A robot joint drive motor

Abstract

This invention provides a robot joint drive motor, relating to the field of robot motor technology. It includes a stator mounting section on which a rotor section is mounted. The rotor section is used for anti-jamming. A collapse limiting component is mounted on the rotor section. Two locking components are mounted on the collapse limiting component. The collapse limiting component is located inside the stator mounting section. A clearance compensation component is mounted on the stator mounting section. The locking components can automatically lock the collapsing positioning pin, ensuring that the positioning pin will not extend and insert into the slot again after collapse, thus preventing jamming. This does not affect the subsequent low-resistance rotation of the anti-jamming ring, avoiding excessive wear on the anti-jamming ring and the positioning pin. This solves the problem that current robot joint drive motors struggle to automatically establish a temporary rotation structure when the motor bearing is jammed, and that the motor bearing cannot provide timely feedback when jamming occurs.

Description

Technical Field

[0001] This invention relates to the field of robot motor technology, and more particularly to a robot joint drive motor. Background Technology

[0002] Robot joint motors are the core power units of a robot's motion execution system, directly determining the robot's motion accuracy, load capacity, flexible control, and overall operational performance. The bearings of robot joint drive motors are easily worn parts. Joint drive motors often operate in small-angle reciprocating motions, which can easily lead to uneven distribution of bearing lubricant, resulting in jamming after prolonged use. Although current robot joint drive motors have their own overload protection structures, this directly affects robot operation. During tasks such as cargo transportation, this can directly cause a shutdown protection mechanism, making it difficult to automatically establish a temporary rotation structure when the motor bearing jams, thus affecting continuous robot operation. The fault status of motor bearing jamming is difficult to report in a timely manner, usually requiring manual shutdown for troubleshooting. Simultaneously, the output bolts of the robot motors are also at risk of loosening after prolonged robot operation, making automatic clearance compensation difficult. Loose joint connection nodes directly affect the robot's operational stability. Summary of the Invention

[0003] This disclosure relates to a robot joint drive motor to solve the problems of current robot joint drive motors being unable to automatically establish a temporary rotation structure when the motor bearing is jammed, and the motor bearing being unable to provide timely feedback when jamming occurs.

[0004] In a first aspect, this disclosure provides a robot joint drive motor, specifically including a stator mounting portion, on which a rotor portion is mounted; the rotor portion is used for anti-jamming; a collapsible limiting member is mounted on the rotor portion; two locking members are mounted on the collapsible limiting member; the collapsible limiting member is located inside the stator mounting portion; a clearance compensation member is mounted on the stator mounting portion; the stator mounting portion includes: a motor housing and a rear cover, the rear cover being fixedly mounted on the rear side of the motor housing; and four through holes are provided on the motor housing.

[0005] In at least some embodiments, the stator mounting portion further includes: a stator frame, a main board assembly, a stator winding, contact plates, and an indicator light. The stator frame is fixedly mounted on the rear side of the motor housing. A threaded hole is provided in the middle of the stator frame. The main board assembly is fixedly mounted on the rear side of the stator frame by bolts. The stator winding is fixedly mounted on the stator frame. The stator winding is electrically connected to the main board assembly. Two contact plates are symmetrically mounted on the inner side of the motor housing, and the inner sides of the two contact plates are respectively inclined structures. An indicator light is fixedly mounted on the end of the motor housing, and the indicator light and the two contact plates are connected in series with a power supply. The two contact plates are insulated from the motor housing.

[0006] In at least some embodiments, the rotor portion includes: a rotor ring, rotor magnets, an anti-jamming ring, and slots. The rotor ring is sleeved on the outside of the stator winding. A ring of rotor magnets is fixedly embedded on the inner side of the rotor ring. The ring of rotor magnets is aligned with the stator winding. The rotor ring is located inside the motor housing. An anti-jamming ring is sleeved on the rotor ring. The anti-jamming ring has two slots, each of which is a hemispherical groove. A gap is provided between the anti-jamming ring and the rotor ring. A gap is provided between the ring of rotor magnets and the stator winding.

[0007] In at least some embodiments, the rotor portion further includes: motor bearings and balls, wherein there are two motor bearings, and the inner rings of the two motor bearings are respectively fitted onto anti-jamming rings; the inner rings of the two motor bearings are respectively connected to the anti-jamming rings by bolts; the outer rings of the two motor bearings are respectively fitted onto the inner side of the motor housing; the outer rings of the two motor bearings are connected to the motor housing by bolts; the inner ring of the anti-jamming ring is embedded with two balls, and one ball is embedded on each side of the anti-jamming ring; the balls roll and adhere to the outer wall of the rotor ring.

[0008] In at least some embodiments, the collapsible limiting component includes: a baffle, a spring cover, and locating pins. The baffle has a rubber ring on its outer circumference, which is attached to the inner circumference of the motor housing. The baffle is fixedly mounted on the rotor ring. A ball bearing on the same side is attached to the inner side of the baffle. Two spring covers are threaded onto the baffle. Two locating pins are slidably inserted into the baffle, and the ends of the two locating pins are hemispherical structures. The ends of the locating pins are inserted into slots. The depth of the slots is less than the radius of the hemispherical structures at the ends of the locating pins. The baffle has six screw holes.

[0009] In at least some embodiments, the collapse limiting member further includes a locking groove, wherein the two positioning pins are respectively provided with locking grooves; the locking groove is an annular structure.

[0010] In at least some embodiments, the collapse limiting member further includes: a push spring, wherein two push springs are sleeved on the baffle, and one end of the two push springs is fixedly connected to the spring cover, and the other end of the two push springs is respectively fixedly connected to the positioning pin; the push spring is used to elastically push the positioning pin.

[0011] In at least some embodiments, the locking element includes: a locking pin and a tension spring; the locking pin is slidably inserted into the baffle; the tension spring is sleeved on the locking pin; one end of the tension spring is fixedly connected to the baffle, and the other end of the tension spring is fixedly connected to the locking pin; the end of the locking pin elastically fits against the outer wall of the positioning pin; the locking pin is used to insert into the locking groove; the cross-section of the locking pin is T-shaped; the locking pin is located between two contact plates.

[0012] In at least some embodiments, the clearance compensation component includes: a compensation screw and a baffle plate, wherein the compensation screw is threadedly connected to a threaded hole in the middle of the stator frame; the front end of the compensation screw is inserted into the baffle plate; the baffle plate is located on the front side of the baffle plate, and the baffle plate has six through holes corresponding to the threaded holes on the baffle plate.

[0013] In at least some embodiments, the gap compensation component further includes: a torsion spring, on which the compensation screw is sleeved; one end of the torsion spring is fixedly connected to the tail of the compensation screw, and the other end of the torsion spring is fixedly installed on the stator frame; when the end of the compensation screw is aligned with the front end of the baffle, the torsion spring is in a stretched and pre-tightened state.

[0014] This invention provides a robot joint drive motor, which has the following beneficial effects: In this invention, a rotor section is used in conjunction with a collapsible limiting component. This allows the limiting anti-jamming ring to be maintained during normal operation of the rotor ring. The rotor ring rotation is supported by the motor bearing for drag reduction. However, if the motor bearing jams and the locating pin experiences excessive pressure, it can automatically collapse, releasing the limiting anti-jamming ring and establishing a temporary rotation structure. At this time, the anti-jamming ring can rotate on the rotor ring, thus avoiding direct overload shutdown.

[0015] In addition, the use of locking components can automatically lock the locating pin after it collapses, ensuring that it will not extend and re-insert into the slot after collapse, thus preventing jamming. This does not affect the subsequent low-resistance rotation of the anti-jamming ring and avoids excessive wear on the anti-jamming ring and the locating pin. At the same time, the locking pin used in this structure, together with two electrical contact plates, can be used to indicate motor bearing jamming, eliminating the need for tedious manual inspection and providing a direct indication of the abnormality.

[0016] In addition, by using a gap compensation component, the elasticity of the torsion spring and the rotational driving force can be utilized to provide a forward thrust, which can improve the stability of the output component when the bolts on the baffle used to install the output component become loose. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0018] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0019] In the attached diagram: Figure 1 A schematic diagram of the overall structure of a robot joint drive motor according to this application is shown; Figure 2 A cross-sectional view of the internal structure of a robot joint drive motor according to this application is shown; Figure 3 A schematic diagram of the bottom structure of a robot joint drive motor according to this application is shown; Figure 4 A schematic diagram of the overall structure of the compensation screw of this application is shown; Figure 5 A schematic diagram of the stator mounting section structure of this application is shown; Figure 6 A schematic diagram of the rotor section structure of this application is shown; Figure 7 A schematic diagram of the installation location of the interference magnet in this application is shown; Figure 8 A cross-sectional view of the rotor magnet mounting location of this application is shown; Figure 9 A schematic diagram of the collapse limiting member structure of this application is shown; Figure 10 A schematic diagram of the locking mechanism structure of this application is shown.

[0020] List of reference numerals 1. Stator mounting section; 101. Motor housing; 1011. Rear cover; 102. Stator frame; 1021. Main board assembly; 103. Stator winding; 104. Connecting piece; 105. Indicator light; 2. Rotor section; 201. Rotor ring; 2011. Rotor magnet; 202. Anti-jamming ring; 2021. Slot; 203. Motor bearing; 204. Ball bearing; 3. Collapse limiting component; 301. Baffle; 302. Spring cover; 303. Positioning pin; 3031. Locking groove; 304. Push spring; 4. Locking component; 401. Locking pin; 402. Tension spring; 5. Gap compensation component; 501. Compensating screw; 5011. Baffle; 502. Torsion spring. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1: Please refer to Figures 1 to 10 : This invention proposes a robot joint drive motor, including a stator mounting part 1, on which a rotor part 2 is mounted; the rotor part 2 is used for anti-jamming; a collapsible limiting member 3 is mounted on the rotor part 2; two locking members 4 are mounted on the collapsible limiting member 3; the collapsible limiting member 3 is located inside the stator mounting part 1; a clearance compensation member 5 is mounted on the stator mounting part 1; the stator mounting part 1 includes: a motor housing 101 and a rear cover 1011, with the rear cover 1011 fixedly mounted on the rear side of the motor housing 101; the motor housing 101 is provided with four through holes.

[0023] In this embodiment, the stator mounting part 1 further includes: a stator frame 102, a main board assembly 1021, a stator winding 103, contact plates 104, and an indicator light 105. The stator frame 102 is fixedly mounted on the rear side of the motor housing 101; a threaded hole is provided in the middle of the stator frame 102; the main board assembly 1021 is fixedly mounted on the rear side of the stator frame 102 by bolts; the stator winding 103 is fixedly mounted on the stator frame 102; the stator winding 103 is electrically connected to the main board assembly 1021; two contact plates 104 are symmetrically mounted on the inner side of the motor housing 101, and the inner sides of the two contact plates 104 are respectively inclined structures; an indicator light 105 is fixedly mounted on the end of the motor housing 101, and the indicator light... 105 and two connecting pieces 104 are connected in series with a power supply; the two connecting pieces 104 are insulated from the motor housing 101; the rotor part 2 includes: a rotor ring 201, a rotor magnet 2011, an anti-jamming ring 202, and slots 2021. The rotor ring 201 is sleeved on the outside of the stator winding 103; a ring of rotor magnets 2011 is fixedly embedded on the inner side of the rotor ring 201; the ring of rotor magnets 2011 is aligned with the stator winding 103; the rotor ring 201 is located inside the motor housing 101; an anti-jamming ring 202 is sleeved on the rotor ring 201; two slots 2021 are opened on the anti-jamming ring 202, and the two slots 2021 are hemispherical grooves; the anti-jamming ring 202 and the rotor ring 201 are connected in series with each other. A gap is provided; a gap is provided between the rotor magnet 2011 and the stator winding 103; the rotor section 2 also includes: motor bearings 203 and balls 204, two motor bearings 203 are provided, the inner rings of the two motor bearings 203 are respectively fitted on the anti-jamming rings 202; the inner rings of the two motor bearings 203 are respectively connected to the anti-jamming rings 202 by bolts; the outer rings of the two motor bearings 203 are respectively fitted on the inner side of the motor housing 101; the outer rings of the two motor bearings 203 are connected to the motor housing 101 by bolts; the inner ring of the anti-jamming ring 202 is embedded with two balls 204, and one ball 204 is embedded on each side of the anti-jamming ring 202; the balls 204 roll and adhere to the rotor ring 2011. 1. Outer wall; Collapse limiting component 3 includes: baffle 301, spring cover 302 and positioning pin 303. The outer ring of baffle 301 is provided with a rubber ring, which is attached to the inner ring of motor housing 101. Baffle 301 is fixedly installed on rotor ring 201. The inner side of baffle 301 is attached to ball bearing 204 on the same side. Two spring covers 302 are threadedly connected to baffle 301. Two positioning pins 303 are slidably inserted into baffle 301, and the ends of the two positioning pins 303 are hemispherical structures. The ends of the positioning pins 303 are inserted into slots 2021. The depth of slot 2021 is less than the radius of the hemispherical structure at the end of the positioning pin 303. Baffle 301 is provided with six screw holes.By employing rotor section 2 and collapsible limiting component 3, the anti-jamming ring 202 can be maintained during normal operation of rotor ring 201. Rotation of rotor ring 201 is supported by drag reduction via motor bearing 203. However, if motor bearing 203 becomes stuck, the positioning pin 303 will automatically collapse when the compressive force exceeds the limit, releasing the limiting effect on anti-jamming ring 202 and establishing a temporary rotation structure. At this time, anti-jamming ring 202 can rotate on rotor ring 201. This structure is simple to control, avoids direct overload shutdown, and allows the motor to maintain a temporary operating state. It is more suitable for practical scenarios such as robot cargo handling and facilitates the replacement of motor bearing 203 after a batch of goods has been transported.

[0024] In this embodiment, the collapse limiting member 3 further includes: a locking groove 3031, with locking grooves 3031 respectively provided on the two positioning pins 303; the locking grooves 3031 are annular structures; the collapse limiting member 3 further includes: push springs 304, with two push springs 304 sleeved on the baffle 301, one end of the two push springs 304 being fixedly connected to the spring cover 302, and the other end of the two push springs 304 being fixedly connected to the positioning pins 303 respectively. 03; The push spring 304 is used to elastically push the positioning pin 303; The locking component 4 includes: a locking pin 401 and a tension spring 402. The locking pin 401 is slidably inserted into the baffle 301; the tension spring 402 is sleeved on the locking pin 401; one end of the tension spring 402 is fixedly connected to the baffle 301, and the other end of the tension spring 402 is fixedly connected to the locking pin 401; the end of the locking pin 401 elastically fits against the outer wall of the positioning pin 303; the locking pin 401 is used for The locking pin 401 has a T-shaped cross-section and is located between two electrical contact pieces 104. The locking pin 401 automatically locks the collapsing positioning pin 303, ensuring it will not extend out of the insertion slot 2021 after collapse, thus preventing jamming and ensuring the low-resistance rotation of the anti-jamming ring 202. This design is simple to control and avoids excessive wear on the anti-jamming ring 202 and positioning pin 303. Furthermore, the locking pin 401, in conjunction with the two electrical contact pieces 104, can be used to indicate jamming of the motor bearing 203, eliminating the need for tedious manual checks and providing a clear indication of the abnormality. The design is simple to control, and the use of two electrical contact pieces 104 for jamming detection is compact. By alerting staff, it prevents prolonged temporary rotation of the anti-jamming ring 202 due to undetected jamming of the motor bearing 203. This design is simple to control.

[0025] In Embodiment 2, based on Embodiment 1, the gap compensation component 5 includes: a compensation screw 501 and a baffle plate 5011. The compensation screw 501 is threadedly connected to a threaded hole in the middle of the stator frame 102; the end of the compensation screw 501 has a frosted anti-slip surface; the front end of the compensation screw 501 is inserted into the baffle plate 301; the baffle plate 5011 is located on the front side of the baffle plate 301, and six through holes corresponding to the threaded holes on the baffle plate 301 are opened on the baffle plate 301; the gap compensation component 5 also includes: a torsion spring 502, which is sleeved on the compensation screw 501; one end of the torsion spring 502 is fixedly connected to the tail of the compensation screw 501. The other end of the torsion spring 502 is fixedly installed on the stator frame 102; when the end of the compensating screw 501 is aligned with the front end of the baffle 301, the torsion spring 502 is in a stretched and pre-tightened state; by using the gap compensation component 5, the elasticity of the torsion spring 502 and the rotational driving force can be used to provide a forward pushing force, which can automatically compensate when the bolts used to install the output component on the baffle 301 become loose, causing the output component installed on the baffle 301 to wobble. By utilizing the self-locking property of the thread, the stability of the output component can be improved when the bolts used to install the output component on the baffle 301 become loose. The structural compensation control is simple.

[0026] The working principle of this embodiment is as follows: Bolts are passed through the motor housing 101 to install it in the robot joint motor mounting position. Then, output components, such as arms, are installed by connecting the six threaded holes on the front side of the baffle 301 with bolts. Before installation, the retraction compensation screw 501 can be rotated to keep the torsion spring 502 in a stretched and pre-tightened state. When installing the output component, the bolts pass through the baffle 5011, placing the baffle 5011 between the baffle 301 and the output component. The baffle 5011 is then pressed against the end of the compensation screw 501. Subsequently, when the main board assembly 1021 controls the stator winding 103 to be energized, the rotor magnet 2011 drives the rotor ring 201 to rotate via magnetic force. The anti-jamming ring 202 will then rotate along with it, allowing the motor bearing 203 to rotate and reduce resistance. However, if the motor bearing 203 jams, there is resistance between the inner and outer rings, and the anti-jamming ring 202 will still be affected. As the sub-ring 201 continues to rotate, the compressive force acting on the positioning pin 303 increases. At this point, the slot 2021 on the anti-jamming ring 202 compresses the hemispherical end of the positioning pin 303, causing it to retract and compress the push spring 304. As the positioning pin 303 retracts and moves backward, the locking groove 3031 also moves backward towards the locking pin 401. When the locking groove 3031 aligns with the locking pin 401, the locking pin 401 quickly inserts into the locking groove 303 under the pull of the tension spring 402. 1. Internal locking, which needs to be manually reset to release; at the same time, after the locking pin 401 is inserted into the locking groove 3031, the distance between its end and the inner wall of the motor housing 101 increases. At this time, the end of the locking pin 401 will contact the inner inclined surface of the two contact plates 104. As the locking pin 401 is driven to rotate by the rotor ring 201, each time the locking pin 401 slides past the two contact plates 104, the two contact plates 104 will be connected, and the indicator light 105 will light up to indicate this. If the bolts in the six screw holes on the baffle 301 become loose, a gap will be generated between the end of the baffle 301, the baffle plate 5011 and the output component. At this time, the baffle plate 5011 will not be able to fit tightly against the end face of the baffle 301. As the structure operates, during the shaking of the output component, the compensating screw 501 can rotate and extend in conjunction with the torsion and pulling force of the torsion spring 502 to compensate for the gap. This can improve the stability of the joint operation and avoid serious joint shaking due to untimely maintenance.

[0027] The following points should be noted in this article: 1. The accompanying drawings of the embodiments disclosed herein only relate to the structures involved in the embodiments disclosed herein; other structures can be referred to in general design.

[0028] 2. Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0029] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A robot joint drive motor comprising a stator mounting portion (1) on which a rotor portion (2) is mounted; characterized in that: The rotor section (2) is used to prevent jamming; a collapsible limiting member (3) is installed on the rotor section (2); two locking members (4) are installed on the collapsible limiting member (3); the collapsible limiting member (3) is located inside the stator mounting section (1); A clearance compensation component (5) is installed on the stator mounting part (1); The stator mounting part (1) includes: a motor housing (101) and a rear cover (1011), and the rear cover (1011) is fixedly installed on the rear side of the motor housing (101).

2. The robot joint drive motor according to claim 1, characterized in that, The stator mounting section (1) further includes: a stator frame (102), a main board assembly (1021), a stator winding (103), a contact plate (104), and an indicator light (105). The stator frame (102) is fixedly mounted on the rear side of the motor housing (101). The stator frame (102) has a threaded hole in the middle. The main board assembly (1021) is fixedly mounted on the rear side of the stator frame (102) by bolts. The stator winding (103) is fixedly mounted on the stator frame (102). Two contact plates (104) are symmetrically mounted on the inner side of the motor housing (101), and the inner sides of the two contact plates (104) are respectively inclined structures. An indicator light (105) is fixedly mounted on the end of the motor housing (101), and the indicator light (105) and the two contact plates (104) are connected in series with a power supply. The two contact plates (104) are insulated from the motor housing (101).

3. A robot joint drive motor according to claim 2, characterized in that, The rotor section (2) includes: a rotor ring (201), a rotor magnet (2011), an anti-jamming ring (202), and a slot (2021). The rotor ring (201) is sleeved on the outside of the stator winding (103). A ring of rotor magnets (2011) is fixedly embedded on the inside of the rotor ring (201). The ring of rotor magnets (2011) is aligned with the stator winding (103). The rotor ring (201) is located inside the motor housing (101). An anti-jamming ring (202) is sleeved on the rotor ring (201). Two slots (2021) are opened on the anti-jamming ring (202), and the two slots (2021) are hemispherical grooves. There is a gap between the anti-jamming ring (202) and the rotor ring (201). There is a gap between the ring of rotor magnets (2011) and the stator winding (103).

4. A robot joint drive motor according to claim 3, characterized in that, The rotor section (2) further includes: motor bearings (203) and balls (204). There are two motor bearings (203), and the inner rings of the two motor bearings (203) are respectively fitted on anti-jamming rings (202). The inner rings of the two motor bearings (203) are respectively connected to the anti-jamming rings (202) by bolts. The outer rings of the two motor bearings (203) are respectively fitted on the inner side of the motor housing (101). The outer rings of the two motor bearings (203) are connected to the motor housing (101) by bolts. The inner ring of the anti-jamming ring (202) is embedded with two balls (204), and one ball (204) is embedded on each side of the anti-jamming ring (202). The balls (204) roll against the outer wall of the rotor ring (201).

5. A robot joint drive motor according to claim 4, characterized in that, The collapsible limiting component (3) includes: a baffle (301), a spring cover (302), and a positioning pin (303). The outer ring of the baffle (301) is provided with a rubber ring, and the rubber ring of the outer ring of the baffle (301) is attached to the inner ring of the motor housing (101). The baffle (301) is fixedly installed on the rotor ring (201). The inner side of the baffle (301) is attached to the ball (204) on the same side. Two spring covers (302) are threadedly connected to the baffle (301). Two positioning pins (303) are slidably inserted into the baffle (301), and the ends of the two positioning pins (303) are hemispherical structures. The ends of the positioning pins (303) are inserted into the slots (2021). The baffle (301) is provided with six screw holes.

6. A robot joint drive motor according to claim 5, characterized in that, The collapse limiting component (3) further includes a locking groove (3031), and the two positioning pins (303) are respectively provided with locking grooves (3031).

7. A robot joint drive motor according to claim 6, characterized in that, The collapsible limiting component (3) further includes: a push spring (304), two push springs (304) are sleeved on the baffle (301), one end of the two push springs (304) is fixedly connected to the spring cover (302), and the other end of the two push springs (304) is fixedly connected to the positioning pin (303); the push spring (304) is used to elastically push the positioning pin (303).

8. A robot joint drive motor according to claim 5, characterized in that, The locking component (4) includes a locking pin (401) and a tension spring (402). The locking pin (401) is slidably inserted into the baffle (301). The tension spring (402) is sleeved on the locking pin (401). One end of the tension spring (402) is fixedly connected to the baffle (301), and the other end of the tension spring (402) is fixedly connected to the locking pin (401). The end of the locking pin (401) is elastically attached to the outside of the positioning pin (303). The locking pin (401) is used to insert into the locking groove (3031). The cross-section of the locking pin (401) is a T-shaped structure. The locking pin (401) is located between two electrical contacts (104).

9. A robot joint drive motor according to claim 5, characterized in that, The gap compensation component (5) includes: a compensation screw (501) and a baffle (5011). The compensation screw (501) is threaded into a threaded hole in the middle of the stator frame (102). The front end of the compensation screw (501) is inserted into the baffle (301). The baffle (5011) is located on the front side of the baffle (301), and the baffle (5011) has six through holes corresponding to the screw holes on the baffle (301).

10. A robot joint drive motor according to claim 9, characterized in that, The gap compensation component (5) further includes a torsion spring (502), which is sleeved on the compensation screw (501); one end of the torsion spring (502) is fixedly connected to the tail of the compensation screw (501), and the other end of the torsion spring (502) is fixedly installed on the stator frame (102).

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