Torque real-time adjusting mechanism of box-type permanent magnet synchronous motor

Abstract

The invention relates to the field of torque sensors, in particular to a box-type permanent magnet synchronous motor torque real-time adjusting mechanism, which comprises a dynamic torque sensor and a shell, and is characterized in that a torque protection mechanism is mounted at one end, located at an output shaft, of the shell and is used for disconnecting mechanical connection between a motor and a load when the torque of the motor is overloaded; the torque protection mechanism comprises an output shaft and a torsion shaft. A torque protection mechanism integrated by the dynamic torque sensor not only can realize torque transmission and detection from a motor to a load, but also can drive a prism to rotate through a hexagonal hole, the prism drives a piston I to rotate, and the piston I pushes a piston II to move when the load fails to cause stalling; the hydraulic oil is pushed to push out the plunger in the cylinder cover, and the plunger overcomes the tightening force of the elastic ring to eject the clamping jaw out of the clamping groove of the cylinder sleeve, so that the mechanical connection between the cylinder sleeve and the output shaft is disconnected, and the functions of real-time automatic identification and automatic protection triggering are achieved.

Description

Technical Field

[0001] This invention relates to the field of torque sensors, and in particular to a real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor. Background Technology

[0002] A dynamic torque sensor is mechanically connected between a motor and a load to test the motor's output torque in real time. Its working principle is that when the motor torque is transmitted through the internal shaft of the dynamic torque sensor, the shaft undergoes slight deformation. This deformation is detected by strain gauges attached to the shaft, and an electrical signal is sent to the controller via brushes (or photoelectric signals) to calculate the motor torque. The input and output shafts of the dynamic torque sensor are relatively thick, but the shaft diameter at the strain gauge mounting location is generally relatively thin, ensuring that the torque under load meets the strain gauge's detection range requirements.

[0003] As can be seen from the working principle of the dynamic torque sensor, the load that the dynamic torque sensor can withstand is limited. However, the working characteristic of the motor is that when the motor stalls, the winding current will surge, and the motor torque will also increase far beyond the normal operating torque value. Therefore, when a load fault causes the motor to stall, the shaft of the dynamic torque sensor connecting the motor and the load, in which the strain gauge is mounted, may undergo excessive deformation, causing irreversible damage. Therefore, a box-type permanent magnet synchronous motor torque real-time adjustment mechanism that can automatically identify whether the motor is torque overloaded and automatically protect it is proposed. Summary of the Invention

[0004] In view of the problems in the above or existing technologies where load failure causes motor stalling, and where the axial position of the dynamic torque sensor connecting the motor and the load may suffer excessive deformation and irreversible damage due to strain gauge assembly, the present invention is proposed.

[0005] Therefore, the purpose of this invention is to provide a real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a box-type permanent magnet synchronous motor torque real-time adjustment mechanism, including a dynamic torque sensor and a housing, wherein a torque protection mechanism is installed at one end of the output shaft of the housing, and the torque protection mechanism is used to disconnect the mechanical connection between the motor and the load when the motor torque is overloaded;

[0007] The torque protection mechanism includes,

[0008] An output shaft, one end of which is hinged with grippers in a circular array;

[0009] A torsion shaft is provided, with a prism inserted at one end. A piston is fixedly connected to the end of the prism away from the torsion shaft, and a piston is fixedly connected to the end of the piston away from the prism. A cylinder liner is coaxially arranged between the torsion shaft and the output shaft. The piston is helically slidably sleeved with the cylinder liner, and the piston is sealingly slidably sleeved with the cylinder liner. A groove is provided on the outer wall of the cylinder liner, and the clamps are adapted to the groove. A cylinder head is sealed and fixed at the end of the cylinder liner near the output shaft. A plunger is inserted perpendicularly to the axis of the cylinder head at the position of the clamps on the peripheral wall of the cylinder head, and the end of the plunger pointing into the cylinder head communicates with the inside of the cylinder liner. A spring ring is sleeved between the clamps.

[0010] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: a hexagonal hole is provided at one end of the torque shaft near the cylinder liner along its axial direction, and the prism is slidably inserted into the hexagonal hole.

[0011] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: a spiral groove is machined on the inner wall of one end of the cylinder liner, and the peripheral wall of the piston is slidably connected to the spiral groove.

[0012] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: the diameter of the second piston is larger than that of the first piston, and the second piston is coaxial with the first piston, and a screw is provided at the end of the second piston away from the first piston to fasten the first piston and the second piston.

[0013] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: the cylinder head seals and presses the end of the cylinder liner, and the cylinder head is a regular polygon, the slot is strip-shaped and the slot is parallel to the axis of the cylinder liner, the straight edge of the peripheral wall of the cylinder head is flush with the bottom of the slot, and the end face of the cylinder head away from the cylinder liner abuts against the end face of the output shaft.

[0014] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: the side flat wall of the polygonal peripheral wall of the cylinder head is provided with an insertion hole pointing into the cylinder head, the plunger is sealed and inserted into the insertion hole, each insertion hole is connected at the axis of the cylinder head, and an oil hole is provided at one end of the cylinder head located inside the cylinder sleeve along its axial direction, and the connection of the insertion hole is connected to the oil hole.

[0015] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: a bearing is sleeved between the torque shaft and the housing, and the inner ring of the torque shaft is sleeved with the inner ring of the bearing, the outer ring of the bearing is sleeved with the inner wall of the housing; a bearing is sleeved on the output shaft, and the inner ring of the output shaft is sleeved with the inner ring of the bearing, the outer ring of the bearing is sleeved with the inner wall of the housing; a retaining ring is provided at the end of the bearing away from the bearing, and the retaining ring is fixedly engaged with the inner wall of the housing; an end cap is provided at the end of the bearing away from the bearing, and the end cap is connected to the end flange of the housing; a gasket abuts between the bearing and the bearing, and the gasket is fitted and sleeved with the inner wall of the housing.

[0016] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: a groove is provided on the side of the gripper away from the cylinder liner, and the groove is evenly distributed along the length direction of the gripper, and the spring ring is sleeved in the groove.

[0017] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: a hinge groove is provided perpendicularly to the axis of the output shaft near the cylinder head, and a slot is provided through the hinge groove perpendicularly to the output shaft; one end of the gripper is sleeved with the hinge groove, and a short pin is inserted through the slot.

[0018] As a preferred embodiment of the real-time torque adjustment mechanism for the box-type permanent magnet synchronous motor of the present invention, wherein: the peripheral wall of the torsion shaft is fitted with a strain gauge for detecting the deformation of the torsion shaft.

[0019] The beneficial effects of the box-type permanent magnet synchronous motor torque real-time adjustment mechanism of the present invention are as follows:

[0020] 1. The torque protection mechanism integrated in this dynamic torque sensor can not only realize the torque transmission and detection from the motor to the load, but also, when the load fails and causes a stall, the torque shaft drives the prism to rotate through the hexagonal hole. The prism drives the piston to rotate, and the piston pushes the piston to move, which in turn pushes the hydraulic oil to push the plunger in the cylinder head out. The plunger overcomes the contraction force of the spring ring and pushes the clamp out of the slot of the cylinder liner, thereby disconnecting the mechanical connection between the cylinder liner and the output shaft, thus disconnecting the dynamic torque sensor from the load and protecting the dynamic torque sensor.

[0021] 2. This dynamic torque sensor can automatically identify the motor output torque in real time and automatically trigger the torque overload protection function. Furthermore, by adjusting the installation position of the spring ring on the gripper, the torque value that triggers the protection function of the torque protection mechanism can be adjusted. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor.

[0024] Figure 2 for Figure 1 A cross-sectional view of the structure located at the torque protection mechanism.

[0025] Figure 3 for Figure 2 A further exploded view of the structure located at the torque protection mechanism.

[0026] Figure 4 This is a schematic diagram of the assembly structure of the torque protection mechanism.

[0027] Figure 5 This is a cross-sectional view of the assembly structure between the cylinder liner, piston one, piston two, and cylinder head in the torque protection mechanism.

[0028] Figure 6 for Figure 5 The structure explodes.

[0029] Figure 7 This is a schematic diagram of the output shaft.

[0030] Figure 8 This is a sectional view of the assembly structure of the output shaft and cylinder liner.

[0031] In the diagram: 100, Dynamic torque sensor; 101, Housing; 102, Strain gauge; 200, Torque protection mechanism; 300, Output shaft; 301, Gripper; 302, Groove; 303, Spring ring; 304, Hinge groove; 305, Slot; 306, Short pin; 400, Torque shaft; 401, Hexagonal hole; 500, Prism; 501, Piston 1; 502, Piston 2; 600, Cylinder liner; 601, Slot; 602, Spiral groove; 700, Cylinder head; 701, Insertion hole; 702, Oil hole; 703, Plunger; 800, Bearing 1; 801, Bearing 2; 802, Snap ring; 803, Gasket tube; 804, End cap. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some 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.

[0033] Example, refer to Figures 1 to 8 This embodiment provides a real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor, such as... Figure 1 As shown, it includes a dynamic torque sensor 100 and a housing 101, as... Figure 2 As shown, a torque protection mechanism 200 is installed on one end of the output shaft 300 in the housing 101. The torque protection mechanism 200 is used to disconnect the mechanical connection between the motor and the load when the motor torque is overloaded. The torque protection mechanism 200 includes an output shaft 300 and a torque transformer shaft 400, as shown in the figure. Figure 3 As shown, strain gauges 102 for detecting the deformation of the torsion shaft 400 are attached to the peripheral wall of the torsion shaft 400. Figure 7 As shown, one end of the output shaft 300 is hinged with grippers 301 in a circular array, as... Figure 3 As shown, a torsion shaft 400 has a prism 500 inserted at one end, as... Figure 5 As shown, a piston 501 is fixedly connected to the end of the prism 500 away from the torque shaft 400, and a piston 502 is fixedly connected to the end of the piston 501 away from the prism 500. A cylinder liner 600 is coaxially arranged between the torque shaft 400 and the output shaft 300. The piston 501 is helically slidably sleeved with the cylinder liner 600, and the piston 502 is sealingly slidably sleeved with the cylinder liner 600. Figure 4 As shown, the cylinder liner 600 has a groove 601 on its outer wall, and the clamp 301 is adapted to the groove 601, such as... Figure 6 As shown, a cylinder head 700 is sealed and fixed at one end of the cylinder liner 600 near the output shaft 300, and a plunger 703 is inserted perpendicularly to the axis of the clamp 301 on the peripheral wall of the cylinder head 700. The end of the plunger 703 pointing to the inside of the cylinder head 700 is connected to the inside of the cylinder liner 600, and a spring ring 303 is sleeved between the clamps 301.

[0034] Specifically:

[0035] like Figure 3 As shown, the torque shaft 400 has a hexagonal hole 401 at one end near the cylinder liner 600 along its axial direction, and the prism 500 is slidably inserted into the hexagonal hole 401. Torque is transmitted through the hexagonal hole 401 and the prism 500, while allowing piston 1 501 and piston 2 502 to slide in the cylinder liner 600 toward the output shaft 300, thereby realizing the transmission of hydraulic force to drive the gripper 301 to open and close the mechanical connection.

[0036] like Figure 6 As shown, a spiral groove 602 is machined on the inner wall of one end of the cylinder liner 600, and the peripheral wall of piston 501 is slidably connected to the spiral groove 602. The spiral groove 602 allows the continuous rotation of the motor to drive piston 501 to rotate towards the output shaft 300 when the load end fails and stalls. The diameter of piston 502 is larger than that of piston 501, and piston 502 is coaxial with piston 501. A screw is provided at the end of piston 502 away from piston 501 to fasten piston 501 and piston 502. Piston 501 moves at the spiral groove 602, while piston 502 moves at the inner circumference of the other end of the cylinder liner 600 to achieve sealing. In order to make the structure relatively compact and relatively increase the stroke of piston 501, piston 501 needs to be able to invade part of the area where piston 502 is located as an extension of the stroke of piston 501. Therefore, the diameter of piston 501 is designed to be smaller than the diameter of piston 502.

[0037] like Figure 4 and Figure 5 As shown, the cylinder head 700 seals and presses the end of the cylinder liner 600, and the cylinder head 700 is a regular polygon. The slot 601 is strip-shaped and parallel to the axis of the cylinder liner 600. The straight edge of the peripheral wall of the cylinder head 700 is flush with the bottom of the slot 601. The end face of the cylinder head 700 away from the cylinder liner 600 abuts against the end face of the output shaft 300. The side of the gripper 301 away from the cylinder liner 600 has a groove 302, and the groove 302 is evenly distributed along the length of the gripper 301. The spring ring 303 is sleeved in the groove 302. The end of the output shaft 300 near the cylinder head 700 has a hinge groove 304 perpendicular to its axis, and the output shaft 300 has a slot 305 through the hinge groove 304. One end of the gripper 301 is sleeved in the hinge groove 304, and a short pin 306 is inserted through the gripper 301 in the slot 305.

[0038] The torque protection mechanism 200 achieves mechanical transmission from the torque shaft 400 to the output shaft 300 by having a gripper 301 hinged at the end of the output shaft 300 engage with a groove 601 on the outer wall of the cylinder liner 600 under the contraction of the spring ring 303. Since the groove 601 is radially opened along the cylinder liner 600, no outward component force is generated at the contact point between the gripper 301 and the groove 601 during the transmission of rotational force, except for centrifugal force. The gripper 301 is stably engaged in the groove 601.

[0039] like Figure 2 and Figure 3As shown, a bearing 800 is sleeved between the torque shaft 400 and the housing 101, with the inner ring of the torque shaft 400 sleeved with the inner ring of the bearing 800, and the outer ring of the bearing 800 sleeved with the inner wall of the housing 101. A bearing 801 is sleeved on the output shaft 300, with the inner ring of the bearing 801 sleeved with the inner ring of the bearing 801, and the outer ring of the bearing 801 sleeved with the inner wall of the housing 101. A retaining ring 802 is provided at the end of the bearing 800 away from the bearing 801, and the retaining ring 802 is fixedly engaged with the inner wall of the housing 101. An end cap 804 is provided at the end of the bearing 801 away from the bearing 801, and the end cap 804 is... The end flange of the housing 101 is connected. A gasket 803 abuts between bearing 1 800 and bearing 2 801, and the gasket 803 is fitted and sleeved with the inner wall of the housing 101. Bearing 1 800 is responsible for the rotational concentricity of the torsion shaft 400, and bearing 2 801 is responsible for the rotational concentricity of the output shaft 300. The two ends of bearing 1 800 and bearing 2 801 that are far apart from each other are limited by snap ring 802 and end cap 804, respectively. The end faces between bearing 1 800 and bearing 2 801 are supported by gasket 803 so that bearing 1 800 and bearing 2 801 are in the correct position relative to the housing 101.

[0040] like Figure 5 and Figure 6As shown, the side wall of the polygonal peripheral wall of the cylinder head 700 has an insertion hole 701 pointing into the cylinder head 700. The plunger 703 is sealed and inserted into the insertion hole 701. Each insertion hole 701 is connected at the axis of the cylinder head 700. An oil hole 702 is provided at one end of the cylinder head 700 inside the cylinder liner 600 along its axis. The connection of the insertion hole 701 is connected to the oil hole 702. Hydraulic oil is filled between the piston 2 502, the cylinder liner 600, and the cylinder head 700. The torque transmission path between the torque shaft 400 and the output shaft 300 is as follows: the torque shaft 400 drives the prism 500 to rotate through the hexagonal hole 401. The prism 500 drives the piston 1 501 to rotate. The piston 1 501 has a tendency to rotate towards the output shaft 300, thus having a tendency to push the piston 2 502 towards the output shaft 300. Since the hydraulic oil is considered incompressible, and the end area of ​​the piston 2 502 is larger than that of the cylinder head 700, the hydraulic oil is considered incompressible. The area of ​​the piston 703 is much larger than the sum of the end areas of all pistons 703. Therefore, according to Pascal's law, piston 703 is equivalent to the pressure piston in a hydraulic jack. Only a small force needs to be applied to piston 703 to obtain a relatively larger force on piston 2 502. Therefore, by binding the clamp 301 with spring ring 303, the clamp 301 presses on piston 703, which can prevent piston 2 502 from moving towards output shaft 300. In turn, piston 2 502 prevents piston 1 501 from moving in the axial direction. Then, piston 1 501 drives cylinder liner 600 to rotate through spiral groove 602. Cylinder liner 600 drives output shaft 300 to rotate through slot 601 and clamp 301. Output shaft 300 outputs torque to external load. The premise of the above principle is that cylinder head 700 must initially contact the end of output shaft 300.

[0041] Based on the above torque transmission working method, when a fault occurs at the load end of the output shaft 300, such as a stall, the stall torque of the motor surges with the output shaft 300 as the reference frame, driving the torque shaft 400 to rotate relative to the output shaft 300. At this time, the strong torque applied to the piston 501 overcomes the constraint of the hydraulic force, causing the piston 501 to rotate a certain distance towards the output shaft 300. The piston 501 pushes the piston 502 to move, and the piston 502 pushes the hydraulic oil to push out the plunger 703 in the cylinder head 700. The plunger 703 overcomes the contraction force of the spring ring 303 and pushes the jaw 301 out of the slot 601 of the cylinder liner 600, thereby disconnecting the mechanical connection between the cylinder liner 600 and the output shaft 300, thereby disconnecting the dynamic torque sensor 100 and the load, and thus playing the function of real-time automatic identification and triggering automatic protection.

[0042] Furthermore, the gripper 301 of the dynamic torque sensor 100 has grooves 302 at different distances. By placing the spring ring 303 in different grooves 302, the distance between the spring ring 303 and the hinge axis of the gripper 301 is set, thereby adjusting the length of the lever arm of the gripper 301, which in turn adjusts the hydraulic pressure applied by the plunger 703 to the piston 502, and thus adjusts the torque value of the torque protection mechanism 200 that triggers the protection function. Obviously, the farther the spring ring 303 is from the hinge axis of the gripper 301, the greater the torque value that triggers the torque protection function, and vice versa.

[0043] In summary, the torque protection mechanism 200 integrated in the dynamic torque sensor 100 can not only realize the torque transmission and detection from the motor to the load, but also, when the load fails and causes a stall, the torque shaft 400 drives the prism 500 to rotate through the hexagonal hole 401. The prism 500 drives the piston 1 501 to rotate, and the piston 1 501 pushes the piston 2 502 to move, which in turn pushes the hydraulic oil to push out the plunger 703 in the cylinder head 700. The plunger 703 overcomes the contraction force of the spring ring 303 and pushes the jaw 301 out of the slot 601 of the cylinder liner 600, thereby disconnecting the mechanical connection between the cylinder liner 600 and the output shaft 300, thus disconnecting the dynamic torque sensor 100 from the load, and thus playing the role of real-time automatic identification and triggering automatic protection.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] 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 real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor, comprising a dynamic torque sensor (100), characterized in that, It also includes a housing (101), on which a torque protection mechanism (200) is installed at one end of the output shaft (300). The torque protection mechanism (200) is used to disconnect the mechanical connection between the motor and the load when the motor torque is overloaded. The torque protection mechanism (200) includes, An output shaft (300) has a clamp (301) hinged at one end in a ring array; A torsion shaft (400) is provided, one end of which is inserted into a prism (500). A piston (501) is fixedly connected to the end of the prism (500) away from the torsion shaft (400). A piston (502) is fixedly connected to the end of the piston (501) away from the prism (500). A cylinder liner (600) is coaxially arranged between the torsion shaft (400) and the output shaft (300). The piston (501) and the cylinder liner (600) are helically slidably sleeved, and the piston (502) and the cylinder liner (600) are also sleeved. The cylinder liner (600) is sealed and slidingly connected. A groove (601) is provided on the outer wall of the cylinder liner (600), and the jaws (301) are adapted to the groove (601). A cylinder head (700) is sealed and fixed at one end of the cylinder liner (600) near the output shaft (300). A plunger (703) is inserted perpendicularly to the axis of the cylinder head (700) on the peripheral wall of the cylinder head (700) corresponding to the position of the jaws (301). The end of the plunger (703) pointing to the inside of the cylinder head (700) is connected to the inside of the cylinder liner (600). A spring ring (303) is fitted between the jaws (301).

2. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 1, characterized in that: The torsion shaft (400) has a hexagonal hole (401) at one end near the cylinder liner (600) along its axial direction, and the prism (500) is slidably inserted into the hexagonal hole (401).

3. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 1, characterized in that: The inner wall of one end of the cylinder liner (600) is machined with a spiral groove (602), and the peripheral wall of the piston (501) is slidably connected to the spiral groove (602).

4. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 3, characterized in that: The diameter of the second piston (502) is larger than that of the first piston (501), and the second piston (502) is coaxial with the first piston (501). A screw is provided at the end of the second piston (502) away from the first piston (501) to fasten the first piston (501) and the second piston (502).

5. The real-time torque adjustment mechanism for a box-type permanent magnet synchronous motor as described in claim 1, characterized in that: The cylinder head (700) seals and presses the end of the cylinder liner (600), and the cylinder head (700) is a regular polygon. The slot (601) is strip-shaped and the axis of the slot (601) is parallel to the axis of the cylinder liner (600). The straight edge of the peripheral wall of the cylinder head (700) is flush with the bottom of the slot (601). The end face of the cylinder head (700) away from the cylinder liner (600) abuts against the end face of the output shaft (300).

6. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 5, characterized in that: The cylinder head (700) has a side wall with a polygonal periphery and a hole (701) pointing into the cylinder head (700). The plunger (703) is sealed and inserted into the hole (701). Each hole (701) is connected at the axis of the cylinder head (700). The cylinder head (700) has an oil hole (702) at one end inside the cylinder liner (600) along its axis. The connection of the hole (701) is connected to the oil hole (702).

7. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 1, characterized in that: A bearing 1 (800) is sleeved between the torque shaft (400) and the housing (101), and the inner ring of the torque shaft (400) is sleeved with the inner ring of the bearing 1 (800). The outer ring of the bearing 1 (800) is sleeved with the inner wall of the housing (101). A bearing 2 (801) is sleeved between the output shaft (300), and the inner ring of the output shaft (300) is sleeved with the inner ring of the bearing 2 (801). The outer ring of the bearing 2 (801) is sleeved with the inner wall of the housing (101). 0) A retaining ring (802) is provided at the end away from bearing two (801), and the retaining ring (802) is fixedly engaged with the inner wall of the outer shell (101). An end cap (804) is provided at the end of bearing two (801) away from bearing one (800), and the end cap (804) is connected to the end flange of the outer shell (101). A gasket (803) abuts between bearing one (800) and bearing two (801), and the gasket (803) is fitted and sleeved with the inner wall of the outer shell (101).

8. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 1, characterized in that: The gripper (301) has a groove (302) on the side away from the cylinder liner (600), and the groove (302) is evenly distributed along the length of the gripper (301). The spring ring (303) is sleeved in the groove (302).

9. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 8, characterized in that: The output shaft (300) has a hinge groove (304) perpendicular to its axis at one end near the cylinder head (700), and a slot (305) is formed through the output shaft (300) perpendicular to the hinge groove (304). One end of the gripper (301) is sleeved with the hinge groove (304), and a short pin (306) is inserted through the gripper (301) in the slot (305).

10. The box-type permanent magnet synchronous motor torque real-time adjustment mechanism as described in claim 1, characterized in that: The torsion shaft (400) has a strain gauge (102) attached to its peripheral wall for detecting the deformation of the torsion shaft (400).

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