Motor housing, joint module motor and robot

Abstract

The application discloses a motor shell, a joint module motor and a robot. The motor shell comprises an inner shell, an outer shell, a rib plate, and the outer shell is arranged outside the inner shell and is arranged at a distance from the inner shell to form a heat dissipation space between the outer shell and the inner shell. The rib plate is arranged between the outer shell and the inner shell and is connected with the inner shell and the outer shell. The heat dissipation space comprises an inlet cavity, an intermediate cavity and an outlet cavity arranged in sequence along the axial direction of the inner shell. The radial dimension of the inlet cavity gradually decreases along the direction close to the intermediate cavity, the radial dimension of the outlet cavity gradually increases along the direction away from the intermediate cavity, and the radial dimension of the intermediate cavity is the same along the axial direction of the inner shell. The application solves the technical problem that the high temperature of the motor in the prior art causes damage to the robot skin.

Description

Technical Field

[0001] This application relates to the field of motor housing technology, and more specifically, to a motor housing, a joint module motor, and a robot. Background Technology

[0002] Joint module motors are widely used in humanoid robots. Currently, the following problems exist in the design of joint module motors:

[0003] With the increase in power density, the electrical and magnetic loads of the motor increase significantly, leading to a rise in motor temperature. The surface temperature of the motor housing can reach 100-120℃. This surface temperature of the motor housing affects the robot's skin. Robot skin is generally made of cost-effective thermoplastic polyurethane (TPU), but TPU's temperature resistance is typically only up to 100℃. During normal use, the robot skin is in prolonged contact with the motor housing surface, and the high housing temperature can cause the robot skin to melt, turn black, and suffer other damage.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a motor housing, a joint module motor, and a robot to at least solve the technical problem in the prior art where excessive motor temperature causes damage to the robot's skin.

[0006] According to one aspect of the embodiments of this application, a motor housing is provided, comprising: an inner housing; an outer housing, the outer housing being sleeved on the outside of the inner housing and disposed at a distance from the inner housing to form a heat dissipation space between the outer housing and the inner housing; and a rib plate disposed between the outer housing and the inner housing and connected to the inner housing and the outer housing; wherein the heat dissipation space has an inlet cavity, an intermediate cavity, and an outlet cavity arranged sequentially along the axial direction of the inner housing, the radial dimension of the inlet cavity gradually decreasing along the direction closer to the intermediate cavity, the radial dimension of the outlet cavity gradually increasing along the direction away from the intermediate cavity, and the radial dimension of the intermediate cavity being the same along the axial direction of the inner housing.

[0007] Furthermore, heat dissipation fins are provided on the outer wall surface of the inner shell, and the heat dissipation fins extend along the axial direction of the inner shell.

[0008] Furthermore, there are multiple heat dissipation fins, which are spaced apart circumferentially along the inner shell.

[0009] Furthermore, along the radial direction of the inner shell, the cross-section of the heat dissipation fins can be any one of triangle, rectangle, semicircle, or arbitrary polygon.

[0010] Furthermore, there are multiple ribs, which are spaced apart circumferentially along the inner shell to divide the heat dissipation space into multiple heat dissipation cavities.

[0011] Furthermore, at least one rib is provided with a baffle plate, which extends toward the heat dissipation cavity.

[0012] Furthermore, along the axial direction of the inner shell, at least a portion of the outer shell wall thickness is varied to form an inlet and an outlet cavity for heat dissipation.

[0013] Furthermore, the outer shell, ribs, and inner shell are integrally formed, or the ribs are detachably connected to the outer shell and to the inner shell.

[0014] According to another aspect of the embodiments of this application, a joint module motor is also provided, the joint module motor including a motor housing, the motor housing being the motor housing described above.

[0015] According to another aspect of the embodiments of this application, a robot is also provided, the robot having a joint module motor, the joint module motor being the joint module motor described above.

[0016] In this embodiment, the ribs are disposed between the outer shell and the inner shell, which can provide support while ensuring the spacing between the outer shell and the inner shell. This ensures that the heat dissipation space remains structurally stable. When the airflow passes through the heat dissipation space axially, it can carry away the heat on the outer shell and the inner shell. That is, the heat generated by the motor during operation can be dissipated to the heat dissipation space through the inner shell, so as to avoid direct heat conduction to the outer shell and damage to the robot's skin. This solves the technical problem in the prior art where the motor temperature is too high and causes damage to the robot's skin. The heat accumulation on the outer shell caused by external environmental factors can also be dissipated to the heat dissipation space, preventing external heat from being conducted to the internal motor and reducing the impact of high temperature environment on the internal motor. The radial dimension of the inlet cavity of the heat dissipation space gradually decreases towards the middle cavity, while the radial dimension of the outlet cavity gradually increases away from the middle cavity. The radial dimension of the middle cavity remains constant. By utilizing the Venturi effect, the gas is accelerated in the inlet cavity, makes full contact with the inner wall of the casing in the middle cavity to remove heat, and finally decelerates in the outlet cavity, which facilitates further heat dissipation. This improves the overall heat dissipation efficiency of the motor, reduces the surface temperature of the casing, ensures the stability and aesthetics of the robot skin, extends the service life of the robot skin, and enhances the reliability and working efficiency of the overall robot system. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a schematic diagram of an optional motor housing according to an embodiment of this application;

[0019] Figure 2 yes Figure 1 Schematic diagram of the BB cross section;

[0020] Figure 3 This is a partial schematic diagram of an optional motor housing according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of an optional motor housing according to an embodiment of this application;

[0022] Figure 5 yes Figure 4 A magnified view of part P in the middle;

[0023] Figure 6 This is a schematic diagram of a motor housing based on existing technology;

[0024] Figure 7 yes Figure 6 A schematic diagram of the AA section.

[0025] The above figures include the following reference numerals:

[0026] 1. Outer shell;

[0027] 2. Ribs;

[0028] 3. Inner shell; 31. Inner surface of the inner shell; 32. Heat dissipation fins;

[0029] 4. Heat dissipation space; 40. Heat dissipation cavity; 41. Inlet cavity; 42. Intermediate cavity; 43. Outlet cavity;

[0030] 5. Spoiler. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Combination Figures 1 to 5 As shown, this application provides a motor housing.

[0034] Specifically, the motor housing includes an inner housing 3, an outer housing 1, and a rib 2. The outer housing 1 is fitted over the inner housing 3 and is positioned at a distance from the inner housing 3 to form a heat dissipation space 4 between them. The rib 2 is positioned between the outer housing 1 and the inner housing 3 and is connected to both the inner housing 3 and the outer housing 1. The heat dissipation space 4 has an inlet cavity 41, an intermediate cavity 42, and an outlet cavity 43 arranged sequentially along the axial direction of the inner housing 3. The radial dimension of the inlet cavity 41 gradually decreases as it approaches the intermediate cavity 42, and the radial dimension of the outlet cavity 43 gradually increases as it moves away from the intermediate cavity 42. The radial dimension of the intermediate cavity 42 is the same as that of the inner housing 3 along its axial direction.

[0035] Applying the technical solution of this embodiment, the rib plate 2 is disposed between the outer shell 1 and the inner shell 3, which can play a supporting role while ensuring the spacing between the outer shell 1 and the inner shell 3, so that the heat dissipation space 4 can maintain structural stability. When the airflow passes through the heat dissipation space 4 along the axial direction, it can carry away the heat on the outer shell 1 and the inner shell 3. That is, the heat generated by the motor during operation can be dissipated to the heat dissipation space 4 through the inner shell 3, so as to avoid direct heat conduction to the outer shell 1 and damage to the robot's skin. This solves the technical problem of damage to the robot's skin caused by excessive motor temperature in the prior art. The heat accumulation on the outer shell 1 caused by external environmental factors can also be dissipated to the heat dissipation space 4, preventing external heat from being conducted to the internal motor and reducing the impact of high temperature environment on the internal motor. The radial dimension of the inlet cavity 41 of the heat dissipation space 4 gradually decreases along the direction approaching the intermediate cavity 42, while the radial dimension of the outlet cavity 43 gradually increases along the direction away from the intermediate cavity 42. The intermediate cavity 42 maintains a constant radial dimension. By utilizing the Venturi effect, the gas is accelerated in the inlet cavity 41, fully contacts the inner wall of the casing in the intermediate cavity 42 to remove heat, and finally decelerates in the outlet cavity 43, which facilitates further heat diffusion. This improves the overall heat dissipation efficiency of the motor, reduces the surface temperature of the casing, ensures the stability and aesthetics of the robot skin, extends the service life of the robot skin, and enhances the reliability and working efficiency of the overall robot system.

[0036] The robot in this embodiment can be a humanoid robot. When the robot is in a dynamic motion state, such as walking or running, the external airflow circulates through the accelerated flow channel of the heat dissipation space 4, which significantly improves the heat exchange efficiency and can more effectively avoid the impact of high temperature on the robot's skin.

[0037] Furthermore, heat dissipation fins 32 are provided on the outer wall surface of the inner shell 3, and the heat dissipation fins 32 extend along the axial direction of the inner shell 3.

[0038] In this embodiment, the arrangement of heat dissipation fins 32 increases the heat dissipation area of ​​the inner shell 3, effectively improving heat dissipation efficiency. During motor operation, the generated heat is conducted to the heat dissipation fins 32 through the inner shell 3. Due to the axial distribution of the heat dissipation fins 32, while increasing the contact area with the outside air, it also promotes smooth airflow, accelerates heat dissipation, and reduces the surface temperature of the motor casing.

[0039] Specifically, there are multiple heat dissipation fins 32, which are spaced apart along the circumference of the inner shell 3.

[0040] In this embodiment, multiple heat dissipation fins 32 are spaced apart along the circumference of the inner shell 3, which can significantly increase the heat exchange area and promote the rapid dissipation of heat, thereby effectively reducing the overall temperature of the motor housing. Furthermore, by uniformly distributing the heat dissipation fins 32 along the circumference of the inner shell 3, the uniform distribution of heat can be optimized, so that heat flow in any direction can find the nearest heat dissipation path, avoiding the formation of local high temperatures and thus avoiding local damage to the robot's skin.

[0041] Optionally, along the radial direction of the inner shell 3, the cross-section of the heat dissipation fins 32 can be any one of triangle, rectangle, semicircle, or arbitrary polygon.

[0042] In this embodiment, the cross-sectional shape of the heat dissipation fins 32 can be a variety of geometric shapes such as triangles, rectangles, semicircles, or arbitrary polygons. This allows for optimization of heat dissipation performance by changing the geometric characteristics of the heat dissipation fins 32. Heat dissipation fins with different cross-sectional shapes can provide more effective heat transfer paths according to specific application scenarios and heat dissipation requirements, thereby enhancing overall heat dissipation efficiency. For example, triangular cross-section heat dissipation fins 32 can form strong turbulence when cooling fluid passes through, increasing heat exchange efficiency; rectangular cross-sections are conducive to rapid heat diffusion due to their large surface area; semicircular cross-section heat dissipation fins combine fluid dynamics characteristics to achieve smooth fluid transition, reduce flow resistance, and ensure sufficient heat dissipation area; the design of arbitrary polygonal cross-sections provides more possibilities for customized heat dissipation solutions, which can meet the optimization requirements of specific shapes and sizes. By selecting a suitable cross-sectional shape, not only can the heat dissipation effect be improved, but the stability and mechanical strength of the casing structure can also be taken into account, ensuring heat dissipation performance and structural reliability under different working conditions.

[0043] The configuration of the heat dissipation fins 32 can be further adjusted according to the usage scenario. For example, in high wind speed environments, a cross-sectional shape that can reduce fluid resistance can be adopted to improve the ability of the fluid to carry away heat; in static or low wind speed conditions, a shape that increases the heat dissipation area can be given priority to enhance the heat dissipation effect of natural convection.

[0044] Furthermore, there are multiple ribs 2, which are spaced apart along the circumference of the inner shell 3 to divide the heat dissipation space 4 into multiple heat dissipation cavities 40.

[0045] In this embodiment, by circumferentially spaced multiple ribs 2, the airflow can be evenly distributed inside the casing, avoiding local overheating and enhancing the overall thermal stability. Furthermore, the arrangement of multiple ribs 2 helps to maintain the connection stability between the inner casing 3 and the outer casing 1, as well as the force balance of various parts of the casing.

[0046] Furthermore, at least one rib 2 is provided with a baffle 5, which extends toward the heat dissipation cavity 40.

[0047] In this embodiment, the spoiler 5 can further optimize airflow. By arranging the spoiler 5 within the heat dissipation cavity 40, the convection intensity can be enhanced, and the heat dissipation efficiency can be improved. Specifically, the spoiler 5 can cause the airflow to generate vortices when it passes through, increasing the contact time and area between the airflow and the inner surface of the casing, thereby enhancing the heat exchange capacity.

[0048] Specifically, the shape and arrangement of the spoiler 5 can be adjusted according to specific needs, such as using a zigzag shape, an arc shape, or a grille shape, to adapt to different working environments and heat dissipation requirements.

[0049] In one exemplary embodiment of this application, such as Figure 5 As shown, multiple baffles 5 are provided on both sides of the rib 2. The baffles 5 are spaced apart along the radial direction of the shell, and each baffle 5 extends along the axial direction of the shell. This arrangement can further enhance the turbulence effect, increase the residence time of the airflow in the heat dissipation space 4, thereby allowing the airflow to fully exchange heat and improve the heat dissipation efficiency. The baffles 5 can be a straight plate structure or an arc-shaped plate structure with curvature.

[0050] It should be understood that the spoiler 5 and the rib 2 can be detachably connected, or they can be integrally molded. Alternatively, if both the spoiler 5 and the rib 2 are made of metal, they can be connected by welding.

[0051] Preferably, the wall thickness of at least part of the outer shell 1 is varied along the axial direction of the inner shell 3 so that the heat dissipation space 4 forms an inlet cavity 41 and an outlet cavity 43.

[0052] In this embodiment, the wall thickness of at least part of the outer shell 1 is varied along the axial direction of the inner shell 3 so that the heat dissipation space 4 forms an inlet cavity 41 and an outlet cavity 43. That is, by adjusting the wall thickness of the outer shell 1, the size variation structure of the inlet cavity 41 and the outlet cavity 43 is obtained, which can improve the heat dissipation efficiency without increasing the overall shell size.

[0053] Optionally, the outer shell 1, ribs 2, and inner shell 3 are integrally molded. This integral molding simplifies the production process, ensures the stability and sealing of the casing structure, allows air to flow within designated channels, and improves heat dissipation efficiency.

[0054] Specifically, the outer shell 1, rib plate 2, and inner shell 3 can be integrally cast using any method such as injection molding, casting, or precision forging.

[0055] Optionally, the rib 2 can be detachably connected to the outer shell 1, and the rib 2 can be detachably connected to the inner shell 3.

[0056] In this embodiment, the detachable connection facilitates subsequent maintenance and upgrades of the rib plate 2, inner shell 3 and outer shell 1, and also allows the various components to be manufactured using different materials to optimize heat dissipation efficiency and overall weight.

[0057] Specifically, in an exemplary embodiment of this application, both the outer shell 1 and the inner shell 3 are provided with mounting grooves, and the end of the rib plate 2 is inserted into the mounting groove to connect the rib plate 2 with the outer shell 1 and the inner shell 3. In order to improve the connection strength, threaded connection, snap-fit ​​connection, magnetic connection and other connection methods can also be used for fastening connection.

[0058] This application embodiment also provides a joint module motor, which includes a motor housing, and the motor housing is the motor housing described above.

[0059] By applying the technical solution of this embodiment, the joint module motor can utilize the heat dissipation space 4 to achieve more efficient heat exchange. The rib plate 2 between the inner shell 3 and the outer shell 1 can play a structural support role, ensuring the structural stability of the heat dissipation space 4. The heat dissipation space 4 can realize the acceleration of airflow in the inlet cavity 41, the full heat exchange with the inner shell 3 in the middle cavity 42, and the deceleration and heat diffusion in the outlet cavity 43. The joint module motor with the motor shell in the above embodiment can have better heat dissipation performance, effectively reduce the overall temperature of the shell, improve the stability and service life of the motor and the entire joint module, and at the same time protect the robot skin from high temperature damage, improving the overall performance of the robot and the user experience.

[0060] This application also provides a robot with joint module motors, which are the joint module motors described above.

[0061] By applying the technical solution of this embodiment, the motor housing described above effectively prevents the robot's skin material from being affected by excessively high surface temperatures during daily operation, such as preventing melting or discoloration, thereby maintaining the robot's durable appearance and stable function. The heat dissipation space 4 of the motor housing utilizes the principle of fluid acceleration and deceleration to improve heat exchange efficiency, ensuring the safety of the robot's skin material under various working conditions, extending its service life, and overall improving the reliability of the robot system.

[0062] This application also provides a preferred embodiment of a motor housing, specifically a joint module motor housing that is highly efficient in heat dissipation and adaptable to robot skin, mainly applied in the field of humanoid robot technology.

[0063] To facilitate the explanation of the technical effects of the technical solution in this embodiment, the traditional housing of the joint module motor in the related art is described as follows: Figure 6 and Figure 7As shown, traditional casings generally adopt a cylindrical design, relying on convection heat exchange between the outer surface and the air, resulting in a high surface temperature, which cannot meet the requirements for matching with the robot's skin.

[0064] like Figure 1 and Figure 2 As shown, the motor housing in this embodiment includes an outer shell 1, ribs 2, and an inner shell 3. The inner surface 31 of the inner shell is interference-fitted with the stator core, and heat is mainly conducted through this area. The outer shell 1 is located on the outside and is in direct contact with the robot's skin. The ribs 2 connect the outer shell 1 and the inner shell 3 to form four axially penetrating air regions (i.e., the aforementioned heat dissipation cavity 40). The four air regions formed by the outer shell 1, ribs 2, and inner shell 3 all axially penetrate the entire housing. In particular, the four air regions can also be designed as three or more regions.

[0065] Preferably, in this embodiment, the rib 2 used to divide the four air zones can be integrated with the outer shell 1 and the inner shell 3, and all are made of metal. The integrated design facilitates assembly, and the rib 2 has a small cross-sectional area and a large thermal resistance, which can effectively reduce the temperature of the outer shell 1.

[0066] When the robot is in a stationary standing position, the four air zones can serve as heat insulation layers for the outer shell 1 of the motor housing. When the motor is running, the temperature of the stator core rises due to the copper and iron losses of the motor. The stator core is interference-fitted with the inner surface 31 of the inner shell, which in turn causes the temperature of the inner surface of the housing to rise. Thanks to these four air insulation layers (i.e. the aforementioned four air zones), the temperature of the outer shell 1 can be ensured not to be too high.

[0067] Among them, such as Figure 3 As shown, the outer surface of the inner casing 3 is designed with heat dissipation fins 32. The heat dissipation fins 32 are evenly distributed on the outer surface of the inner casing 3, which can increase the heat dissipation surface area compared with ordinary casings, effectively increasing the heat dissipation area, improving heat dissipation efficiency, and reducing the temperature of the entire casing.

[0068] Optionally, the cross-sectional shape of the heat dissipation fins 32 can be a triangle, rectangle, semicircle, or other irregular shape.

[0069] Preferably, heat dissipation fins 32 can be evenly distributed on the four surfaces of the four separated air regions, which can increase the heat dissipation area and reduce the casing temperature.

[0070] Specifically, the rib 2 is made of a plastic material with low thermal conductivity, which can also effectively reduce the temperature of the outer shell 1.

[0071] Specifically, the four air zones of the casing are composed of three cavities along the axial direction: an inlet cavity 41, an intermediate cavity 42, and a tail cavity (i.e., the aforementioned outlet cavity 43). The inlet cavity 41 has a wide opening at the entrance and narrows in the middle. The intermediate cavity 42 is evenly distributed. The tail cavity has a narrow opening at the entrance and a wide opening at the exit.

[0072] The specific flow field analysis is as follows: Figure 2 As shown, when the airflow enters the inlet cavity 41, it encounters a narrowing cross-section, resulting in a decrease in hydrostatic pressure and an increase in fluid velocity (Venturi effect of the heat dissipation fins 32). The accelerated fluid enters the intermediate cavity 42, which coincides with the inner surface 31 of the inner shell, facilitating the removal of more heat and thus lowering the temperature. When the fluid enters the tail cavity, which is narrow at the front and wide at the back and connected to the atmosphere, the hydrostatic pressure increases, and the fluid velocity decreases, facilitating heat dissipation into the atmosphere. Especially when the robot performs humanoid walking or running, the airflow velocity is high, and the heat removed by the accelerated fluid increases significantly.

[0073] like Figure 4 and Figure 5 As shown, a baffle 5 can be installed on the partition rib 2. The baffle 5 can guide the airflow in the flow channel, reduce turbulence and eddies, reduce air resistance, and at the same time reduce the accumulation of hot air and improve heat dissipation efficiency.

[0074] In this embodiment, the joint module motor housing, by setting the outer shell 1, ribs 2 and inner shell 3, can improve heat dissipation efficiency and reduce the surface temperature of the motor that comes into contact with the robot's skin, thus avoiding damage to the robot's skin. When applied to humanoid robots, it can effectively improve the robot's heat dissipation capacity, reduce operational errors caused by excessive temperature, and reduce phenomena such as melting and blackening of the robot's skin due to high motor temperature after prolonged contact between the robot's skin and the surface of the motor housing, thereby improving the robot's aesthetics.

[0075] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0076] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0077] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0078] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0079] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0080] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A motor housing, characterized in that, include: Inner shell (3); The outer shell (1) is fitted over the outer shell (3) and the outer shell (1) and the inner shell (3) are arranged at a distance to form a heat dissipation space (4) between the outer shell (1) and the inner shell (3). Rib plate (2), the rib plate (2) is disposed between the outer shell (1) and the inner shell (3), and is connected to the inner shell (3) and the outer shell (1); The heat dissipation space (4) has an inlet cavity (41), an intermediate cavity (42) and an outlet cavity (43) arranged sequentially along the axial direction of the inner shell (3). The radial dimension of the inlet cavity (41) gradually decreases along the direction close to the intermediate cavity (42), and the radial dimension of the outlet cavity (43) gradually increases along the direction away from the intermediate cavity (42). The radial dimension of the intermediate cavity (42) is the same along the axial direction of the inner shell (3).

2. The motor housing according to claim 1, characterized in that, The outer wall surface of the inner shell (3) is provided with heat dissipation fins (32), which extend along the axial direction of the inner shell (3).

3. The motor housing according to claim 2, characterized in that, There are multiple heat dissipation fins (32), and the multiple heat dissipation fins (32) are arranged at intervals along the circumference of the inner shell (3).

4. The motor housing according to claim 3, characterized in that, Along the radial direction of the inner shell (3), the cross-section of the heat dissipation fins (32) is any one of triangle, rectangle, semicircle, or arbitrary polygon.

5. The motor housing according to any one of claims 1-4, characterized in that, There are multiple ribs (2), and the multiple ribs (2) are arranged at intervals along the circumference of the inner shell (3) to divide the heat dissipation space (4) into multiple heat dissipation cavities (40).

6. The motor housing according to claim 5, characterized in that, At least one of the ribs (2) is provided with a baffle (5), which extends toward the heat dissipation cavity (40).

7. The motor housing according to claim 1, characterized in that, Along the axial direction of the inner shell (3), at least a portion of the outer shell (1) is configured with varying wall thickness so that the heat dissipation space (4) forms the inlet cavity (41) and the outlet cavity (43).

8. The motor housing according to claim 1, characterized in that, The outer shell (1), the rib (2), and the inner shell (3) are integrally formed, or the rib (2) and the outer shell (1) and the rib (2) and the inner shell (3) are detachably connected.

9. A joint module motor, characterized in that, The joint module motor includes a motor housing, which is the motor housing according to any one of claims 1-8.

10. A robot, characterized in that, The robot has a joint module motor, which is the joint module motor as described in claim 9.

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