusion; 116, second mounting hole; 120, third heat dissipation fin; 130, fourth heat dissipation fin; 140, mounting post; 141, third mounting hole; 200, motor; 210, stator; 220, rotor; 230, motor heat sink; 231, first side; 232, first end; 233, first mounting hole; 234, second through hole; 240, second heat sink 250, Motor shaft; 300, Reducer; 310, Rigid wheel; 320, Flexible wheel; 330, Wave generator; 340, Input shaft; 400, Output shaft; 410, First hollow hole; 500, Heat dissipation fin; 510, Base column; 511, Second hollow hole; 512, First through hole; 520, First heat dissipation fin; 600, Fan; 610, Fourth mounting hole; 620, Limiting post; 700, Heat dissipation guide shroud; 710, Side wall of the shroud; 720, End cap of the shroud; 721, Fourth through hole; 722, Fifth mounting hole; 730, Fastener. Detailed Implementation

[0028] Please see Figures 1-9This application provides a heat dissipation structure, which includes a driver 100, a motor 200, a reducer 300, and an output shaft 400. The driver 100, motor 200, reducer 300, and output shaft 400 are all coaxially arranged. The driver 100 contains one or more chips for driving and controlling the motor 200. The motor 200 provides torque. When current flows through the motor 200, the stator 210 inside the motor 200 generates a magnetic field, driving the rotor 220 inside the motor 200 to rotate at high speed. Further, the motor shaft 250 of the motor 200 is connected to the input shaft 340 of the reducer 300, and the output shaft 400 is connected to the output end of the reducer 300, so that the mechanical energy generated by the motor 200 is transmitted to the output shaft 400 through the reducer 300. The reducer 300 uses a precision gear system (such as planetary gears or harmonic gears) to convert the high speed and low torque output from the motor shaft 250 of the motor 200 into the low speed and high torque actually required by the joint module. For example, a reduction ratio of 100 to 1 in the reducer 300 means that if the motor 200 rotates 100 times, the output end of the reducer 300 will only rotate 1 time, but the output torque of the reducer 300 will increase to nearly 100 times (it will be slightly lower considering efficiency loss).

[0029] It should be noted that when the reducer 300 is a harmonic gear, the reducer 300 includes a rigid gear 310, a flexible gear 320, a wave generator 330, and an input shaft 340. The wave generator 330 is installed inside the flexible gear 320. Since the wave generator 330 has an elliptical profile, the wave generator 330 will force the flexible gear 320 to change from a circle to an ellipse. At both ends of the major axis of the ellipse, the external teeth of the flexible gear 320 will fully mesh with the internal teeth of the rigid gear 310 to form a meshing area. At both ends of the minor axis of the ellipse, the teeth of the flexible gear 320 will fully disengage from the teeth of the rigid gear 310 to form a disengagement area. In the area between the major and minor axes of the ellipse, the teeth are in a transitional state of partial meshing ("engaged" or "disengaged"). Furthermore, as the wave generator 330 rotates, the meshing area shifts: when the motor 200 drives the wave generator 330 to rotate continuously, the elliptical deformation area on the flexible wheel 320 also rotates accordingly. This means that the positions of the "meshing area" and the "disengagement area" are constantly shifting. Generally, the flexible wheel 320 has two fewer teeth than the rigid wheel 310. For every rotation of the wave generator 330, the flexible wheel 320 will miss the rigid wheel 310 by two teeth in the opposite direction. For example, if the flexible wheel 320 has 100 teeth and the rigid wheel 310 has 102 teeth, then one clockwise rotation of the wave generator 330 will cause the meshing area to shift one revolution. Because of the difference in the number of teeth, the flex wheel 320 will actually move counterclockwise by (102-100=2) teeth, which is equivalent to rotating counterclockwise by 2 / 100 revolutions (i.e., 1 / 50 revolutions). This achieves deceleration. The deceleration ratio = -(number of teeth of flex wheel 320 / difference in the number of teeth) = -(100 / 2) = -50. The negative sign indicates that the input and output directions are opposite.

[0030] Furthermore, in one embodiment, as Figure 3 As shown, the output shaft 400 is a hollow shaft, meaning it has a first hollow hole 410 extending through it along its axial direction. The heat dissipation structure also includes heat dissipation fins 500 (which can be made of copper alloy, aluminum alloy, or other thermally conductive material). The heat dissipation fins 500 are disposed in the first hollow hole 410 and connected to its inner wall, allowing heat from the output shaft 400 to be transferred to the heat dissipation fins 500 through the inner wall of the first hollow hole 410. Specifically, the heat generated during the operation of the output shaft 400 is conducted to the inner wall of the first hollow hole 410 through the metal material, and then diffused to a larger surface area by the heat dissipation fins 500.

[0031] Specifically, in one embodiment, such as Figure 4As shown, the heat dissipation fin 500 includes a base column 510 and a first heat dissipation fin 520 (which can be made of copper alloy, aluminum alloy, or other thermally conductive materials; the materials of other heat dissipation fins are similar and will not be repeated here). The base column 510 is the main structure of the heat dissipation fin 500 and is coaxially arranged with the output shaft 400. The base column 510 has a second hollow hole 511 that extends through the axial direction of the output shaft 400, through which the wire harness can pass. The first heat dissipation fin 520 is disposed and connected to the outer surface of the base column 510 to increase the heat dissipation area of ​​the heat dissipation fin 500. Specifically, in one embodiment, there are multiple first heat dissipation fins 520, each extending along the axial direction of the output shaft 400, and the multiple first heat dissipation fins 520 are spaced apart around the circumference of the base column 510. However, this is not the only possibility; in other embodiments, the first heat dissipation fins 520 may also extend along the circumference of the base column 510 to form a ring structure. Furthermore, in one embodiment, the base column 510 is provided with a first through hole 512 located between adjacent first heat dissipation fins 520. The first hollow hole 410 and the second hollow hole 511 can communicate through the first through hole 512, allowing air to circulate between the interlayer (between the output shaft 400 and the base column 510) and the air inside the base column 510, thereby facilitating heat dissipation. Additionally, the heat dissipation fins 500 are fixedly connected to the inner wall of the output shaft 400 via the first heat dissipation fins 520. Specifically, the first heat dissipation fins 520 and the inner wall of the output shaft 400 can be connected by welding, interference fit, adhesive bonding, or snap-fitting.

[0032] The base column 510 is a columnar structure coaxially arranged with the output shaft 400. It can be made of metal and formed into a cylinder, with its outer diameter matching the inner diameter of the first hollow hole 410. A second hollow hole 511 inside the base column 510 forms an airflow channel, extending axially through both ends of the base column 510 to allow cooling airflow. The first heat dissipation fins 520 are sheet-like structures extending outward from the outer surface of the base column 510. They can be fixed to the surface of the base column 510 by welding or integral molding. Multiple fins can be present and evenly distributed circumferentially, increasing the contact area with the inner wall of the output shaft 400 to improve heat conduction efficiency.

[0033] Specifically, the heat dissipation fins 500 contact the inner wall of the output shaft 400 through the first heat dissipation fins 520, conducting the heat generated inside the output shaft 400 to the base column 510. The second hollow hole 511 of the base column 510 communicates with the first hollow hole 410, allowing external airflow to flow through the second hollow hole 511, thereby carrying away the heat absorbed by the base column 510. The coaxial arrangement of the base column 510 and the output shaft 400 ensures that the heat dissipation fins 500 are evenly distributed inside the output shaft 400, avoiding localized thermal stress concentration. The first heat dissipation fins 520 form an extended heat transfer path on the outer surface of the base column 510, further enhancing the efficiency of heat transfer from the output shaft 400 to the heat dissipation fins 500.

[0034] In one embodiment, such as Figure 3 and Figure 5 As shown, the electric motor 200 includes a stator 210, a rotor 220, a motor heat sink 230 (which may be made of copper alloy, aluminum alloy, or other thermally conductive material), and second heat sink fins 240. The stator 210 is used to generate a magnetic field when energized and drive the rotor 220 to rotate. Both the stator 210 and the rotor 220 are disposed within the motor heat sink 230. The motor heat sink 230 and the output shaft 400 are coaxially arranged. The motor heat sink 230 has a first side portion 231 arranged around its own axial direction and a first end portion 232 disposed at one end of its own axial direction. The second heat sink fins 240 are disposed on the outer wall of the first side portion 231. Specifically, the second heat sink fins 240 extend along the axial direction of the motor heat sink 230, and multiple second heat sink fins 240 are arranged at circumferential intervals along the first side portion 231 to increase the heat dissipation area of ​​the motor heat sink 230. The height of the second heat dissipation fin 240 needs to take into account the outer diameter of the entire joint module, and should not exceed the maximum outer diameter as much as possible. In addition, the thickness and number of the second heat dissipation fin 240 need to take into account the structural strength and machinability of the second heat dissipation fin 240 itself.

[0035] Specifically, when the motor 200 is running, the heat generated by the stator 210 and rotor 220 is transferred to the motor heat sink 230 through heat conduction. The second heat dissipation fins 240 on the outer side of the first side 231 of the motor heat sink 230 diffuse the heat radially outward, and the air channels formed between the fins promote natural convection. The input shaft 340 of the reducer 300 receives the power output from the motor shaft 250, and after being reduced by the reducer 300, the torque is transmitted by the output shaft 400. In this process, the heat generated by the motor 200 is dissipated through a dual path of conduction via the motor heat sink 230 and the second heat dissipation fins 240, as well as natural convection between the second heat dissipation fins 240, effectively reducing the internal temperature rise of the motor 200.

[0036] Compared with existing technologies, this solution adds a second heat dissipation fin 240 to the area of ​​the motor 200 where heat generation is concentrated, increasing the effective heat dissipation area several times. The vertical channels formed by the spaced arrangement of the second heat dissipation fins 240 enhance airflow, significantly improving the heat dissipation efficiency per unit area compared to traditional planar housings. In addition, the integrated design of the motor heat dissipation housing 230 and the second heat dissipation fins 240 avoids the installation complexity of additional heat sinks and maintains structural compactness.

[0037] Through the above technical solution, this application effectively solves the problem of insufficient heat dissipation of the motor 200 under high-power conditions. The second heat dissipation fin 240 expands the heat dissipation surface area and optimizes airflow organization, enabling heat to be quickly dissipated to the external environment. This design, while maintaining the miniaturization of the heat dissipation structure, significantly improves the thermal stability of the heat dissipation structure and the joint module during continuous operation, helping to extend the service life of key components of the joint module.

[0038] Specifically, in one embodiment, the spacing between adjacent second heat dissipation fins 240 is equal, and the height of each second heat dissipation fin 240 protruding from the first side portion 231 is equal. Specifically, the second heat dissipation fins 240 are arranged circumferentially along the first side portion 231 of the motor heat sink 230 at equal intervals, forming a continuous heat dissipation channel through a uniformly convex structure. When the motor 200 is running, heat is transferred to the second heat dissipation fins 240 through the motor heat sink 230. The uniformly distributed spacing and height of the second heat dissipation fins 240 enable the airflow to form a stable convection path within the gaps of the second heat dissipation fins 240, avoiding airflow turbulence or heat dissipation dead zones due to excessively small or large local gaps, thereby improving overall heat dissipation efficiency.

[0039] Compared with the prior art, this application makes the layout of the second heat dissipation fins 240 more regular through equal spacing and equal height design, and the airflow can flow evenly along the gaps of the second heat dissipation fins 240, which significantly improves the heat exchange efficiency of the surface of the motor heat dissipation shell 230.

[0040] However, this is not the only embodiment. In other embodiments, the plurality of second heat dissipation fins 240 may also be arranged at non-uniform intervals, and the height of each second heat dissipation fin 240 protruding from the first side portion 231 may also be unequal.

[0041] A first mounting hole 233 is provided at the first end 232 of the motor heat sink 230 for mounting the drive heat sink 110 of the driver 100, and also for positioning the drive heat sink 110.

[0042] Furthermore, in one embodiment, as Figure 5As shown, the first end portion 232 is provided with a plurality of second through holes 234 to penetrate the first end portion 232 along the axial direction of the motor heat sink 230. Specifically, the first end portion 232 forms an axially penetrating channel by providing a plurality of second through holes 234. When the motor 200 is running, the heat generated is transferred to the motor heat sink 230, and external air can enter or exit along the second through holes 234, forming a convection heat dissipation path. The axially penetrating structure of the second through holes 234 allows air to circulate inside and outside the motor heat sink 230, thereby accelerating the transfer of heat from the inside to the outside. For example, the second through holes 234 can be distributed in a ring array around the central region of the first end portion 232, or densely arranged in a specific area according to heat dissipation requirements, to match the layout of the heat-generating elements of the motor 200.

[0043] In one embodiment, such as Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the driver 100 includes a heating element (not shown), a driver heat sink 110 (which may be made of copper alloy, aluminum alloy, or other thermally conductive material), a third heat sink fin 120, and a fourth heat sink fin 130. The heating element is disposed within the driver heat sink 110. Among the heating elements within the driver 100, the chip is the primary heat source. Of course, the heating elements also include other components on the circuit board and parts outside the circuit board. The driver heat sink 110 and the output shaft 400 are coaxially arranged. The driver heat sink 110 has a second side portion 111 arranged around its own axial direction and a second end portion 112 located at one end of its axial direction. The third heat sink fin 120 is disposed on the outer wall of the second side portion 111. Specifically, the third heat sink fin 120 extends along the axial direction of the driver heat sink 110, and multiple third heat sink fins 120 are spaced apart circumferentially along the second side portion 111 to increase the heat dissipation area of ​​the driver heat sink 110. The height of the third heat dissipation fin 120 needs to take into account the outer diameter of the entire joint module, and should not exceed the maximum outer diameter as much as possible. In addition, the thickness and number of the third heat dissipation fin 120 need to take into account the structural strength and machinability of the third heat dissipation fin 120 itself.

[0044] It should be noted that in this application, the motor heat sink 230 and the drive heat sink 110 are installed side by side. Therefore, the first end 232 of the motor heat sink 230 is located at the end away from the drive heat sink 110, and similarly, the second end 112 of the drive heat sink 110 is located at the end away from the motor heat sink 230. Furthermore, the third heat dissipation fin 120 can also be aligned with the second heat dissipation fin 240.

[0045] Specifically, the drive heat sink 110 encloses the heat-generating element, and conducts heat from the inside to the outer wall through the metal material. Multiple third heat dissipation fins 120 are arranged circumferentially at intervals on the outer wall of the second side 111, forming an annular heat dissipation channel. When the driver 100 is operating, heat is transferred through the drive heat sink 110 to the third heat dissipation fins 120. The surface of the third heat dissipation fins 120 undergoes convective heat exchange with the surrounding air, and the circumferentially spaced third heat dissipation fins 120 enhance heat dissipation efficiency.

[0046] Compared with the prior art, this solution adds a third heat dissipation fin 120 distributed circumferentially on the outside of the drive heat dissipation housing 110, which not only significantly increases the effective heat dissipation area, but also forms a directional airflow channel through the spacing of the third heat dissipation fin 120, so that heat can be dissipated from the surface of the drive heat dissipation housing 110 more quickly.

[0047] Specifically, in one embodiment, the spacing between adjacent third heat dissipation fins 120 is equal, and the height of each third heat dissipation fin 120 protruding from the second side 111 is equal. Specifically, the third heat dissipation fins 120 are evenly distributed circumferentially along the second side 111 of the drive heat sink 110. The equal spacing design ensures uniform distribution of airflow resistance, enhancing the natural convection heat dissipation effect. Simultaneously, the consistent height of all third heat dissipation fins 120 ensures that the heat dissipation area of ​​the drive heat sink 110 surface is fully utilized in both the axial and circumferential directions, avoiding insufficient heat dissipation capacity in some areas due to height differences. Thus, the heat generated by the heat-generating elements inside the driver 100 can be quickly conducted to the third heat dissipation fins 120 through the drive heat sink 110, and efficiently dissipated into the environment through the evenly distributed third heat dissipation fins 120.

[0048] However, this is not the only one. In other embodiments, the plurality of third heat dissipation fins 120 may also be arranged at non-uniform intervals, and the height of each third heat dissipation fin 120 protruding from the second side 111 may also be unequal.

[0049] Furthermore, in one embodiment, the second end portion 112 is provided with a plurality of third through holes 113 to pass through the second end portion 112 along the axial direction of the drive heat sink 110. The third through holes 113 can be used to connect with the interfaces of various components on the circuit board, and also serve a heat dissipation function. Specifically, the shape of the third through holes 113 can be square, circular, or other shapes, which are not listed here. In addition, a central hole 114 for a wire harness to pass through is also provided at the center of the second end portion 112 of the drive heat sink 110.

[0050] Specifically, a third through hole 113 is provided at the second end 112 of the drive heat sink 110, which allows the heat generated inside the driver 100 to be actively dissipated through airflow. When the driver 100 is working, the heat generated by the heating element is transferred to the drive heat sink 110. The third through hole 113 at the second end 112 forms an airflow path. External cold air enters the drive heat sink 110 through the third through hole 113, absorbs heat, and then forms thermal convection to discharge, thereby accelerating heat dissipation.

[0051] Further, in one embodiment, the fourth heat dissipation fin 130 is disposed on the outer side wall of the second end 112. Specifically, the fourth heat dissipation fin 130 is disposed corresponding to the location of the heat-generating element. That is, the mounting area of ​​the fourth heat dissipation fin 130 at least partially covers the orthographic projection of the heat-generating element on the second end 112. The fourth heat dissipation fin 130 extends radially along the drive heat sink 110 or in other directions along the plane of the second end 112. Multiple fourth heat dissipation fins 130 are spaced apart to increase the heat dissipation area of ​​the drive heat sink 110. As the fourth heat dissipation fin 130 extends radially along the drive heat sink 110, the gap between the fourth heat dissipation fins 130 decreases towards the center of the second end 112. Sufficient gaps must be maintained between the fourth heat dissipation fins 130 to facilitate airflow. Specifically, the minimum gap between adjacent fourth heat dissipation fins 130 is greater than or equal to 0.5 mm.

[0052] Specifically, when the driver 100 is operating, the heat generated by the heating element is conducted to the second end 112 through the drive heat sink 110. At this time, the fourth heat dissipation fins 130, by covering the projected area of ​​the heating element, can directly dissipate heat from the main heat source. The spaced fourth heat dissipation fins 130 increase the heat dissipation area and form a longitudinal airflow channel through the gaps between adjacent fourth heat dissipation fins 130, allowing external air to flow along the gaps of the fourth heat dissipation fins 130 and carry away the heat accumulated on the surface of the second end 112. When the fourth heat dissipation fins 130 extend radially along the drive heat sink 110, their coplanar structure with the third heat dissipation fins 120 can form a continuous heat dissipation surface, further optimizing the airflow distribution. However, this is not the only possibility. In other embodiments, the fourth heat dissipation fins 130 and the third heat dissipation fins 120 can also be arranged circumferentially staggered to split the airflow and form mixed flow, thereby enhancing the heat exchange effect.

[0053] Furthermore, in one embodiment, as Figure 6As shown, the inner wall of the second end 112 is provided with a protrusion 115. The heating element is connected to the protrusion 115 through a thermal interface material layer (including but not limited to thermal grease, thermal adhesive, and thermal pads), so that the heat of the heating element can be transferred outward sequentially through the thermal interface material layer, the protrusion 115, and the second end 112. Specifically, the protrusion 115 is disposed on the inner wall of the second end 112 of the drive heat sink 110, and its position corresponds to the mounting area of ​​the heating element. When the heating element is fixed to the surface of the protrusion 115, the heat is transferred to the protrusion 115 through the thermal interface material layer, and then diffuses outward through the sidewall and end of the drive heat sink 110. Since the protrusion 115 is directly connected to the metal shell of the drive heat sink 110, the heat can be conducted to the outer surface of the heat sink 110 simultaneously in the axial and radial directions, and the heat dissipation is accelerated through the third heat dissipation fin 120 or the third through hole 113.

[0054] In some specific embodiments, the protrusions 115 can be rectangular, cylindrical, or trapezoidal in shape, and their number can be adaptively adjusted according to the size and power distribution of the heating element. For example, for high-power heating elements, multiple protrusions 115 can be arranged in an array to disperse the heat flux density.

[0055] Compared with existing technologies, this solution not only optimizes the thermal conductivity of the contact interface by combining the protrusion 115 with the thermal interface material layer, but also shortens the heat conduction path through the extended structure of the protrusion 115, thus significantly improving heat dissipation efficiency.

[0056] Furthermore, in one embodiment, when the fourth heat dissipation fin 130 extends radially along the drive heat sink 110, the third heat dissipation fin 120 and the fourth heat dissipation fin 130 are coplanarly arranged. Specifically, they can be integrally formed or welded together. Specifically, when the fourth heat dissipation fin 130 extends radially, its coplanar arrangement with the third heat dissipation fin 120 creates a continuous heat dissipation path on the surface of the drive heat sink 110. In this state, the third heat dissipation fin 120 on the side of the drive heat sink 110 and the fourth heat dissipation fin 130 at the end together form an integrated heat dissipation surface. The heat generated by the heating element of the driver 100 is conducted to the third heat dissipation fin 120 and the fourth heat dissipation fin 130 through the drive heat sink 110. The coplanar design eliminates the height difference between the heat dissipation surfaces, allowing airflow to flow smoothly along the surfaces of the third heat dissipation fin 120 and the fourth heat dissipation fin 130, reducing heat dissipation efficiency loss caused by airflow separation.

[0057] It should be noted that a second mounting hole 116 is provided at the second end 112 of the drive heat sink 110. The second mounting hole 116 is provided in correspondence with the first mounting hole 233 for mounting the motor heat sink 230 of the motor 200, and also serves to position the motor heat sink 230.

[0058] In one embodiment, such as Figure 2 , Figure 3 and Figure 9 As shown, the heat dissipation structure also includes a fan 600. The fan 600 is disposed on the side of the driver 100 facing the second end 112 and mounted on the driver heat sink 110 of the driver 100. The fan 600 and the driver 100 are coaxially disposed. Of course, the fan 600 can also be eccentrically disposed relative to the driver 100, biased towards the side with greater heat generation. The outer peripheral side of the motor 200 (e.g., through the motor heat sink 230 of the motor 200 and the second heat dissipation fin 240 outside the motor heat sink 230), the outer peripheral side of the driver 100 (e.g., through the driver heat sink 110 located on the second side 111 and the third heat dissipation fin 120 disposed on the second side 111), and the side of the driver 100 close to the fan 600 (e.g., through the driver heat sink 110 located on the second end 112 and the fourth heat dissipation fin 130 disposed on the second end 112) and the fan 600 are connected to form a first heat dissipation air passage, and the heat is finally dissipated into the atmospheric environment. Depending on whether the fan 600 rotates forward or backward, the airflow can pass sequentially through the outer periphery of the motor 200, the outer periphery of the driver 100, the side of the driver 100 near the fan 600, and the fan 600; or it can pass sequentially through the fan 600, the side of the driver 100 near the fan 600, the outer periphery of the driver 100, and the outer periphery of the motor 200.

[0059] Furthermore, the output shaft 400 is provided with a first hollow hole 410 extending through its own axis. The first hollow hole 410 (which may even include a heat dissipation fin 500 disposed within the first hollow hole 410), the center hole 114 of the driver 100 (for passing through the wiring harness), the side of the driver 100 near the fan 600 (for example, through the driver heat sink 110 located at the second end 112 and the fourth heat dissipation fin 130 disposed at the second end 112) and the fan 600 communicate to form a second heat dissipation air passage, and the heat is finally dissipated into the atmospheric environment. Depending on whether the fan 600 rotates forward or backward, the airflow can sequentially pass through the first hollow hole 410, the center hole 114 of the driver 100, the side of the driver 100 near the fan 600 and the fan 600, or it can sequentially pass through the fan 600, the side of the driver 100 near the fan 600, the center hole 114 of the driver 100 and the first hollow hole 410.

[0060] It should be noted that the drive motor of the fan 600 can be built inside the fan 600 or located on the side of the fan 600 away from the driver 100.

[0061] Specifically, when the fan 600 operates, it generates airflow. Part of this airflow flows along the outer periphery of the motor 200 and the driver 100, forming a first cooling channel that directly cools the outer surfaces of the motor 200 and the driver 100. Another part of the airflow enters the first hollow hole 410 of the output shaft 400 through the central hole 114 of the driver 100, forming a second cooling channel. This airflow absorbs heat as it flows inside the output shaft 400 and is then exhausted by the fan 600. The first and second cooling channels work together to dissipate heat from the exterior and interior of the components, respectively, forming a dual-path cooling system. For example, when the motor 200 and the driver 100 are running, the heat they generate is carried away by the airflow from the first cooling channel through the outer periphery, while the heat from the motor 200, the driver 100, the reducer 300, and the output shaft 400 is transferred to the external environment through the airflow from the second cooling channel.

[0062] Compared to existing technologies, which rely on passive heat dissipation through the outer casing, this solution achieves active airflow circulation for heat dissipation by incorporating a fan 600 and a through-type air duct structure. The first heat dissipation air duct covers the outer surfaces of the motor 200 and the driver 100, directly enhancing surface heat dissipation efficiency. The second heat dissipation air duct utilizes the hollow structure of the output shaft 400 to penetrate deep into the module, solving the problem of traditional solid shafts being unable to dissipate heat internally. The synergistic effect of the dual air ducts overcomes the limitations of a single heat dissipation path, making it particularly suitable for high power density scenarios.

[0063] Through the above technical solution, this application effectively improves the heat dissipation efficiency of the joint module and reduces the operating temperature of the motor 200, driver 100, and output shaft 400. The first heat dissipation channel quickly removes heat from the surface of the components through forced convection, while the second heat dissipation channel reduces heat accumulation by utilizing internal gas flow. The combination of the two can avoid performance degradation caused by excessive temperature and extend the service life of the module.

[0064] In one embodiment, such as Figure 2 , Figure 3 and Figure 9 As shown, the heat dissipation structure also includes a heat dissipation shroud 700 (which can be made of copper alloy, aluminum alloy or other thermally conductive material). The heat dissipation shroud 700 covers the outer periphery of the fan 600 and is installed on the drive heat sink 110 of the driver 100. The heat dissipation shroud 700 and the fan 600 are coaxially arranged. The heat dissipation shroud 700 is arranged through both ends along its own axial direction. The heat dissipation shroud 700 can be closed around its own axial direction or it can have a structure with holes.

[0065] Specifically, the heat dissipation shroud 700 forms an airflow guiding channel by surrounding the outer periphery of the fan 600. When the fan 600 is running, the airflow is confined within the heat dissipation shroud 700 and flows axially, avoiding airflow loss due to radial diffusion. The through-hole structure of the heat dissipation shroud 700 allows air to enter from the driver 100 side, be accelerated by the fan 600, and then exit from the other side, forming a directional flow path. The coaxial assembly of the heat dissipation shroud 700 and the fan 600 ensures symmetrical airflow and reduces turbulence noise caused by eccentricity.

[0066] Compared with existing technologies, this solution enhances the forced convection heat transfer effect by adding a heat dissipation shroud 700 to constrain the airflow direction, allowing cooling air to flow concentratedly through areas requiring heat dissipation, such as the surface of the driver 100 or the outer periphery of the motor 200. The through-type design of the heat dissipation shroud 700 avoids airflow obstruction and simplifies structural complexity.

[0067] Specifically, in one embodiment, such as Figure 2 , Figure 3 and Figure 9As shown, the heat dissipation shroud 700 includes a shroud sidewall 710 and a shroud end cap 720. The shroud sidewall 710 is sleeved on the outer periphery of the fan 600 and connected to the drive heat sink 110 of the driver 100. Specifically, in one embodiment, the drive heat sink 110 on the outer periphery of the driver 100 is provided with a mounting post 140. The mounting post 140 is cylindrical, prismatic, or other columnar in shape. The mounting post 140 is integrally formed, welded, snap-fitted, or glued to the outer sidewall of the drive heat sink 110. One end of the mounting post 140 is connected to the driver 100, and the other end... The second end 112 of the drive heat sink 110 protrudes towards the direction of the fan 600. The mounting post 140 has a third mounting hole 141, the fan 600 housing has a fourth mounting hole 610, and the end cover 720 has a fifth mounting hole 722. Fasteners 730 (including but not limited to bolts, screws, and rivets, etc., not listed here) can pass through the fifth mounting hole 722, the fourth mounting hole 610, and the third mounting hole 141 to mount the fan 600 and the heat sink 700 onto the drive heat sink 110 of the driver 100. Specifically, the protruding direction of the mounting post 140 is aligned with the mounting position of the fan 600. The fourth mounting hole 610 is located in the area corresponding to the mounting post 140 on the fan 600 housing, and the fifth mounting hole 722 is located at the edge of the end cover 720. During assembly, the fasteners 730 sequentially pass through the fifth mounting hole 722, the fourth mounting hole 610, and the third mounting hole 141, locking them together through threaded engagement. This structure achieves simultaneous fixation of multiple components using a single bolt, simplifying the assembly process. Compared with existing technologies, this solution integrates the mounting post 140 with the driver 100, along with through-hole mounting holes and fasteners 730, to achieve precise positioning and simultaneous fixation of the fan 600 and the heat dissipation shroud 700, reducing the number of parts and improving assembly efficiency.

[0068] The end cap 720 is fixedly connected to the end of the side wall 710 away from the driver 100. The side wall 710 and the end cap 720 can be integrally formed, or they can be welded, glued, snap-fitted, or screwed together. The end cap 720 has a fourth through hole 721 that extends along the axial direction of the heat dissipation shroud 700, so that the airflow generated by the fan 600 can be connected to the atmosphere through the fourth through hole 721.

[0069] Specifically, the sidewall 710 of the shroud is fitted onto the outer periphery of the fan 600 and connected to the driver 100, forming an annular airflow guiding space around the fan 600. The end cap 720 is fixed to the end of the sidewall 710 away from the driver 100, and its fourth through-hole 721 is aligned with the air outlet of the fan 600, allowing the airflow generated when the fan 600 rotates to be directly discharged to the external environment through the fourth through-hole 721. During this process, the sidewall 710 restricts the radial diffusion of the airflow, forcing it to flow axially, while the fourth through-hole 721 provides a low-resistance outlet channel, preventing the airflow from forming vortices or backflow inside the heat dissipation shroud 700, thereby improving heat dissipation efficiency.

[0070] Compared with the prior art, this solution transforms disordered airflow into directional flow through the cooperation of the side wall 710 of the cover and the fourth through hole 721, enhances the contact effect between the airflow and the heat dissipation surface, and at the same time prevents foreign objects from the external environment from entering the internal structure through the heat dissipation guide cover 700.

[0071] More specifically, in one embodiment, the plurality of fourth through holes 721 can be disposed in different regions, and the plurality of fourth through holes 721 in each region are arranged in a wireless signal pattern. However, this is not the only embodiment; in other embodiments, the fourth through holes 721 can also be arranged in a dot matrix or other arrangements, which will not be listed here.

[0072] In one embodiment, the sidewall 710 of the shroud and the outer peripheral sidewall of the fan 600 are spaced apart. Specifically, the annular gap formed between the sidewall 710 of the shroud and the outer peripheral sidewall of the fan 600 constitutes an axial airflow channel. When the fan 600 operates, airflow enters from one axial end of the heat dissipation shroud 700, flows through the gap, and exits from the other end. Due to the gap, the airflow can be distributed circumferentially along the fan 600 during flow, avoiding excessively high or low local airflow velocities. At the same time, the presence of the gap reduces the frictional resistance between the fan 600 and the sidewall 710 of the shroud when the fan 600 rotates, reducing airflow loss.

[0073] In one embodiment, the sidewall 710 of the shroud is an annular closed structure, meaning that the sidewall 710 does not have any holes or similar structures, so that airflow can only enter and exit the space enclosed by the sidewall 710 along the axial direction of the heat dissipation shroud 700. Specifically, the circumferentially closed nature of the annular closed structure ensures that the internal space of the heat dissipation shroud 700 is connected to the external environment only through openings at both axial ends. When the fan 600 is running, the airflow is confined within the channel enclosed by the sidewall 710, entering from the end closest to the driver 100, flowing axially through the outer periphery of the motor 200 and the driver 100, and exiting from the end furthest from the driver 100. This structure prevents the airflow from dispersing circumferentially and ensures that the airflow is concentrated through the predetermined heat dissipation area.

[0074] In one embodiment, such as Figure 3 As shown, a limiting post 620 is provided between the end cover 720 and the fan 600. One end of the limiting post 620 is connected to one of the end cover 720 and the fan 600, and the other end abuts against the other of the end cover 720 and the fan 600, so that the end cover 720 and the fan 600 are spaced apart from the end of the driver 100. The limiting post 620 is a rigid support structure used to limit the relative position between the end cover 720 and the fan 600. It can be a cylinder or prism made of metal or engineering plastic, and its function is to maintain a fixed distance between them through mechanical limiting. The spaced arrangement refers to the non-contact spatial distribution of the end cover 720 and the fan 600, which can be achieved by adjusting the length or installation position of the limiting post 620. Its function is to provide a flow channel for airflow and avoid local heat accumulation.

[0075] Specifically, one end of the limiting post 620 is installed on the end cover 720 or the fan 600 housing via a threaded connection or snap-fit, while the other end abuts against the corresponding position of another component in a planar contact manner. During the operation of the fan 600, the rigid support of the limiting post 620 prevents the end cover 720 from shifting due to vibration or airflow impact. Simultaneously, by maintaining the gap between the two, external air can enter the interior of the heat dissipation shroud 700 along this gap, forming a stable axial airflow path. Compared with existing technologies, this solution, through the spacing structure formed by the limiting post 620, allows airflow to simultaneously enter through both the fan 600 blade area and the gap between the end cover 720 and the fan 600, effectively increasing the cross-sectional area of ​​the heat dissipation duct.

[0076] This application also provides a joint module, which includes the heat dissipation structure described in any of the above embodiments.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

[0079] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0081] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0082] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Claims

1. A heat dissipation structure, characterized in that, It includes a driver (100), a motor (200), a reducer (300), and an output shaft (400). The driver (100) is used to control and drive the motor (200). The motor shaft (250) of the motor (200) is connected to the input shaft (340) of the reducer (300), and the output shaft (400) is connected to the output end of the reducer (300). The heat dissipation structure also includes a fan (600), which is disposed on one side of the driver (100) and installed on the driver (100). The outer peripheral area of ​​the motor (200), the outer peripheral area of ​​the driver (100), the area of ​​the driver (100) near the fan (600), and the fan (600) are connected to form a first heat dissipation air passage. The output shaft (400) is provided with a first hollow hole (410) that is provided through it along its own axial direction. The first hollow hole (410), the center hole (114) of the driver (100), the area of ​​the driver (100) near the fan (600), and the fan (600) are connected to form a second heat dissipation air passage.

2. The heat dissipation structure according to claim 1, characterized in that, It also includes a heat dissipation shroud (700), which covers the outer periphery of the fan (600). The heat dissipation shroud (700) and the fan (600) are coaxially arranged, and the heat dissipation shroud (700) is arranged through both ends along its own axial direction.

3. The heat dissipation structure according to claim 2, characterized in that, The heat dissipation shroud (700) includes a shroud sidewall (710) and a shroud end cap (720). The shroud sidewall (710) is sleeved on the outer periphery of the fan (600) and connected to the driver (100). The shroud end cap (720) is fixedly connected to one end of the shroud sidewall (710) away from the driver (100). The shroud end cap (720) is provided with a fourth through hole (721) that runs through the axial direction of the heat dissipation shroud (700) so that the airflow generated by the operation of the fan (600) can be connected to the atmospheric environment through the fourth through hole (721).

4. The heat dissipation structure according to claim 3, characterized in that, It also includes fasteners (730), and the outer periphery of the driver (100) is provided with mounting posts (140). One end of the mounting post (140) is connected to the driver (100), and the other end protrudes towards the direction close to the fan (600). The mounting post (140) is provided with a third mounting hole (141), the housing of the fan (600) is provided with a fourth mounting hole (610), and the end cap (720) of the cover is provided with a fifth mounting hole (722). The fasteners (730) can pass through the fifth mounting hole (722), the fourth mounting hole (610), and the third mounting hole (141) so that the fan (600) and the heat dissipation shroud (700) are mounted on the driver (100).

5. The heat dissipation structure according to claim 3, characterized in that, The outer periphery of the cover sidewall (710) and the outer periphery of the fan (600) are spaced apart.

6. The heat dissipation structure according to claim 3 or claim 5, characterized in that, The side wall (710) of the cover is an annular closed structure, so that airflow can only enter or exit the space enclosed by the side wall (710) along the two ends of the heat dissipation guide cover (700) axial direction.

7. The heat dissipation structure according to claim 3, characterized in that, A limiting post (620) is provided between the cover end cap (720) and the fan (600). One end of the limiting post (620) is connected to one of the cover end cap (720) and the fan (600), and the other end abuts against the other of the cover end cap (720) and the fan (600), so that the cover end cap (720) and the fan (600) are spaced apart from one end of the driver (100).

8. The heat dissipation structure according to any one of claims 1-7, characterized in that, It also includes a heat dissipation rib (500), which is disposed in the first hollow hole (410) and connected to the inner wall of the first hollow hole (410) so that heat can be transferred to the heat dissipation rib (500) through the inner wall of the first hollow hole (410).

9. The heat dissipation structure according to claim 8, characterized in that, The heat dissipation rib (500) includes a base column (510) and a first heat dissipation fin (520). The base column (510) is coaxially arranged with the output shaft (400). The base column (510) is provided with a second hollow hole (511) that passes through the axial direction of the output shaft (400). The first heat dissipation fin (520) is connected to the outer side of the base column (510). The heat dissipation rib (500) is connected to the inner wall of the output shaft (400) through the first heat dissipation fin (520).

10. A joint module, characterized in that, Includes the heat dissipation structure as described in any one of claims 1-9.

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