A humanoid robot joint module based on hybrid flux motor

Abstract

This invention provides a humanoid robot joint module based on a hybrid flux motor, relating to the field of humanoid robots. It includes a stator shaft with multiple radially distributed and axially extending heat dissipation grooves inside its sidewall, and multiple sets of heat-conducting holes on the stator shaft's sidewall, each set corresponding to one of the heat dissipation grooves, with each set of holes axially distributed and communicating with the heat dissipation grooves. The outer rotor's sidewall has multiple axially extending heat dissipation holes circumferentially. The inner rotor's end face has multiple first guide holes. The radial motor rotor's end face has multiple radially distributed and extending second guide holes. This application constructs a composite air duct structure with axial air grooves, a hollow stator shaft, and end cover ventilation. Utilizing the motor's own rotation to drive airflow, it forms a forced cooling path with internal and external dual circulation, achieving efficient heat dissipation without increasing volume, effectively preventing motor overheating and demagnetization, and improving continuous high-load operation capability.

Description

Technical Field

[0001] This invention relates to the field of humanoid robots, and more specifically, to a humanoid robot joint module based on a hybrid flux motor. Background Technology

[0002] While the field of humanoid robots has achieved large-scale development, its core driving component—the servo motor system—still faces significant technical bottlenecks. Specifically, traditional motor structures are limited by a single magnetic flux path, making it difficult to match torque density and dynamic response characteristics with the demands of high-burst motion; joint space constraints make it difficult to integrate forced cooling systems (such as water-cooled pipelines), and existing ventilation-type cooling solutions have inherent defects such as uneven regional coverage and delayed thermal response.

[0003] Under typical operating conditions, servo motors frequently need to perform instantaneous high-load outputs (peak current can reach 3-5 times the rated value), and the temperature in the winding area can rise sharply by 40-60℃ within milliseconds. This extreme thermal shock not only causes the permanent magnet operating point to drift (experiments show that the risk of demagnetization increases exponentially with temperature), but also accelerates the aging of the winding insulation (each 10℃ temperature rise shortens the lifespan by about 50%) and causes local magnetic saturation of the iron core. Traditional cooling methods, due to their poor space adaptability (requiring 20-30% of the joint volume) and rigid flow channel design (static cooling structure thermal resistance >0.5℃ / W), can no longer meet the thermal management requirements of high-power-density motors (>5kW / kg).

[0004] The existing technology system suffers from three contradictions: the nonlinear constraint between power density improvement and heat dissipation efficiency, the coupling conflict between limited joint space and cooling system volume, and the time lag effect between dynamic thermal load and passive cooling. This severely restricts the reliable application of humanoid robots in scenarios such as industrial assembly and special rescue. Summary of the Invention

[0005] The purpose of this invention is to provide a humanoid robot joint module based on a hybrid flux motor. By constructing internal and external dual-circulation ventilation paths, it makes full use of the existing structure for heat dissipation without increasing the overall volume of the motor. This saves space, improves heat dissipation efficiency, and effectively reduces the temperature rise of the motor during operation. Especially under high load or high heat flux environments, it achieves uniform and efficient cooling of the key heat-generating areas of the joint module, thereby improving the thermal stability and operational reliability of the entire machine.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A humanoid robot joint module based on a hybrid flux motor, the joint module includes a housing assembly and a harmonic reducer, a disc motor, a radial motor, and an encoder disposed inside the housing assembly and sequentially sleeved on the outside of the stator shaft; the disc motor includes a disc motor stator, an outer rotor sleeved on the disc motor stator, and an inner rotor disposed at the end of the outer rotor; the radial motor includes a radial motor stator and a radial motor rotor sleeved on the radial motor stator.

[0008] The stator shaft has multiple heat dissipation grooves that are radially distributed and axially extended inside its sidewall, and multiple sets of heat conduction hole groups are formed on the sidewall of the stator shaft. Each set of heat conduction hole groups corresponds to one of the multiple heat dissipation grooves, and each set of heat conduction hole groups is distributed axially and communicates with the heat dissipation grooves.

[0009] The outer rotor has multiple heat dissipation holes extending axially along its sidewall; the inner rotor has multiple first flow guide holes on its end face.

[0010] The end face of the radial motor rotor is provided with a plurality of second guide holes that are distributed and extended radially.

[0011] Furthermore, in this invention, the heat dissipation groove is conical, and its diameter gradually increases from the center of the stator shaft to the outer wall; the heat conduction hole group includes a plurality of heat conduction holes arranged axially along the stator shaft, and the diameter of the heat conduction holes is larger than the maximum diameter of the heat dissipation groove.

[0012] Furthermore, in this invention, the heat dissipation groove extends through both ends of the stator shaft.

[0013] Furthermore, in this invention, the heat dissipation holes are arc-shaped, and a plurality of the heat dissipation holes are evenly distributed in a spiral shape on the sidewall of the outer rotor.

[0014] Furthermore, in this invention, the inner rotor is annular, and two sets of the first guide holes are provided, with the two sets of the first guide holes respectively located on the inner and outer circumferential sides of the inner rotor.

[0015] Furthermore, in this invention, the radial motor rotor is fixedly connected to the outer rotor, and a non-magnetic ring is provided between it and the inner rotor; the non-magnetic ring is in contact with the inner rotor and is provided with a plurality of guiding holes corresponding to and connected to the first guiding holes.

[0016] Furthermore, in this invention, the second guide hole is tree-shaped, comprising a first branch hole and two second branch holes distributed in a Y-shape at the ends of the first branch hole; the first branch hole is close to the center of the radial motor rotor, and the two second branch holes extend radially therefrom.

[0017] Furthermore, in this invention, the second branch hole is arc-shaped.

[0018] Furthermore, in this invention, the housing assembly includes a reducer housing and a motor housing connected to each other. The reducer housing is fitted outside the harmonic reducer; the motor housing is fitted outside the disc motor and the radial motor. The sidewalls of the motor housing and the end face away from the reducer housing are respectively provided with a plurality of heat dissipation through holes.

[0019] Furthermore, in this invention, the disc motor stator and the radial motor stator are fixedly sleeved on the stator shaft; the radial motor rotor and the outer rotor are rotatably connected to the stator shaft through bearings.

[0020] The present invention has at least the following advantages or beneficial effects:

[0021] This invention improves overall heat dissipation by designing the stator shaft with multiple radially distributed and axially extending heat dissipation grooves inside, and multiple sets of heat-conducting holes on the outer wall corresponding to and connected to the heat dissipation grooves. This effectively increases the heat exchange surface area without increasing the external volume, enhancing axial heat conduction and heat dissipation capabilities. Furthermore, by providing multiple axially extending heat dissipation holes circumferentially on the outer rotor sidewall of the disc motor, airflow is increased, improving the rotor surface's heat dissipation capacity and ensuring the motor does not fail due to overheating during high-speed operation. Multiple first guide holes on the inner rotor end face guide airflow, enhancing the rapid dissipation of heat from inside the motor. Finally, multiple radially distributed and extending second guide holes on the radial motor rotor end face, through end-face ventilation design, further guide airflow and enhance the rapid dissipation of heat from inside the motor. This application constructs a composite air duct structure with axial air slots, hollow stator shaft, and end cover ventilation. It utilizes the rotation of the motor itself to drive airflow, forming a double-circulation forced cooling path inside and outside. This structure can achieve efficient heat dissipation without increasing the volume, effectively prevent the motor from overheating and demagnetizing, and improve the continuous high-load operation capability. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention 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.

[0023] Figure 1 An exploded structural diagram of a humanoid robot joint module based on a hybrid flux motor, provided for an embodiment of the application;

[0024] Figure 2 A schematic diagram of the overall structure of a humanoid robot joint module based on a hybrid flux motor, provided for an embodiment of the application.

[0025] Figure 3 A cross-sectional view of a humanoid robot joint module based on a hybrid flux motor, provided in the embodiments of the application;

[0026] Figure 4 A schematic diagram of the stator shaft provided in the embodiment of the application;

[0027] Figure 5 A cross-sectional view of the stator shaft provided in the embodiment of the application;

[0028] Figure 6 A schematic diagram of the external rotor provided in the embodiment of the application;

[0029] Figure 7 A schematic diagram of the structure of a radial motor rotor provided in the application embodiment.

[0030] Reference numerals in the attached figures: 1-Harmonic reducer, 2-Disc motor, 21-Disc motor stator, 22-Outer rotor, 221-Heat dissipation hole, 23-Inner rotor, 231-First guide hole, 3-Radial motor, 31-Radial motor stator, 32-Radial motor rotor, 321-Second guide hole, 4-Encoder, 5-Housing assembly, 51-Reducer housing, 52-Motor housing, 521-Heat dissipation through hole, 6-Stator shaft, 61-Heat dissipation groove, 62-Heat conduction hole group, 621-Heat conduction hole, 7-Non-magnetic ring, 71-Guide hole, 8-Surface-mount permanent magnet, 9-Bearing. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the 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 invention without inventive effort are within the scope of protection of the invention.

[0033] Example

[0034] Please refer to Figures 1-7The figure shown is a schematic diagram of the structure of a humanoid robot joint module based on a hybrid flux motor in an embodiment of the present invention.

[0035] This embodiment provides a humanoid robot joint module based on a hybrid flux motor. The joint module includes a housing assembly 5 and a harmonic reducer 1, a disc motor 2, a radial motor 3, and an encoder 4, which are disposed inside the housing assembly 5 and sequentially sleeved on the outside of the stator shaft 6. The disc motor 2 includes a disc motor stator 21, an outer rotor 22 sleeved on the outside of the disc motor stator 21, and an inner rotor 23 disposed at the end of the outer rotor 22. The radial motor 3 includes a radial motor stator 31 and a radial motor rotor 32 sleeved on the outside of the radial motor stator 31.

[0036] The stator shaft 6 has multiple heat dissipation grooves 61 that are radially distributed and axially extended inside its side wall, and multiple sets of heat conduction hole groups 62 are provided on the side wall of the stator shaft 6. The multiple sets of heat conduction hole groups 62 correspond one-to-one with the multiple heat dissipation grooves 61, and each set of heat conduction hole groups 62 is distributed along its axial direction and communicates with the heat dissipation grooves 61.

[0037] The outer rotor 22 has multiple heat dissipation holes 221 extending axially along its side wall; the inner rotor 23 has multiple first guide holes 231 on its end face.

[0038] The end face of the radial motor rotor 32 is provided with a plurality of second guide holes 321 that are distributed radially and extend therefrom.

[0039] The following will further describe an exemplary embodiment of a humanoid robot joint module based on a hybrid flux motor.

[0040] In some embodiments of this application, such as Figures 1-3 The joint module of this application includes a housing assembly 5 and a harmonic reducer 1, a disc motor 2, a radial motor 3, and an encoder 4, which are disposed inside the housing assembly 5 and sequentially sleeved on the outside of the stator shaft 6. The disc motor 2 includes a disc motor stator 21, an outer rotor 22 sleeved on the outside of the disc motor stator 21, and an inner rotor 23 disposed at the end of the outer rotor 22; the disc motor stator 21 is fixedly sleeved on the outside of the stator shaft 6, and stator windings are wound on it; the outer rotor 22 has a columnar structure, is sleeved on the outside of the disc motor stator 21, one end of which is connected to the input shaft of the harmonic reducer 1, and the inner rotor 23 is disposed at its other end. The radial motor 3 includes a radial motor stator 31 and a radial motor rotor 32 sleeved on the outside of the radial motor stator 31; the radial motor stator 31 is fixedly sleeved on the outside of the stator shaft 6, and stator windings are wound on it; the radial motor rotor 32 is sleeved on the outside of the radial motor stator 31, and one end of it is fixedly connected to the outer rotor 22.

[0041] Surface-mounted permanent magnets 8 are respectively provided on the axially opposite sides of the outer rotor 22 and inner rotor 23 and on the inner side of the radial motor rotor 32. They are respectively fixed to the corresponding rotors by bolts to form an integrated structure, which not only improves the mechanical strength of the system, but also ensures the overall rigidity and coaxiality of the structure of the outer rotor 22 of the radial motor 3.

[0042] By combining the axial flux disk motor 2 with the radial flux outer rotor motor 22, a magnetically decoupled bidirectional hybrid flux topology is formed. Parallel flux enhancement and synergistic effects significantly improve the average torque output and transient response performance per unit volume, thereby achieving high instantaneous torque density and high overload capacity in the joint module. By employing a low aspect ratio flattened motor, sufficient torque can still be provided in situations with limited axial space. Simultaneously, the introduction of the outer rotor 22 structure radial motor 3 achieves higher torque density compared to the inner rotor 23 motor and possesses stronger structural integration capabilities, which is beneficial for the high integration and lightweight design of the robot joint module.

[0043] Due to the limited space in the joint module of the dual-flux motor humanoid robot, it is difficult to embed a traditional forced cooling system. This results in severe heat accumulation in the high-power servo motor during continuous high-load operation, which can easily lead to demagnetization, reduced efficiency, or even malfunctions and shutdowns.

[0044] In some embodiments of this application, such as Figure 4 and Figure 5Multiple heat dissipation grooves 61 are formed inside the sidewall of the stator shaft 6, distributed radially and extending axially. Preferably, six heat dissipation grooves 61 are evenly spaced to maintain the mechanical properties of the stator shaft 6 while ensuring heat dissipation. Multiple sets of heat conduction hole groups 62 are formed on the sidewall of the stator shaft 6. Each set of heat conduction hole groups 62 corresponds to one of the multiple heat dissipation grooves 61, and each set of heat conduction hole groups 62 is distributed axially and communicates with the heat dissipation grooves 61. The heat dissipation grooves 61 and the heat conduction hole groups 62 form a stator shaft 6 with a constant outer circumference and a hollow interior. This greatly improves the heat dissipation efficiency while ensuring stable support for the disc motor 2 and the radial motor 3. Furthermore, heat dissipation ribs extending axially are formed between adjacent heat dissipation grooves 61, which effectively increases the heat exchange surface area without increasing the external volume, enhances axial heat conduction and heat dissipation capacity, and thus improves the overall heat dissipation effect. The outer rotor 22 is fitted around the stator 21 of the disc motor, and has multiple heat dissipation holes 221 extending axially along its sidewall. This allows air to flow radially and axially during motor operation, thereby enhancing the convective heat dissipation capacity of the rotor surface and preventing local overheating failure due to high-speed operation. The inner rotor 23 is fixedly connected to the radial motor rotor 32 and further fixedly connected to the end face of the outer rotor 22. Multiple first guide holes 231 are provided on the end face of the inner rotor 23, which can guide the airflow between the two motors and enhance the rapid discharge of heat from the motor. The end face of the radial motor rotor 32 has multiple second guide holes 321 distributed and extending radially. These guide holes guide external air into or out of the internal air, and work together with the aforementioned slots to form a complete air circulation path, significantly improving the efficiency of internal heat conduction and discharge.

[0045] By utilizing the hollow stator shaft 6 of the motor, the axial air groove of the rotor, and the ventilation opening of the end cover to construct an internal and external dual circulation ventilation path, uniform and efficient cooling of key heat-generating areas such as the stator winding, permanent magnet and iron core can be achieved without increasing the overall size of the motor, thereby improving the thermal stability and operational reliability of the whole machine.

[0046] In a preferred embodiment, the aforementioned heat dissipation groove 61 is conical, with its diameter gradually increasing from the center of the stator shaft 6 towards the outer wall, effectively increasing the heat dissipation area and guiding airflow acceleration to increase the heat dissipation rate. The aforementioned heat-conducting hole group 62 includes a plurality of heat-conducting holes 621 arranged along the axial direction of the stator shaft 6. The diameter of the heat-conducting holes 621 is larger than the maximum diameter of the heat dissipation groove 61, that is, a plurality of heat-conducting holes 621 communicating with the heat dissipation groove 61 are distributed on the outer side of the strip-shaped heat dissipation groove 61. In this way, the external mechanical strength of the stator shaft 6 is sufficient to support the motor, while heat can be quickly dissipated.

[0047] Furthermore, the aforementioned heat dissipation groove 61 extends through both ends of the stator shaft 6, allowing heat to be discharged from both the radial and axial directions, thereby improving the heat dissipation effect.

[0048] As a preferred implementation method, such as Figure 6 The aforementioned disc motor 2 adopts a dual-rotor structure. Multiple heat dissipation holes 221 are formed on the cylindrical surface of the outer rotor 22. These holes 221 are arc-shaped and evenly distributed spirally on the sidewall of the outer rotor 22. The length of the heat dissipation holes 221 is slightly less than the height of the cylindrical surface, and the arc-shaped design allows them to extend both axially and circumferentially. This arc design also enables heat flow to cooperate with the high-speed operation of the motor, i.e., the rotation of the motor drives air to flow radially and axially, thereby enhancing the convective heat dissipation capacity of the rotor surface and preventing localized overheating failure due to high-speed operation.

[0049] In a preferred embodiment, the inner rotor 23 of the disc motor 2 is annular and connected to the end of the radial motor 3, forming an integrated rotor assembly with the outer rotor 22. Multiple first guide holes 231 are formed on the end face of the inner rotor 23. Two sets of first guide holes 231 are provided, one on the inner circumference and the other on the outer circumference of the inner rotor 23, respectively, to assist in guiding airflow and optimize the internal ventilation and cooling path.

[0050] Furthermore, the aforementioned radial motor rotor 32 is fixedly connected to the outer rotor 22, and a non-magnetic ring 7 is provided between it and the inner rotor 23 to isolate the two magnetic flux paths, prevent magnetic circuit coupling interference, and improve the system control accuracy and response speed. The radial motor rotor 32 is fixedly connected to the second rotor and the non-magnetic ring 7 by bolts, thus stably connecting the three. The non-magnetic ring 7 is in contact with the inner rotor 23 and is provided with multiple guiding holes 71 corresponding to and connected to the first guiding holes 231, which cooperate with the inner rotor 23 to form a heat flow circulation hole between the two magnetic flux paths.

[0051] As a preferred implementation method, such as Figure 7 The radial motor rotor 32 has multiple second guide holes 321 distributed and extending radially on its end face. The second guide holes 321 are tree-branch shaped, including first branch holes and two second branch holes distributed in a Y-shape at the ends of the first branch holes; the first branch holes are close to the center of the radial motor rotor 32, and the two second branch holes extend radially. By introducing a crack-like microstructure onto the surface of the radial motor rotor 32, turbulence can be induced in the airflow, thereby effectively improving the convective heat transfer coefficient of the heat exchange region. This structure not only improves heat dissipation efficiency but also has good airflow guiding capability, further optimizing the thermal management performance of the motor.

[0052] Furthermore, the aforementioned second branch hole is arc-shaped, specifically it can be an arc shape that is relatively concave inward or relatively concave outward, or it can be an arc shape that is concave and convex in the same direction, in order to cooperate with the airflow when the radial motor 3 rotates at high speed.

[0053] In a preferred embodiment, the aforementioned housing assembly 5 includes a reducer housing 51 and a motor housing 52. The reducer housing 51 is disposed outside the harmonic reducer 1; the motor housing 52 is disposed outside the disc motor 2 assembly and the radial motor 3 assembly, and is fixedly connected to the reducer housing 51. Specifically, a connecting through hole is provided at the contact end of the reducer housing 51 and the motor housing 52. Bolts are inserted through the connecting through hole to connect and fix the reducer housing 51 and the motor housing 52, thereby achieving integrated assembly of the motor assembly and the reducer assembly, ensuring the mechanical stability and transmission efficiency of the overall structure. Multiple heat dissipation through holes 521 are respectively provided on the side wall of the motor housing 52 and on the end face away from the reducer housing 51. The diameter of the heat dissipation through holes 521 is relatively large, all larger than the diameters of the aforementioned heat dissipation groove 61, heat conduction hole 621, heat dissipation hole 221, and flow guide hole, to avoid obstructing airflow and hindering the internal and external circulation of airflow for heat dissipation.

[0054] In a preferred embodiment, the disc motor stator 21 and the radial motor stator 31 are fixedly mounted on the stator shaft 6; the radial motor rotor 32 and the outer rotor 22 are rotatably connected to the stator shaft 6 via bearings 9. To achieve high-precision rotor support, bearings 9 are installed at both ends of the entire motor assembly, respectively, and are fitted with the motor housing and the hollow stator shaft to provide precise guidance and support for the rotor assembly. This achieves efficient bearing support and accurate rotor positioning, thereby ensuring the smoothness and reliability of motor operation.

[0055] The airflow path in this application is as follows: gas is pumped into the disc motor 2 from its circumferential position, and then splits into two paths. One path passes through the inner rotor 23 and exits from the radial end face of the radial motor 3, while the other path exhausts heat through the hollow stator shaft 6, thus completing the removal and discharge of heat and forming an internal and external dual-circulation forced cooling path. It should be noted that this design is based on a dual-flux motor structure. Considering the special structural characteristics of this motor, such as its compact axial space and independent flux path, and because the dual-flux motor has a larger usable radius space in the circumferential direction, which is conducive to pumping more gas into the motor, an innovative internal and external dual-circulation ventilation path is constructed, and an intake-exhaust path more suitable for this structure is adopted, thereby greatly improving the overall heat dissipation efficiency.

[0056] The aforementioned heat dissipation design achieves forced ventilation and cooling, effectively reducing the temperature rise during motor operation. It also implements multi-dimensional airflow paths, improving cooling efficiency, especially under high load or high heat flux conditions, ensuring motor stability and reliability. This structure, without increasing the volume of additional cooling devices, fully utilizes the existing structure for heat dissipation through optimized airflow paths and heat dissipation design, saving space and improving heat dissipation efficiency. It successfully solves the high heat flux problem, providing an innovative solution for the application of high-efficiency motors. The external rotor 22-inch forced air-cooled permanent magnet motor provided by this invention is particularly suitable for extreme operating conditions such as high heat flux, high load, and high speed. While ensuring overall power density and output performance, it effectively controls temperature rise, improving system stability and long-term operational reliability, providing a novel solution for the application of high-efficiency permanent magnet motors.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A humanoid robot joint module based on a hybrid flux motor, the joint module comprising a housing assembly and a harmonic reducer, a disc motor, a radial motor, and an encoder disposed inside the housing assembly and sequentially sleeved outside a stator shaft; the disc motor comprising a disc motor stator, an outer rotor sleeved outside the disc motor stator, and an inner rotor disposed at the end of the outer rotor; the radial motor comprising a radial motor stator and a radial motor rotor sleeved outside the radial motor stator; characterized in that, The stator shaft has multiple heat dissipation grooves distributed radially and extending axially inside its sidewall, and multiple sets of heat conduction hole groups are formed on the sidewall of the stator shaft. Each set of heat conduction hole groups corresponds to one of the heat dissipation grooves, and each set of heat conduction hole groups is distributed axially and communicates with the heat dissipation grooves. The heat dissipation grooves are conical, and their diameter gradually increases from the center of the stator shaft to the outer sidewall. The heat dissipation grooves pass through both ends of the stator shaft. The heat conduction hole groups include several heat conduction holes arranged axially along the stator shaft, and the diameter of the heat conduction holes is larger than the maximum diameter of the heat dissipation groove. The outer rotor has multiple heat dissipation holes extending axially around its sidewall; the heat dissipation holes are arc-shaped and are evenly distributed spirally on the sidewall of the outer rotor; the inner rotor has multiple first guide holes on its end face. The end face of the radial motor rotor is provided with a plurality of second guide holes that are distributed radially and extend therefrom. The housing assembly includes a reducer housing and a motor housing connected to each other. The reducer housing is fitted outside the harmonic reducer. The motor housing is fitted outside the disc motor and the radial motor. The side wall of the motor housing and the end face away from the reducer housing are respectively provided with a plurality of heat dissipation holes.

2. The humanoid robot joint module based on a hybrid flux motor according to claim 1, characterized in that, The inner rotor is annular in shape, and two sets of the first guide holes are provided, with the two sets of the first guide holes respectively located on the inner and outer circumferences of the inner rotor.

3. The humanoid robot joint module based on a hybrid flux motor according to claim 2, characterized in that, The radial motor rotor is fixedly connected to the outer rotor, and a non-magnetic ring is provided between it and the inner rotor; the non-magnetic ring is in contact with the inner rotor and is provided with a plurality of guiding holes corresponding to and connected to the first guiding hole.

4. The humanoid robot joint module based on a hybrid flux motor according to claim 1, characterized in that, The second guide hole is tree-shaped, including a first branch hole and two second branch holes distributed in a Y-shape at the ends of the first branch hole; the first branch hole is close to the center of the radial motor rotor, and the two second branch holes extend radially therefrom.

5. The humanoid robot joint module based on a hybrid flux motor according to claim 4, characterized in that, The second branch hole is arc-shaped.

6. The humanoid robot joint module based on a hybrid flux motor according to claim 1, characterized in that, The disc motor stator and the radial motor stator are fixedly sleeved on the stator shaft; the radial motor rotor and the outer rotor are rotatably connected to the stator shaft through bearings.

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