Third, local enterprises have opportunities in the integrated joint industry chain

(1) Motor: hollow cup motor is widely used, and torque motor is gradually serialized

There are many varieties of motors, and there are generally two types of classification, according to the control method and according to the drive method. Control mode classification: including servo motor, stepper motor and torque motor, servo motor adopts closed-loop/semi-closed-loop control, high control accuracy, smooth switching of high and low speed, high cost; The stepper motor converts the pulse signal directly into the angular motion, the step Angle is constant, the accuracy is weaker than the servo, but the structure is simple and the cost is low. According to the drive mode classification: divided into DC motor and AC motor, AC motor according to the rotor and stator rotation synchronization can be divided into synchronous motor and asynchronous motor (induction motor), synchronous motor through the rotor magnetic field and fixed magnetic field between the “interlock” to run. The working principle of the induction motor is “electromagnetic induction”, the stator rotation changes the magnetic field in the rotor induction current, this current in the magnetic field force, drive the rotor rotation.

The motor products involved in humanoid robots include frameless torque motors and hollow cup motors. Torque motor is a kind of multistage pair, caseless direct drive motor with enhanced torque and compact structure. Compared with the main specification of the ordinary motor power, the specification and selection of the torque motor mainly depend on the torque, the torque motor has many poles, and can continue to operate and provide stable torque to the load at low speed or even when the motor is blocked; At the same time, the torque motor is a direct drive motor, the load is directly connected to the rotor, does not need any transmission parts, reduce friction loss, compact structure; In addition, the torque motor is a frameless permanent magnet motor, there is no casing, only two parts of the stator and rotor, and the hollow hole is large, which is convenient for wiring. At present, frameless torque motors are mainly used in collaborative robots and other fields. Hollow cup motor is a kind of micro motor, no iron core rotor, light weight and high efficiency. The hollow cup motor breaks through the rotor structure of the traditional motor in the structure, using a non-core rotor, also known as the hollow cup rotor. This novel rotor structure completely eliminates the power loss caused by eddy currents in the core. Because there is no iron loss, its efficiency is higher than that of ordinary micro DC motors; At the same time, because the weight of the rotor is greatly reduced, so the rotation inertia is reduced, compared with the traditional core motor, the high torque rapid acceleration and deceleration performance is outstanding; In addition, the hollow cup generator also has the advantages of small size, high controllability, low noise and so on. Therefore, the hollow cup motor is mainly used in the need for rapid response (such as military, detection) and high weight and energy consumption requirements (such as drones, robots) and other fields.

GDC806A0101 3BHE028761R0101

GDC806A0101 3BHE028761R0101

The main players of frameless torque motor in China are Buke shares and Haozhi Electromechanical. Among them, Buke Stock frameless torque motor products form a complete series of product lines, and the revenue reaches millions; Haozhi electromechanical products have been widely used in the field of collaborative robots and light robots. The main players of the hollow cup motor are Mingzhi Electrical Appliances, Jiangsu Leili, Wei Chuang Electric. Among them, Mingzhi electrical appliances is a high-quality export enterprise in the field of motion control, and hollow cup motor sells well at home and abroad; Jiangsu Leili and Dingzhi technology hollow cup motor for joint development and production, products are widely used in military, semiconductor, medical and other fields, while a number of samples are currently in the test stage. Huichuan Technology and Hechuan technology are the main suppliers of domestic servo products. Among them, Huichuan Technology has the dual business advantages of industrial control and industrial robot, and continues to develop and improve the competitiveness of direct drive motor; The frameless torque direct drive motor of Hechuan Technology is widely used in industrial robots, lasers and other fields.

(2) Reducer: Harmonic reducer level is first-class, RV local market share increased

The reducer is one of the core precision parts of the robot, and the technical barrier is high. The main working principle of the reducer is to achieve the deceleration and torque increase of the prime mover through the mechanical transmission device, which is the core factor affecting the performance of the robot. There is no alternative in the high-precision scene, and the technical barriers are high. At the same time, research and development investment and fixed assets investment are high, green harmonic from research and development to the finished product took 10 years, the initial investment is large (according to the prospectus disclosure, the grinding machine original price of about 2 million yuan, 3 million yuan hobbing), is a typical high barrier industry. Robot reducer mainly has harmonic, RV, planetary gear reducer and so on. In general, each joint of the robot needs to be configured with a reducer, the selection of the reducer needs to consider factors such as volume, deceleration ratio, torque and price, different robots have different numbers of joints, and the load is different, the speed reducer used is also different. In general, RV reducer is used for heavy-duty joints, and harmonic speed reducer is generally used for light-load joints.

The domestic harmonic and RV reducer are mainly used in the field of industrial robots, and the market continues to expand. According to MIR data, benefiting from the high boom in downstream industrial robots and other industries, domestic harmonic and RV reducer sales increased from 543,000 units in 19 years to 1.263 million units in 22 years, with a CAGR of 32.5% during the period, and is expected to continue to grow at a CAGR of 16.8% to more than 2 million units in 23-25 years; In terms of structure, industrial robots are the largest application field of reducer, accounting for 79.7% in 22 years. From the perspective of competition pattern, domestic brands have a certain right to speak. The number of domestic production of industrial robot reducer enterprises is gradually increasing, and the technology is gradually improving, some manufacturers have achieved mass production and gradually introduced to the market, and the progress on the road of precision reducer localization is obvious. 22 years, green Harmonics in the field of harmonic reducer in China’s market share of 40%, ranked first, compared to 17 years to increase 5pct, has a place in the domestic market.