Gearbox structure

Abstract

The present disclosure provides a gearbox structure suitable for use in combination with a control unit and a power source. The gearbox structure includes a housing, a transmission module and a sensing module. The housing includes a first accommodation space, a second accommodation space and a partition wall, wherein the first accommodation space and the second accommodation space are separated by the partition wall. The transmission module is arranged in the first accommodation space and includes an input gear, at least one planetary shaft and an output shaft, wherein the input gear is combined with the power source, the at least one planetary shaft includes an input-planetary gear and an output-planetary gear, the input-planetary gear and the output-planetary gear are respectively arranged at two opposite ends, the input-planetary gear is meshed with the input gear, and the output- planetary gear is meshed with the output shaft. The sensing module includes at least one sensor accommodated in the second accommodation space. The at least one sensor is disposed adjacent to the at least one planetary shaft through the partition wall, and located between the input-planetary gear and the output-planetary gear.

Description

Technical Field

[0001] This case relates to a gearbox structure, particularly a gearbox structure suitable for use in conjunction with a control unit and a power source. By lengthening the span of the planetary teeth housed in the housing, the sensing module is provided with sufficient optimization space relative to the transmission module within the housing, and the changes generated by the transmission module are accurately measured to improve the control accuracy of the system. Prior Technology

[0002] A gearbox is a speed-changing device that achieves speed variation through the combination of large and small gears. Different gear combinations result in two different applications: speed increasers and speed reducers. Common speed reducers include planetary speed reducers, cycloidal speed reducers, and harmonic speed reducers. Speed ​​increasers are commonly used, for example, in wind turbines.

[0003] Currently, gearboxes on the market have a compact structure that prevents the installation of sensors inside. Therefore, when a gearbox malfunctions or is damaged, the internal gears and bearings need to be replaced. Taking vibration and temperature measurement of a gearbox as an example, external sensors must be attached to the gearbox surface to perform measurements. Measurement and display are mostly achieved through displays and accelerometers. However, displays used for measurement data are relatively large and have installation space limitations. As for accelerometers, they need to be attached to different locations to measure vibration while the gearbox is running or being tested. They also require dedicated measurement software, making the measurement time-consuming. The overall structure and wiring are relatively fragile, and the cost is also relatively high.

[0004] In view of this, it is necessary to provide a gearbox structure suitable for use in conjunction with a control unit and a power source. By lengthening the span of the planetary teeth housed in the housing, the sensing module has sufficient optimization space to be set relative to the transmission module within the housing, and the changes generated by the transmission module can be accurately measured to improve the control accuracy of the system and solve the deficiencies of conventional technology. Summary of the Invention

[0005] The purpose of this invention is to provide a gearbox structure suitable for use in conjunction with a control unit and a power source. By lengthening the span of the planetary gears housed in the housing, the sensing module is provided with sufficient optimization space to be positioned relative to the transmission module within the housing, and the changes generated by the transmission module are accurately measured to improve the control accuracy of the system.

[0006] Another objective of this invention is to provide a gearbox structure suitable for use in conjunction with a control unit and a power source. The power source rotates the input gears within the gearbox structure, transmitting speed and torque to the output planetary gears via the input planetary gears of the planetary shaft. The torque and speed are then output via the output shaft. Since the input and output planetary gears are connected by a long shaft connecting section, the housing within the first accommodating space for the planetary shaft has sufficient space to accommodate both an optical encoder and a magnetic encoder. The size of the encoder indirectly affects the occupancy of this first accommodating space. Within this first accommodating space, the cylindrical roller bearing at the rear end of the output shaft serves as a support bearing for the encoder, ensuring stable signal feedback. Furthermore, the encoder mounting space provided by the first accommodating space must have an IP rating of IP65 and meet the requirements for gear operating space and encoder dimensions. To achieve feedback control, the power source's encoder acts as the first encoder at the input end, while the encoder inside the gearbox structure measures the output speed as the second encoder. This combination forms a fully closed-loop structure, thereby improving product performance. On the other hand, the gearbox structure generates vibration frequencies during operation. Therefore, placing the accelerometer sensor in the second accommodating space within the housing, close to the partition wall connecting the planetary gear support bearing, and located midway between the output and input shafts, provides more accurate signal and internal temperature measurements compared to external measurements. The accelerometer sensor in the second accommodating space can function as a third sensor, and the temperature sensor as a fourth. When the gears inside the gearbox structure experience malfunctions or internal bearing damage, the vibration frequency changes. This frequency information is instantly transmitted to the control unit to stop the motor, thus reducing damage to the internal components of the gearbox structure. The placement of the accelerometer and temperature sensors allows for monitoring of the internal temperature and X, Y, and Z axis vibration frequencies. The electronic paper on the outer surface of the housing simplifies and synchronously transmits this information, allowing users to directly access frequency and temperature changes. However, this application is not limited to this.

[0007] To achieve the aforementioned objectives, this invention provides a gearbox structure suitable for use in conjunction with a control unit and a power source. The gearbox structure includes a housing, a transmission module, and a sensing module. The housing includes a first accommodating space, a second accommodating space, and a partition wall, wherein the first accommodating space and the second accommodating space are separated by the partition wall. The transmission module is disposed in the first accommodating space and includes input teeth, at least one planetary shaft, and an output shaft. The input teeth are coupled to the power source, and the at least one planetary shaft includes input planetary teeth and output planetary teeth, which are respectively disposed at opposite ends. The input planetary teeth mesh with the input teeth, and the output planetary teeth mesh with the output shaft. The sensing module includes at least one sensor housed in the second accommodating space and disposed adjacent to the at least one planetary shaft via the partition wall, located between the input planetary teeth and the output planetary teeth.

[0008] In one embodiment, the sensing module further includes an encoder assembly housed in a first accommodating space, spatially relative to the rear end of the output shaft, and configured to measure the output rotational speed of the output shaft for feedback control.

[0009] In one embodiment, the encoder assembly includes an encoder, an encoder read head, and an encoder mount, wherein the encoder is connected to the rear end of the output shaft, the encoder read head is fixed to the encoder mount, and the encoder read head is spatially relative to the encoder, together measuring the output rotational speed of the output shaft.

[0010] In one embodiment, the gearbox structure further includes a cylindrical roller bearing disposed between the rear end of the output shaft and the encoder mount.

[0011] In one embodiment, at least one sensor includes a temperature sensor and an accelerometer sensor, which are disposed on a spacer wall and spatially relative to at least one planetary axis.

[0012] In one embodiment, the sensing module further includes a circuit board housed in a second accommodating space and electrically connected to a temperature sensor and an accelerometer sensor.

[0013] In one embodiment, the sensing module further includes electronic paper disposed on the outer surface of the housing and electrically connected to the circuit board, which is used to display information corresponding to the temperature sensor and the accelerometer sensor.

[0014] In one embodiment, at least one planetary axis includes a pair of planetary axes spaced apart from each other, wherein an input axis and an output axis are spaced apart along the axis and located between the pair of planetary axes.

[0015] In one embodiment, there is a first gap between the input planetary gear and the output planetary gear, wherein the sensing module further includes an encoder assembly, the encoder assembly being housed in a first accommodating space, spatially relative to the rear end of the output shaft and located between the pair of planetary shafts, wherein the encoder assembly has an installation height and an installation width relative to the output shaft, the installation height being less than the first gap.

[0016] In one embodiment, the pair of planetary shafts has a second spacing distance, and the product of the first spacing distance and the second spacing distance is greater than the gear operating space of the pair of planetary shafts.

[0017] In one embodiment, the product of the installation height and the second interval distance is greater than 1.5 times the product of the installation height and the installation width.

[0018] In one embodiment, the gearbox structure further includes a cylindrical roller bearing disposed between the rear end of the output shaft and the encoder assembly.

[0019] In one embodiment, the gearbox structure further includes two tapered roller bearings, respectively disposed between the two opposite ends of at least one planetary shaft and the housing. Simple Explanation of the Diagram

[0020] Figure 1 is a perspective view of the gearbox structure combined with the control unit and the power source in a preferred embodiment of the present invention.

[0021] Figure 2 is a perspective view of the gearbox structure, combined with the control unit and power source, of the preferred embodiment of this invention from another perspective.

[0022] Figure 3 is a cross-sectional view showing the gearbox structure combined with the control unit and power source of the preferred embodiment of this invention.

[0023] Figure 4 is an exploded view showing the gearbox structure combined with the control unit and power source of the preferred embodiment of this case.

[0024] Figure 5 is a perspective view of the gearbox structure of a preferred embodiment of this invention.

[0025] Figure 6 is a structural perspective view of the gearbox structure of the preferred embodiment of this invention from another perspective.

[0026] Figure 7 is a cross-sectional view of the gearbox structure of the preferred embodiment of this invention through the sensing module.

[0027] Figure 8 is a cross-sectional view of the gearbox structure of the preferred embodiment of this invention through the shaft. Implementation

[0028] Some typical embodiments embodying the features and advantages of this invention will be described in detail in the following description. It should be understood that this invention can have various variations in different forms, all of which do not depart from the scope of this invention, and the descriptions and drawings herein are essentially for illustrative purposes and not for limiting this invention. For example, if the following disclosure describes a first feature disposed on or above a second feature, it indicates that it includes embodiments where the first and second features are in direct contact, and also includes embodiments where additional features can be disposed between the first and second features, so that the first and second features may not be in direct contact. Furthermore, different embodiments in this disclosure may use repeated reference numerals and / or markings. These repetitions are for simplification and clarity and are not intended to limit the relationships between the various embodiments and / or the described appearance structures. Moreover, to facilitate the description of the relationship between one component or feature and another (plural) component or feature in the drawings, spatially related terms such as "front," "rear," "inner," "outer," and similar terms may be used. In addition to the orientations illustrated in the diagrams, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be positioned otherwise (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially related terms used will be interpreted accordingly. Furthermore, when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of this disclosure are approximate, the values ​​are stated as precisely as possible in specific examples. Additionally, it is understood that while terms such as "first," "second," etc., may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component without departing from the scope of the embodiments. The term "and / or" as thus used includes any or all combinations of one or more of the related listed items.

[0029] Figures 1 and 2 are perspective views illustrating the gearbox structure combined with the control unit and power source of a preferred embodiment of the present invention. Figure 3 is a cross-sectional view illustrating the gearbox structure combined with the control unit and power source of a preferred embodiment of the present invention. Figure 4 is an exploded view illustrating the gearbox structure combined with the control unit and power source of a preferred embodiment of the present invention. Figures 5 and 6 are perspective views illustrating the gearbox structure of a preferred embodiment of the present invention. Figure 7 is a cross-sectional view illustrating the gearbox structure of a preferred embodiment of the present invention through the sensing module. Referring to Figures 1 to 3, this invention provides a gearbox structure 1 suitable for use in conjunction with a control unit 8 and a power source 9. The power source 9 is provided, for example, by the input shaft 90 of a motor, and the control unit 8 is integrated, for example, into the control box of the motor. Of course, the type of the power source 9 and the control unit 8 can be varied according to actual application requirements, and this invention is not limited thereto. Referring to Figures 2 to 4, in this embodiment, the gearbox structure 1 includes a housing 10, a transmission module, and a sensing module 40. The housing 10 is, for example, composed of a multi-piece housing assembly, including at least a first accommodating space 11, a second accommodating space 12, and a partition wall 13. The first accommodating space 11 and the second accommodating space 12 are separated by the partition wall 13. A transmission module is disposed in the first accommodating space 11 and includes an input gear 91, at least one planetary shaft 20, and an output shaft 30. The input gear 91 engages with the input shaft 90 of the power source 9, allowing synchronous rotation around the axis J. In this embodiment, the at least one planetary shaft 20 includes an input planetary gear 21 and an output planetary gear 22, which are respectively disposed at opposite ends and connected by an extended connecting section 23. The input planetary gear 21 is spatially opposite to and meshes with the input gear 91. Furthermore, the output planetary gear 22 is spatially opposite to the output shaft 30 and meshes with the output gear 31 of the output shaft 30. When the power source 9 drives the input gear 91 to mesh with the input planetary gear 21 through the input shaft 90, it drives the input planetary gear 21 and the output planetary gear 22 of at least one planetary shaft 20 to rotate synchronously. At this time, the output planetary gear 22 then drives the output shaft 30 to output torque and speed through meshing with the output gear 31, realizing the power transmission of the transmission module. In this embodiment, the sensing module 40 includes at least one sensor 42 and is housed in the second accommodating space 12, and is arranged adjacent to at least one planetary shaft 20 through the partition wall 13, and is located between the input planetary gear 21 and the output planetary gear 22. Since the gearbox structure 1 will generate a vibration frequency during the operation of the transmission module, at least one sensor 42 is placed in the second accommodating space 12 of the housing 10, close to the partition wall 13, and located between the input planetary gear 21 and the output planetary gear 22, that is, in the middle of the output shaft 30 and the input shaft 90. Therefore, the signal measurement will be more accurate than that of an external sensor.

[0030] In this embodiment, the gearbox structure 1 further includes an angular contact ball bearing 51, which is disposed between the output shaft 30 and the housing 10, serving as a support bearing for the output shaft 30, allowing the output shaft 30 to rotate stably around the axis J. Additionally, in this embodiment, the gearbox structure 1 further includes a planetary gear support bearing 53, disposed between at least one planetary shaft 20 and the spacer wall 13 of the housing 10. In this embodiment, the gearbox structure 1 also includes two tapered roller bearings 54, respectively disposed between the two opposite ends of at least one planetary shaft 20 and the housing 10. The at least one planetary shaft 20 can operate stably within the housing 10 through the arrangement of the planetary gear support bearings 53 and the tapered roller bearings 54.

[0031] In addition, in this embodiment, besides the aforementioned sensor 42, the sensing module 40 further includes an encoder assembly 41. The encoder assembly 41 is housed in the first accommodating space 11 and is spatially relative to the rear end 32 of the output shaft 30, assembling to measure the output rotational speed of the output shaft 30 for feedback control. In this embodiment, the encoder assembly 41 includes an encoder 411, an encoder read head 412, and an encoder mounting base 413. The encoder 411 is connected to the rear end 32 of the output shaft 30, and the encoder read head 412 is fixed to the encoder mounting base 413, spatially relative to the encoder 411, together assembling to measure the output rotational speed of the output shaft 30. In this embodiment, the gearbox structure 1 further includes a cylindrical roller bearing 52, disposed between the rear end 32 of the output shaft 30 and the encoder mounting base 413, serving as a support bearing for the encoder assembly 41, thus enabling the encoder assembly 41 to stably provide signal feedback. In this embodiment, the encoder 411 may include, for example, an optical encoder and / or a magnetic encoder.

[0032] In this embodiment, the power source 9 rotates the input gear 91 within the gearbox structure 1, transmitting the rotational speed and torque to the output planetary gear 22 via the input planetary gear 21 of the planetary shaft 20. The torque and rotational speed are then output via the output shaft 30. It is worth noting that since the input planetary gear 21 and the output planetary gear 22 are connected by a long shaft connecting section 23, the housing 10 has sufficient space within the first accommodating space 11 containing the planetary shaft 20, corresponding to the position of the long shaft connecting section 23, to accommodate the encoder assembly 41 of the optical encoder and / or magnetic encoder architecture. The size of the encoder assembly 41 indirectly affects the occupancy of the first accommodating space 11. In this embodiment, within the first accommodating space 11, the cylindrical roller bearing 52 located at the rear end 32 of the output shaft 30 can serve as a support bearing for the encoder assembly 41, thus enabling stable signal feedback from the encoder assembly 41. In this embodiment, to achieve feedback control, the power source 9 may include an encoder (not shown), which serves as the first encoder for measuring the input shaft 90. The encoder 411 inside the gearbox structure 1 is used as the second encoder for measuring the rotational speed of the output shaft 30. The two together can form a fully closed-loop structure and can perform closed-loop feedback control, improving the control accuracy of the system and thus improving product performance. Of course, this embodiment is not limited to this.

[0033] Referring to Figures 3, 4, and 6, in this embodiment, at least one sensor 42 housed within the second accommodating space 12 integrates a temperature sensor and an accelerometer sensor. Both the temperature sensor and the accelerometer sensor are disposed on the partition wall 13, spatially opposite to at least one planetary shaft 20. It is worth noting that the gearbox structure 1 generates vibration frequencies during operation. Therefore, by placing at least one sensor 42, including the accelerometer sensor and the temperature sensor, within the second accommodating space 12 of the housing 10, close to the partition wall 13 connecting the planetary gear support bearing 53, and located between the input planetary gear 21 and the output planetary gear 22, i.e., at the midpoint between the output shaft 30 and the input shaft 90, the vibration signal measurement and internal temperature readings will be more accurate than those obtained from external sensors. Therefore, in this embodiment, the accelerometer sensor of sensor 42 within the second accommodating space 12 can be considered as a third sensor, and the temperature sensor of sensor 42 can be considered as a fourth sensor. When the gears inside gearbox structure 1 malfunction or the internal bearings are damaged, their vibration frequency changes. This frequency change is then transmitted to control unit 8 to stop the motor of power source 9, thereby reducing damage to the internal parts of gearbox structure 1. Gearbox structure 1 utilizes sensors 42, such as accelerometers and temperature sensors, to monitor the temperature inside housing 10 and the vibration frequencies of the X, Y, and Z axes. However, this invention is not limited to these limitations.

[0034] In this embodiment, the sensing module 40 further includes a circuit board 43, which is housed in the second accommodating space 12 and electrically connected to the temperature sensor and the accelerometer sensor of the sensor 42. In this embodiment, the sensing module 40 further includes an encoder connector 44, which is disposed on the outer surface of the housing 10 and electrically connected to the encoder assembly 41 in the first accommodating space 11 and at least one sensor 42 in the second accommodating space 12. Furthermore, the sensing module 40 also includes electronic paper 45, disposed on the outer surface of the housing 10 and electrically connected to the circuit board 43, for displaying information corresponding to sensors 42 such as the temperature sensor and the accelerometer sensor. By using electronic paper 45 on the outer surface of the housing 10, information can be simplified and synchronously transmitted to the electronic paper 45, allowing the user to more directly obtain information about frequency and temperature changes. Of course, this embodiment is not limited to these limitations.

[0035] Figure 8 is a cross-sectional view of the gearbox structure of the preferred embodiment of this invention through the axis. Referring to Figures 3, 7, and 8, in this embodiment, at least one planetary shaft 20, constructed within the housing 10, more specifically includes a pair of planetary shafts 20 spaced apart from each other. The input shaft 90 and the output shaft 30 are spaced apart along the axis J and located between the pair of planetary shafts 20. In this embodiment, there is a first spacing distance A between the input planetary teeth 21 and the output planetary teeth 22 of each planetary shaft 20. Furthermore, there is a second spacing distance B between the pair of planetary shafts 20, the product of the first spacing distance A and the second spacing distance B being greater than the operating space of the gears (input teeth 91 and output teeth 31) corresponding to the pair of planetary shafts 20. On the other hand, due to the increased span between the input planetary teeth 21 and the output planetary teeth 22 of the planetary shafts 20, the sensing module 40 has sufficient optimized space to be disposed within the housing 10 relative to the transmission module. In this embodiment, the encoder assembly 41 of the sensing module 40 is housed in the first accommodating space 11, spatially relative to the rear end 32 of the output shaft 30, and located between the pair of planetary shafts 20. The encoder assembly 41 has an installation height C and an installation width D relative to the rear end 32 of the output shaft 30. The installation height C is less than the first interval distance A, and the installation width D is less than the second interval distance B. In this embodiment, the product of the installation height C and the second interval distance B is greater than 1.5 times the product of the installation height C and the installation width D. In other embodiments, the encoder installation space provided by the first accommodating space 11 must have an IP rating of IP65 and must meet the requirements for gear operating space and encoder size. However, this embodiment is not limited to these limitations.

[0036] It is worth noting that, in this embodiment, the number and arrangement of the planetary shafts 20 within the housing 10 can be adjusted according to actual application requirements. Adjusting the span between the input planetary gears 21 and the output planetary gears 22 via the connecting section, and ensuring that the space formed by the input shaft 90 and the output shaft 30 spaced along the axis J, facilitates the placement of the sensing module 40. Of course, the positions of the encoder assembly 41, at least one sensor 42, circuit board 43, etc., within the sensing module 40 can also be adjusted according to actual application requirements to avoid obstructing the transmission module. This embodiment is not limited to this and will not be elaborated further.

[0037] In summary, this invention provides a gearbox structure suitable for use with a control unit and a power source. By lengthening the span of the planetary teeth housed in the housing, the sensing module has sufficient optimization space to be positioned relative to the transmission module within the housing, and the changes generated by the transmission module can be accurately measured to improve the control accuracy of the system. The power source rotates the input teeth within the gearbox structure, transmitting speed and torque to the output planetary teeth via the input planetary teeth of the planetary shaft, and then outputting torque and speed via the output shaft. Since the input and output planetary teeth are connected by a long shaft connecting section, the housing has sufficient space within the first accommodating space for the planetary shaft, corresponding to the position of the long shaft connecting section, to accommodate both the optical encoder and the magnetic encoder. The size of the encoder indirectly affects the occupancy of the first accommodating space. Within the first accommodating space, the cylindrical roller bearing at the rear end of the output shaft can serve as a support bearing for the encoder, thus ensuring stable signal feedback from the encoder. Furthermore, the encoder mounting space provided by the first accommodating space must have an IP rating of IP65 and must meet the requirements of gear operating space and encoder dimensions. To achieve feedback control, the encoder of the power source serves as the first encoder at the input end, while the encoder inside the gearbox structure measures the output speed and acts as the second encoder. Together, they form a closed-loop structure, thereby improving product performance. On the other hand, the gearbox structure generates vibration frequencies during operation. Therefore, an accelerometer sensor is placed in the second accommodating space within the housing, close to the partition wall connecting the planetary gear support bearing, located midway between the output and input shafts. This provides more accurate signal and internal temperature measurements compared to external measurements. The accelerometer sensor in the second accommodating space can also function as a third sensor, and the temperature sensor as a fourth. When the gears inside the gearbox structure experience malfunctions or internal bearing damage, the vibration frequency changes. This frequency information is immediately transmitted to the control unit, stopping the motor of the power source and reducing damage to the internal components of the gearbox structure. The gearbox structure, through the placement of the accelerometer and temperature sensors, allows for monitoring of the internal temperature and the X, Y, and Z axis vibration frequencies. By using electronic paper on the outer surface of the casing, information can be simplified and transmitted synchronously onto the electronic paper, allowing users to more directly understand frequency and temperature changes. Of course, this case is not limited to this.

[0038] This case can be modified in various ways by a person skilled in this technology, but all of them are still within the scope of the patent application.

[0039] 1: Gearbox Structure 10: Shell 11: First Accommodation Space 12: Second Accommodation Space 13: Spacer 20: Planetary Axis 21: Input planetary gears 22: Output planetary gears 23: Connecting segment 30: Output shaft 31: Output tooth 32: Backend 40: Sensing Module 41: Encoder Component 411: Encoder 412: Encoder Reader Head 413: Encoder Mount 42: Sensor 43: Circuit Board 44: Encoder connector 45: Electronic Paper 51: Angled ball bearing 52: Cylindrical roller bearing 53: Planetary gear support bearing 54: Tapered roller bearing 9: Power Source 8: Control Unit 90: Input axis 91: Input tooth A: First interval distance B: Second interval distance C: Installation height D: Installation width J: Axis

Claims

1. A gearbox structure suitable for use in conjunction with a control unit and a power source, the gearbox structure comprising: a housing including a first accommodating space, a second accommodating space, and a partition wall, wherein the first accommodating space and the second accommodating space are separated by the partition wall; a transmission module disposed in the first accommodating space and including an input tooth, at least one planetary shaft, and an output shaft, wherein the input tooth engages with the power source, the at least one planetary shaft includes an input planetary tooth and an output planetary tooth, the input planetary tooth and the output planetary tooth are respectively disposed at two opposite ends, the input planetary tooth meshes with the input tooth, and the output planetary tooth meshes with the output shaft; and a sensing module including at least one sensor housed in the second accommodating space and disposed adjacent to the at least one planetary shaft via the partition wall, and located between the input planetary tooth and the output planetary tooth.

2. The gearbox structure as claimed in claim 1, wherein the sensing module further includes an encoder assembly housed in the first accommodating space, spatially relative to a rear end of the output shaft, for measuring the output rotational speed of the output shaft for feedback control.

3. The gearbox structure as described in claim 2, wherein the encoder assembly includes an encoder, an encoder read head and an encoder mount, wherein the encoder is connected to the rear end of the output shaft, the encoder read head is fixed to the encoder mount, and together they are spatially relative to the encoder to measure the output speed of the output shaft.

4. The gearbox structure as described in claim 3 further includes a cylindrical roller bearing disposed between the rear end of the output shaft and the encoder mount.

5. The gearbox structure as claimed in claim 1, wherein the at least one sensor includes a temperature sensor and an accelerometer sensor, the temperature sensor and the accelerometer sensor being disposed on the partition wall, spatially relative to at least one planetary shaft.

6. The gearbox structure as claimed in claim 5, wherein the sensing module further includes a circuit board housed in the second accommodating space and electrically connected to the temperature sensor and the accelerometer sensor.

7. The gearbox structure as claimed in claim 6, wherein the sensing module further includes an electronic paper disposed on the outer surface of the housing and electrically connected to the circuit board, for displaying information corresponding to the temperature sensor and the accelerometer sensor.

8. The gearbox structure as claimed in claim 1, wherein the at least one planetary shaft comprises a pair of planetary shafts spaced apart from each other, wherein the input tooth and the output shaft are spaced apart along an axis and located between the pair of planetary shafts.

9. The gearbox structure of claim 8, wherein there is a first interval between the input planetary gear and the output planetary gear, wherein the sensing module further includes an encoder assembly housed in the first accommodating space, spatially relative to a rear end of the output shaft and located between the pair of planetary shafts, wherein the encoder assembly has an mounting height and a mounting width relative to the output shaft, the mounting height being less than the first interval.

10. The gearbox structure as claimed in claim 9, wherein the pair of planetary shafts has a second spacing distance, the product of the first spacing distance and the second spacing distance being greater than a gear operating space of the pair of planetary shafts.

11. The gearbox structure as claimed in claim 10, wherein the product of the mounting height and the second spacing distance is greater than 1.5 times the product of the mounting height and the mounting width.

12. The gearbox structure as claimed in claim 1 further includes a cylindrical roller bearing disposed between a rear end of the output shaft and an encoder assembly.

13. The gearbox structure as claimed in claim 1 further includes two tapered roller bearings disposed between opposite ends of the at least one planetary shaft and the housing.

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