A high power density micro motor for industrial robot joints

Abstract

This invention relates to the field of industrial robot drive motor technology, and discloses a high-power-density micro motor for industrial robot joints. The motor includes a housing, inside which two sets of coil winding assemblies are fixedly installed with an angular deviation of 11.25°. Each coil winding assembly includes an I-shaped positioning plate. Eight first claw-shaped magnetic plates are uniformly fixedly installed on the inner side of the first chuck. A second chuck is fixedly installed on the other side of the I-shaped positioning plate, with eight second claw-shaped magnetic plates uniformly fixedly installed on the inner side of the second chuck, and the positions of the first and second claw-shaped magnetic plates are staggered. This invention significantly reduces the step angle, improves positioning accuracy, output torque, and power density through a dual-set staggered winding and a dual-stage reduction structure. Combined with an elastic engagement transmission structure, it achieves overload protection. The structure is compact, has excellent heat dissipation, and is suitable for the high-precision and high-reliability operation requirements of industrial robot joints.

Description

Technical Field

[0001] This invention relates to the field of industrial robot drive motor technology, specifically a high power density micro motor for industrial robot joints. Background Technology

[0002] With the rapid upgrading of the industrial automation industry, high-precision, lightweight, and high-load industrial robots are widely used in high-end manufacturing scenarios such as precision assembly, intelligent sorting, and automated welding. As the core motion execution unit, the performance of the drive motor of the robot joint directly determines the robot's operating accuracy, load capacity, and operational stability. At present, industrial robot joints are trending towards miniaturization and integration, which places stringent requirements on drive motors, including miniaturization, high power density, high positioning accuracy, and high overload resistance. Traditional conventional micro motors are no longer suitable for the working conditions of high-end robots.

[0003] Currently, conventional robot joint micro motors on the market have a simple structural design, a simple stator winding layout, low winding subdivision, and a relatively large motor step angle, resulting in poor positioning accuracy and failing to meet the fine-tuning requirements of precision operations. Furthermore, traditional motors have limited electromagnetic conversion efficiency, and under the constraints of miniaturization, they generally suffer from low power density and insufficient output torque, making it difficult to support heavy-duty robot joint drives and increasing the difficulty of motion control. In addition, existing motors mostly use a rigid direct-drive structure, which makes them prone to damage such as gear breakage, rotor stalling, and coil burnout when the joint encounters obstruction and jams. This results in poor overload resistance, short service life, and a persistently high failure rate. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-power-density micro motor for industrial robot joints, solving the practical problems of traditional joint motors such as low positioning accuracy, large stepping angle, insufficient power density, low output torque, easy overload damage due to rigid transmission, poor operational stability, and difficulty in adapting to the use of miniaturized high-precision industrial robots.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-power-density micro motor for industrial robot joints, comprising a housing, wherein two sets of coil winding assemblies are fixedly installed inside the housing with an angular deviation of 11.25° between the two sets of coil winding assemblies, and the coil winding assembly includes an I-beam positioning plate. A first chuck is fixedly installed on one side of the I-beam positioning plate, and eight first claw-shaped magnetic plates are uniformly fixedly installed on the inner side of the first chuck. A second chuck is fixedly installed on the other side of the I-beam positioning plate, and eight second claw-shaped magnetic plates are uniformly fixedly installed on the inner side of the second chuck, with the positions of the first claw-shaped magnetic plates and the second claw-shaped magnetic plates being staggered. A rotor shaft is movably mounted in the middle of the housing via a bearing mounting seat, and eight pairs of N / S-class permanent magnets are fixedly mounted on the outer diameter of the rotor shaft. A fixed partition is fixedly installed inside the housing near the coil winding assembly, and an output spindle is movably mounted on the lower front end of the fixed partition, with the end of the output spindle extending to the outside of the housing.

[0006] Preferably, a first coil is wound and fixed on one side of the outer diameter of the I-shaped positioning plate, and a second coil is wound and fixed on the other side of the outer diameter of the I-shaped positioning plate.

[0007] Preferably, an electrode fixing seat is fixedly installed on the top of the I-shaped positioning plate. A first negative electrode post is fixedly installed on one side of the top of the electrode fixing seat, and one end of the first coil is wound around the outer diameter of the first negative electrode post. A second negative electrode post is fixedly installed on the other side of the top of the electrode fixing seat, and one end of the second coil is wound around the outer diameter of the second negative electrode post. A positive electrode post is fixedly installed in the middle of the top of the electrode fixing seat, and the other ends of both the first coil and the second coil are wound around the outer diameter of the positive electrode post.

[0008] Preferably, a gear shaft is fixedly installed at the front end of the rotor shaft, a first reduction gear set is fixedly installed on one side of the front end of the fixed partition, and a second reduction gear set is fixedly installed on the side of the front end of the fixed partition close to the first reduction gear set. The reduction ratio of the first reduction gear set and the second reduction gear set is both 8:1.

[0009] Preferably, an output gear is movably mounted on the front end of the fixed partition near the side of the second reduction gear set, and a driven gear is provided on the outer diameter of the output spindle, and the driven gear is meshed with the inner end of the output gear.

[0010] Preferably, a compression spring is fixedly installed on the rear outer diameter of the output spindle, and the end of the compression spring abuts against the middle of the driven gear.

[0011] Preferably, a plurality of round-headed retaining pins are fixedly installed on the front circumferential side of the driven gear, and a retaining ring is fixedly installed on the front outer diameter of the output spindle. A spherical groove is provided on the rear side of the retaining ring at a position corresponding to each round-headed retaining pin.

[0012] Preferably, a plurality of heat dissipation fins are fixedly installed on the outer wall of the housing, and bolt mounting seats are fixedly installed on both sides of the housing.

[0013] This invention provides a high-power-density micro motor for industrial robot joints. It offers the following advantages: 1. This invention utilizes two sets of coil winding assemblies with an angular deviation of 11.25°, combined with an interlaced claw-shaped magnetic sheet structure, to create a stator structure with 32 windings. This, along with a rotor shaft base structure containing eight pairs of N / S-class permanent magnets and two sets of 8:1 reduction gears, forms a total reduction ratio of 64, significantly reducing the motor's stepping error. Compared to traditional micro-joint motors, this invention solves the problems of large stepping angles and significant positioning deviations. It achieves ultra-high precision positioning without complex algorithm compensation, greatly reducing the difficulty of controlling robot joint movements and accurately adapting to the operational needs of high-end industrial robots in precision assembly, fine-tuning handling, and high-precision welding.

[0014] 2. This invention adopts an elastic locking transmission structure. Through the cooperation of the driven gear, round-headed pin, fixed spherical groove, and compression spring, it achieves flexible transmission and overload protection functions. When the robot joint operation is obstructed or the output spindle jams due to overload, the driven gear can compress the compression spring to achieve axial retraction. The round-headed pin and spherical groove automatically disengage and repeatedly engage and engage to buffer, so that the rotor shaft can maintain continuous operation. It will not cause stalling or jamming due to instantaneous jamming. It avoids the problems of breakage, burnout, and wear damage to the internal core structures such as motor gears, rotor, and windings due to overload and jamming, reduces the probability of equipment failure, extends the overall service life of the motor, and is suitable for complex and ever-changing working conditions in industrial sites. Attached Figure Description

[0015] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the internal structure of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the rotor shaft structure in this invention; Figure 5 This is a schematic diagram showing the superimposed state of the two sets of coil winding assemblies in this invention; Figure 6 This is an exploded view of the coil winding assembly in this invention; Figure 7 for Figure 6 Enlarged view at point B in the middle; Figure 8 This is a diagram showing the magnetic pole distribution of the coil winding assembly in this invention.

[0016] The components include: 1. Outer shell; 2. Coil winding assembly; 201. I-shaped positioning plate; 202. First chuck; 203. First claw-shaped magnetic guide plate; 204. Second chuck; 205. Second claw-shaped magnetic guide plate; 206. First coil; 207. Second coil; 208. Electrode fixing seat; 209. First negative electrode post; 210. Second negative electrode post; 211. Positive electrode post; 3. Rotor shaft; 4. Eight pairs of N / S class permanent magnets; 5. Gear shaft; 6. Fixing partition; 7. First reduction gear set; 8. Second reduction gear set; 9. Output gear; 10. Output main shaft; 11. Driven gear; 12. Compression spring; 13. Round head retaining pin; 14. Fixing retaining ring; 15. Spherical groove; 16. Heat dissipation fins; 17. Bolt mounting seat. Detailed Implementation

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the 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.

[0018] Example: Please see the appendix Figure 1 -Appendix Figure 8 This invention provides a high power density micro motor for industrial robot joints, such as... Figure 1As shown, the device includes a housing 1. Inside the housing 1, two sets of coil winding assemblies 2 are fixedly installed with an angular deviation of 11.25°. This staggered arrangement of the two sets of coil winding assemblies 2 effectively increases the overall number of windings, resulting in a finer and more uniform magnetic field switching. This significantly improves the stepping accuracy of the motor from a structural perspective. Simultaneously, the coordinated operation of the two windings effectively enhances electromagnetic conversion efficiency and increases the overall power density of the motor, meeting the high-precision and high-power requirements of robot joints. The coil winding assembly 2 includes an I-beam positioning plate 201. The I-beam positioning plate 201 serves as the core supporting structure of the entire coil winding assembly 2, providing stable installation support for various subsequent magnetic conductive structures, coil structures, and electrode structures. A first chuck 202 is fixedly installed on one side of the I-beam positioning plate 201. The first chuck 202 is mainly used to fix and limit the corresponding magnetic conductive structure, ensuring that the magnetic conductive components are firmly installed and uniformly positioned, preventing loosening and displacement during long-term operation, and ensuring the stability of the magnetic field output. Eight first... The claw-shaped magnetic conductive sheets 203, evenly arranged, effectively concentrate the magnetic field lines generated after the coil is energized, preventing them from diverging and being lost. This concentrates the magnetic field, effectively improving the utilization rate of electromagnetic energy. Simultaneously, the evenly distributed structure ensures a balanced magnetic field output, making the rotor run more smoothly and steadily. A second chuck 204 is fixedly installed on the other side of the I-beam positioning plate 201. The second chuck 204 cooperates with the first chuck 202, respectively supporting the magnetic conductive structures on both sides, forming a symmetrical magnetic conductive layout and perfecting the overall design. The stator magnetic field structure makes the magnetic field distribution inside the motor more comprehensive and uniform. Eight second claw-shaped magnetic plates 205 are evenly fixedly installed on the inner side of the second chuck 204, and the positions of the first claw-shaped magnetic plates 203 and the second claw-shaped magnetic plates 205 are staggered. The staggered arrangement of the first claw-shaped magnetic plates 203 and the second claw-shaped magnetic plates 205 can quickly switch to form corresponding positive and negative magnetic poles when the coil is energized in the forward and reverse directions, realize the precise switching and coordination of the magnetic field, subdivide the step angle of the motor, and provide core structural support for the high-precision positioning and operation of the motor.

[0019] The rotor shaft 3 is movably mounted in the inner center of the outer casing 1 via a bearing mounting seat. The bearing mounting seat can center and smoothly support the rotor shaft 3, minimizing the frictional resistance of the rotor shaft 3 during high-speed rotation, ensuring flexible operation and high concentricity of the rotor shaft 3, reducing operational jamming and wear problems, and improving the stability of motor operation. Eight pairs of N / S-class permanent magnets 4 are fixedly mounted on the outer diameter of the rotor shaft 3. The multiple pairs of permanent magnets 4 are evenly arranged on the outer side of the rotor shaft 3, which can form a precise magnetic field with the claw-shaped magnetic guiding structure on the stator side. The rotor shaft 3 is driven to rotate through magnetic field attraction and repulsion. The multi-pole combination with the micro-branch structure can effectively reduce the rotation angle of a single energization, significantly improving the positioning accuracy of the motor. The interior of the outer casing 1 is close to the coil winding assembly 2. A fixed partition 6 is fixedly installed on one side of the motor. The fixed partition 6 plays the role of partitioning and structural support inside the motor. On the one hand, it can separate the winding working area and the reduction transmission area to avoid the magnetic field generated by the coil operation from interfering with the transmission structure. On the other hand, it can provide a stable mounting plane for various reduction gears and transmission components, making the transmission structure layout more regular and compact. An output spindle 10 is movably installed on the lower front end of the fixed partition 6, and the end of the output spindle 10 extends to the outside of the outer shell 1. The output spindle 10 serves as the final power output end of the motor and is directly connected to the joint structure of the industrial robot. It is responsible for outputting the rotational power of the rotor shaft 3 inside the motor after reduction and torque amplification, driving the robot joint to complete various fine-tuning and rotational actions.

[0020] In this embodiment, a first coil 206 is wound and fixed on one side of the outer diameter of the I-shaped positioning disk 201. The first coil 206 is the core component for generating a positive magnetic field. After being energized, it can work with the first claw-shaped magnetic guide sheet 203 and the second claw-shaped magnetic guide sheet 205 to form an induced magnetic field in a fixed direction, providing a basic power source for the rotation of the rotor shaft 3. The winding and fixed installation method can prevent the coil from loosening and falling off, ensuring the stability of the power supply. A second coil 207 is wound and fixed on the other side of the outer diameter of the I-shaped positioning disk 201. The second coil 207 works with the first coil 206 to generate a reverse magnetic field opposite to the direction of the first coil 206. By alternately energizing the two sets of coils to switch the direction of the magnetic field, the forward and reverse rotation of the rotor shaft 3 can be realized, meeting the motion control requirements of the robot joints at multiple angles and directions.

[0021] Furthermore, an electrode fixing seat 208 is fixedly installed on the top of the I-beam positioning plate 201. The electrode fixing seat 208 serves as a mounting base for circuit connections, centrally storing and fixing various electrode posts, making the motor's circuit interface more organized and centralized, avoiding short circuits and poor contact caused by messy wiring, and improving circuit operation safety. A first negative electrode post 209 is fixedly installed on one side of the top of the electrode fixing seat 208, and one end of the first coil 206 is wound around the outer diameter of the first negative electrode post 209. The first negative electrode post 209 specifically provides a negative power interface for the first coil 206. The wound connection method results in a tighter and more secure contact and stable conductivity. A second negative electrode post 210 is fixedly installed on the other side of the top of the electrode fixing seat 208, and the... One end of the second coil 207 is wound around the outer diameter of the second negative electrode post 210. The second negative electrode post 210 corresponds to the circuit connection requirements of the second coil 207 and is independent of the first negative electrode post 209. It controls the energizing state of the two sets of coils respectively, ensuring that the two sets of coils can independently and stably complete the magnetic field switching work. The positive electrode post 211 is fixedly installed at the top center of the electrode fixing base 208, and the other ends of the first coil 206 and the second coil 207 are both wound around the outer diameter of the positive electrode post 211. The circuit layout of using a shared positive electrode post 211 greatly simplifies the internal circuit structure of the motor. The wiring is simple and neat, which reduces the probability of circuit failure and ensures better energizing synchronization of the two sets of coils, making the magnetic field superposition effect more stable.

[0022] Furthermore, a gear shaft 5 is fixedly installed at the front end of the rotor shaft 3. The gear shaft 5 rotates synchronously with the rotor shaft 3 and is the first transmission component for power transmission. It can accurately transmit the high-speed rotational power of the rotor shaft 3 to the subsequent reduction gear structure to achieve stable power input. A first reduction gear set 7 is fixedly installed on one side of the front end of the fixed partition 6. The first reduction gear set 7 receives the power transmitted by the gear shaft 5 and can perform the first reduction and torque increase treatment on the high-speed, low-torque power of the rotor shaft 3, initially reducing the operating speed and increasing the output torque. The front end of the fixed partition 6 is close to the first reduction gear set 7. A second reduction gear set 8 is fixedly installed on one side. The second reduction gear set 8 and the first reduction gear set 7 form a two-stage reduction structure. After two reductions and torque amplifications, the output torque of the motor can be further amplified. At the same time, the step angle is significantly refined, which improves the positioning accuracy of the motor from the transmission level. The reduction ratio of the first reduction gear set 7 and the second reduction gear set 8 is 8:1. The two-stage reduction structure with the same ratio, combined with the stator subdivision magnetic field design, works together to achieve a high-precision, high-torque power output effect, which is perfectly adapted to the working characteristics of industrial robot joints that require low-speed precision and high-load drive.

[0023] Furthermore, an output gear 9 is movably installed on the front end of the fixed partition 6 near the side of the second reduction gear set 8. The output gear 9 receives the power transmitted by the second reduction gear set 8 and is a transition transmission component between the reduction structure and the end output structure. It can smoothly transmit the power after reduction and torque amplification to the driven gear 11, ensuring the continuity of power transmission. The driven gear 11 is provided on the outer diameter of the output spindle 10 and is meshed with the inner end of the output gear 9. The transmission is carried out through gear meshing, which has high transmission accuracy and low power loss. It can stably transmit power to the output spindle 10 and drive the robot joint to complete precise movements.

[0024] Furthermore, a compression spring 12 is fixedly installed on the rear outer diameter of the output spindle 10, and the end of the compression spring 12 abuts against the middle of the driven gear 11. The compression spring 12 can provide elastic clamping force to the driven gear 11, ensuring tight gear meshing and no transmission gap during normal operation. When the equipment jams or is overloaded, it can cooperate with the transmission structure to achieve elastic relief and play a buffering and protection role.

[0025] Furthermore, several round-headed locking pins 13 are fixedly installed circumferentially on the front side of the driven gear 11. The round-headed locking pins 13 are the core engaging components of the flexible transmission. The overall round-headed structure has high smoothness, which facilitates quick engagement and disengagement with the spherical slots 15 to achieve the flexible transmission effect. A fixed retaining ring 14 is fixedly installed on the front outer diameter of the output spindle 10. The fixed retaining ring 14 provides a stable mounting carrier for the slot structure and can rotate synchronously with the output spindle 10 to ensure the linkage consistency between the transmission structure and the output spindle 10. A spherical slot 15 is opened at the position corresponding to each round-headed locking pin 13 on the rear side of the fixed retaining ring 14. The spherical slot 15 and the round-headed locking pin 13 are precisely matched and engaged. Under normal working conditions, it can stably drive the fixed retaining ring 14 and the output spindle 10 to rotate synchronously. In case of jamming or overload, it can quickly disengage and buffer, effectively protecting the internal transmission structure of the motor from damage.

[0026] Furthermore, several heat dissipation fins 16 are fixedly installed on the outer wall of the outer shell 1. The heat dissipation fins 16 can effectively increase the contact area between the motor outer shell 1 and the air. The heat generated by the motor during long-term operation can be quickly conducted to the heat dissipation fins 16 through the outer shell 1 and dissipated into the air, effectively reducing the temperature rise of the motor and avoiding component aging and power attenuation caused by high temperature. This ensures that the motor can run continuously and stably for a long time. Bolt mounting seats 17 are fixedly installed on both sides of the outer shell 1. The bolt mounting seats 17 provide standardized mounting points for the motor as a whole. The installation method is simple and convenient, and the fixing is firm and reliable. The motor can be easily assembled and fixed at the joint position of the industrial robot, which can adapt to the assembly needs of various robots.

[0027] Working principle: When the first coil 206 is turned on, a positive magnetic field is generated. The eight first claw-shaped magnetic plates 203 gather magnetic field lines, exhibiting a north pole, while the eight second claw-shaped magnetic plates 205 exhibit a south pole. When the second coil 207 is turned on, a reverse magnetic field is generated, and the magnetic poles of the first and second claw-shaped magnetic plates 203 and 205 change accordingly. The two sets of coil winding assemblies 2 exhibit the same behavior. When the two sets of coil winding assemblies 2 are superimposed, all coils share a single positive power supply terminal. At the same time, the angular deviation between the two sets of coil winding assemblies 2 is 11.25°, which is equivalent to the two sets of coil winding assemblies... Component 2 constructs a stator with 32 windings, paired with a rotor shaft 3 having eight pairs of N / S-class permanent magnets 4. Each time it is powered on, the rotor shaft 3 rotates by an angle of 5.625°. With the help of two reduction gear sets 7 and 8 with a reduction ratio of 8:1, the actual step angle of the output spindle 10 is reduced to 5.625° / 64, approximately 0.0879°, which significantly improves the positioning accuracy of the output spindle 10, reduces the control difficulty, and increases the torque of the output spindle 10 to meet the usage requirements of the joint motor of the industrial robot.

[0028] When the rotor shaft 3 and gear shaft 5 rotate, the output gear 9 is driven to rotate after being reduced by the first reduction gear set 7 and the second reduction gear set 8. The output gear 9 meshes with the driven gear 11, driving the output main shaft 10 to rotate. When the output main shaft 10 is jammed, the driven gear 11 does not directly drive the output main shaft 10 to rotate, but rather drives the fixed retaining ring 14 and the output main shaft 10 to rotate through the locking and limiting effect of the round head retaining pin 13 and the spherical retaining groove 15. When the output main shaft 10 is jammed, the driven gear 11 will compress the compression spring 12 backward when it rotates. At the same time, the round head retaining pin 13 and the spherical retaining groove 15 will continuously engage and disengage, so that the rotor shaft 3 can continue to exert force, thereby protecting the internal structure of the motor.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high power density micro motor for an industrial robot joint comprising a housing (1), characterized in that, Two sets of coil winding assemblies (2) are fixedly installed inside the outer shell (1), and the angle deviation between the two sets of coil winding assemblies (2) is 11.25°. The coil winding assembly (2) includes an I-shaped positioning plate (201). A first chuck (202) is fixedly installed on one side of the I-shaped positioning plate (201). Eight first claw-shaped magnetic conductive plates (203) are evenly fixedly installed on the inner side of the first chuck (202). A second chuck (204) is fixedly installed on the other side of the I-shaped positioning plate (201). Eight first claw-shaped magnetic conductive plates (203) are evenly fixedly installed on the inner side of the second chuck (204). The second claw-shaped magnetic sheet (205) and the positions of the first claw-shaped magnetic sheet (203) and the second claw-shaped magnetic sheet (205) are staggered. The rotor shaft (3) is movably installed in the middle of the inner part of the outer shell (1) through the bearing mounting seat. Eight pairs of N / S-class permanent magnets (4) are fixedly installed on the outer diameter of the rotor shaft (3). A fixed partition (6) is fixedly installed on the side of the inner part of the outer shell (1) near the coil winding assembly (2). An output main shaft (10) is movably installed on the lower front end of the fixed partition (6), and the end of the output main shaft (10) extends to the outside of the outer shell (1).

2. The high power density micro motor for industrial robot joint according to claim 1, characterized in that, A first coil (206) is wound and fixed on one side of the outer diameter of the I-shaped positioning plate (201), and a second coil (207) is wound and fixed on the other side of the outer diameter of the I-shaped positioning plate (201).

3. The high power density micro motor for industrial robot joint according to claim 2, characterized in that, An electrode holder (208) is fixedly installed on the top of the I-shaped positioning plate (201). A first negative electrode post (209) is fixedly installed on one side of the top of the electrode holder (208), and one end of the first coil (206) is wound around the outer diameter of the first negative electrode post (209). A second negative electrode post (210) is fixedly installed on the other side of the top of the electrode holder (208), and one end of the second coil (207) is wound around the outer diameter of the second negative electrode post (210). A positive electrode post (211) is fixedly installed in the middle of the top of the electrode holder (208), and the other ends of the first coil (206) and the second coil (207) are both wound around the outer diameter of the positive electrode post (211).

4. A high-power-density micro motor for industrial robot joints according to claim 1, characterized in that, A gear shaft (5) is fixedly installed at the front end of the rotor shaft (3), a first reduction gear set (7) is fixedly installed on one side of the front end of the fixed partition (6), and a second reduction gear set (8) is fixedly installed on the side of the front end of the fixed partition (6) close to the first reduction gear set (7). The reduction ratio of the first reduction gear set (7) and the second reduction gear set (8) is 8:

1.

5. A high-power-density micro motor for industrial robot joints according to claim 1, characterized in that, An output gear (9) is movably installed on the front end of the fixed partition (6) near the second reduction gear set (8). A driven gear (11) is provided on the outer diameter of the output main shaft (10), and the driven gear (11) meshes with the inner end of the output gear (9).

6. A high-power-density micro motor for industrial robot joints according to claim 5, characterized in that, A compression spring (12) is fixedly installed on the rear outer diameter of the output spindle (10), and the end of the compression spring (12) abuts against the middle of the driven gear (11).

7. A high-power-density micro motor for industrial robot joints according to claim 6, characterized in that, The driven gear (11) is fixedly mounted with several round-headed pins (13) on its front circumferential side, and a fixed retaining ring (14) is fixedly mounted on the front outer diameter of the output spindle (10). A spherical groove (15) is opened on the rear side of the fixed retaining ring (14) at the position corresponding to each round-headed pin (13).

8. A high-power-density micro motor for industrial robot joints according to claim 1, characterized in that, Several heat dissipation fins (16) are fixedly installed on the outer wall of the outer shell (1), and bolt mounting seats (17) are fixedly installed on both sides of the outer shell (1).

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