Collimating direct-drive joint with reversely-installed frameless torque motor combined with embedded speed reducing mechanism

Abstract

The invention discloses a collimation direct-drive joint with a reversely-installed frameless torque motor combined with an embedded speed reducing mechanism, which comprises a main shell, a rear shell, the reversely-installed frameless torque motor and a planetary reducer, a U-shaped adapter is arranged in the main shell, and the U-shaped adapter divides an inner cavity of the main shell into an inner layer cavity and an outer layer cavity; the back shell is internally provided with an outer-layer cavity and an inner-layer cavity, the reversely-installed frameless torque motor is arranged in the outer-layer cavity, the planetary reducer is arranged in the inner-layer cavity, the reversely-installed frameless torque motor comprises a coil and a magnetic rotor assembly covering the outer side of the coil, the back shell is internally provided with a power board, a control board, an encoder coupling shaft and an encoder, and an insulating column is arranged between the control board and the power board. The reverse frameless torque motor is reasonable in structural design, the reverse frameless torque motor is combined with the planetary reducer, and the planetary reducer is embedded into the coil of the reverse frameless torque motor, so that the reverse frameless torque motor is small in overall occupied space, compact in structure, light in weight, large in bearing torque, high in transmission precision, safe and reliable.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot joints, and in particular relates to a quasi-direct drive joint of a reverse mounted frameless torque motor combined with an embedded speed reduction mechanism. Background Art

[0002] In recent years, the driving joint technology for robots has attracted much attention against the background of the booming development of robotics technology. At present, there are two major types of driving joints for robots: direct-drive joints and quasi-direct-drive joints. Direct-drive joints refer to joints in which the load is directly driven by the motor, without the intermediate transmission link of the reducer, and the load is directly connected to the motor rotor. The characteristic of this direct-drive joint is its simple structure, but its disadvantages are also obvious. There is no intermediate reduction mechanism to amplify its output torque. Its output torque is generally small, and its load capacity is insufficient. It cannot be used in robot joints that require high torque. Secondly, the direct-drive joint will generate a lot of heat during its working process, which is difficult to dissipate. Therefore, the application scenarios of direct-drive joints are limited. Direct-drive joints cannot be used in situations that require high torque, large loads or complex motion control.

[0003] In order to solve the shortcomings of direct-drive joints, such as low output torque, high heat generation, and large volume and weight, quasi-direct-drive joint technology was applied. The quasi-direct-drive joint is a joint that adds a reducer between the motor and the joint. The advantage of this design is that the output torque of the motor can be amplified by the reducer, so that the motor can be made smaller and lighter. As a structural form of quasi-direct-drive joints, planetary reduction quasi-direct-drive joints have the advantages of high transmission efficiency, large bearing torque, good impact resistance and vibration resistance, and stable operation, so they are more commonly used. However, the existing planetary reduction quasi-direct-drive joints have the following defects: First, the use of a positive-mounted frameless torque motor, because the magnetic rotor assembly is made inside the coil, the size is small, the number of magnets distributed is small, the induced force is small, the motor output torque is small, and the final output torque of the joint after deceleration and torque increase by the reduction mechanism is also small, which does not meet the requirements of the system. Second, the design structure of the reduction mechanism connected to the back of the motor makes the axial dimension of the joint too long, and the joint of the robot with such a structure is large and inflexible. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a quasi-direct drive joint of a reverse-mounted frameless torque motor combined with an embedded reduction mechanism in view of the deficiencies in the above-mentioned prior art. The joint has a reasonable structural design and is a new type of mechatronic product designed by combining a reverse-mounted frameless torque motor with a planetary reducer, and the planetary reducer is embedded and installed inside the coil of the reverse-mounted frameless torque motor. The joint has a small overall space, a compact structure, a light weight, a large bearing torque, a high transmission accuracy, and is safe and reliable.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a quasi-direct drive joint of a reverse mounted frameless torque motor combined with an embedded reduction mechanism, characterized in that it comprises a main housing, a rear housing arranged at the rear end of the main housing, a reverse mounted frameless torque motor and a planetary reducer arranged in the main housing, a U-shaped adapter is arranged in the main housing, the U-shaped adapter divides the inner cavity of the main housing into an inner cavity and an outer cavity, the reverse mounted frameless torque motor is arranged in the outer cavity, and the planetary reducer is arranged in the inner cavity;

[0006] The reverse mounted frameless torque motor comprises a ring-shaped coil arranged on the outer periphery of the U-shaped adapter and a magnetic rotor assembly arranged on the outer periphery of the coil and adapted to the coil, wherein the magnetic rotor assembly is bowl-shaped and covers the outer side of the coil;

[0007] The planetary reducer comprises a sun gear, a plurality of planetary gears meshing with the sun gear, an inner gear ring installed in a U-shaped adapter and meshing with the plurality of planetary gears, and a planet carrier coaxially arranged with the sun gear and rotatably installed in the U-shaped adapter, wherein the planetary gears are connected to the planet carrier via planetary shafts, a center hole is arranged at the center of the U-shaped adapter, the rear end of the axle of the sun gear passes through the center hole and the magnetic rotor assembly in sequence, the sun gear rotates synchronously with the magnetic rotor assembly, and an output disk is connected to a side of the planet carrier away from the rear housing;

[0008] A power board and a control board are installed in the rear shell from front to back in sequence. The control board and the power board are isolated by an insulating column. An encoder coupling shaft connected to the magnetic rotor assembly is arranged at the center of the control board, and an encoder is arranged on the encoder coupling shaft.

[0009] The above-mentioned reverse-mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the sun gear and the magnetic rotor assembly are arranged coaxially, the front end of the sun gear axle is rotatably mounted on the center of the planetary carrier through a first bearing, and the rear end of the sun gear axle is connected to the magnetic rotor assembly by a key.

[0010] The above-mentioned reverse-mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the coil and the U-shaped adapter are interference fit, a gap is provided between the coil and the magnetic rotor assembly, and the magnetic rotor assembly rotates after sensing the magnetic force generated by the coil being energized.

[0011] The above-mentioned reverse-mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the output disk is provided with a plurality of planetary shaft through-holes for the planetary shafts to pass through, and the front end of the planetary shaft passes through the planetary shaft through-holes on the planetary carrier and the output disk in turn and then extends to the front end of the output disk.

[0012] The above-mentioned reverse mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the planetary shaft and the planetary gear are fully filled with needle bearings, and the planetary carrier is rotatably mounted in the U-shaped adapter through a cross roller bearing.

[0013] The above-mentioned reverse mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that the U-shaped adapter is installed in the main housing by screws.

[0014] The above-mentioned reverse-mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the rear shell is installed on the rear end of the main shell by screws, and a rear cover plate is provided at the rear end of the rear shell, and the rear cover plate is connected to the rear shell by screws, and a wire outlet hole is reserved on the rear cover plate.

[0015] The above-mentioned reverse mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: the front end of the rear housing is provided with a through hole for the encoder connecting shaft to pass through.

[0016] The above-mentioned reverse mounted frameless torque motor combined with the quasi-direct drive joint of the embedded speed reduction mechanism is characterized in that the front end of the main housing is provided with an output disk mounting hole for mounting the output disk and a plurality of heat dissipation holes.

[0017] The above-mentioned reverse-mounted frameless torque motor combined with the quasi-direct drive joint of the embedded reduction mechanism is characterized in that: a connecting hole for connecting the axle of the sun gear is provided at the center of the magnetic rotor assembly, and an annular flange extending forward is provided at the connecting hole, and a second bearing is installed between the outer ring of the annular flange and the hole wall of the center hole on the U-shaped adapter.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. The present invention forms a reverse mounted frameless torque motor by wrapping the magnetic rotor assembly on the outside of the coil. Since the magnetic rotor assembly is made outside the coil, the size can be made larger, the number of magnets distributed is large, the induced force is increased, and the final output torque is large, which can meet the requirements of the system.

[0020] 2. The present invention divides the inner cavity of the main shell into an inner cavity and an outer cavity through a U-shaped adapter, embeds the planetary reducer in the inner cavity of the U-shaped adapter, and arranges the reverse-mounted frameless torque motor in the outer cavity, so that the quasi-direct drive joint structure is more compact and the motor and the planetary reducer can be separated, thereby realizing the modular design of the quasi-direct drive joint, having good interchangeability of parts and components, and facilitating serial production of products.

[0021] 3. The present invention designs the coil of the reverse-mounted frameless torque motor into a ring structure, designs the magnetic rotor assembly into a bowl-shaped structure and covers the outside of the coil, so that the hollow part of the coil can provide sufficient space for the planetary reducer, which can make the quasi-direct drive joint structure more compact and occupy very little space, thereby saving space and facilitating the direct connection between the magnetic rotor assembly of the reverse-mounted frameless torque motor and the sun gear, without loss in torque transmission, making the quasi-direct drive joint more efficient, solving the problem of difficulty in miniaturization of the joint, and facilitating the overall miniaturization and lightweight design of the robot.

[0022] 4. The magnetic rotor assembly of the reverse mounted frameless torque motor of the present invention adopts a unique structure of a coreless rotor and an air-core coil. Compared with the traditional DC motor, it has significant advantages such as energy saving and high efficiency, sensitive control, small speed fluctuation, and light weight. The coreless design of the motor eliminates eddy current loss and improves the efficiency of the motor, far exceeding the efficiency of ordinary iron core motors; the reverse mounted frameless torque motor starts and brakes quickly, responds quickly, and the mechanical response time is less than 28 to 10 milliseconds. The ability to adjust the rotation is particularly sensitive, and the control accuracy is extremely high, which can achieve high-intensity, high-speed, and high-precision positioning; the operation is stable, and the speed fluctuation is small, and its speed fluctuation can be controlled within 2% to 1%; the reverse mounted frameless torque motor has lightweight characteristics. Under the same power, it is lighter, smaller in size, and has significantly improved energy density.

[0023] 5. The present invention sets a rear shell at the rear end of the main shell, and sets the power board, control board and encoder in the rear shell, so that the electronic control part of the reverse-mounted frameless torque motor can be independently designed in the rear shell of the quasi-direct drive joint, and isolated from the planetary reducer in the main shell. The oil in the planetary reducer does not affect the electronic control part of the reverse-mounted frameless torque motor, which is beneficial to reducing the failure rate of the quasi-direct drive joint and improving the service life.

[0024] To sum up, the present invention has a reasonable structural design. It is a new mechatronic product that combines a reverse-mounted frameless torque motor with a planetary reducer, and the planetary reducer is embedded and installed inside the coil of the reverse-mounted frameless torque motor. The overall space occupied by the product is small, the structure is compact, the weight is light, the bearing torque is large, the transmission accuracy is high, and it is safe and reliable.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Figure 2 for Figure 1 A-direction view.

[0028] Figure 3 for Figure 1 BB cross-sectional view.

[0029] Description of reference numerals:

[0030] 1—main housing; 2—coil; 3—magnetic rotor assembly;

[0031] 301—annular convex edge; 4—power board; 5—control board;

[0032] 6—encoder; 7—sun gear; 8—planetary gear;

[0033] 9—Planet shaft; 10—Planet carrier; 11—Inner gear ring;

[0034] 12—output disk; 10—U-type adapter; 14—encoder connecting shaft;

[0035] 15—rear housing; 16—rear cover; 17—insulating column;

[0036] 18—needle roller bearing; 19—cross roller bearing; 20—first bearing;

[0037] 21—Second bearing. DETAILED DESCRIPTION

[0038] like Figures 1 to 3 As shown, the present invention comprises a main housing 1, a rear housing 15 arranged at the rear end of the main housing 1, a reverse mounted frameless torque motor and a planetary reducer arranged in the main housing 1, a U-shaped adapter 13 is arranged in the main housing 1, and the U-shaped adapter 13 divides the inner cavity of the main housing 1 into an inner cavity and an outer cavity, the reverse mounted frameless torque motor is arranged in the outer cavity, and the planetary reducer is arranged in the inner cavity;

[0039] The reverse mounted frameless torque motor comprises a ring-shaped coil 2 arranged on the outer periphery of a U-shaped adapter 13 and a magnetic rotor assembly 3 arranged on the outer periphery of the coil 2 and adapted to the coil 2, wherein the magnetic rotor assembly 3 is bowl-shaped and covers the outer side of the coil 2;

[0040] The planetary reducer comprises a sun gear 7, a plurality of planetary gears 8 meshing with the sun gear 7, an inner gear ring 11 installed in a U-shaped adapter 13 and meshing with the plurality of planetary gears 8, and a planet carrier 10 coaxially arranged with the sun gear 7 and rotatably installed in the U-shaped adapter 13, the planetary gears 8 are connected to the planet carrier 10 through planetary shafts 9, a center hole is arranged at the center of the U-shaped adapter 13, the rear end of the wheel axle of the sun gear 7 passes through the center hole and the magnetic rotor assembly 3 in sequence, the sun gear 7 rotates synchronously with the magnetic rotor assembly 3, and an output disk 12 is connected to the side of the planet carrier 10 away from the rear housing 15;

[0041] A power board 4 and a control board 5 are installed in the rear housing 15 from front to back. The control board 5 and the power board 4 are isolated by an insulating column 17. An encoder coupling shaft 14 connected to the magnetic rotor assembly 3 is arranged at the center of the control board 5, and an encoder 6 is arranged on the encoder coupling shaft 14.

[0042] In a specific implementation, the coil 2 is fixed on the outer wall of the U-shaped adapter 13, and an interference fit is adopted between the inner gear ring 11 and the U-shaped adapter 13, so that the inner gear ring 11 is fixed and does not move.

[0043] In specific implementation, the planetary reducer is an NGW type planetary reducer, the planetary shafts 9 are evenly installed on the planetary carrier 10, and multiple planetary gears 8 are meshed with both the sun gear 7 and the inner ring 11. The inner ring 11 is fixed in the U-shaped adapter 13. When the magnetic rotor assembly 3 of the reverse-mounted frameless torque motor rotates to drive the sun gear 7 to rotate, the planetary gears 8 meshed with the sun gear 7 rotate, and then drive the planetary carrier 10 to rotate to output torque; the output rotation direction of the planetary carrier 10 is the same as the input rotation direction of the sun gear 7.

[0044] During specific implementation, the power board 4 contacts the front side wall of the rear shell 15, and heat dissipation silicone grease is applied between the contact surface of the power board 4 and the front side wall of the rear shell 15 to facilitate heat dissipation of the power board 4. The control board 5 is located on the rear side of the power board 4, and the power board 4 and the control board 5 are isolated by an insulating column 17 to avoid short circuit.

[0045] In a specific implementation, a hole is provided on the power board 4 for the encoder connecting shaft 14 to pass through.

[0046] In actual use, by designing the coil 2 of the reverse-mounted frameless torque motor into a ring structure, and designing the magnetic rotor assembly 3 into a bowl-shaped structure and covering the outside of the coil 2, the hollow part of the coil 2 can provide sufficient space for the planetary reducer, which can make the quasi-direct drive joint structure more compact, occupying very little space, and more conducive to the performance of the motor. The control accuracy is extremely high, and high-strength, high-speed, and high-precision positioning can be achieved.

[0047] In particular, the reverse-mounted frameless torque motor is characterized by improved output torque of the motor, because under the same size and copper wire filling factor of the coil, the smaller size of the positive-mounted (installed inside the hollow coil) magnetic rotor assembly is enlarged, wrapped on the outer circumference of the coil, and more magnets are added, so that the electromagnetic induction generates a stronger magnetic force due to the increase in magnets, and the torque output of the motor is increased. That is, the "reverse-mounted frameless torque motor" has a greater output torque than the conventional frameless torque motor of the same volume.

[0048] In addition, the inner cavity of the main shell 1 is divided into an inner cavity and an outer cavity by a U-shaped adapter 13, the planetary reducer is embedded in the inner cavity of the U-shaped adapter 13, and the reverse-mounted frameless torque motor is arranged in the outer cavity, so that the quasi-direct drive joint structure is more compact and the motor and the planetary reducer can be separated, thereby realizing the modular design of the quasi-direct drive joint, with good interchangeability of parts and components, and facilitating serial production of products.

[0049] In particular, the embedded design of the planetary reducer saves space and facilitates the direct connection between the magnetic rotor assembly of the reverse-mounted frameless torque motor and the sun gear, with no loss in torque transmission, making the quasi-direct drive joint more efficient.

[0050] In particular, the coil of the reverse-mounted frameless torque motor is combined with the inner gear ring 11 of the planetary reducer as a whole and embedded in the hollow internal position of the coil 2, and the magnetic rotor assembly 3 of the reverse-mounted frameless torque motor is combined with the sun gear 7 at the input end of the planetary reducer to provide input torque and speed for the planetary reducer. After the planetary reducer runs, the larger torque and appropriate speed required by the rear section of the joint are obtained. The advantage of adopting such an embedded structural design is that the planetary reducer is embedded in the hollow internal position of the coil 2. Compared with the conventional structure of the planetary reduction quasi-direct drive joint that sets the planetary reducer at the rear end of the motor, the planetary reduction quasi-direct drive joint of this embedded design greatly compresses the axial size and volume of the quasi-direct drive joint, and can provide an ideal solution for the miniaturization of the forearm, elbow, and wrist joints of small humanoid robots and quadruped robots.

[0051] In actual use, the magnetic rotor assembly 3 of the reverse mounted frameless torque motor adopts a unique structure of a coreless rotor and an air-core coil. Compared with traditional DC motors, it has significant advantages such as energy saving and high efficiency, sensitive control, small speed fluctuation, and light weight. The coreless design of the motor eliminates eddy current loss and improves the efficiency of the motor, far exceeding the efficiency of ordinary iron core motors; the reverse mounted frameless torque motor starts and brakes quickly, responds quickly, and the mechanical response time is less than 28 to 10 milliseconds. The ability to adjust the rotation is particularly sensitive, and the control accuracy is extremely high, which can achieve high-intensity, high-speed, and high-precision positioning; the operation is stable, and the speed fluctuation is small, and its speed fluctuation can be controlled within 2% to 1%; the reverse mounted frameless torque motor has lightweight characteristics. Under the same power, its weight is lighter, the volume is smaller, and the energy density is significantly improved.

[0052] In actual use, by setting a rear shell 15 at the rear end of the main shell 1, and setting the power board 4, the control board 5 and the encoder 6 in the rear shell 15, the electronic control part of the reverse-mounted frameless torque motor can be independently designed in the rear shell 15 of the quasi-direct drive joint, and isolated from the planetary reducer in the main shell 1. The oil in the planetary reducer does not affect the electronic control part of the reverse-mounted frameless torque motor, which is beneficial to reducing the failure rate of the quasi-direct drive joint and improving the service life.

[0053] In this embodiment, the sun gear 7 is coaxially arranged with the magnetic rotor assembly 3, the front end of the axle of the sun gear 7 is rotatably mounted at the center of the planet carrier 10 via a first bearing 20, and the rear end of the axle of the sun gear 7 is connected to the magnetic rotor assembly 3 via a key.

[0054] In specific implementation, the rear end of the axle of the sun gear 7 is connected to the magnetic rotor assembly 3 via a GB / T1096 common flat key, and the connection is reliable.

[0055] In this embodiment, the coil 2 is interference-fitted with the U-shaped adapter 13 , and a gap is provided between the coil 2 and the magnetic rotor assembly 3 . The magnetic rotor assembly 3 rotates after sensing the magnetic force generated by the coil 2 being energized.

[0056] During specific implementation, a certain gap is maintained between the magnetic rotor assembly 3 and the coil 2, and the magnetic rotor assembly 3 can rotate around the center of the sun gear 7 under the action of the magnetic force generated by the coil 2 being energized, providing input torque for the planetary reducer inside the U-shaped adapter 13, and the torque is output by the planetary carrier 10 after the planetary reducer reduces the speed and increases the torque.

[0057] In this embodiment, the output disk 12 is provided with a plurality of planetary shaft through holes for the planetary shaft 9 to pass through, and the front end of the planetary shaft 9 passes through the planetary shaft through holes on the planetary carrier 10 and the output disk 12 in sequence and then extends to the front end of the output disk 12 .

[0058] In a specific implementation, the output disk 12 is provided with threaded holes evenly distributed around the circumference for the lower-level receiving parts to be connected thereto.

[0059] In a specific implementation, the planetary shaft 9 extends a certain length beyond the front end of the output disc 12, so that when the output disc 12 is connected to the lower-level receiving member, the planetary shaft 9 can also bear a relatively large torque.

[0060] In this embodiment, the planet shaft 9 and the planet gear 8 are fully filled with needle bearings 18 , and the planet carrier 10 is rotatably mounted in the U-shaped adapter 13 via a cross roller bearing 19 .

[0061] During specific implementation, the planetary gear 8 and the planetary carrier 10 rotate flexibly without any jamming.

[0062] In this embodiment, the U-shaped adapter 13 is installed in the main housing 1 by screws.

[0063] In a specific implementation, the front end of the U-shaped adapter 13 is arranged closely against the front inner wall of the main housing 1 , and the front end of the U-shaped adapter 13 is connected to the front end of the main housing 1 by screws.

[0064] In this embodiment, the rear shell 15 is installed on the rear end of the main shell 1 by screws. A rear cover plate 16 is provided at the rear end of the rear shell 15. The rear cover plate 16 is connected to the rear shell 15 by screws, and a wire outlet hole is reserved on the rear cover plate 16.

[0065] In specific implementation, the rear end of the rear shell 15 is open, and the inner cavity of the rear shell 15 serves as an electric control cavity. The power board 4, the control board 5 and the encoder 6 are all arranged in the electric control cavity. The rear cover plate 16 is arranged at the rear end opening of the rear shell 15 to play the role of closing the electric control cavity.

[0066] In specific implementation, the rear cover 16 is made of transparent organic glass, which can not only seal the electric control cavity of the rear shell 15, but also facilitate observation of the working conditions of the power board 4, control board 5 and encoder 6 in the electric control cavity, and also help to improve the appearance of the quasi-direct drive joint.

[0067] In this embodiment, a through hole is provided at the front end of the rear housing 15 for the encoder connecting shaft 14 to pass through.

[0068] During specific implementation, the front end of the encoder connecting shaft 14 passes through the through hole on the rear shell 15 and is connected to the axle of the sun gear 7, and the sun gear 7 drives the encoder connecting shaft 14 to rotate synchronously; the front end of the encoder connecting shaft 14 is provided with an outwardly extending annular edge, and the annular edge is fastened to the magnetic rotor assembly 3 by screws.

[0069] In this embodiment, the front end of the main housing 1 is provided with an output disk mounting hole for mounting the output disk 12 and a plurality of heat dissipation holes.

[0070] In specific implementation, fixed threaded holes for installation are evenly arranged around the main shell 1. Since the coil 2 of the reverse-mounted frameless torque motor will generate heat during operation, the setting of a certain number of heat dissipation holes can provide a heat dissipation path for the reverse-mounted frameless torque motor, which is beneficial to prolonging the life of the reverse-mounted frameless torque motor.

[0071] During specific implementation, a mounting hole is provided at the rear end of the main housing 1 , and the rear housing 15 is mounted at the mounting hole at the rear end of the main housing 1 .

[0072] In this embodiment, a connecting hole for connecting the axle of the sun gear 7 is provided at the center of the magnetic rotor assembly 3, and a forward-extending annular flange 301 is provided at the connecting hole, and a second bearing 21 is installed between the outer ring of the annular flange 301 and the hole wall of the center hole on the U-shaped adapter 13.

[0073] In a specific implementation, the first bearing 20 and the second bearing 21 are both deep groove ball bearings, and the inner diameter of the annular convex edge 301 is the same as the hole diameter of the connecting hole.

[0074] In specific implementation, the magnetic rotor assembly 3 includes an annular magnetic rotor body and a bottom plate connected to the rear end of the magnetic rotor body, the connection hole is located at the center of the bottom plate, and the axle of the sun gear 7 is key-connected with the annular convex edge 301 and rotates synchronously.

[0075] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A quasi-direct drive joint of a reverse mounted frameless torque motor combined with an embedded reduction mechanism, characterized in that: The invention comprises a main housing (1), a rear housing (15) arranged at the rear end of the main housing (1), a reverse mounted frameless torque motor and a planetary reducer arranged in the main housing (1), wherein a U-shaped adapter (13) is arranged in the main housing (1), and the U-shaped adapter (13) divides the inner cavity of the main housing (1) into an inner cavity and an outer cavity, the reverse mounted frameless torque motor is arranged in the outer cavity, and the planetary reducer is arranged in the inner cavity; The reverse mounted frameless torque motor comprises a ring-shaped coil (2) arranged on the outer periphery of a U-shaped adapter (13) and a magnetic rotor assembly (3) arranged on the outer periphery of the coil (2) and adapted to the coil (2), wherein the magnetic rotor assembly (3) is bowl-shaped and covers the outer side of the coil (2); The planetary reducer comprises a sun gear (7), a plurality of planetary gears (8) meshing with the sun gear (7), an inner gear ring (11) mounted in a U-shaped adapter (13) and meshing with the plurality of planetary gears (8), and a planet carrier (10) coaxially arranged with the sun gear (7) and rotatably mounted in the U-shaped adapter (13); the planetary gears (8) are connected to the planet carrier (10) via planetary shafts (9); a center hole is arranged at the center of the U-shaped adapter (13); the rear end of the wheel shaft of the sun gear (7) passes through the center hole and the magnetic rotor assembly (3) in sequence; the sun gear (7) rotates synchronously with the magnetic rotor assembly (3); and an output disk (12) is connected to the side of the planet carrier (10) away from the rear housing (15); A power board (4) and a control board (5) are sequentially installed in the rear housing (15) from front to back. The control board (5) and the power board (4) are isolated by an insulating column (17). An encoder coupling shaft (14) connected to the magnetic rotor assembly (3) is arranged at the center of the control board (5), and an encoder (6) is arranged on the encoder coupling shaft (14).

2. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The sun gear (7) is coaxially arranged with the magnetic rotor assembly (3); the front end of the wheel shaft of the sun gear (7) is rotatably mounted on the center of the planet carrier (10) via a first bearing (20); and the rear end of the wheel shaft of the sun gear (7) is connected to the magnetic rotor assembly (3) via a key.

3. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The coil (2) and the U-shaped adapter (13) are interference-fitted, a gap is provided between the coil (2) and the magnetic rotor assembly (3), and the magnetic rotor assembly (3) rotates after sensing the magnetic force generated by the coil (2) being energized.

4. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The output disk (12) is provided with a plurality of planetary shaft through-holes for the planetary shafts (9) to pass through, and the front end of the planetary shaft (9) passes through the planetary shaft through-holes on the planetary carrier (10) and the output disk (12) in sequence and then extends to the front end of the output disk (12).

5. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The planet shaft (9) and the planet gear (8) are fully loaded with needle bearings (18), and the planet carrier (10) is rotatably mounted in the U-shaped adapter (13) via a cross roller bearing (19).

6. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The U-shaped adapter (13) is installed in the main housing (1) by means of screws.

7. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The rear housing (15) is mounted on the rear end of the main housing (1) by means of screws, a rear cover plate (16) is provided at the rear end of the rear housing (15), the rear cover plate (16) is connected to the rear housing (15) by means of screws, and a wire outlet hole is reserved on the rear cover plate (16).

8. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The front end of the rear housing (15) is provided with a through hole for the encoder connecting shaft (14) to pass through.

9. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: The front end of the main housing (1) is provided with an output disk mounting hole for mounting the output disk (12) and a plurality of heat dissipation holes.

10. The quasi-direct drive joint of the reverse mounted frameless torque motor combined with an embedded speed reduction mechanism according to claim 1, characterized in that: A connecting hole for connecting the axle of the sun gear (7) is provided at the center of the magnetic rotor assembly (3), and an annular flange (301) extending forward is provided at the connecting hole, and a second bearing (21) is installed between the outer ring of the annular flange (301) and the hole wall of the center hole on the U-shaped adapter (13).

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