Hybrid magnetic flux motor for robot joint module

Abstract

The invention discloses a hybrid magnetic flux motor for a robot joint module, and belongs to the field of robots, the hybrid magnetic flux motor comprises a rotor casing, a bearing and a stator base, and the rotor casing and the stator base are rotatably connected through the bearing; the stator base comprises a base plate, an outer ring plate and a center shaft, the center shaft and the outer ring plate are both fixed on the end face of the base plate, the center shaft is located in the outer ring plate, the center shaft and the outer ring plate are coaxially arranged, a first radial magnetic flux stator is installed on the center shaft, a second radial magnetic flux stator is installed on the outer ring plate, and an axial magnetic flux stator is installed on the base plate; the first radial magnetic flux stator, the second radial magnetic flux stator and the axial magnetic flux stator are respectively connected with the motor driver through wires; the first radial magnetic flux stator is sleeved outside the second radial magnetic flux stator, a motor rotor is arranged between the first radial magnetic flux stator and the second radial magnetic flux stator, the motor rotor is fixedly connected with the rotor casing, and the motor rotor and the axial magnetic flux stator are sequentially arranged along the axis direction.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a hybrid flux motor for robot joint modules. Background Technology

[0002] With industrial upgrading and the development of robotics technology, modularity and lightweighting have become common requirements and trends for various wheeled mobile robots, legged mobile robots, robotic arms, wearable robots, and other robots. As an independent transmission unit and core component of a robot, the robot joint module determines the robot's overall size, load capacity, movement speed and accuracy, reliability, and even the entire robot's development cycle and lifespan.

[0003] Currently, the drive components used in common robot joint modules include frameless torque motors and harmonic reducers. Frameless torque motors are used to output torque, and harmonic reducers are used for deceleration. Frameless torque motors and harmonic reducers can drive the movement of robot parts such as arms and legs. However, joint modules with this structure have low power density and poor performance. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, this invention provides a hybrid flux motor for robot joint modules. The technical problem to be solved by this invention is achieved through the following technical solution: This invention provides a hybrid flux motor for robot joint modules, including a rotor housing, bearings and a stator base, wherein the stator base is sleeved inside the rotor housing, and the rotor housing and the stator base are rotatably connected by bearings. The stator base includes a base plate, an outer ring plate, and a central shaft. The central shaft and the outer ring plate are both fixed to the end face of the base plate. The central shaft is located inside the outer ring plate and the two are coaxially arranged. A first radial flux stator is mounted on the central shaft, a second radial flux stator is mounted on the outer ring plate, and an axial flux stator is mounted on the base plate. The first radial flux stator, the second radial flux stator, and the axial flux stator are connected to a motor driver through wires, respectively. The first radial flux stator is sleeved outside the second radial flux stator, and a motor rotor is provided between the first radial flux stator and the second radial flux stator. The motor rotor and the rotor housing are fixedly connected, and the motor rotor and the axial flux stator are arranged sequentially along their axial direction.

[0005] In one embodiment of the present invention, the motor rotor includes an annular base plate and a magnetic assembly mounted on the end face of the annular base plate. The magnetic assembly includes multiple magnetic cores and multiple magnets. The multiple magnetic cores are arranged sequentially along the circumference of the annular base plate. A magnet is provided between any two adjacent magnetic cores. Each of the two sides of the magnetic core is in contact with a magnet. The material of the annular base plate is a non-magnetic material. The magnetization directions of any two adjacent magnets are opposite.

[0006] In one embodiment of the present invention, a plurality of positioning protrusions are provided on the outer ring surface of the annular base plate, which are arranged sequentially along its circumference. The base plate is provided with positioning holes, and positioning grooves are provided on the inner wall of the positioning holes. The positioning grooves are provided through the axial direction of the positioning holes. There are a plurality of positioning grooves, and the plurality of positioning grooves correspond one-to-one with the plurality of positioning protrusions. The end of the annular base plate away from the magnetic component is located in the positioning hole, and the positioning protrusions are engaged in the positioning grooves. The motor rotor also includes a retaining ring, which is sleeved on the outer periphery of the annular base plate. The retaining ring and the rotor housing are detachably connected, and the retaining ring and the positioning protrusion are matched for limiting.

[0007] In one embodiment of the present invention, both the first radial flux stator and the second radial flux stator are axially offset relative to the motor rotor, and the offset directions of the first radial flux stator and the second radial flux stator are opposite. The offset angles of the first radial flux stator and the second radial flux stator satisfy the formula:

[0008] Where Z is the number of slots in the motor, 2P is the number of pole pairs in the motor, and LCM(Z, 2P) is the least common multiple of Z and 2P.

[0009] In one embodiment of the present invention, a first heat dissipation sleeve is further included. The first heat dissipation sleeve includes a first ring sleeve and a first annular heat dissipation plate. The first ring sleeve is sleeved on the outer peripheral surface of the first radial flux stator. The first annular heat dissipation plate is in contact with the side of the first radial flux stator away from the substrate. The ends of the first ring sleeve and the first annular heat dissipation plate are connected. The surfaces of the first ring sleeve and the first annular heat sink plate that are away from the first radial flux stator are respectively provided with a first heat dissipation groove and a second heat dissipation groove. There are multiple first heat dissipation grooves, and the multiple first heat dissipation grooves are distributed sequentially along the circumference of the first ring sleeve. There are multiple second heat dissipation grooves, and the multiple second heat dissipation grooves are distributed sequentially along the circumference of the first annular heat sink plate. The multiple first heat dissipation grooves and the multiple second heat dissipation grooves correspond one-to-one and are connected.

[0010] In one embodiment of the present invention, a second heat sink is further included. The second heat sink includes a second ring sleeve and a second annular heat sink plate. The second ring sleeve is sleeved on the inner circumferential surface of the second radial flux stator. The second annular heat sink plate is in contact with the side of the second radial flux stator away from the substrate. The ends of the second ring sleeve and the second annular heat sink plate are connected. The second ring sleeve and the second annular heat sink plate have third and fourth heat sink grooves respectively on the surfaces away from the second radial flux stator. There are multiple third heat sink grooves, and the multiple third heat sink grooves are distributed sequentially along the circumference of the second ring sleeve. There are multiple fourth heat sink grooves, and the multiple fourth heat sink grooves are distributed sequentially along the circumference of the second annular heat sink plate. The multiple third heat sink grooves and the multiple fourth heat sink grooves correspond to each other and are connected.

[0011] In one embodiment of the present invention, a plurality of heat dissipation grooves are provided on the inner circumferential surface of the outer ring plate. The plurality of heat dissipation grooves are distributed sequentially along the circumference of the outer ring plate, and the heat dissipation grooves extend along the axial direction of the outer ring plate and are opened at one end away from the substrate.

[0012] In one embodiment of the present invention, both the first heat sink and the second heat sink are made of high thermal conductivity carbon fiber. A thermally conductive insulating pad is provided between the first heat sink and the first radial flux stator, and a thermally conductive insulating pad is provided between the second heat sink and the second radial flux stator.

[0013] In one embodiment of the present invention, the first radial flux stator includes a stator core and a stator winding. The stator core includes an annular mounting plate and a plurality of core blocks. The plurality of core blocks are arranged sequentially along the circumference of the annular mounting plate, and each core block is fitted with a stator winding.

[0014] In one embodiment of the present invention, an annular limiting plate and bolts are also included. A limiting groove is provided on the inner wall of the rotor housing. The outer ring of the bearing is installed in the limiting groove. The annular limiting plate is connected to the rotor housing by bolts. The annular limiting plate and the outer ring of the bearing are in a limiting fit. The outer ring plate has an annular stop and an annular groove on its outer circumferential surface. An annular baffle is provided in the annular groove, and the inner ring of the bearing is located between the annular stop and the annular baffle.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: In the above-described scheme of this application, the hybrid flux motor includes a rotor housing, bearings, and a stator base. The stator base is fitted inside the rotor housing, and the rotor housing and the stator base are rotatably connected by bearings, thus allowing the rotor housing to rotate relative to the stator base. The stator base includes a base plate, an outer ring plate, and a central shaft. The central shaft and the outer ring plate are both fixed to the end face of the base plate. The central shaft is located inside the outer ring plate and the two are coaxially arranged. A first radial flux stator is mounted on the central shaft, a second radial flux stator is mounted on the outer ring plate, and an axial flux stator is mounted on the base plate. The first radial flux stator, the second radial flux stator, and the axial flux stator are connected to a motor driver via wires. The first radial flux stator is fitted outside the second radial flux stator, and a motor rotor is disposed between the first and second radial flux stators. The motor rotor and the rotor housing are fixedly connected, and the motor rotor and the axial flux stator are arranged sequentially along their axial direction. With this structure, the first radial flux stator and the second radial flux stator can form a radial magnetic circuit, and the axial flux stator can form an axial magnetic circuit. This reduces magnetic leakage, improves the overall integration of the motor, increases the torque and power density of the joint module, and thus improves the performance of the joint module.

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a hybrid flux motor in an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of a hybrid flux motor in an embodiment of the present invention. Figure 2 ; Figure 3 This is an explosion diagram of the hybrid flux motor in an embodiment of the present invention. Figure 1 ; Figure 4 This is an explosion diagram of the hybrid flux motor in an embodiment of the present invention. Figure 2 ; Figure 5 This is a cross-sectional view of the hybrid flux motor in an embodiment of the present invention; Figure 6 This is a schematic diagram of the motor rotor in an embodiment of the present invention; Figure 7 This is a schematic diagram of the first heat sink in an embodiment of the present invention; Figure 8 This is a schematic diagram of the second heat sink in an embodiment of the present invention; Figure 9 This is a schematic diagram of the stator base in an embodiment of the present invention; Figure 10 This is a schematic diagram of the rotor housing in an embodiment of the present invention.

[0018] Reference numerals: 1-Rotor housing, 2-Bearing, 3-Stator base, 31-Base plate, 32-Outer ring plate, 33-Central shaft, 4-First radial flux stator, 5-Second radial flux stator, 6-Axial flux stator, 7-Motor rotor, 71-Annular base plate, 72-Magnetic assembly, 721-Conducting magnetic core, 722-Magnetic steel, 73-Fixing ring, 8-First heat sink, 81-First ring sleeve, 82-First annular heat sink, 9-Second heat sink, 91-Second ring sleeve, 92-Second annular heat sink. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0020] Please see Figures 1 to 10 This invention provides a hybrid flux motor for a robot joint module, comprising a rotor housing 1, bearings 2, and a stator base 3. The stator base 3 is fitted inside the rotor housing 1, and the rotor housing 1 and the stator base 3 are rotatably connected by the bearings 2. The stator base 3 includes a base plate 31, an outer ring plate 32, and a central shaft 33. The central shaft 33 and the outer ring plate 32 are both fixed to the end face of the base plate 31. The central shaft 33 is located inside the outer ring plate 32 and the two are coaxially arranged. A first radial flux stator is mounted on the central shaft 33. 4. A second radial flux stator 5 is installed on the outer ring plate 32, and an axial flux stator 6 is installed on the base plate 31. The first radial flux stator 4, the second radial flux stator 5, and the axial flux stator 6 are connected to the motor driver by wires respectively. The first radial flux stator 4 is sleeved on the outside of the second radial flux stator 5. A motor rotor 7 is provided between the first radial flux stator 4 and the second radial flux stator 5. The motor rotor 7 is fixedly connected to the rotor housing 1. The motor rotor 7 and the axial flux stator 6 are arranged sequentially along their axial direction.

[0021] In some embodiments of this application, the rotor housing 1 includes a circular base plate and an annular surrounding plate, and the base plate 31 of the stator base 3 is a circular plate. The circular base plate of the rotor housing 1 and the base plate 31 of the stator base 3 are coaxially arranged, and both the circular base plate and the base plate 31 are provided with a central hole.

[0022] In some embodiments of this application, the bearing 2 can be a crossed roller bearing 2, with the inner ring of the bearing 2 sleeved on the outer circumferential surface of the outer ring plate 32, and the outer ring of the bearing 2 sleeved on the inner circumferential surface of the circular base plate of the rotor housing.

[0023] In some embodiments of this application, the substrate 31 is provided with a plurality of through holes for inserting wires.

[0024] In the above-mentioned scheme of this application, the hybrid flux motor includes a rotor housing 1, a bearing 2 and a stator base 3. The stator base 3 is sleeved inside the rotor housing 1, and the rotor housing 1 and the stator base 3 are rotatably connected by the bearing 2. In this way, the rotor housing 1 can rotate relative to the stator base 3. The stator base 3 includes a base plate 31, an outer ring plate 32, and a central shaft 33. The central shaft 33 and the outer ring plate 32 are both fixed to the end face of the base plate 31. The central shaft 33 is located inside the outer ring plate 32 and the two are coaxially arranged. A first radial flux stator 4 is installed on the central shaft 33, a second radial flux stator 5 is installed on the outer ring plate 32, and an axial flux stator 6 is installed on the base plate 31. The first radial flux stator 4, the second radial flux stator 5, and the axial flux stator 6 are connected to a motor driver through wires, respectively. The first radial flux stator 4 is sleeved outside the second radial flux stator 5. A motor rotor 7 is provided between the first radial flux stator 4 and the second radial flux stator 5. The motor rotor 7 is fixedly connected to the rotor housing 1. The motor rotor 7 and the axial flux stator 6 are arranged sequentially along their axial direction. With this structure, the first radial flux stator 4 and the second radial flux stator 5 can form a radial magnetic circuit, and the axial flux stator 6 can form an axial magnetic circuit. This reduces magnetic leakage, improves the overall integration of the motor, increases the torque and power density of the joint module, and thus improves the performance of the joint module.

[0025] In some embodiments of this application, such as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the motor rotor 7 includes an annular base plate 71 and a magnetic assembly 72 mounted on the end face of the annular base plate 71. The magnetic assembly 72 includes multiple magnetic cores 721 and multiple magnets 722. The magnetic cores 721 are arranged sequentially along the circumference of the annular base plate 71, and a magnet 722 is placed between any two adjacent magnetic cores 721. Each side of a magnetic core 721 is in contact with a magnet 722. The annular base plate 71 is made of a non-magnetic material. The magnetization directions of any two adjacent magnets 722 are opposite. With this structure, the magnetic cores 721 and magnets 722 are arranged alternately circumferentially, and the magnetization directions of adjacent magnets 722 are opposite, so that the magnetic circuit forms a closed loop in the radial direction. This helps to concentrate the magnetic flux, reduce the magnetic resistance in the magnetic circuit, and improve the magnetic density of the air gap. The magnetic energy of the magnets 722 enters the working air gap more effectively through the magnetic cores 721 on both sides, reducing magnetic leakage. The alternating arrangement of the iron core and 722 magnets also makes the magnetic field distribution more continuous when the rotor rotates, which helps to smooth the torque output and suppress pulsation caused by sudden changes in the magnetic field.

[0026] In some embodiments of this application, the iron core is manufactured using powder metallurgy, and the magnet 722 is manufactured using integral injection molding. The arrows in the diagram indicate the magnetization direction of the magnet 722. The motor in this application uses a mixed radial and axial magnetic flux design for its magnetic circuit; this motor is not a simple series connection of axial and radial magnetic flux motors.

[0027] In some embodiments of this application, such as Figure 2 , Figure 6 and Figure 10 As shown, the outer ring surface of the annular base plate 71 is provided with multiple positioning protrusions arranged sequentially along its circumference. The base plate 31 is provided with positioning holes, and the inner wall of the positioning holes is provided with positioning grooves. The positioning grooves are arranged through the axial direction of the positioning holes. There are multiple positioning grooves, and each positioning groove corresponds to a positioning protrusion. The end of the annular base plate 71 away from the magnetic component 72 is located in the positioning hole, and the positioning protrusions are engaged in the positioning grooves. The motor rotor 7 also includes a fixing ring 73, which is sleeved on the outer circumference of the annular base plate 71. The fixing ring 73 and the rotor housing 1 are detachably connected, and the fixing ring 73 and the positioning protrusions are in a limiting fit. With this structure, the engagement of the positioning protrusions and the positioning grooves provides circumferential positioning for the rotor assembly and restricts the relative rotation between the rotor and the stator base 3. The connection between the fixing ring 73 and the rotor housing 1, as well as its axial limiting fit with the positioning protrusions, together achieve the axial clamping and fixing of the rotor. This connection method facilitates alignment and installation during assembly, and at the same time maintains the stability of the rotor position during operation, which helps to maintain a uniform air gap length.

[0028] In some embodiments of this application, the first radial flux stator 4 and the second radial flux stator 5 are both axially offset relative to the motor rotor 7, and the offset directions of the first radial flux stator 4 and the second radial flux stator 5 are opposite. The offset angles of the first radial flux stator 4 and the second radial flux stator 5 satisfy the formula:

[0029] Where Z is the number of slots in the motor, 2P is the number of pole pairs, and LCM(Z, 2P) is the least common multiple of Z and 2P. This structure effectively reduces cogging torque and torque ripple in the motor. The two radial flux stators are offset by a specific angle in opposite directions, causing the cogging torque harmonics they generate to be phase-shifted. This offset angle is determined by the number of slots and pole pairs in the motor itself, enabling the main harmonic components in the cogging torque waveforms generated by the two stator windings to cancel each other out. This cancellation smooths the overall torque output, helping to reduce torque ripple during motor operation and thus improving operational stability.

[0030] In some embodiments of this application, such as Figure 3 , Figure 4 and Figure 7 As shown, the motor also includes a first heat dissipation sleeve 8, which includes a first ring sleeve 81 and a first annular heat dissipation plate 82. The first ring sleeve 81 is sleeved on the outer peripheral surface of the first radial flux stator 4. The first annular heat dissipation plate 82 contacts the side of the first radial flux stator 4 away from the substrate 31, and the ends of the first ring sleeve 81 and the first annular heat dissipation plate 82 are connected. The surfaces of the first ring sleeve 81 and the first annular heat dissipation plate 82 away from the first radial flux stator 4 are respectively provided with first heat dissipation grooves and second heat dissipation grooves. Multiple first heat dissipation grooves are provided, and these grooves are sequentially distributed along the circumference of the first ring sleeve 81. Similarly, multiple second heat dissipation grooves are provided, and these grooves are sequentially distributed along the circumference of the first annular heat dissipation plate 82. The multiple first heat dissipation grooves and the multiple second heat dissipation grooves correspond one-to-one and are interconnected. With this structure, the first and second heat dissipation grooves can form a heat dissipation channel, and the provision of first and second heat dissipation grooves increases the heat dissipation area, thereby improving the motor's heat dissipation performance.

[0031] In some embodiments of this application, such as Figure 3 , Figure 4 and Figure 8 As shown, the motor also includes a second heat dissipation sleeve 9, which includes a second ring sleeve 91 and a second annular heat dissipation plate. The second ring sleeve 91 is fitted onto the inner circumferential surface of the second radial flux stator 5. The second annular heat dissipation plate contacts the side of the second radial flux stator 5 away from the substrate 31, and the ends of the second ring sleeve 91 and the second annular heat dissipation plate are connected. The surfaces of the second ring sleeve 91 and the second annular heat dissipation plate away from the second radial flux stator 5 are respectively provided with third and fourth heat dissipation grooves. Multiple third heat dissipation grooves are provided, and these grooves are sequentially distributed along the circumference of the second ring sleeve 91. Similarly, multiple fourth heat dissipation grooves are provided, and these grooves are sequentially distributed along the circumference of the second annular heat dissipation plate. The multiple third and fourth heat dissipation grooves correspond one-to-one and are interconnected. With this structure, the third and fourth heat dissipation grooves can form a heat dissipation channel, and the presence of these grooves increases the heat dissipation area, thereby improving the motor's heat dissipation performance.

[0032] In some embodiments of this application, such as Figure 9 As shown, the inner circumferential surface of the outer ring plate 32 is provided with multiple heat dissipation grooves, which are distributed sequentially along the circumference of the outer ring plate 32. The heat dissipation grooves extend axially along the outer ring plate 32 and are opened at one end away from the base plate 31. With this structure, heat dissipation is achieved through multiple heat dissipation grooves, which can further improve the heat dissipation performance of the motor.

[0033] In some embodiments of this application, both the first heat sink 8 and the second heat sink 9 are made of high thermal conductivity carbon fiber. A thermally conductive insulating pad is provided between the first heat sink 8 and the first radial flux stator 4, and a thermally conductive insulating pad is provided between the second heat sink 9 and the second radial flux stator 5. With this structure, the heat sinks made of high thermal conductivity carbon fiber can quickly dissipate the heat generated by the stator windings and core during operation. The thermally conductive insulating pads, while ensuring electrical isolation, fill the contact gap between the heat sink and the stator, improving the heat transfer path. This combination allows heat inside the stator to be more smoothly conducted to the external heat dissipation surface, thereby accelerating heat dissipation and helping to control the temperature rise of the motor.

[0034] In some embodiments of this application, such as Figure 3 and Figure 4 As shown, the first radial flux stator 4 includes a stator core and a stator winding. The stator core includes an annular mounting plate and multiple core blocks. The multiple core blocks are arranged sequentially along the circumference of the annular mounting plate, and each core block is fitted with a stator winding.

[0035] In some embodiments of this application, such as Figure 3 , Figure 4 and Figure 5 As shown, the motor also includes an annular limiting plate and bolts. A limiting groove is provided on the inner wall of the rotor housing, and the outer ring of bearing 2 is installed within the limiting groove. The annular limiting plate is connected to the rotor housing 1 by bolts, and the annular limiting plate and the outer ring of bearing 2 are in a limiting fit. An annular stop and an annular groove are provided on the outer circumferential surface of the outer ring plate 32, and an annular baffle is provided within the annular groove. The inner ring of bearing 2 is located between the annular stop and the annular baffle. With this structure, the annular limiting plate engages with the limiting groove on the rotor housing 1, fixing the outer ring of bearing 2 axially and preventing axial movement. Simultaneously, the annular stop and the annular baffle on the outer ring plate 32 of the stator base 3 together form an installation space, precisely confining the inner ring of bearing 2 within it. This bidirectional limiting method provides reliable constraint to bearing 2 in both the radial and axial directions, ensuring the stability of the relative position between the rotor and stator and helping to maintain a uniform air gap.

[0036] In the description of this invention, 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," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0037] 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 one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A hybrid flux motor for robot joint modules, characterized in that, It includes a rotor housing, bearings, and a stator base, wherein the stator base is fitted inside the rotor housing, and the rotor housing and the stator base are rotatably connected by the bearings; The stator base includes a base plate, an outer ring plate, and a central shaft. The central shaft and the outer ring plate are both fixed to the end face of the base plate. The central shaft is located inside the outer ring plate and the two are coaxially arranged. A first radial flux stator is mounted on the central shaft, a second radial flux stator is mounted on the outer ring plate, and an axial flux stator is mounted on the base plate. The first radial flux stator, the second radial flux stator, and the axial flux stator are respectively connected to a motor driver via wires. The first radial flux stator is sleeved outside the second radial flux stator, and a motor rotor is provided between the first radial flux stator and the second radial flux stator. The motor rotor is fixedly connected to the rotor housing, and the motor rotor and the axial flux stator are arranged sequentially along their axial direction.

2. The hybrid flux motor for robot joint modules according to claim 1, characterized in that, The motor rotor includes an annular base plate and a magnetic assembly mounted on the end face of the annular base plate. The magnetic assembly includes multiple magnetic cores and multiple magnets. The multiple magnetic cores are arranged sequentially along the circumference of the annular base plate. A magnet is provided between any two adjacent magnetic cores. Each of the two sides of the magnetic core is in contact with a magnet. The material of the annular base plate is a non-magnetic material. The magnetization directions of any two adjacent magnets are opposite.

3. The hybrid flux motor for robot joint modules according to claim 2, characterized in that, The outer ring surface of the annular base plate is provided with a plurality of positioning protrusions arranged sequentially along its circumference. The base plate is provided with positioning holes, and the inner wall of the positioning holes is provided with positioning grooves. The positioning grooves are arranged through the axial direction of the positioning holes. There are a plurality of positioning grooves, and the plurality of positioning grooves correspond one-to-one with the plurality of positioning protrusions. The end of the annular base plate away from the magnetic component is located in the positioning hole, and the positioning protrusions are engaged in the positioning grooves. The motor rotor also includes a fixing ring, which is sleeved on the outer periphery of the annular base plate. The fixing ring and the rotor housing are detachably connected, and the fixing ring and the positioning protrusion are in a limiting engagement.

4. The hybrid flux motor for robot joint modules according to claim 1, characterized in that, Both the first radial flux stator and the second radial flux stator are axially offset relative to the motor rotor, and the offset directions of the first radial flux stator and the second radial flux stator are opposite. The offset angles of the first radial flux stator and the second radial flux stator satisfy the formula: Where Z is the number of slots in the motor, 2P is the number of pole pairs in the motor, and LCM(Z, 2P) is the least common multiple of Z and 2P.

5. The hybrid flux motor for robot joint modules according to claim 1, characterized in that, It also includes a first heat sink, which includes a first ring sleeve and a first annular heat sink plate. The first ring sleeve is sleeved on the outer peripheral surface of the first radial flux stator. The first annular heat sink plate is in contact with the side of the first radial flux stator away from the substrate. The ends of the first ring sleeve and the first annular heat sink plate are connected. The first ring sleeve and the first annular heat sink plate have a first heat dissipation groove and a second heat dissipation groove respectively on the surface away from the first radial flux stator. There are multiple first heat dissipation grooves, and the multiple first heat dissipation grooves are distributed sequentially along the circumference of the first ring sleeve. There are multiple second heat dissipation grooves, and the multiple second heat dissipation grooves are distributed sequentially along the circumference of the first annular heat sink plate. The multiple first heat dissipation grooves and the multiple second heat dissipation grooves correspond one-to-one and are connected.

6. The hybrid flux motor for robot joint modules according to claim 5, characterized in that, It also includes a second heat sink, which includes a second ring sleeve and a second annular heat sink plate. The second ring sleeve is sleeved on the inner circumferential surface of the second radial flux stator. The second annular heat sink plate is in contact with the side of the second radial flux stator away from the substrate. The ends of the second ring sleeve and the second annular heat sink plate are connected. The second ring sleeve and the second annular heat sink plate have a third heat dissipation groove and a fourth heat dissipation groove respectively on the surface away from the second radial flux stator. There are multiple third heat dissipation grooves, and the multiple third heat dissipation grooves are distributed sequentially along the circumference of the second ring sleeve. There are multiple fourth heat dissipation grooves, and the multiple fourth heat dissipation grooves are distributed sequentially along the circumference of the second annular heat sink plate. The multiple third heat dissipation grooves and the multiple fourth heat dissipation grooves correspond one-to-one and are connected.

7. The hybrid flux motor for robot joint modules according to claim 6, characterized in that, The outer ring plate has a plurality of heat dissipation grooves on its inner circumferential surface. The plurality of heat dissipation grooves are distributed sequentially along the circumference of the outer ring plate. The heat dissipation grooves extend along the axial direction of the outer ring plate and are opened at one end away from the substrate.

8. The hybrid flux motor for robot joint modules according to claim 6, characterized in that, Both the first heat sink and the second heat sink are made of high thermal conductivity carbon fiber. A thermally conductive insulating pad is provided between the first heat sink and the first radial flux stator, and a thermally conductive insulating pad is provided between the second heat sink and the second radial flux stator.

9. The hybrid flux motor for robot joint modules according to claim 1, characterized in that, The first radial flux stator includes a stator core and a stator winding. The stator core includes an annular mounting plate and multiple core blocks. The multiple core blocks are arranged sequentially along the circumference of the annular mounting plate, and each core block is fitted with a stator winding.

10. The hybrid flux motor for robot joint modules according to claim 1, characterized in that, It also includes an annular limiting plate and bolts. The inner wall of the rotor housing is provided with a limiting groove. The outer ring of the bearing is installed in the limiting groove. The annular limiting plate is connected to the rotor housing by the bolts. The annular limiting plate and the outer ring of the bearing are in a limiting fit. The outer ring plate has an annular stop and an annular groove on its outer circumferential surface. An annular baffle is provided in the annular groove, and the inner ring of the bearing is located between the annular stop and the annular baffle.

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