Anti-installed frameless torque motor combined with embedded speed reduction mechanism collimation drive joint

Abstract

The application discloses a collimation drive joint of a reverse-mounted frameless torque motor combined with an embedded speed reducer, which comprises a main shell, a rear shell, a reverse-mounted frameless torque motor and a planetary reducer, a U-shaped adapter is arranged in the main shell, the U-shaped adapter divides the inner cavity of the main shell into an inner layer cavity and an outer layer cavity, the reverse-mounted frameless torque motor is arranged in the outer layer cavity, and the planetary reducer is arranged in the inner layer cavity; the reverse-mounted frameless torque motor comprises a coil and a magnetic rotor assembly covered outside the coil; a power board, a control board, an encoder connecting shaft and an encoder are mounted in the rear shell; and an insulating column is arranged between the control board and the power board. The application has a reasonable structure design, the reverse-mounted frameless torque motor is combined with the planetary reducer, the planetary reducer is embedded and mounted in the coil of the reverse-mounted frameless torque motor, the overall space occupied by the application is small, the application has a compact structure, light weight, large bearing torque, high transmission precision and safety and reliability.

Description

Technical Field

[0001] This invention belongs to the field of robot joint technology, specifically relating to a quasi-direct drive joint of a reverse-mounted frameless torque motor combined with an embedded reduction mechanism. Background Technology

[0002] In recent years, robot drive joint technology has received much attention amid the booming development of robotics. Currently, robot drive joints are broadly classified into two categories: direct-drive joints and quasi-direct-drive joints. Direct-drive joints refer to joints where the load is directly driven by a motor without an intermediate transmission link such as a reducer. The load is directly connected to the motor rotor. The advantage of direct-drive joints is their simple structure, but their disadvantages are also obvious. Without an intermediate reduction mechanism to amplify the output torque, their output torque is generally small, resulting in insufficient load capacity. They cannot be used in robot joints requiring high torque. Furthermore, direct-drive joints generate significant heat during operation, making heat dissipation difficult. Therefore, the application scenarios for direct-drive joints are limited; they cannot be used in situations requiring high torque, large loads, or complex motion control.

[0003] To address the shortcomings of direct-drive joints, such as low output torque, high heat generation, and large size and weight, quasi-direct-drive joint technology was developed. A quasi-direct-drive joint incorporates a reducer between the motor and the joint. The advantage of this design is that the reducer amplifies the motor's output torque, allowing for a smaller and lighter motor. Planetary reducer quasi-direct-drive joints, as a structural form of quasi-direct-drive joints, offer advantages such as high transmission efficiency, large load-bearing torque, good impact and vibration resistance, and smooth operation, making them commonly used. However, existing planetary reducer quasi-direct-drive joints have the following drawbacks: 1. Using a frameless torque motor with a positive mounting design, the magnetic rotor assembly is integrated inside the coil, resulting in a small size and a small number of magnets, leading to a small induced force and low motor output torque. Even after the reduction and torque amplification by the reduction mechanism, the final output torque of the joint is still small, failing to meet the system's requirements. 2. The design of connecting the reduction mechanism after the motor results in an excessively long axial dimension of the joint, making the robot joint 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, which addresses the shortcomings of the prior art. The structure is reasonably designed. It is a new type of mechatronic product designed by combining a reverse-mounted frameless torque motor with a planetary reducer. The planetary reducer is embedded in the coil of the reverse-mounted frameless torque motor. The overall structure is small, compact, lightweight, has a large load-bearing torque, high transmission accuracy, and is safe and reliable.

[0005] To solve the above-mentioned 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 includes a main housing, a rear housing disposed at the rear end of the main housing, a reverse-mounted frameless torque motor and a planetary reducer disposed within the main housing, a U-shaped adapter disposed within the main housing, the U-shaped adapter dividing the inner cavity of the main housing into an inner cavity and an outer cavity, the reverse-mounted frameless torque motor being disposed within the outer cavity, and the planetary reducer being disposed within the inner cavity;

[0006] The reverse-mounted frameless torque motor includes a coil arranged in a ring around the outer periphery of a U-shaped adapter and a magnetic rotor assembly arranged around the outer periphery of the coil and adapted to the coil. The magnetic rotor assembly is cup-shaped and covers the outside of the coil.

[0007] The planetary reducer includes a sun gear, multiple planetary gears meshing with the sun gear, an internal gear ring installed in a U-shaped adapter and meshing with the multiple planetary gears, and a planet carrier coaxially arranged with the sun gear and rotatably installed in the U-shaped adapter. The planetary gears are connected to the planet carrier via planetary shafts. The U-shaped adapter has a central hole at its center. The rear end of the sun gear's axle passes through the central hole and the magnetic rotor assembly in sequence. The sun gear rotates synchronously with the magnetic rotor assembly. An output disk is connected to the side of the planet carrier away from the rear housing.

[0008] The power board and the control board are installed sequentially from front to back inside the rear housing. The control board and the power board are isolated by an insulating column. An encoder coupling shaft connected to the magnetic rotor assembly is provided at the center of the control board. An encoder is provided on the encoder coupling shaft.

[0009] The aforementioned frameless torque motor with embedded reduction mechanism and collimated direct drive joint is characterized in that: the sun gear and the magnetic rotor assembly are coaxially arranged, the front end of the sun gear axle is rotatably mounted at 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 aforementioned frameless torque motor with embedded reduction mechanism and collimated drive joint is characterized in that: there is an interference fit between the coil and the U-shaped adapter, 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 aforementioned reverse-mounted frameless torque motor combined with the collimated 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 planetary shafts to pass through, and the front end of the planetary shaft passes through the planet carrier and the planetary shaft through holes on the output disk in sequence and extends to the front end of the output disk.

[0012] The aforementioned frameless torque motor with embedded reduction mechanism and collimated drive joint is characterized in that: the planetary shaft and planetary gear are fully fitted with needle roller bearings, and the planetary carrier is rotatably mounted in a U-shaped adapter via crossed roller bearings.

[0013] The aforementioned frameless torque motor with embedded reduction mechanism and collimated drive joint is characterized in that: the U-shaped adapter is installed in the main housing by screws.

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

[0015] The aforementioned reverse-mounted frameless torque motor combined with the collimated 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 aforementioned 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 main housing is provided with an output disk mounting hole for mounting the output disk and multiple heat dissipation holes.

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

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

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

[0020] 2. This invention uses a U-shaped adapter to divide the inner cavity of the main housing into an inner cavity and an outer cavity. The planetary reducer is embedded in the inner cavity within the U-shaped adapter, and the reverse-mounted frameless torque motor is placed in the outer cavity. This makes the quasi-direct drive joint structure more compact while also separating the motor from the planetary reducer, achieving a modular design for the quasi-direct drive joint. This results in good component interchangeability and facilitates product serialization.

[0021] 3. This invention designs the coil of the reverse-mounted frameless torque motor as a ring structure and the magnetic rotor assembly as a bowl-shaped structure wrapped around the coil. This allows the hollow part of the coil to provide sufficient space for the planetary reducer, making the collimated drive joint structure more compact and occupying very little space. This saves space and facilitates direct connection between the magnetic rotor assembly of the reverse-mounted frameless torque motor and the sun gear. There is no loss in torque transmission, which makes the collimated drive joint more efficient. This can solve the problem of joint miniaturization and is conducive to the overall miniaturization and lightweight design of the robot.

[0022] 4. The magnetic rotor assembly of the inverted frameless torque motor of this invention adopts a unique structure of a coreless rotor and hollow coils. Compared with traditional DC motors, it has significant advantages such as energy saving, high efficiency, sensitive control, small speed fluctuation, and lightweight. The coreless design of the motor eliminates eddy current losses and improves motor efficiency, far exceeding that of ordinary iron-core motors. The inverted frameless torque motor starts and brakes quickly, with a fast response time of less than 28 to 10 milliseconds. It is particularly sensitive to rotational adjustment and has extremely high control precision, enabling high-intensity, high-speed, and high-precision positioning. It operates stably with small speed fluctuations, which can be controlled within 2% to 1%. The inverted frameless torque motor is lightweight, with a lighter weight and smaller size for the same power, and significantly improved energy density.

[0023] 5. By setting a rear housing at the rear end of the main housing and placing the power board, control board, and encoder inside the rear housing, the present invention enables the electronic control part of the reverse-mounted frameless torque motor to be independently designed in the rear housing of the collimated direct drive joint, isolated from the planetary reducer in the main housing. The oil in the planetary reducer does not affect the electronic control part of the reverse-mounted frameless torque motor, which helps to reduce the failure rate of the collimated direct drive joint and improve its service life.

[0024] In summary, the present invention has a reasonable structural design. It is a novel mechatronic product designed by combining a reverse-mounted frameless torque motor with a planetary reducer. The planetary reducer is embedded inside the coil of the reverse-mounted frameless torque motor. As a result, the overall product occupies little space, has a compact structure, is lightweight, has a large load-bearing torque, high transmission accuracy, and is safe and reliable.

[0025] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention.

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

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

[0029] Explanation of reference numerals in the attached figures:

[0030] 1—Main housing; 2—Coil; 3—Magnetic rotor assembly;

[0031] 301—Annular flange; 4—Power board; 5—Control board;

[0032] 6—Encoder; 7—Sun gear; 8—Planet gear;

[0033] 9—Planet axis; 10—Planet carrier; 11—Internal gear ring;

[0034] 12—Output panel; 10—U-shaped adapter; 14—Encoder connecting shaft;

[0035] 15—Rear housing; 16—Rear cover plate; 17—Insulating post;

[0036] 18—Needle roller bearing; 19—Crossed roller bearing; 20—First bearing;

[0037] 21—Second bearing. Detailed Implementation

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

[0039] The reverse-mounted frameless torque motor includes a coil 2 arranged in a ring around the outer periphery of the U-shaped adapter 13 and a magnetic rotor assembly 3 arranged around the outer periphery of the coil 2 and adapted to the coil 2. The magnetic rotor assembly 3 is cup-shaped and covers the outside of the coil 2.

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

[0041] The power board 4 and the control board 5 are installed sequentially from front to back inside the rear housing 15. The control board 5 and the power board 4 are isolated by an insulating post 17. The center of the control board 5 is provided with an encoder connecting shaft 14 that is connected to the magnetic rotor assembly 3. An encoder 6 is provided on the encoder connecting shaft 14.

[0042] In practice, the coil 2 is fixed on the outer wall of the U-shaped adapter 13, and the inner gear ring 11 and the U-shaped adapter 13 are fitted with an interference fit, with the inner gear ring 11 fixed in place.

[0043] In specific implementation, the planetary reducer is an NGW type planetary reducer. The planetary shafts 9 are evenly distributed and installed on the planetary carrier 10. Multiple planetary gears 8 mesh with both the sun gear 7 and the internal gear ring 11. The internal gear ring 11 is fixed in the U-shaped adapter 13. When the magnetic rotor assembly 3 of the reverse-mounted frameless torque motor rotates and drives the sun gear 7 to rotate, the planetary gears 8 meshing with the sun gear 7 rotate, thereby driving the planetary carrier 10 to rotate and 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] In practice, the power board 4 contacts the front side wall of the rear housing 15, and thermal grease is applied between the contact surfaces of the power board 4 and the front side wall of the rear housing 15 to facilitate heat dissipation of the power board 4. The control board 5 is located behind the power board 4, and the power board 4 and the control board 5 are isolated by an insulating post 17 to avoid short circuits.

[0045] In practice, the power board 4 is provided with holes through which the encoder connecting shaft 14 passes.

[0046] In practical use, by designing the coil 2 of the reverse-mounted frameless torque motor as a ring structure and designing the magnetic rotor assembly 3 as 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. This makes the quasi-direct drive joint structure more compact, occupies very little space, and is more conducive to the performance of the motor. The control precision is extremely high, and high-strength, high-speed, and high-precision positioning can be achieved.

[0047] In particular, the characteristic of the reverse-mounted frameless torque motor is that it increases the motor's output torque. This is because, with coils of the same size and copper wire fill factor, the smaller, upright-mounted (installed inside the hollow coil) magnetic rotor assembly is enlarged and wrapped around the outer circumference of the coil, adding more magnets. This results in a stronger magnetic force generated by the increased number of magnets, thus increasing the motor's output torque. In other words, the reverse-mounted frameless torque motor outputs a greater torque than a conventional frameless torque motor of the same volume.

[0048] In addition, the inner cavity of the main housing 1 is divided into an inner cavity and an outer cavity by the 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 set in the outer cavity. This makes the quasi-direct drive joint structure more compact, and also separates the motor from the planetary reducer. This realizes the modular design of the quasi-direct drive joint, with good interchangeability of parts, which facilitates the serial production of products.

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

[0050] Specifically, the coil of the reverse-mounted frameless torque motor is integrated with the internal gear ring 11 of the planetary reducer and embedded in the hollow interior of the coil 2. The magnetic rotor assembly 3 of the reverse-mounted frameless torque motor is integrated with the sun gear 7 at the input end of the planetary reducer, providing input torque and speed to the planetary reducer. After running through the planetary reducer, the larger torque and suitable speed required for the rear section of the joint are obtained. The advantage of this embedded structure design is that the planetary reducer is embedded in the hollow interior of the coil 2. Compared with the conventional structure of the planetary reducer collimated drive joint, which places the planetary reducer at the rear end of the motor, this embedded design of the planetary reducer collimated drive joint greatly reduces the axial dimension and volume of the collimated drive joint, providing an ideal solution for the miniaturization of the forearm, elbow, and wrist joints of small humanoid robots and quadruped robots.

[0051] In practical applications, the magnetic rotor assembly 3 of the reverse-mounted frameless torque motor adopts a unique structure of a coreless rotor and hollow coils. Compared with traditional DC motors, it has significant advantages such as energy saving, high efficiency, sensitive control, small speed fluctuation, and lightweight design. The coreless design of the motor eliminates eddy current losses, improving motor efficiency far beyond that of ordinary iron-core motors. The reverse-mounted frameless torque motor starts and brakes quickly with a fast response time of less than 28 to 10 milliseconds. It is particularly sensitive to rotational adjustment and has extremely high control precision, enabling high-intensity, high-speed, and high-precision positioning. It operates stably with small speed fluctuations, which can be controlled within 2% to 1%. The reverse-mounted frameless torque motor is lightweight, with a lighter weight and smaller size for the same power, resulting in a significantly higher energy density.

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

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

[0054] In practice, the rear end of the axle of the sun gear 7 is connected to the magnetic rotor assembly 3 by a GB / T1096 standard flat key, ensuring a reliable connection.

[0055] In this embodiment, the coil 2 and the U-shaped adapter 13 are interference-fitted, 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] In practice, a certain gap is maintained between the magnetic rotor assembly 3 and the coil 2. Under the action of the magnetic force generated by the energized coil 2, it can rotate around the center of the sun gear 7, providing input torque to the planetary reducer inside the U-shaped adapter 13. After the planetary reducer reduces speed and increases torque, the torque is output by the planet carrier 10.

[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. The front end of the planetary shaft 9 passes through the planet carrier 10 and the planetary shaft through holes on the output disk 12 in sequence and extends to the front end of the output disk 12.

[0058] In practice, the output disk 12 is provided with evenly distributed threaded holes around its circumference for connection to the next receiving component.

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

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

[0061] In practice, planetary gear 8 and planet carrier 10 rotate flexibly without any jamming.

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

[0063] In practice, the front end of the U-shaped adapter 13 is attached to the inner side wall of the front end 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 housing 15 is installed at the rear end of the main housing 1 by screws, and 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 screws, and a cable outlet hole is reserved on the rear cover plate 16.

[0065] In specific implementation, the rear end of the rear housing 15 is open, and the inner cavity of the rear housing 15 serves as the electrical control cavity. The power board 4, control board 5, and encoder 6 are all located inside the electrical control cavity. The rear cover plate 16 is located at the rear end of the rear housing 15 and can seal the electrical control cavity.

[0066] In practice, the rear cover plate 16 is made of transparent plexiglass, which can not only seal the electrical control cavity of the rear housing 15, but also facilitate the observation of the working status of the power board 4, control board 5 and encoder 6 inside the electrical control cavity, and also help improve the appearance of the collimated drive joint.

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

[0068] In specific implementation, the front end of the encoder connecting shaft 14 passes through the perforation on the rear housing 15 and is connected to the axle of the sun gear 7. 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 extended annular edge, which 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 multiple heat dissipation holes.

[0070] In practice, the main housing 1 is evenly provided with mounting threaded holes. Since the coil 2 of the reverse frameless torque motor generates heat when it is working, the setting of a certain number of heat dissipation holes can provide a heat dissipation path for the reverse frameless torque motor, which is beneficial to extending the life of the reverse frameless torque motor.

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

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

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

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

[0075] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A quasi-direct drive joint for a reverse-mounted frameless torque motor combined with an embedded reduction mechanism, characterized in that: Includes a main housing (1), a rear housing (15) disposed at the rear end of the main housing (1), a reverse-mounted frameless torque motor and a planetary reducer disposed inside the main housing (1), a U-shaped adapter (13) disposed inside the main housing (1), the U-shaped adapter (13) dividing the inner cavity of the main housing (1) into an inner cavity and an outer cavity, the reverse-mounted frameless torque motor being disposed in the outer cavity, and the planetary reducer being disposed in the inner cavity; The reverse-mounted frameless torque motor includes a coil (2) arranged in a ring around the outer periphery of the U-shaped adapter (13) and a magnetic rotor assembly (3) arranged around the outer periphery of the coil (2) and adapted to the coil (2). The magnetic rotor assembly (3) is cup-shaped and covers the outside of the coil (2). The planetary reducer includes a sun gear (7), a plurality of planet gears (8) meshing with the sun gear (7), an internal gear ring (11) installed in a U-shaped adapter (13) and meshing with the plurality of planet gears (8), and a planet carrier (10) coaxially arranged with the sun gear (7) and rotatably installed in the U-shaped adapter (13). The planet gears (8) are connected to the planet carrier (10) through planet shafts (9). The U-shaped adapter (13) has a central hole at its center. The rear end of the axle of the sun gear (7) passes through the central hole and the magnetic rotor assembly (3) in sequence. The sun gear (7) rotates synchronously with the magnetic rotor assembly (3). An output disk (12) is connected to the side of the planet carrier (10) away from the rear housing (15). The power board (4) and the 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 post (17). The center of the control board (5) is provided with an encoder connecting shaft (14) that is connected to the magnetic rotor assembly (3). An encoder (6) is provided on the encoder connecting shaft (14).

2. The quasi-direct drive joint of the reverse-mounted frameless torque motor combined with the embedded 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 axle of the sun gear (7) is rotatably mounted at the center of the planet carrier (10) through the first bearing (20). The rear end of the axle of the sun gear (7) is connected to the magnetic rotor assembly (3) by a key.

3. The quasi-direct drive joint of the reverse-mounted frameless torque motor combined with the embedded reduction mechanism according to claim 1, characterized in that: The coil (2) and the U-shaped adapter (13) are interference-fitted, and there is a gap 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.

4. The quasi-direct drive joint of the reverse-mounted frameless torque motor combined with the embedded 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 shaft (9) to pass through. The front end of the planetary shaft (9) passes through the planetary carrier (10) and the planetary shaft through holes on the output disk (12) in sequence and 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 the embedded reduction mechanism according to claim 1, characterized in that: The planetary shaft (9) is fully fitted with needle roller bearings (18) between the planetary shaft (9) and the planetary gear (8), and the planetary carrier (10) is rotatably mounted in the U-shaped adapter (13) via crossed roller bearings (19).

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

7. The quasi-direct drive joint of the reverse-mounted frameless torque motor combined with the embedded reduction mechanism according to claim 1, characterized in that: The rear housing (15) is installed at the rear end of the main housing (1) by 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 screws. A cable 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 the embedded 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 the embedded 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 multiple heat dissipation holes.

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

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