A robot exoskeleton joint frameless torque planetary reduction motor

Abstract

The application discloses a robot exoskeleton joint frameless torque planetary reduction motor, and relates to the field of mechatronic precise driving technology.The motor comprises an integrated shared shell with a planet carrier, and is shared with a frameless driving motor stator and a frameless speed reducer stator of a light component, a frameless driving motor rotor and a frameless speed reducer rotor, adopts an integrated light-weight design shared by the frameless shared, and is provided with an electric control valve with a cold end interface on a cold guide component to provide a cold source supply and implement cooling measures, and is provided with front and rear sealing discs with sealing sleeves on a sealing component to provide sealing conditions based on cold conduction.The integrated shared shell is shared by a driving motor and a speed reducer, and the integrated light-weight design is a two-in-one integrated light-weight design, which replaces a bulky structure design of a traditional driving motor and a speed reducer, and the integrated driving motor and speed reducer after the light-weight design are lighter in weight, convenient to carry, smaller in size and land occupation, and convenient to transport in large quantities.

Description

Technical Field

[0001] This invention relates to the field of mechatronics precision drive technology, and in particular to a frameless torque planetary geared motor for robot exoskeleton joints. Background Technology

[0002] A geared motor is an integrated unit of a speed reducer and a motor. This integrated unit is also commonly referred to as a geared motor or geared motor. It is usually assembled by a professional speed reducer manufacturer and supplied as a complete set with the motor. Geared motors have a wide range of applications, including the drive control of robot exoskeleton joints.

[0003] Under high-frequency reciprocating conditions, the bearings, gear surfaces, and various components inside the geared motor are prone to fatigue, causing rapid failure of the deceleration kinetic energy. Moreover, the high-speed friction between the components directly generates a large amount of heat, which accumulates inside the motor. If the heat generated by friction is not dissipated sufficiently or in a timely manner, thermal runaway can easily occur under high-power operation, resulting in more harm than good. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing frameless torque planetary geared motors for robotic exoskeleton joints, the present invention is proposed.

[0006] Therefore, the problem to be solved by this invention is how to address the phenomenon of insufficient and untimely heat dissipation, which easily leads to thermal runaway.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a frameless torque planetary geared motor for robot exoskeleton joints, comprising an integrated common housing with a planetary carrier, and a frameless drive stator and a frameless reducer stator, as well as a frameless drive rotor and a frameless reducer rotor, which adopt a frameless common integrated lightweight design. The cold source is supplied by an electronically controlled valve with a cold end interface on the cold conduction component, and cooling measures are implemented. Sealing conditions are provided based on cold conduction through a front sealing disc and a rear sealing disc with a sealing sleeve on the sealing component.

[0008] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint described in this invention, the cold conduction component further includes a cold delivery connector connected to the bottom of the electronically controlled valve, and the integrated common housing has a connecting screw groove that is threadedly connected to the cold delivery connector. The outer end of the cold end interface is unidirectionally connected to an external cold source pipeline, and the integrated common housing has a ring-shaped cold storage cavity that is connected to the cold delivery connector.

[0009] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint of the present invention, wherein: both sides of the integrated common housing are provided with annular cooling grooves, and the cooling storage cavity and the cooling grooves are not interconnected; a cooling inner ring and a cooling outer ring are respectively embedded in the cooling grooves, and a buffer cavity that cooperates with the cooling conduction of the cooling storage cavity is provided on the inner side of the cooling inner ring and the cooling outer ring; a flow equalization hole is provided on the inner circumference of the cooling inner ring for conductive cooling of the frameless drive rotor and the frameless reducer rotor, and a flow equalization groove is provided on the outer side of the cooling outer ring in a triangular equidistant shape for conductive cooling of the frameless drive stator and the frameless reducer stator.

[0010] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint of the present invention, the sealing assembly further includes an extension cavity that is annularly opened on the outside of the integrated common housing, and the extension cavity is interconnected with the cold storage cavity. The outer side of the extension cavity is provided with a cooling port in a triangular equidistant shape, and a mating interface is snapped into the cooling port. The front sealing plate and the rear sealing plate are respectively connected to the outer end and are in an interconnected state.

[0011] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint of the present invention, the inner sides of the front sealing disc and the rear sealing disc are provided with a buffer gap for the shrinkage and deformation of the sealing sleeve, and the inner side of the sealing sleeve is provided with a limiting groove, the limiting groove is embedded with a sealing ring, and the outer side of the sealing ring is provided with a binding groove, the binding groove is fitted with an elastic ring.

[0012] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joints described in this invention, the sealing sleeve, sealing ring, and elastic ring are all made of sealing rubber material with high shrinkage rate when cooled, such as EPDM rubber, methyl vinyl silicone rubber, fluorosilicone rubber, and polytetrafluoroethylene-coated sealing ring, but not limited to these four materials, with silicone being the best. The front sealing disc and the rear sealing disc are made of metal material, using a fast-cooling material that conducts heat easily, such as copper alloy or aluminum alloy, but not limited to this material, with aluminum alloy being the best. The sealing sleeve and sealing ring are fitted with a clearance fit, and the sealing ring and elastic ring are fitted with an interference fit.

[0013] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint described in this invention, the lightweight component further includes a planetary reducer sun gear disposed in the middle of the frameless drive rotor and the frameless reducer rotor, and the planetary reducer sun gear is rotatably connected to the planet carrier through the front bearing and rotatably connected to the integrated common housing through the rear bearing.

[0014] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint of the present invention, wherein: planetary rings are arranged in a triangular equidistant shape inside the frameless drive rotor and the frameless reducer rotor, and flexible planetary gears with modified tooth profiles are arranged inside the planetary rings, and planetary shafts are sleeved inside the flexible planetary gears.

[0015] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint described in this invention, a front sealing gasket and a rear sealing gasket are respectively embedded between the frameless drive rotor and the frameless reducer rotor, and through holes for rotation of the sun gear and planetary shaft of the planetary reducer are reserved in the front sealing gasket and the rear sealing gasket.

[0016] As a preferred embodiment of the frameless torque planetary geared motor for the robot exoskeleton joint described in this invention, a thin-film torque sensor is provided on the outer side of the sun gear of the planetary gear reducer, and a temperature sensor and a vibration sensor are respectively embedded on the sun gear of the planetary gear reducer. A high-resolution encoder is embedded in both the frameless drive rotor and the frameless reducer rotor.

[0017] The beneficial effects of this invention are as follows: Powered by an external cold source and employing a chamber channel design, based on the principle of cold conduction, the entire integrated common shell internal components undergo uniform and comprehensive cold-conducting cooling, eliminating heat generated by friction between components. This ensures rapid and timely heat dissipation, preventing thermal runaway and meeting the requirements of high-power operation. Furthermore, based on the principle of cold contraction, a contraction force is applied to the sealing components at the component joints, forcing a tighter overall seal and preventing expansion and deformation of the sealing components at high temperatures, thus avoiding poor sealing. This effectively prevents the intrusion of human sweat, external dust, etc., to avoid corrosion and failure of internal components, achieving reliable thermal and sealing management under high torque density and extending its service life. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0019] Figure 1This is a front view of the overall structure of the frameless torque planetary geared motor for the robot exoskeleton joint.

[0020] Figure 2 Rear view of the overall structure of the frameless torque planetary geared motor of the robot exoskeleton joint.

[0021] Figure 3 This is a partial structural exploded view of the frameless torque planetary geared motor of the robot exoskeleton joint.

[0022] Figure 4 An exploded view of the lightweight components of a frameless torque planetary geared motor for a robot exoskeleton joint.

[0023] Figure 5 An exploded view of the planetary rings of a frameless torque planetary geared motor for a robot exoskeleton joint.

[0024] Figure 6 An exploded view of the cold conductor and sealing components of a frameless torque planetary geared motor for a robot exoskeleton joint.

[0025] Figure 7 An exploded view of the cold conductor assembly of a frameless torque planetary geared motor for a robot exoskeleton joint.

[0026] Figure 8 A cross-sectional view of the integrated common housing of the frameless torque planetary geared motor of the robot exoskeleton joint.

[0027] Figure 9 An exploded cross-sectional view of the lead cold coil of a frameless torque planetary geared motor for a robot exoskeleton joint.

[0028] Figure 10 This is an exploded cross-sectional view of the rear cooling coil of the frameless torque planetary geared motor of the robot exoskeleton joint.

[0029] In the diagram: 1. Integrated common housing; 2. Planetary carrier; 31. Electrically controlled valve; 32. Cold end interface; 33. Cold supply connector; 34. Connecting screw groove; 35. Cold storage chamber; 36. Cold guide groove; 37. Cold guide inner ring; 38. Cold guide outer ring; 39. Buffer chamber; 4. Flow equalization hole; 5. Flow equalization groove; 61. Extension chamber; 62. Cold guide port; 63. Butt joint; 64. Front sealing plate; 65. Rear sealing plate; 66. Sealing sleeve; 67. Sealing ring; 68. Limiting groove; 69. Restraining groove 7. Elastic ring; 81. Frameless drive stator; 82. Frameless reducer stator; 83. Frameless drive rotor; 84. Frameless reducer rotor; 85. Planetary reducer sun gear; 86. Planetary ring; 87. Flexible planetary gear; 88. Modified tooth profile; 89. Planetary shaft; 9. Front bearing; 10. Rear bearing; 11. Front sealing gasket; 12. Rear sealing gasket; 13. Thin-film torque sensor; 14. Temperature sensor; 15. Vibration sensor; 16. High-resolution encoder. Detailed Implementation

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0033] Example 1, referring to Figures 1-10 This is the first embodiment of the present invention. This embodiment provides a frameless torque planetary geared motor for robot exoskeleton joints, including an integrated common housing 1 with a planetary carrier 2, and a frameless drive stator 81 and a frameless reducer stator 82, as well as a frameless drive rotor 83 and a frameless reducer rotor 84, which together achieve the integrated lightweight design requirements of frameless common components.

[0034] The frameless drive motor stator 81 and frameless drive motor rotor 83 on the drive motor, and the frameless reducer stator 82 and frameless reducer rotor 84 on the geared motor adopt a frameless encircling design and share an integrated common housing 1. This conforms to the integrated lightweight design of the drive motor and geared motor, which is a two-in-one design. It replaces the bulky structure design of the traditional separate drive motor and geared motor. The integrated drive motor and geared motor after the lightweight design is lighter, easier to handle, smaller in size and footprint, and easier to transport in large quantities.

[0035] Specifically, it also includes a planetary reducer sun gear 85 located in the middle of the frameless drive rotor 83 and the frameless reducer rotor 84. The planetary reducer sun gear 85 is rotatably connected to the planet carrier 2 through the front bearing 9 and rotatably connected to the integrated common housing 1 through the rear bearing 10. This eliminates redundant housings and flanges, shortens the axial length by more than 40%, reduces the weight by 35%, and achieves joint coaxiality within 0.01mm, which is far superior to the traditional split structure design of drive motors and geared motors.

[0036] The frameless motor-planetary reducer integrated conjugate architecture is adopted, which integrates the frameless motor stator / rotor with the reducer stator / rotor, planetary reducer sun gear 85 and flexible planet gear 87 in a common housing nesting design, eliminating redundant structural components and achieving ultra-short axial length and maximized torque density integration with high coaxiality.

[0037] Specifically, the frameless drive rotor 83 and the frameless reducer rotor 84 are equipped with planetary rings 86 arranged in a triangular equidistant shape, and the planetary rings 86 are equipped with flexible planetary gears 87 with modified tooth profiles 88. The flexible planetary gears 87 are fitted with planetary shafts 89. The flexible planetary gears 87 are designed to distribute the load equally, which extends the life of the planetary shafts 89 and meets the extreme reciprocating fatigue conditions of the robot exoskeleton.

[0038] By adopting a miniaturized planetary gear system, flexible planetary gears 87, and modified tooth profiles 88, the equivalent inertia of the drive motor and geared motor is reduced by 50%, the response bandwidth is increased to 100Hz, the transmission backlash of the drive motor and geared motor is reduced simultaneously, low-speed crawling vibration is completely eliminated, and the response bandwidth and low-speed stability of the robot's exoskeleton joints are improved.

[0039] A front sealing gasket 11 and a rear sealing gasket 12 are respectively embedded between the frameless drive motor rotor 83 and the frameless reducer rotor 84, and a heat-insulating coating design is adopted. The front sealing gasket 11 and the rear sealing gasket 12 form a sealed separation between the drive motor and the reducer motor, which adopts an integrated lightweight design, and effectively isolate the heat transfer generated by the work between the two. Through holes are reserved in the front sealing gasket 11 and the rear sealing gasket 12 to allow the rotation of the planetary reducer sun gear 85 and planetary shaft 89. Through holes, interference with the normal working operation of the planetary reducer sun gear 85 and planetary shaft 89 is avoided.

[0040] A thin-film torque sensor 13 is provided on the outer side of the sun gear 85 of the planetary reducer, and a temperature sensor 14 and a vibration sensor 15 are embedded on the sun gear 85 of the planetary reducer. The thin-film torque sensor 13, the temperature sensor 14 and the vibration sensor 15 form an integrated strain-type multi-dimensional monitoring mechanism for torque-temperature and vibration, which can be used to sense the joint torque of the robot exoskeleton in real time, and to monitor and diagnose the operating status of the drive motor and geared motor using an integrated lightweight design.

[0041] Both the frameless drive rotor 83 and the frameless reducer rotor 84 are equipped with high-resolution encoders 16. The zero-backlash transmission, which is formed by the design of flexible planetary gears 87 and modified tooth profiles 88, combined with the high-resolution encoders 16, improves the positioning accuracy to up to ±0.05°. The adaptive impedance control can adjust the stiffness of the robot's exoskeleton joints in real time according to the terrain and load, adapting to multiple scenarios such as walking, climbing, and carrying.

[0042] Example 2, refer to Figures 1-10 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0043] Specifically, the cold source is supplied by the electrically controlled valve 31 with a cold end interface 32 on the cold conduction component, and cooling measures are implemented. The outer end of the cold end interface 32 is unidirectionally connected to the external cold source pipeline. The cold source is supplied by the refrigerator equipped in the robot exoskeleton. It is supplied unidirectionally through the cold end interface 32 on the electrically controlled valve 31 via the external cold source pipeline. Under high heat conditions, the internal components of the integrated common shell 1 are cooled by overall conduction. Since the integrated common shell 1 needs to be cooled, in order to ensure the normal lubrication operation of the motor, a special grease with an extremely wide temperature range is selected to avoid grease condensation and affect normal lubrication operation.

[0044] Specifically, it also includes a cooling connector 33 connected to the bottom of the electric control valve 31, and the integrated common housing 1 is provided with a connecting screw groove 34 that is threadedly connected to the cooling connector 33. Through the connecting screw groove 34, the cooling connector 33 can be quickly disassembled and assembled, thereby completing the overall replacement of the electric control valve 31 and its upper cold end interface 32, which is convenient for maintenance.

[0045] The integrated common housing 1 has a ring-shaped cold storage cavity 35 that communicates with the cold supply connector 33. The cold source supplied unidirectionally by the cold end interface 32 on the electric control valve 31 passes through the cold supply connector 33 and reaches the cold storage cavity 35, providing a channel for the flow of the cold source and facilitating the cooling operation of the entire component in the integrated common housing 1.

[0046] Specifically, both sides of the integrated common shell 1 are provided with a ring-shaped cooling groove 36, and the cold storage cavity 35 and the cooling groove 36 are not interconnected. The cold source that reaches the cold storage cavity 35 in one direction rapidly cools the cooling groove 36 on both sides of the integrated common shell 1 based on the principle of cold conduction.

[0047] The inner cold-conducting ring 37 and the outer cold-conducting ring 38 are respectively embedded in the cold-conducting groove 36. The inner side of the inner cold-conducting ring 37 and the outer cold-conducting ring 38 is provided with a buffer cavity 39 that cooperates with the cold conduction of the cold storage cavity 35. The cold source in the cold storage cavity 35 cools the cold-conducting grooves 36 on both sides and then conducts the cold source to the buffer cavity 39 in the inner cold-conducting ring 37 and the outer cold-conducting ring 38. The cold source in the buffer cavity 39 flows in a ring, so that the cold source flows and is distributed evenly and comprehensively along the inner cold-conducting ring 37 and the outer cold-conducting ring 38.

[0048] The inner circumference of the cold conductor inner ring 37 is provided with flow equalization holes 4, which are used for conductive cooling of the frameless drive rotor 83 and the frameless reducer rotor 84. The cold source in the buffer cavity 39 of the cold conductor inner ring 37 is conducted to the frameless drive rotor 83 and the frameless reducer rotor 84 through the circumferentially distributed flow equalization holes 4, so as to uniformly and comprehensively cool the frameless drive rotor 83 and the frameless reducer rotor 84, and eliminate the heat accumulation phenomenon in the frameless drive rotor 83 and the frameless reducer rotor 84.

[0049] Furthermore, the outer side of the cooling outer ring 38 is provided with triangularly equidistant flow equalization grooves 5, which are used for conductive cooling of the frameless drive stator 81 and the frameless reducer stator 82. The cold source in the buffer cavity 39 inside the cooling outer ring 38 is conducted to the frameless drive stator 81 and the frameless reducer stator 82 area through the triangularly equidistant flow equalization grooves 5, eliminating the heat accumulation phenomenon in the frameless drive stator 81 and the frameless reducer stator 82 area, and providing rapid and timely heat dissipation treatment for the overall components in the integrated common housing 1, avoiding thermal runaway and meeting the requirements of high power operation.

[0050] Example 3, referring to Figures 1-10 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0051] Specifically, the front sealing disc 64 and rear sealing disc 65 with sealing sleeves 66 on the sealing assembly serve as cold source conduction transfer components. Based on the principles of cold conduction and cold contraction, they simultaneously provide cooling and sealing conditions for the connection of the integrated common housing 1. This dual combination ensures that the integrated sealing protection reaches IP54 or higher. Furthermore, the internal flow equalization holes 4 and flow equalization grooves 5 are dustproofed to prevent external dust from entering and causing blockage. A channel cold conduction cooling design is adopted to keep the temperature rise below 40K. Combined with integrated composite cooling and sealing protection, reliable thermal management and long service life are achieved under high torque density.

[0052] Specifically, it also includes an extension cavity 61 that is annularly opened on the outside of the integrated common housing 1, and the extension cavity 61 is interconnected with the cold storage cavity 35. The cold source that reaches the cold storage cavity 35 in one direction flows into the extension cavities 61 on both sides of the integrated common housing 1, increasing the cold source storage space, slowing down the loss of cold source, expanding the cold source conduction area, and enhancing the cold source conduction force, so as to further cool the overall components inside the integrated common housing 1 rapidly.

[0053] The outer side of the extension cavity 61 is provided with a triangular equidistant cooling port 62, and the cooling port 62 is snapped into the interface 63, which is connected to the front sealing plate 64 and the rear sealing plate 65 respectively. The cooling port 62 and the interface 63 with the stepped snap-fit ​​design facilitate the quick disassembly and assembly of the front sealing plate 64 and the rear sealing plate 65 with the integrated common housing 1, while also facilitating the smooth flow of the cold source.

[0054] The front sealing disc 64 and the rear sealing disc 65 are made of metal. They are made of fast-cooling materials that conduct heat easily, such as copper alloy or aluminum alloy, but not limited to this material. Aluminum alloy is the best material to improve the heat conduction rate of the front sealing disc 64 and the rear sealing disc 65.

[0055] Furthermore, the extension cavity 61, the cooling port 62, the mating interface 63, the front sealing plate 64, and the rear sealing plate 65 are interconnected. The cold source reaching the two sets of extension cavities 61 passes through the two rows of cooling ports 62 and the mating interface 63 that is engaged with them, and reaches the front sealing plate 64 and the rear sealing plate 65, which adopt a hollow structure design, to complete the extension and conduction of the cold source, expand the cooling range of the integrated common housing 1 component, and simultaneously perform overall sealing treatment on the joint of the integrated common housing 1.

[0056] Specifically, the inner sides of the front sealing disc 64 and the rear sealing disc 65 are provided with a buffer gap for the sealing sleeve 66 to contract and deform. Based on the principle of cold contraction, the sealing sleeve 66, which contracts under cold, fits tightly against the inner sides of the front sealing disc 64 and the rear sealing disc 65, forcing the front sealing disc 64 and the rear sealing disc 65 to connect more tightly with the integrated common housing 1, improving the sealing performance and preventing the high temperature generated by heat from causing the sealing sleeve 66 to expand and deform, resulting in leakage gaps. This prevents human sweat, external dust, etc., from seeping into the interior through the leakage gaps, and provides dustproof, sweatproof, and corrosionproof functions for the internal components of the integrated common housing 1.

[0057] Furthermore, a limiting groove 68 is formed on the inner side of the sealing sleeve 66, and a sealing ring 67 is embedded in the limiting groove 68. A binding groove 69 is formed on the outer side of the sealing ring 67. Since the opening of the limiting groove 68 faces inward and the opening of the binding groove 69 faces outward, the limiting groove 68 and the binding groove 69 encircle and close each other, forcing the sealing sleeve 66 and the sealing ring 67 to be more tightly connected.

[0058] Similarly, based on the principle of cold contraction, the sealing ring 67, which shrinks when cooled, fits tightly against the inside of the sealing sleeve 66, forcing the sealing ring 67 and the sealing sleeve 66 to connect more tightly. This also prevents the sealing ring 67 from expanding and deforming due to high temperature, thus preventing leakage gaps. Furthermore, the use of a double sealing kit further enhances the sealing performance at the joint of the integrated common housing 1.

[0059] An elastic ring 7 is fitted inside the binding groove 69. The elastic ring 7 provides elastic binding for the sealing ring 67, so that the elastically bound sealing ring 67 fits tightly with the sealing sleeve 66, preventing tiny gaps between the sealing ring 67 and the sealing sleeve 66 from causing sweat and dust to seep in and cause malfunctions.

[0060] The sealing sleeve 66, sealing ring 67, and elastic ring 7 are all made of special sealing rubber materials with high shrinkage rate when cold, such as EPDM rubber, methyl vinyl silicone rubber, fluorosilicone rubber, and polytetrafluoroethylene-coated sealing rings, but not limited to these four materials. Among them, silicone is the best, which improves the overall shrinkage rate of the sealing sleeve 66, sealing ring 67, and elastic ring 7 and enhances the sealing performance at their joints.

[0061] Furthermore, the sealing sleeve 66 and the sealing ring 67 are fitted with a clearance fit. Under cold contraction conditions, the clearance space provides support for the shrinkage deformation of the sealing ring 67, which is conducive to the normal recovery of the sealing ring 67 after temperature recovery and its tight re-fitting with the sealing sleeve 66. The sealing ring 67 and the elastic ring 7 are fitted with an interference fit to ensure that the elastic ring 7 always elastically restrains the sealing ring 67 under thermal expansion and contraction conditions.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A frameless torque planetary geared motor for robot exoskeleton joints, characterized in that: The integrated common housing (1) includes a planetary carrier (2), and a frameless drive stator (81) and a frameless reducer stator (82) with lightweight components, as well as a frameless drive rotor (83) and a frameless reducer rotor (84). It adopts a frameless common integrated lightweight design, and the cold source is supplied by an electronically controlled valve (31) with a cold end interface (32) on the cold conduction component, and cooling measures are implemented. Both sides of the integrated common housing (1) are provided with a ring-shaped cold conduction groove (36), and the cold storage cavity (35) and the cold conduction groove (36) are not interconnected. The cold conduction groove (36) is respectively embedded with a cold conduction inner ring (37) and a cold conduction outer ring (38), and the inner side of the cold conduction inner ring (37) and the cold conduction outer ring (38) is provided with a buffer cavity (39) that cooperates with the cold conduction of the cold storage cavity (35). The inner circumference of the cold-conducting inner ring (37) is provided with flow equalization holes (4), which are used for the conduction cooling of the frameless drive rotor (83) and the frameless reducer rotor (84). The outer side of the cold-conducting outer ring (38) is provided with flow equalization grooves (5) in a triangular equidistant shape, which are used for the conduction cooling of the frameless drive stator (81) and the frameless reducer stator (82). The sealing conditions are provided on the basis of cold conduction through the front sealing disc (64) and the rear sealing disc (65) with sealing sleeves (66) on the sealing assembly. The sealing assembly further includes an extension cavity (61) that is annularly opened on the outside of the integrated common housing (1), and the extension cavity (61) is interconnected with the cold storage cavity (35). The extension cavity (61) has a triangular equidistant cold guide port (62) on its outside, and a mating interface (63) is snapped into the cold guide port (62). The mating interface (63) is connected to the front sealing plate (64) and the rear sealing plate (65) respectively. The mating interface (63) is in an interconnected state with the front sealing plate (64) and the rear sealing plate (65). The front sealing disc (64) and the rear sealing disc (65) are provided with a buffer gap for the sealing sleeve (66) to shrink and deform on the inner side, and a limiting groove (68) is provided on the inner side of the sealing sleeve (66). A sealing ring (67) is embedded in the limiting groove (68), and a binding groove (69) is provided on the outer side of the sealing ring (67). An elastic ring (7) is sleeved in the binding groove (69).

2. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 1, characterized in that: The cold conduction assembly also includes a cold delivery connector (33) connected to the bottom of the electric control valve (31), and the integrated common housing (1) is provided with a connecting screw groove (34) that is threadedly connected to the cold delivery connector (33). The outer end of the cold end interface (32) is unidirectionally connected to the external cold source pipeline, and the integrated common housing (1) is provided with a cold storage cavity (35) that is connected to the cold delivery connector (33) in an annular shape.

3. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 1, characterized in that: The sealing sleeve (66), sealing ring (67) and elastic ring (7) are all made of sealing rubber material with high shrinkage rate when cold. The front sealing disc (64) and rear sealing disc (65) are made of metal material. The sealing sleeve (66) and sealing ring (67) are clearance fit, and the sealing ring (67) and elastic ring (7) are interference fit.

4. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 1, characterized in that: The lightweight component also includes a planetary reducer sun gear (85) located in the middle of the frameless drive rotor (83) and the frameless reducer rotor (84), and the planetary reducer sun gear (85) is rotatably connected to the planet carrier (2) through the front bearing (9) and rotatably connected to the integrated common housing (1) through the rear bearing (10).

5. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 1, characterized in that: The frameless drive rotor (83) and the frameless reducer rotor (84) are provided with planetary rings (86) arranged in a triangular equidistant shape, and the planetary rings (86) are provided with flexible planetary gears (87) designed with modified tooth profiles (88), and planetary shafts (89) are sleeved inside the flexible planetary gears (87).

6. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 1, characterized in that: A front sealing gasket (11) and a rear sealing gasket (12) are respectively embedded between the frameless drive rotor (83) and the frameless reducer rotor (84), and through holes for the rotation of the planetary reducer sun gear (85) and planetary shaft (89) are reserved in the front sealing gasket (11) and the rear sealing gasket (12).

7. The frameless torque planetary geared motor for robot exoskeleton joints as described in claim 4, characterized in that: A thin-film torque sensor (13) is provided on the outer side of the planetary reducer sun gear (85), and a temperature sensor (14) and a vibration sensor (15) are respectively embedded on the planetary reducer sun gear (85). A high-resolution encoder (16) is embedded in both the frameless drive rotor (83) and the frameless reducer rotor (84).

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