An internal support structure of a heat dissipation enhanced humanoid robot joint module

Abstract

This invention discloses a heat-enhanced internal support structure for a humanoid robot joint module, comprising a mounting body, which includes a shell and a mounting base. The shell has heat dissipation holes on its sidewalls. The mounting base is located inside the shell and fixedly connected to it. A drive module is connected to the mounting base. The drive module includes a mounting frame, on which a support frame and a transmission gear are mounted. The support frame is fixedly connected to the mounting base and the mounting frame. A motor is housed within the support frame and fixedly connected to the mounting frame. A drive gear is located at the motor's output end. The transmission gears are evenly distributed around the drive gear's circumference, rotatably connected to the mounting frame, and mesh with the drive gear. An output gear ring is fitted around the outer side of the transmission gear, rotatably connected to the mounting frame, and meshes with the transmission gear. This invention achieves excellent heat dissipation through the combination of heat dissipation holes and a dustproof mesh, while preventing dust from entering the interior, thus improving the service life and operational reliability of the robot joint module.

Description

Technical Field

[0001] This invention relates to the field of humanoid robots, and more specifically to a heat dissipation-enhanced internal support structure for a humanoid robot joint module. Background Technology

[0002] With the continuous development of humanoid robot technology, the joint module, as one of the core components of a humanoid robot, directly affects the robot's overall functionality and usability. A humanoid robot joint module typically consists of a shell, drive motors, transmission mechanisms, and control units, used to achieve precise motion control of each joint. Currently, various humanoid robot joint module designs are available on the market, but some technical problems still urgently need to be solved in practical applications.

[0003] For example, Chinese patent CN118876109B discloses a humanoid robot joint module with an extreme protection device. The module includes a joint shell, a drive motor fixedly installed inside the joint shell, a connecting plate, and a locking limit ring, which can lock and protect the extreme position and dissipate heat through a circulating water tank.

[0004] Chinese patent CN110666830A discloses an integrated robot joint module, including a joint shell, a frameless motor, a low-voltage motor driver, and a harmonic reducer. This solution simplifies the transmission structure and makes the internal structure more compact.

[0005] The publication number CN120363245A proposes a joint module motor and joint module for humanoid robots. The motor can be connected to the joint assembly through a fastener, and a fixing seat is set to reduce wear between components.

[0006] Chinese patent CN117817713A discloses a humanoid robot folding joint, including a movable arm, a fixed arm, a drive motor, and a reducer, which realizes composite joint movement.

[0007] Chinese patent CN120663348A proposes a joint module for a humanoid robot, which achieves precise adjustment of the radial spacing and position of the radial adjustment end through the cooperation of a radial spacing adjustment mechanism and a synchronous push mechanism.

[0008] However, existing humanoid robot joint modules still have the following technical problems:

[0009] First, there is insufficient heat dissipation. The outer shell of existing joint modules is mostly enclosed or has simple openings, making it difficult to effectively dissipate the heat generated by the internal motor and transmission mechanism during operation. Poor heat dissipation channels cause the internal temperature of the module to rise continuously, accelerating the aging of electronic components and severely affecting the joint's continuous working capacity and lifespan.

[0010] Secondly, the internal support structure has poor stability. Existing technologies use a single mounting method for motors and transmission components, resulting in insufficient stability. This can easily lead to vibrations during high-speed robot movement or load changes, causing a decrease in gear meshing accuracy, resulting in transmission jamming, abnormal noises, and even reduced motion precision.

[0011] Third, the structure is not compact enough. Although some existing technologies have begun to focus on integrated structural design, the internal layout of most joint modules is still relatively loose, with low space utilization, resulting in a large overall size and weight, which makes it difficult to meet the requirements of lightweight and compact design for humanoid robots.

[0012] Finally, the protective performance is poor. Existing joint modules often neglect dust and impurity protection in their heat dissipation structure design. Dust and impurities can easily enter the interior through the heat dissipation gaps, contaminating the transmission pairs and electrical components. At the same time, the internal wiring is messy and prone to wear due to long-term movement, reducing the module's operational reliability and ease of maintenance.

[0013] Therefore, there is an urgent need for an internal support structure for humanoid robot joint modules that has good heat dissipation, stable support structure, compact structure and good protection performance, so as to improve the overall performance and service life of humanoid robots. Summary of the Invention

[0014] To address the technical problems of insufficient heat dissipation, poor stability of support structure, insufficient structural compactness, and poor protection performance of traditional humanoid robot joint modules, a heat dissipation-enhanced internal support structure for humanoid robot joint modules is provided.

[0015] The technical solution adopted by this invention to solve its technical problem is as follows: A heat-dissipating enhanced internal support structure for a humanoid robot joint module is provided, including a mounting body. The mounting body includes a shell and a fixed base. A plurality of heat dissipation holes are provided through the side wall of the shell. The fixed base is located inside the shell and is fixedly connected to the shell. A drive module is connected to the fixed base. The drive module includes a mounting frame. A support frame and transmission gears are provided on the mounting frame. The support frame is fixedly connected to both the fixed base and the mounting frame. A motor is provided inside the support frame and is fixedly connected to the mounting frame. A drive gear is fixedly provided at the output end of the motor. A plurality of transmission gears are evenly distributed around the drive gear in the circumference and are all rotatably connected to the mounting frame. Each transmission gear also meshes with the drive gear. An output gear ring is fitted on the outside of the plurality of transmission gears. The output gear ring is rotatably connected to the mounting frame and simultaneously meshes with the plurality of transmission gears.

[0016] Preferably, the outer shell is a tubular structure with open ends, the fixing base is a tubular structure with one end closed and the other end open, and the outer diameter of the fixing base is the same as the inner diameter of the outer shell. A wire-passing hole and several mounting holes are provided at the closed end of the fixing base, and the several mounting holes are evenly distributed around the wire-passing hole in the circumference.

[0017] This design, with the outer casing and the mounting base using a tubular fit, allows for a closer fit and more accurate positioning, improving overall coaxiality and structural stability. It also facilitates the installation and arrangement of internal components. The mounting base has wire-passing holes at its closed end, allowing the motor wires to pass through in an orderly manner, avoiding wire compression, wear, or tangling, and improving the reliability of electrical connections. The evenly distributed mounting holes in the circumference ensure that the mounting base is subjected to uniform force, guaranteeing connection strength, and facilitating precise docking and assembly with other components.

[0018] Preferably, the support frame is located inside the fixed base, and the support frame has the same number of connecting holes as the fixed base. The support frame and the fixed base are fixedly connected by bolts to the mounting holes and the connecting holes.

[0019] This design, by placing the support frame inside the fixed base, makes full use of the internal space, making the structure more compact without increasing the overall size of the module; the number and position of the connecting holes and mounting holes are consistent, which ensures precise docking and firm connection between the support frame and the fixed base, improving assembly efficiency; the bolt connection method is simple in structure, reliable in connection, easy to disassemble and maintain, and can effectively transfer loads, improving the overall support rigidity.

[0020] Preferably, a stabilizing frame is also provided on the mounting frame, the stabilizing frame and the mounting frame are rotatably connected by bearings, and the output gear ring is fixedly connected to the stabilizing ring by several connecting rods.

[0021] This configuration, through the rotational engagement between the stabilizer and the mounting bracket via the bearing, provides auxiliary support for the output gear ring, improving its smoothness during rotation and reducing radial runout and sway. The output gear ring is fixedly connected to the stabilizer ring via a connecting rod, ensuring good coaxiality during transmission and preventing issues such as swaying and jamming due to uneven force distribution. This further enhances transmission accuracy, operational stability, and output rigidity.

[0022] Preferably, an output disk is rotatably disposed at one end of the housing, an assembly groove is provided on the end face of the output disk on the outer side of the housing, and a plurality of fixing holes are provided on the end face of the output disk on the inner side of the housing. A connecting seat is fixedly disposed on the output gear ring in a number equal to and opposite to the fixing holes. The output disk is fixedly connected to the connecting seat and the fixing holes by bolts.

[0023] This configuration, using the output disc as a power output interface, allows for easy assembly with humanoid robot limb components, improving module versatility. The outer mounting slot facilitates positioning and installation, while the inner fixing hole precisely aligns with the connecting seat on the output gear ring, ensuring a secure connection between the output disc and the output gear ring and guaranteeing efficient power transmission. The bolt connection method offers high strength and reliability, can withstand large torque output, and is easy to disassemble and maintain.

[0024] Preferably, a dustproof mesh is attached to the heat dissipation holes on the inner side of the outer casing.

[0025] This design, through the dustproof mesh, effectively blocks external dust, debris and other impurities from entering the module without affecting the air convection and heat dissipation of the heat dissipation holes. This prevents impurities from adhering to components such as motors, gears and bearings, causing wear, jamming or short circuit faults, and improves the module's working stability and service life in complex environments.

[0026] Preferably, a control unit is provided on the outer end face of the fixed base. The control unit is electrically connected to the motor through a wire passing through the wire hole. A rear cover is detachably provided on the other end of the housing opposite to the control unit. Dustproof rings are provided at the connection points between the housing, the rear cover, and the output plate.

[0027] This configuration places the control unit on the outside of the mounting base, facilitating wiring, debugging, and maintenance without occupying internal transmission space. The wires are neatly arranged through the wire holes, avoiding wear and tear and improving the safety and reliability of the electrical system. The removable rear cover facilitates maintenance of the internal structure and replacement of components, reducing operating costs. Dustproof rings are installed at both ends of the outer shell, further enhancing the overall sealing and dustproof effect, protecting internal components from external environmental influences, and improving the reliability and durability of the joint module.

[0028] The beneficial effects of this utility model are as follows:

[0029] 1. Significantly improved heat dissipation performance: By setting several heat dissipation holes on the side wall of the housing, an efficient internal and external air convection heat dissipation channel is constructed, which can quickly dissipate the heat generated by the motor and transmission mechanism, effectively reduce the internal temperature rise of the module, avoid damage to components caused by high temperature, and significantly improve the continuous working ability and service life of the joint module.

[0030] 2. Stable and reliable support structure: The dual fixing structure of fixed base and support frame achieves rigid positioning of motor, mounting frame and transmission components, effectively suppresses running vibration, ensures the meshing accuracy of drive gear, transmission gear and output gear ring, improves transmission smoothness, motion accuracy and running quietness, and eliminates jamming and uneven wear.

[0031] 3. Compact structure and high integration: Each core component is embedded inside the shell, with a reasonable and compact layout, maximizing the use of internal space and effectively reducing the overall size and weight of the module, which meets the lightweight design requirements of humanoid robots;

[0032] 4. Excellent protection performance: Dustproof mesh is installed inside the heat dissipation holes, and dustproof rings are added at the connection between the outer shell and the back cover and output panel to form all-round dust protection and prevent impurities from entering the internal components and contaminating them; the mounting base has wire passage holes to allow wires to be neatly passed through, avoiding wire wear and pulling. Combined with the removable back cover design, it greatly improves the reliability of the module and the convenience of maintenance.

[0033] 5. Stable output transmission and strong adaptability: The output gear ring is rigidly connected to the output disk, and with the auxiliary support of the stabilizer, the power output is stable and reliable; the output disk is equipped with an assembly slot, which can quickly connect to robot limb parts, making assembly convenient and versatile, and suitable for the assembly of joints of various humanoid robots. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall assembly structure of the present invention;

[0036] Figure 2 This is a schematic diagram of the overall disassembled state of the present invention;

[0037] Figure 3 This is a longitudinal cross-sectional view of the internal structure of the present invention in its assembled state;

[0038] Figure 4 This is a schematic diagram of the assembly state of the output disk and the drive module of the present invention;

[0039] Figure 5 This is a schematic diagram of the drive module's working structure according to the present invention;

[0040] Figure 6 This is a schematic diagram of the internal structure of the outer shell of the present invention.

[0041] The annotations in the attached figures are explained as follows:

[0042] 1. Mounting body; 11. Housing; 12. Mounting base; 13. Cable guide hole; 14. Mounting hole; 15. Dustproof ring; 16. Heat dissipation hole; 17. Dustproof mesh; 2. Output panel; 21. Assembly slot; 22. Connection hole; 3. Drive module; 301. Mounting bracket; 302. Support bracket; 303. Stabilizing ring; 304. Connecting rod; 305. Drive gear; 306. Transmission gear; 307. Output gear ring; 308. Motor; 309. Bearing; 310. Connecting base; 311. Mounting hole; 4. Control unit; 5. Rear cover. Detailed Implementation

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] The present invention will be further described below with reference to the accompanying drawings:

[0046] Example 1: As Figures 1-6As shown, an internal support structure for a heat-dissipating enhanced humanoid robot joint module includes a mounting body 1. The mounting body 1 includes a housing 11 and a fixing seat 12. A plurality of heat dissipation holes 16 are provided through the side wall of the housing 11. The fixing seat 12 is located inside the housing 11 and is fixedly connected to the housing 11. A drive module 3 is connected to the fixed base 12. The drive module 3 includes a mounting frame 301. A support frame 302 and a transmission gear 306 are provided on the mounting frame 301. The support frame 302 is fixedly connected to the fixed base 12 and the mounting frame 301 respectively. A motor 308 is provided inside the support frame 302. The motor 308 is fixedly connected to the mounting frame 301. A drive gear 305 is fixedly provided at the output end of the motor 308. Several transmission gears 306 are evenly distributed around the drive gear 305 and are all rotatably connected to the mounting frame 301. Each transmission gear 306 also meshes with the drive gear 305. An output gear ring 307 is fitted on the outside of the several transmission gears 306. The output gear ring 307 is rotatably connected to the mounting frame 301 and meshes with the several transmission gears 306 simultaneously.

[0047] The outer casing 11 is a tubular structure open at both ends, and the mounting base 12 is a tubular structure closed at one end and open at the other. The outer diameter of the mounting base 12 is the same as the inner diameter of the outer casing 11. A wire hole 13 and several mounting holes 14 are provided at the closed end of the mounting base 12, and the mounting holes 14 are evenly distributed around the wire hole 13. This design allows the outer casing 11 and the mounting base 12 to fit tightly together, forming a closed space, while allowing air circulation between the inside and outside through the heat dissipation holes 16, effectively improving heat dissipation efficiency.

[0048] The support frame 302 is located inside the fixed base 12. The support frame 302 has the same number of connecting holes 22 as the fixed base 12, and the support frame 302 and the fixed base 12 are fixedly connected by bolts to the mounting holes 14 and the connecting holes 22. This double-fixed structure can provide stable support force, effectively suppress vibrations generated during operation, and ensure the smooth operation and precise transmission of the drive system.

[0049] A stabilizer is also provided on the mounting bracket 301. The stabilizer is rotatably connected to the mounting bracket 301 via a bearing 309. The output gear ring 307 is fixedly connected to the stabilizer ring 303 via several connecting rods 304. The stabilizer provides additional support for the output gear ring 307, reducing swaying and eccentricity during operation, and further improving the accuracy and stability of the transmission.

[0050] An output disk 2 is rotatably mounted on one end of the outer casing 11. An assembly groove 21 is provided on the outer surface of the output disk 2. Several fixing holes 311 are provided on the inner surface of the output disk 2. Connecting seats 310, equal in number and positioned to the fixing holes 311, are fixedly mounted on the output gear ring 307. The output disk 2 is fixedly connected to the connecting seats 310 and fixing holes 311 by bolts. The assembly groove 21 on the output disk 2 is designed to facilitate quick docking with other robot components, improving assembly efficiency and versatility.

[0051] A dustproof mesh 17 is attached to the heat dissipation holes 16 on the inside of the outer casing 11. The dustproof mesh 17 can block external dust and impurities from entering the module, while not affecting air circulation and heat dissipation, effectively protecting the internal precision components from contamination.

[0052] A control unit 4 is mounted on the outer end face of the mounting base 12. The control unit 4 is electrically connected to the motor 308 via a wire passing through the wire hole 13. A rear cover 5 is detachably mounted on the other end of the housing 11 opposite to the control unit 4, and dustproof rings 15 are provided at the connection points between the housing 11, the rear cover 5, and the output panel 2. The control unit 4 is directly mounted on the outside of the mounting base 12, shortening the connection distance with the motor 308, reducing signal transmission delay, and improving control accuracy. The detachable rear cover 5 facilitates maintenance and repair, and the dustproof rings 15 further enhance the module's dustproof performance.

[0053] The working principle and process of this embodiment:

[0054] First, the module is assembled. The control unit 4 on the outside of the fixed base 12 receives external control commands and transmits electrical signals stably to the motor 308 in the internal cavity of the support frame 302 through a dedicated wire passing through the wire hole 13 at the closed end of the fixed base 12. This provides the motor 308 with operating power and sends signals, enabling precise issuance of power commands. After the motor 308 is powered on, it starts to run. Its body is fixed and limited by the double fixing of the mounting frame 301 and the support frame 302 to maintain axial and radial position stability, avoid shaking or deviation during operation, and ensure that the power output shaft is always consistent with the overall shaft of the module.

[0055] Secondly, the output end of the motor 308 drives the drive gear 305 to rotate synchronously at high speed. The drive gear 305 uses the meshing relationship to evenly transmit power to multiple transmission gears 306 that are evenly distributed in the circumference. Each transmission gear 306 is connected to the shaft of the mounting bracket 301 and rotates synchronously around its own axis, forming a planetary synchronous transmission structure, which avoids wear and jamming caused by excessive force on a single gear. After the multiple transmission gears 306 rotate synchronously, they further mesh with the inner wall of the output gear ring 307 on the outer side through the teeth on the outer wall, driving the output gear ring 307 to rotate at low speed around the mounting bracket 301 in the same axis. This completes the conversion of the high-speed power of the motor 308 into high-torque, low-speed joint power, realizing the smooth transmission of power step by step and ensuring power output. During this period, the support bracket 302 always bears the load-bearing support of the mounting bracket 301 and the motor 308, maintaining the overall coaxiality of the transmission structure.

[0056] Subsequently, during the rotation of the output gear ring 307, on the one hand, the circumferentially distributed connecting rods 304 drive the stabilizer to rotate synchronously. The stabilizer relies on the bearing 309 between itself and the mounting frame 301 to balance the radial force on the output gear ring 307, eliminating the problem of the output gear ring 307 running off-center and ensuring transmission accuracy. On the other hand, the output gear ring 307 drives the output disk 2, which is bolted to it, to rotate synchronously through the connecting seat 310 on the end face. The output disk 2 relies on the rotational connection of the outer shell 11 to output the converted power to the outside through the outer mounting slot 21, driving the humanoid robot limbs to complete the corresponding joint movements and realize the core operation function of the module.

[0057] During continuous operation of the module, the heat generated by the operation of the motor 308 and the gear transmission pair accumulates in the internal cavity enclosed by the outer shell 11 and the fixed base 12. The heat is quickly dissipated outward through the heat dissipation holes 16 evenly distributed on the side wall of the outer shell 11, creating an internal and external air circulation heat dissipation channel to prevent the internal temperature from being too high and affecting the service life of the components. At the same time, the dustproof mesh 17 attached to the heat dissipation holes 16 on the inner side of the outer shell 11, and the dustproof ring 15 at the connection between the outer shell 11 and the rear cover 5 and the output plate 2, form a double dustproof barrier. Without affecting heat dissipation and power output, it prevents external dust and debris from entering the internal cavity and prevents impurities from adhering to the surface of the transmission gear 306 and the motor 308, causing jamming and wear problems. Together with the rigid support structure of the fixed base 12 and the support frame 302, it ensures the long-term stable and efficient operation of the module.

[0058] When the module stops working, the control unit 4 cuts off the power to the motor 308. The motor 308, drive gear 305, transmission gear 306 and output gear ring 307 stop rotating in sequence. The output disk 2 stops outputting power to the outside at the same time. The overall structure returns to the initial stable state. All supporting components always remain in the positioning and locking state, ready for the next start-up operation.

[0059] The entire joint module has a compact structure and a rational layout of components, maximizing the use of internal space and reducing overall size and weight, meeting the lightweight design requirements of humanoid robots. At the same time, the use of standardized bolt connections simplifies the assembly process, improving production efficiency and ease of maintenance.

[0060] The foregoing detailed one embodiment of the present invention, but this is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A heat-dissipating enhanced internal support structure for a humanoid robot joint module, comprising a mounting body (1), characterized in that: The mounting body (1) includes a shell (11) and a fixing base (12). Several heat dissipation holes (16) are provided through the side wall of the shell (11). The fixing base (12) is located inside the shell (11) and is fixedly connected to it. A drive module (3) is connected to the fixing base (12). The drive module (3) includes a mounting frame (301). A support frame (302) and a transmission gear (306) are provided on the mounting frame (301). The support frame (302) is fixedly connected to both the fixing base (12) and the mounting frame (301). A transmission gear (306) is provided inside the support frame (302). A motor (308) is fixedly connected to the mounting bracket (301). A drive gear (305) is fixedly provided at the output end of the motor (308). A plurality of transmission gears (306) are evenly distributed around the drive gear (305) and are all rotatably connected to the mounting bracket (301). Each transmission gear (306) also meshes with the drive gear (305). An output gear ring (307) is fitted on the outside of the plurality of transmission gears (306). The output gear ring (307) is rotatably connected to the mounting bracket (301) and meshes with the plurality of transmission gears (306) simultaneously.

2. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 1, characterized in that: The outer shell (11) is a tubular structure with open ends, and the fixing seat (12) is a tubular structure with one end closed and the other end open. The outer diameter of the fixing seat (12) is the same as the inner diameter of the outer shell (11). A wire hole (13) and several mounting holes (14) are provided at the closed end of the fixing seat (12), and the several mounting holes (14) are evenly distributed around the wire hole (13).

3. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 1, characterized in that: The support frame (302) is located inside the fixed base (12). The support frame (302) has the same number of connecting holes (22) as the fixed base (12). The support frame (302) and the fixed base (12) are fixedly connected by bolts to the mounting hole (14) and the connecting hole (22).

4. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 1, characterized in that: A stabilizing frame is also provided on the mounting frame (301). The stabilizing frame is rotatably connected to the mounting frame (301) via a bearing (309). The output gear ring (307) is fixedly connected to the stabilizing ring (303) via several connecting rods (304).

5. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 1, characterized in that: An output disk (2) is rotatably provided at one end of the outer casing (11). An assembly groove (21) is provided on the end face of the output disk (2) on the outer side of the outer casing (11). A plurality of fixing holes (311) are provided on the end face of the output disk (2) on the inner side of the outer casing (11). A connecting seat (310) with the same number and opposite position as the fixing holes (311) is fixedly provided on the output gear ring (307). The output disk (2) is fixedly connected to the connecting seat (310) and the fixing holes (311) by bolts.

6. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 1, characterized in that: A dustproof mesh (17) is attached to the heat dissipation hole (16) on the inner side of the outer casing (11).

7. The internal support structure of a heat-dissipating enhanced humanoid robot joint module according to claim 2, characterized in that: A control unit (4) is provided on the outer end face of the fixed base (12). The control unit (4) is electrically connected to the motor (308) through a wire passing through the wire hole (13). A rear cover (5) is detachably provided on the other end of the housing (11) opposite to the control unit (4). Dustproof rings (15) are provided at the connection between the housing (11), the rear cover (5), and the output disk (2).

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