Rotary power unit, two-stage speed reduction rotary power unit, and robot

A rotary power unit, comprising a motor unit and a speed reducer unit, wherein

• the motor unit is provided with a rotation portion;
• the speed reducer unit is provided with an input end and an output end;
• the input end is fixedly connected to the rotation portion, and one of the input end and the output end is provided with an input rotation sensor;
• the output end is fixedly connected to an output angular rotation transfer member;
• the output angular rotation transfer member extends from the output end toward the input rotation sensor;
• an output rotation sensor is provided at a position adjacent to the input rotation sensor;
• and
• the output rotation sensor is connected to the output angular rotation transfer member, so as to detect states of the input end and the output end at the input end.

A two-stage speed reduction rotary power unit, comprising a base, and a motor unit and a speed reducer unit provided in the base wherein

• the motor unit comprises a motor rotor, and the speed reducer unit comprises a first-stage planetary speed reduction mechanism and a second-stage planetary speed reduction mechanism;
• the first-stage planetary speed reduction mechanism comprises a first-stage sun gear a first-stage planetary gear, a first-stage planetary carrier, and a first-stage internal gear ring, wherein the first-stage sun gear is coaxially and fixedly connected to the motor rotor, the first-stage internal gear ring is fixed within the base the first-stage planetary gear is engaged between the first-stage sun gear and the first-stage internal gear ring and power is output through the first-stage planetary carrier);
• the second-stage planetary speed reduction mechanism comprises a second-stage sun gear, a second-stage planetary gear, a second-stage planetary carrier, and a second-stage internal gear ring, wherein the second-stage sun gear is coaxially and fixedly connected to the first-stage planetary carrier, the second-stage internal gear ring is fixed within the base the second-stage planetary gear is engaged between the second-stage sun gear and the second-stage internal gear ring, and power is output through the second-stage planetary carrier and
• a hollow output angular rotation transfer member is coaxially and fixedly connected to the second-stage planetary carrier and the output angular rotation transfer member extends toward the motor rotor.