Embedded frameless torque servo motor

Abstract

The invention discloses an embedded frameless torque servo motor, and relates to the technical field of frameless motors, the embedded frameless torque servo motor comprises an embedded frameless torque servo motor stator body, and the interior and the bottom of the embedded frameless torque servo motor stator body are respectively provided with a self-inspection early warning mechanism and a mounting mechanism; according to the invention, after the stator body of the embedded frameless torque servo motor is started, a controller can start an electric push rod, the electric push rod enables a mounting box to be close to a rotor body, and a detection separation blade is automatically attached to the inner wall of the stator of the motor and the outer wall of the rotor body, so that the consistency of measurement references is ensured; the gear ring and the mounting box are driven to rotate around the rotor body, so that the detection separation blade can detect the air gap around the whole rotor body, the detection range is ensured to cover the whole air gap area, local errors caused by fixed detection points are avoided, and the detection accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of frameless motor technology, specifically to an embedded frameless torque servo motor. Background Technology

[0002] Torque motors are direct-drive motors capable of providing high torque output at low or even zero speeds without the need for additional reduction gears. Their main characteristics include high torque density, fast response, and high positioning accuracy. They are widely used in industrial robots, CNC machine tools, aerospace, semiconductor manufacturing, and other fields. Frameless torque motors, in particular, eliminate the housing and bearings of traditional motors, allowing them to be embedded within mechanical systems, improving compactness and design flexibility. Compared to traditional motors, torque motors offer advantages such as higher efficiency, backlash-free transmission, and low inertia, significantly enhancing the dynamic performance and precision of equipment. They are one of the core drive technologies for modern high-end manufacturing and automation equipment.

[0003] According to Chinese Patent Publication No. CN118842257B, entitled "A Novel Frameless Torque Motor for Humanoid Robots," the invention comprises a support structure; a stator for generating a rotating magnetic field, wherein there are several stators evenly distributed, and the side of the stator closest to the support structure is fixedly connected to the inner ring of the support structure; and a rotor for rotating under the influence of the magnetic field generated by the stator, the rotor being located at the axis of the support structure. This invention, by setting up a support structure, stator, rotor, connecting column, cooling structure, heat dissipation structure, and connector, allows current to be input to the stator through the connector, causing the stator to generate a rotating magnetic field. The rotor rotates under the influence of the magnetic field generated by the stator. The cooling structure cools the stator, the heat dissipation structure provides auxiliary heat dissipation, and the heat dissipation structure moves the liquid inside the cooling structure, thus solving the problem of poor heat dissipation in existing frameless torque motors for humanoid robots.

[0004] However, the existing embedded frameless torque servo motor has the following shortcomings: Traditional motor air gap detection typically relies on fixed measuring points or manual measurement, which has a limited measurement range and cannot comprehensively monitor the air gap status around the rotor and stator. Because the measuring points are fixed, if an abnormality occurs in the air gap in a certain area but is not within the coverage of the measuring point, it is difficult to detect in time, which may lead to a decrease in motor performance or damage. Furthermore, traditional motors are usually installed using bolt fixing, which requires manual alignment, calibration, and locking. The process is cumbersome and depends on the skill level of the installer, which can easily cause installation errors. Improper installation may lead to motor vibration, uneven air gap, and decreased accuracy, affecting overall performance.

[0005] Therefore, we propose an embedded frameless torque servo motor to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide an embedded frameless torque servo motor, which solves the problems of limited air gap detection range, reliance on bolt fixing for installation, cumbersome process, susceptibility to human error, and impact on performance stability of traditional embedded frameless torque servo motors.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an embedded frameless torque servo motor, comprising an embedded frameless torque servo motor stator body, wherein a self-testing and early warning mechanism and an installation mechanism are respectively provided inside and at the bottom of the embedded frameless torque servo motor stator body, and a rotor body is connected to the inner wall of the embedded frameless torque servo motor stator body; The self-testing and early warning mechanism includes two detection baffles as a group. One group of detection baffles is used to detect the air gap between the rotor body and the stator body of the embedded frameless torque servo motor. The top of each detection baffle is connected to a linkage plate, and the inner side of each linkage plate is fixedly connected to a trigger plate. A double-ended trigger switch is provided between every two trigger plates. The mounting mechanism includes five locking plates, which are used to lock the mounting plate at the bottom of the stator body of the embedded frameless torque servo motor. A transmission plate is rotatably connected to the outer wall of the mounting plate. Five U-shaped plates are fixedly connected to the top of the transmission plate. A locking spring is fixedly connected to the bottom of each U-shaped plate. A locking rod is fixedly connected to the bottom of each locking spring. The locking rod is used to further fix the locking plate.

[0008] Preferably, the stator body of the embedded frameless torque servo motor is internally connected to a rotor body, and the self-testing and early warning mechanism further includes two gear rings, each gear ring having a gear meshing on its outer wall, and a connecting rod fixedly connected between the two gears. A limiting member is rotatably connected to the middle of the connecting rod, and the limiting member is fixedly connected to the outer wall of the stator body of the embedded frameless torque servo motor.

[0009] Preferably, a micro motor is provided at the bottom of one of the gears, the output end of the micro motor is fixedly connected to the central shaft at the bottom of one of the gears, a controller is connected to the outside of the micro motor, and the outer sides of two adjacent detection baffles are respectively attached to the inner wall of the stator body and the outer wall of the rotor body of the embedded frameless torque servo motor.

[0010] Preferably, two connecting plates are fixedly connected to the inner wall of each toothed ring, an electric push rod is fixedly connected to the bottom end of each connecting plate, a mounting box is fixedly connected to the free end of each electric push rod, and two alarms are fixedly connected to one side of the outer wall of each mounting box.

[0011] Preferably, a sliding groove is provided on the other side of the outer wall of each mounting box, and the two sides of each detection baffle are slidably connected to the inner wall of each sliding groove. Each double-ended trigger switch is installed on the inner wall of the four mounting boxes. A reset spring is fixedly connected to both sides of the inner wall of each mounting box, and one end of each reset spring is fixedly connected to one side of each linkage plate.

[0012] Preferably, each of the trigger plates has an adjusting rod connected to its inner side, each adjusting rod is attached to the trigger end of each double-ended trigger switch, two adjacent alarms are electrically connected to each double-ended trigger switch, each electric push rod is electrically connected to the controller, and each alarm is electrically connected to a micro motor.

[0013] Preferably, the installation mechanism further includes five limiting posts, the bottom end of each limiting post being rotatably connected to the top end of each locking plate, the middle part of each limiting post being slidably connected to the inner wall of the transmission plate, the middle part of each locking rod penetrating the bottom end of the transmission plate, and a locking hole being provided at the top end of each locking plate, the size of the locking hole matching that of the locking rod.

[0014] Preferably, the bottom end of the transmission plate is rotatably connected to a base, the bottom ends of the five limiting posts are slidably connected to the top end of the base, the top end of the mounting plate is fixedly connected to the bottom end of the stator body of the embedded frameless torque servo motor, the top end of the stator body of the embedded frameless torque servo motor and the outer wall of the mounting plate are both arrayed with limiting plates, and the outer walls of the two sets of limiting plates are rotatably connected to the inner walls of the two toothed rings respectively.

[0015] Preferably, the side wall of the mounting plate has five fixing slots, and each locking plate corresponds to one fixing slot.

[0016] Preferably, a support rod is fixedly connected to the bottom end of the micro motor, and one end of the support rod is fixedly connected to one side of the outer wall of the mounting plate.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention, through its self-checking and early warning mechanism, enables the controller to activate the electric push rod after the stator body of the embedded frameless torque servo motor is started. The electric push rod brings the mounting box closer to the rotor body, and the detection baffle automatically adheres to the inner wall of the motor stator and the outer wall of the rotor body, ensuring consistent measurement reference. The micro motor drives the gear to rotate, causing the gear ring and mounting box to rotate around the rotor body, allowing the detection baffle to detect the air gap around the entire rotor body. This ensures that the detection range covers the entire air gap area, avoiding local errors caused by fixed measuring points and improving detection accuracy. If the air gap is too large or too small, the detection baffle will displace, thereby causing the linkage plate to displace. The linkage plate can then move the trigger plate and adjusting rod. When the adjusting rod moves away from the trigger end of the double-ended trigger switch, the trigger end of the double-ended trigger switch can activate the alarm, which immediately shuts down the micro motor. This allows the user to adjust the air gap of the rotor body immediately, effectively preventing damage to the stator body of the embedded frameless torque servo motor due to abnormal air gap.

[0018] 2. This invention features a self-checking and early warning mechanism equipped with an adjustable rod, allowing it to adapt to different specifications of embedded frameless torque servo motors. This enhances the adaptability of the self-checking and early warning mechanism and meets the needs of various industrial applications. Furthermore, the optimized setting of the return spring improves the contact force of the detection baffle, ensuring that the baffle remains tightly fitted to the outer walls of the stator and rotor of the embedded frameless torque servo motor, thereby improving measurement stability. Simultaneously, the precise adjustment of the return spring's elasticity prevents surface damage to the stator and rotor of the embedded frameless torque servo motor that might result from excessive pressure applied by the detection baffle. This makes it suitable for high-precision equipment and long-term operating conditions. This design not only extends the equipment's service life but also reduces maintenance costs.

[0019] 3. This invention, through its installation mechanism, allows users to precisely install the motor body simply by fixing the base and rotating the transmission plate. When the transmission plate rotates, its inner wall presses against the limiting post, causing it to move linearly along the guide structure, ensuring controlled movement and preventing misalignment or jamming. The movement of the limiting post simultaneously drives the locking plate into the fixing slot, completing the initial installation. At the moment the locking plate is fixed, the locking spring automatically releases its preload, pushing the locking rod into the locking hole, forming a multi-layered, stable connection. This effectively prevents loosening due to vibration or load changes, improving the overall rigidity and durability of the structure. Compared with traditional motor installation, this solution eliminates the need for bolt fixing, precise alignment, or additional tools; motor installation can be completed simply by rotating the transmission plate, greatly improving assembly efficiency and simplifying the operation process. It is suitable for high-precision applications such as industrial automation, robotics, and electric equipment. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the front structure of an embedded frameless torque servo motor according to the present invention; Figure 2 This is a partial structural diagram of the bottom of an embedded frameless torque servo motor according to the present invention; Figure 3 This is an exploded view of an embedded frameless torque servo motor according to the present invention; Figure 4 This invention relates to an embedded frameless torque servo motor. Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the gear ring portion of an embedded frameless torque servo motor according to the present invention; Figure 6 This invention relates to an embedded frameless torque servo motor. Figure 5 Enlarged view at point B in the middle; Figure 7 This invention relates to an embedded frameless torque servo motor. Figure 5 Enlarged view at point C; Figure 8 This is an exploded view of the mounting box portion of an embedded frameless torque servo motor according to the present invention. Figure 9 This invention relates to an embedded frameless torque servo motor. Figure 8 Enlarged view of point D in the middle.

[0021] In the diagram: 1. Embedded frameless torque servo motor stator body; 2. Self-testing and early warning mechanism; 201. Gear; 202. Connecting rod; 203. Controller; 204. Micro motor; 205. Gear ring; 206. Electric push rod; 207. Alarm; 208. Mounting box; 209. Detection baffle; 210. Slide groove; 211. Linkage plate; 212. Trigger plate; 213. Adjusting rod; 214. Double-ended trigger switch; 215. Reset spring; 3. Bearing rod; 4. Mounting mechanism; 401. Transmission plate; 402. Locking plate; 403. Base; 404. Mounting plate; 405. U-shaped plate; 406. Limiting post; 407. Locking rod; 408. Locking hole; 409. Locking spring; 410. Fixing groove; 5. Connecting plate; 6. Limiting plate; 7. Rotor body; 8. Limiting component. Detailed Implementation

[0022] 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.

[0023] Please see the appendix Figure 1 - Appendix Figure 9As shown, the present invention provides a technical solution: an embedded frameless torque servo motor, including an embedded frameless torque servo motor stator body 1, a self-testing and early warning mechanism 2 and an installation mechanism 4 respectively provided inside and at the bottom of the embedded frameless torque servo motor stator body 1, and a rotor body 7 connected to the inner wall of the embedded frameless torque servo motor stator body 1. The self-testing and early warning mechanism 2 includes two detection baffles 209 as a set. One set of detection baffles 209 is used to detect the air gap between the rotor body 7 and the stator body 1 of the embedded frameless torque servo motor. Each detection baffle 209 has a linkage plate 211 connected to its top, and a trigger plate 212 is fixedly connected to the inner side of each linkage plate 211. A double-ended trigger switch 214 is provided between every two trigger plates 212. By presetting the above components, the controller 203 drives the electric push rod 206 and the micro motor 204 to make the detection baffles 209 automatically fit against the outer wall of the stator body 1 and the rotor body 7 of the embedded frameless torque servo motor, and rotate with the gear ring 205 to achieve 360° air gap detection, avoid local errors caused by fixed measuring points, and ensure data accuracy. When the air gap is abnormal, the detection baffle 209 displacement triggers the alarm 207. The alarm 207 automatically shuts down the micro motor 204 to remind the user to adjust the air gap and prevent damage to the stator body 1 and the rotor body 7 of the embedded frameless torque servo motor.

[0024] Example 1, according to Figure 1 - Figure 3 and Figure 5 - Figure 9As shown, the stator body 1 of the embedded frameless torque servo motor is internally connected to the rotor body 7. The self-testing and early warning mechanism 2 also includes two gear rings 205, each gear ring 205 having a gear 201 meshing on its outer wall. A connecting rod 202 is fixedly connected between the two gears 201. A limiter 8 is rotatably connected to the middle of the connecting rod 202. The limiter 8 is fixedly connected to the outer wall of the stator body 1 of the embedded frameless torque servo motor. A micro motor 204 is provided at the bottom of one of the gears 201. The output end of the micro motor 204 is fixedly connected to the bottom center shaft of one of the gears 201. A controller 203 is connected to the outside of the micro motor 204. The outer sides of two adjacent detection baffles 209 are respectively attached to the inner wall of the stator body 1 and the outer wall of the rotor body 7 of the embedded frameless torque servo motor. Two connecting plates 5 are fixedly connected to the inner wall of each gear ring 205. An electric push rod 206 is fixedly connected to the bottom of each connecting plate 5. Each free end of rod 206 is fixedly connected to a mounting box 208. Two alarms 207 are fixedly connected to one side of the outer wall of each mounting box 208. A groove 210 is opened on the other side of the outer wall of each mounting box 208. The two sides of each detection baffle 209 are slidably connected to the inner wall of each groove 210. Each double-ended trigger switch 214 is installed on the inner wall of each of the four mounting boxes 208. A return spring 215 is fixedly connected to both sides of the inner wall of each mounting box 208. One end of each return spring 215 is fixedly connected to one side of each linkage plate 211. An adjusting rod 213 is connected to the inner side of each trigger plate 212. Each adjusting rod 213 is attached to the trigger end of each double-ended trigger switch 214. Two adjacent alarms 207 are electrically connected to each double-ended trigger switch 214. Each electric push rod 206 is electrically connected to the controller 203. Each alarm 207 is electrically connected to the micro motor 204.

[0025] The overall effect of Embodiment 1 is as follows: The user can activate the controller 203, which can activate each electric push rod 206. The output end of each electric push rod 206 can drive the mounting box 208 to approach the rotor body 7. The two adjacent detection baffles 209 respectively abut against the inner wall of the stator body 1 of the embedded frameless torque servo motor and the outer wall of the rotor body 7. Subsequently, the user can activate the micro motor 204. The output end of the micro motor 204 can drive one of the gears 201 to rotate. One of the gears 201 drives the other gear 201 to rotate through the connecting rod 202. When the two gears 201 rotate simultaneously, the two gears 201 can drive the two gear rings 205 to rotate respectively. The two gear rings 205 are connected by the connecting plate 5 to make the two gear rings rotate. The mounting box 208 rotates around the rotor body 7, allowing the detection baffle 209 to perform random detection throughout the entire circumference. This avoids local errors caused by fixed detection points and ensures the comprehensiveness and accuracy of the air gap data. When the air gap between the rotor body 7 and the embedded frameless torque servo motor stator body 1 is too large or too small, the detection baffle 209 can conform to the inner wall of the rotor body 7 and the embedded frameless torque servo motor stator body 1 for detection. The detection baffle 209 will then be displaced. When the detection baffle 209 is displaced, it can drive the linkage plate 211 to move. The linkage then drives the trigger plate 212 to move. The trigger plate 212 drives the adjusting rod 213 to move. When one end of the adjusting rod 213 moves away from the double-ended trigger... When the trigger terminal of switch 214 is activated, an air gap abnormality is determined, triggering the double-ended trigger switch 214 and activating the corresponding alarm 207. When alarm 207 sounds, it can immediately shut down the micro motor 204. Equipment maintenance personnel can quickly locate the abnormal point based on the alarm signal and precisely adjust the air gap between the rotor body 7 and the stator body 1 of the embedded frameless torque servo motor to restore the optimal working state of the stator body 1 of the embedded frameless torque servo motor. It should be noted that the adjusting rod 213 is adjustable in length to suit different stator bodies 1 of the embedded frameless torque servo motor. The return spring 215 can apply elastic force to the linkage plate 211, so that the linkage plate 211 can drive the detection baffle 209 to always be in contact. The inner wall of the stator body 1 and the outer wall of the rotor body 7 of the embedded frameless torque servo motor are protected by a relatively small spring force of the return spring 215, which prevents the detection baffle 209 from damaging the surfaces of the stator body 1 and the rotor body 7. When the stator body 1 of the embedded frameless torque servo motor is working, the controller 203 can reset the electric push rod 206, which can prevent the detection baffle 209 from contacting the stator body 1 and the rotor body 7 of the embedded frameless torque servo motor and affecting its working state. The double-ended trigger switch 214 has two trigger ends and is powered by an internal battery. When one end of the two adjusting rods 213 presses the two trigger ends respectively, the double-ended trigger switch 214 will operate normally. When one trigger end is not triggered,The double-ended trigger switch 214 will activate the alarm 207 to provide an alarm alert.

[0026] Example 2, according to Figure 1 - Figure 4 As shown, the mounting mechanism 4 includes five locking plates 402, which are used to lock the mounting plate 404 at the bottom of the stator body 1 of the embedded frameless torque servo motor. A transmission plate 401 is rotatably connected to the outer wall of the mounting plate 404. Five U-shaped plates 405 are fixedly connected to the top of the transmission plate 401. A locking spring 409 is fixedly connected to the bottom of each U-shaped plate 405, and a locking rod 407 is fixedly connected to the bottom of each locking spring 409. The locking rod 407 is used to further fix the locking plate 402. The mounting mechanism 4 also includes five limiting posts 406. The bottom of each limiting post 406 is rotatably connected to the top of each locking plate 402, and the middle part of each limiting post 406 is slidably connected to the inner wall of the transmission plate 401. The middle part of each locking rod 407 penetrates the transmission plate 402. At the bottom of 1, each locking plate 402 has a locking hole 408 at its top. The size of the locking hole 408 matches that of the locking rod 407. The bottom of the transmission plate 401 is rotatably connected to the base 403. The bottom of the five limiting posts 406 is slidably connected to the top of the base 403. The top of the mounting plate 404 is fixedly connected to the bottom of the embedded frameless torque servo motor stator body 1. The top of the embedded frameless torque servo motor stator body 1 and the outer wall of the mounting plate 404 are both arrayed with limiting plates 6. The outer walls of the two sets of limiting plates 6 are rotatably connected to the inner walls of the two toothed rings 205 respectively. The side wall of the mounting plate 404 has five fixing slots 410. Each locking plate 402 corresponds to each fixing slot 410. The bottom of the micro motor 204 is fixedly connected to a bearing rod 3. One end of the bearing rod 3 is fixedly connected to one side of the outer wall of the mounting plate 404.

[0027] The overall effect of Embodiment 2 is as follows: When the user needs to install and fix the stator body 1 of the embedded frameless torque servo motor, firstly, the user fixes the base 403 in the required installation position. Then, the user can rotate the transmission plate 401. When the transmission plate 401 rotates, the inner wall of the transmission plate 401 can press the limiting post 406. When the limiting post 406 is pressed, it will move. Under the action of the pressing force, the limiting post 406 moves linearly along the guide structure of the base 403, ensuring that the movement direction is controlled and preventing misalignment or jamming. At the same time as the limiting post 406 moves, it can drive the locking plate 402 to move. The locking plate 402 is inserted into the corresponding fixing slot 410 as the limiting post 406 moves. When the mounting plate 404 and the base 403 are initially fixed, the locking spring 409 automatically releases the preload and pushes the locking rod 407 into the locking hole 408 at the top of the locking plate 402. This action further strengthens the locking effect, prevents loosening caused by external vibration or operating load, and improves the overall rigidity and durability of the structure. Unlike traditional motor installation, which usually involves multiple bolt fixing, precise alignment, calibration and other steps, the mounting mechanism 4 can install the stator body 1 of the embedded frameless torque servo motor by rotating the transmission plate 401 in one step, without the need for other tools, which greatly reduces the assembly time.

[0028] The working principle of the entire device is as follows: When the user performs a self-test on the stator body 1 of the embedded frameless torque servo motor, the user can start the controller 203. The controller 203 can activate each electric push rod 206. The output end of each electric push rod 206 can drive the mounting box 208 to move closer to the rotor body 7. The two adjacent detection baffles 209 will respectively fit against the inner wall of the stator body 1 and the outer wall of the rotor body 7. Then the user can start the micro motor 204. The output end of the micro motor 204 can drive one of the gears 201 to rotate. One gear 201 drives the other gear 201 to rotate through the connecting rod 202. When the two gears 201 rotate simultaneously, the two gears 201 can respectively drive the two gear rings. When the rotor 205 rotates, the two gear rings 205, through the connecting plate 5, cause the two mounting boxes 208 to rotate around the rotor body 7. This allows the detection baffle 209 to perform random detection throughout the entire circumference, avoiding local errors caused by fixed detection points and ensuring the comprehensiveness and accuracy of the air gap data. When the air gap between the rotor body 7 and the embedded frameless torque servo motor stator body 1 is too large or too small, the detection baffle 209 can conform to the inner wall of the rotor body 7 and the embedded frameless torque servo motor stator body 1 for detection. The detection baffle 209 will then be displaced. When the detection baffle 209 is displaced, it can drive the linkage plate 211 to move, which in turn drives the trigger plate 212 to move. The trigger plate 212 then drives the adjusting rod. When the adjusting rod 213 moves away from the trigger end of the double-ended trigger switch 214, an air gap abnormality is determined, triggering the double-ended trigger switch 214 and activating the corresponding alarm 207. When the alarm 207 sounds, it can immediately shut down the micro motor 204. Equipment maintenance personnel can quickly locate the abnormal point based on the alarm signal and precisely adjust the air gap between the rotor body 7 and the stator body 1 of the embedded frameless torque servo motor to restore the optimal working state of the stator body 1 of the embedded frameless torque servo motor. When the user needs to install and fix the stator body 1 of the embedded frameless torque servo motor, first, the user fixes the base 403 in the required installation position, and then the user can rotate the transmission plate 401. When the transmission plate 401 rotates, its inner wall can press against the limiting post 406. The limiting post 406 moves under this pressure, moving linearly along the guide structure of the base 403 to ensure controlled movement and prevent misalignment or jamming. Simultaneously, the movement of the limiting post 406 drives the locking plate 402 to move. When the locking plate 402 is inserted into the corresponding fixing slot 410 along with the movement of the limiting post 406, the initial fixing between the mounting plate 404 and the base 403 is complete. At the instant the locking plate 402 is fixed, the locking spring 409 automatically releases its preload, pushing the locking rod 407 into the locking hole 408 at the top of the locking plate 402. This action further enhances the locking effect.To prevent loosening caused by external vibrations or operating loads, and to improve the overall rigidity and durability of the structure.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An embedded frameless torque servo motor, comprising an embedded frameless torque servo motor stator body (1), characterized in that: The stator body (1) of the embedded frameless torque servo motor is provided with a self-testing and early warning mechanism (2) and an installation mechanism (4) at its interior and bottom, respectively. The inner wall of the stator body (1) of the embedded frameless torque servo motor is connected to a rotor body (7). The self-testing and early warning mechanism (2) includes two detection baffles (209) as a group. The detection baffles (209) are used to detect the air gap between the rotor body (7) and the stator body (1) of the embedded frameless torque servo motor. Each detection baffle (209) is connected to a linkage plate (211) at its top end. Each linkage plate (211) is fixedly connected to a trigger plate (212) on its inner side. A double-ended trigger switch (214) is provided between each two trigger plates (212). The mounting mechanism (4) includes five locking plates (402). The five locking plates (402) are used to lock the mounting plate (404) at the bottom of the stator body (1) of the embedded frameless torque servo motor. The outer wall of the mounting plate (404) is rotatably connected to a transmission plate (401). The top of the transmission plate (401) is fixedly connected to five U-shaped plates (405). The bottom end of each U-shaped plate (405) is fixedly connected to a locking spring (409). The bottom end of each locking spring (409) is fixedly connected to a locking rod (407). The locking rod (407) is used to further fix the locking plate (402).

2. The embedded frameless torque servo motor according to claim 1, characterized in that: The self-testing and early warning mechanism (2) also includes two toothed rings (205), each of which has a gear (201) meshing on its outer wall. A connecting rod (202) is fixedly connected between the two gears (201). A limiting member (8) is rotatably connected to the middle of the connecting rod (202). The limiting member (8) is fixedly connected to the outer wall of the stator body (1) of the embedded frameless torque servo motor.

3. An embedded frameless torque servo motor according to claim 2, characterized in that: One of the gears (201) has a micro motor (204) at its bottom. The output end of the micro motor (204) is fixedly connected to the bottom center shaft of one of the gears (201). A controller (203) is connected to the outside of the micro motor (204). The outer sides of the two adjacent detection baffles (209) are respectively attached to the inner wall of the stator body (1) and the outer wall of the rotor body (7) of the embedded frameless torque servo motor.

4. An embedded frameless torque servo motor according to claim 2, characterized in that: Two connecting plates (5) are fixedly connected to the inner wall of each of the toothed rings (205), an electric push rod (206) is fixedly connected to the bottom end of each of the connecting plates (5), a mounting box (208) is fixedly connected to the free end of each of the electric push rods (206), and two alarms (207) are fixedly connected to one side of the outer wall of each of the mounting boxes (208).

5. An embedded frameless torque servo motor according to claim 4, characterized in that: Each of the mounting boxes (208) has a groove (210) on the other side of its outer wall. The two sides of each detection baffle (209) are slidably connected to the inner wall of each groove (210). Each double-ended trigger switch (214) is installed on the inner wall of the four mounting boxes (208). Each of the two sides of the inner wall of each mounting box (208) is fixedly connected to a reset spring (215). One end of each reset spring (215) is fixedly connected to one side of each linkage plate (211).

6. An embedded frameless torque servo motor according to claim 4, characterized in that: Each of the trigger plates (212) has an adjustment rod (213) connected to its inner side. Each adjustment rod (213) is attached to the trigger end of each double-ended trigger switch (214). Two adjacent alarms (207) are electrically connected to each double-ended trigger switch (214). Each electric push rod (206) is electrically connected to the controller (203). Each alarm (207) is electrically connected to the micro motor (204).

7. An embedded frameless torque servo motor according to claim 1, characterized in that: The installation mechanism (4) also includes five limiting posts (406), the bottom end of each limiting post (406) is rotatably connected to the top end of each locking plate (402), the middle part of each limiting post (406) is slidably connected to the inner wall of the transmission plate (401), the middle part of each locking rod (407) passes through the bottom end of the transmission plate (401), and the top end of each locking plate (402) is provided with a locking hole (408), the size of the locking hole (408) and the locking rod (407) are matched.

8. An embedded frameless torque servo motor according to claim 7, characterized in that: The bottom end of the transmission plate (401) is rotatably connected to the base (403), and the bottom ends of the five limiting posts (406) are slidably connected to the top end of the base (403). The top end of the mounting plate (404) is fixedly connected to the bottom end of the embedded frameless torque servo motor stator body (1). The top end of the embedded frameless torque servo motor stator body (1) and the outer wall of the mounting plate (404) are both arrayed with limiting plates (6). The outer walls of the two sets of limiting plates (6) are rotatably connected to the inner walls of the two toothed rings (205).

9. An embedded frameless torque servo motor according to claim 1, characterized in that: The mounting plate (404) has five fixing slots (410) on its side wall, and each locking plate (402) corresponds to each fixing slot (410).

10. An embedded frameless torque servo motor according to claim 3, characterized in that: The bottom end of the micro motor (204) is fixedly connected to a support rod (3), and one end of the support rod (3) is fixedly connected to one side of the outer wall of the mounting plate (404).

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