Motor equipment

Abstract

The present disclosure provides a motor device, which relates to the field of motor calibration technology. The motor device includes: a motor body, including a motor, a first encoder and a reducer, the first encoder is used to collect the first axis position information of the motor, and the reducer is arranged on the output shaft of the motor; a second encoder is connected to the output shaft of the reducer, and the second encoder is used to collect the second axis position information of the motor; a calibration module is used to receive the first axis position information and the second axis position information, and output the calibration result. According to the technology disclosed in the present disclosure, the operation safety and stability of the motor are improved, and the failure rate of the motor is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor calibration, and in particular to a motor device. Background Art

[0002] In the related art, motor equipment with absolute encoders can collect the zero position when the equipment is powered off. However, under some special working conditions, such as strong magnetism, vibration or impact load, the zero position of the absolute encoder may be reset. If it is reset, it will affect the normal use of the motor equipment and even cause serious consequences if it is not detected. Summary of the invention

[0003] The present disclosure provides an electric machine device.

[0004] The electric machine device according to the present disclosure comprises:

[0005] The motor body comprises a motor, a first encoder and a reducer, wherein the first encoder is used to collect the position information of the first shaft of the motor, and the reducer is arranged on the output shaft of the motor;

[0006] A second encoder is connected to the output shaft of the reducer, and the second encoder is used to collect the position information of the second shaft of the motor;

[0007] The calibration module is used to receive the first axis position information and the second axis position information and output a calibration result.

[0008] In one embodiment, the motor device further comprises:

[0009] The transmission device includes a first transmission wheel, a second transmission wheel and a transmission belt. The first transmission wheel is connected to the output shaft of the reducer, the second transmission wheel is connected to the rotating shaft of the second encoder, and the transmission belt is sleeved on the first transmission wheel and the second transmission wheel.

[0010] In one embodiment, the motor device further comprises:

[0011] The installation component includes an equipment installation plate, the equipment installation plate has an equipment installation surface, the equipment installation surface has a first installation area and a second installation area, the first installation area is used for installation corresponding to the fixed surface of the reducer, and the second installation area is used for installing a second encoder.

[0012] In one embodiment, a first mounting area of ​​the equipment mounting plate is provided with a plurality of first mounting holes, a fixing surface of the reducer is provided with a plurality of second mounting holes, and the positions of the plurality of first mounting holes and the plurality of second mounting holes are arranged correspondingly;

[0013] Among them, the multiple first mounting holes are located on the same circle in the equipment mounting surface and are distributed at equal intervals.

[0014] In one embodiment, the mounting assembly further includes:

[0015] A vibration damping plate is disposed between the first mounting area of the equipment mounting plate and the fixed surface of the speed reducer, and the vibration damping plate is made of a soft material.

[0016] In one embodiment, the mounting assembly further includes:

[0017] A second encoder fixing plate is fixed to the second mounting area of the equipment mounting plate;

[0018] A second encoder adjusting plate is slidably engaged with the second encoder fixing plate and is used to fix the second encoder;

[0019] Wherein, during the process of the second encoder adjusting plate sliding relative to the second encoder fixing plate, the relative distance between the rotating shaft of the second encoder and the output shaft of the speed reducer changes.

[0020] In one embodiment, a first bending portion is provided at the edge of the second encoder fixing plate, and a first through hole is provided in the first bending portion; a second bending portion is provided at the edge of the second encoder fixing plate, and a second through hole is provided in the second bending portion;

[0021] Wherein, the first through hole is used for a adjusting bolt to pass through, and the adjusting bolt forms a threaded fit with the second through hole.

[0022] In one embodiment, a first through hole is provided in the first mounting area, and a second through hole is provided in the second mounting area. The first through hole and the second through hole respectively penetrate the equipment mounting plate in the thickness direction of the equipment mounting plate;

[0023] Wherein, the first through hole is used for the output shaft of the speed reducer to pass through, and the second through hole is used for the rotating shaft of the second encoder to pass through.

[0024] In one embodiment, both the first encoder and the second encoder are absolute encoders.

[0025] In one embodiment, the calibration module is configured to send an alarm indication when the difference between the first axis position information and the second axis position information meets a preset condition.

[0026] According to the technology of the present disclosure, by setting the first encoder and the second encoder, the shaft position information of the motor can be collected by the first encoder to record the zero position of the motor in the case of power failure of the motor device. Moreover, by synchronously collecting the shaft position information of the motor by the second encoder, the calibration module can calibrate the first encoder according to the second shaft position information collected by the second encoder and the first shaft position information collected by the first encoder to determine whether the reading of the first encoder is accurate. Thus, in the case of strong magnetic field, vibration or impact load of the motor device, the situation that the zero position of the motor is reset, resulting in inaccurate first shaft position information collected by the first encoder, is avoided, the monitoring effect of the motor shaft position information is improved, thereby improving the operation safety and stability of the motor and reducing the failure rate of the motor.

[0027] It should be understood that the content described in the summary of the invention section is not intended to limit the key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. Brief Description of the Drawings

[0028] In combination with the accompanying drawings and referring to the following detailed description, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more obvious. In the drawings, the same or similar reference numerals represent the same or similar elements, where:

[0029] Figure 1 Showing a schematic structural diagram of a motor device according to an embodiment of the present disclosure;

[0030] Figure 2 Showing a three-dimensional structural diagram of a motor device according to an embodiment of the present disclosure;

[0031] Figure 3 Showing an exploded view of a motor device according to an embodiment of the present disclosure;

[0032] Figure 4 Showing a side view of a motor device according to an embodiment of the present disclosure.

[0033] Description of the Reference Numerals in the Drawings:

[0034] Motor device 1;

[0035] Motor body 10; Motor 11; First encoder 12; Reducer 13; Fixed surface 13a; Second mounting hole 131;

[0036] Second encoder 20; Rotating shaft 21;

[0037] Calibration module 30;

[0038] Transmission device 40; First transmission wheel 41; Second transmission wheel 42; Transmission belt 43;

[0039] Mounting assembly 50;

[0040] Equipment mounting plate 51; first mounting hole 511; first through hole 512; second through hole 513;

[0041] Vibration damping plate 52;

[0042] The second encoder fixing plate 53; the first bending portion 531;

[0043] The second encoder adjustment plate 54; the second bending portion 541;

[0044] Adjusting bolt 55;

[0045] Alarm device 2. DETAILED DESCRIPTION

[0046] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0047] Refer to the following Figures 1 to 4 The motor device 11 according to the embodiment of the present disclosure is described.

[0048] like Figure 1 As shown, the motor device 1 according to the embodiment of the present disclosure includes a motor body 10 , a second encoder 20 and a calibration module 30 .

[0049] Specifically, the motor body 10 includes a motor 11, a first encoder 12 and a reducer 13. The first encoder 12 is used to collect the first axis position information of the motor 11. The reducer 13 is arranged on the output shaft of the motor 11. The second encoder 20 is connected to the output shaft of the reducer 13 by transmission, and the second encoder 20 is used to collect the second axis position information of the motor 11. The calibration module 30 is used to receive the first axis position information and the second axis position information, and output the calibration result.

[0050] Exemplarily, the motor 11 may be a servo motor 11 or a stepper motor 11. In order to ensure the output accuracy of the motor 11, preferably, the motor 11 is a stepper motor 11.

[0051] It can be understood that the stepping motor 11 is a motor that converts electrical pulse signals into corresponding angular displacements or linear displacements. For each input pulse signal, the rotating shaft 21 rotates by an angle or advances one step. The output angular displacement or linear displacement is proportional to the number of input pulses, and the rotational speed is proportional to the pulse frequency. Therefore, the stepping motor is also called a pulse motor.

[0052] The first encoder 12 and the second encoder 20 can adopt encoders in the form of absolute encoders, incremental encoders, resolvers, etc., and the first encoder 12 and the second encoder 20 can adopt the same or different forms of encoders.

[0053] Among them, the incremental encoder converts the displacement into a periodic electrical signal, and then converts this electrical signal into a counting pulse, and uses the number of pulses to represent the magnitude of the displacement. Each position of the absolute encoder corresponds to a definite digital code. Therefore, its indication value is only related to the starting and ending positions of the measurement, and has nothing to do with the intermediate process of the measurement.

[0054] It can be understood that the first axis position information collected by the first encoder 12 and the second axis position information collected by the second encoder 20 can be used not only to represent the magnetic pole position information of the motor 11, but also to represent the rotation angle and / or rotational speed information of the motor 11.

[0055] Exemplarily, the motor body 10 further includes a housing, and a cavity is defined inside the housing. The motor 11, the first encoder 12, and the speed reducer 13 are all installed in the cavity.

[0056] Among them, the installation method of the first encoder 12 and the motor 11 can specifically adopt high-speed end installation, low-speed end installation, and auxiliary mechanical installation, etc.

[0057] For example, the high-speed end installation method can be adopted between the first encoder 12 and the motor 11. Specifically, the first encoder 12 can be directly installed on the output shaft of the motor 11, or connected to the output shaft of the motor 11 through a gear. The advantage of this installation method is high resolution. The number of rotation turns of the motor 11 is within the range of the measuring range of the first encoder 12, and the full range can be fully utilized to improve the resolution, and it can be used for one-way high-precision control positioning. In addition, when the first encoder 12 is directly installed at the high-speed end, it is necessary to ensure that the jitter amplitude of the motor 11 is small, otherwise it is easy to damage the first encoder 12.

[0058] Also for example, the low-speed end installation method can be adopted between the first encoder 12 and the motor 11. Specifically, the first encoder 12 can be installed on the output shaft of the speed reducer. This method has the advantages of a relatively direct measurement process and high precision.

[0059] For another example, the first encoder 12 and the motor 11 can also be assisted in installation by means of a rack and pinion, a chain belt, a friction runner, a rope winding mechanism, etc.

[0060] The second encoder 20 and the output shaft of the speed reducer 13 can be directly connected or indirectly connected. For example, in Figure 1 shown, the rotating shaft 21 of the second encoder 20 can be indirectly connected to the output shaft of the speed reducer 13 through a transmission device 40.

[0061] Exemplarily, the calibration module 30 can adopt a microcontroller unit (MCU). A microcontroller unit, also known as a single-chip microcomputer, is an integrated circuit chip. The single-chip microcomputer mainly includes a CPU (Central Processing Unit), a ROM (Read-Only Memory), and a random access memory RAM (Random Access Memory), etc. The diversified data acquisition and control system enables the single-chip microcomputer to complete various complex operations. Whether it is to control operation symbols or issue operation instructions to the system, it can be completed by the single-chip microcomputer.

[0062] In the embodiments of the present disclosure, the calibration module 30 can adopt microcontroller units in various forms or scales, as long as it can calibrate the motor 11 according to the first axis position information and the second axis position information and determine whether the first axis position information collected by the first encoder 12 is accurate.

[0063] Specifically, the calibration module 30 can determine whether the first axis position information is accurate according to the difference between the first axis position information and the second axis position information. If the first axis position information is accurate, the motor device 1 can be normally powered on and operated; if the first axis position information is inaccurate, the first encoder 12 needs to be calibrated and the parameters of the motor 11 need to be updated before the motor device 1 can be normally powered on and operated.

[0064] It should be noted that the embodiments of the present disclosure do not specifically limit the installation position of the calibration module 30, as long as it can ensure that the calibration module 30 can communicate with the first encoder 12 and the second encoder 20. For example, in Figure 1 the shown example, the calibration module 30 can be arranged at an interval from the motor body 10, and the first encoder 12 and the second encoder 20 respectively communicate with the calibration module 30 through lines. For another example, in other examples, the calibration module 30 can also be integrally arranged inside the housing.

[0065] According to the motor device 1 of the embodiments of the present disclosure, by providing the first encoder 12 and the second encoder 20, the shaft position information of the motor 11 can be collected by the first encoder 12 to record the zero position of the motor 11 when the motor device 1 is powered off. Moreover, by synchronously collecting the shaft position information of the motor 11 through the second encoder 20, the calibration module 30 can calibrate the first encoder 12 according to the second shaft position information collected by the second encoder 20 and the first shaft position information collected by the first encoder 12 to determine whether the reading of the first encoder 12 is accurate. Thus, it is avoided that when the motor device 1 is under strong magnetic field, vibration or impact load, the zero position of the motor 11 is reset, resulting in inaccurate first shaft position information collected by the first encoder 12, improving the monitoring effect of the shaft position information of the motor 11, thereby enhancing the operation safety and stability of the motor 11 and reducing the failure rate of the motor 11.

[0066] In one embodiment, as Figures 1 to 4 shown, the motor device 1 further includes a transmission device 40.

[0067] Specifically, the transmission device 40 includes a first transmission wheel 41, a second transmission wheel 42 and a transmission belt 43. The first transmission wheel 41 is in transmission connection with the output shaft of the speed reducer 13, the second transmission wheel 42 is in transmission connection with the rotating shaft 21 of the second encoder 20, and the transmission belt 43 is sleeved on the first transmission wheel 41 and the second transmission wheel 42.

[0068] Wherein, the transmission belt 43 is tensioned on the outer surfaces of the first transmission wheel 41 and the second transmission wheel 42 to ensure synchronous transmission of the first transmission wheel 41 and the second transmission wheel 42.

[0069] Exemplarily, the motor body 10 and the second encoder 20 can be arranged on the same side of the transmission device 40, that is, the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 are arranged side by side. Thus, the integration degree of the motor device 1 can be improved and the external dimension of the motor device 1 can be reduced.

[0070] It can be understood that during the operation of the motor 11, through the transmission action of the multi-stage reduction gears of the speed reducer 13, the rotational speed can be reduced and the torque can be increased. The output shaft of the speed reducer 13 drives the first transmission wheel 41 to rotate, and then drives the second transmission wheel 42 to rotate through the transmission belt 43, so that the second encoder 20 in transmission connection with the second transmission wheel 42 can collect the shaft position information of the motor 11.

[0071] Through the above embodiment, the output shaft of the speed reducer 13 and the rotating shaft 21 of the second encoder 20 can be synchronously transmission-connected, so that the second encoder 20 can accurately collect the second shaft position information of the motor 11.

[0072] In one embodiment, as Figures 1 to 4 shown, the motor device 1 further includes a mounting assembly 50.

[0073] Specifically, the mounting assembly 50 includes a device mounting plate 51. The device mounting plate 51 has a device mounting surface, and the device mounting surface has a first mounting area and a second mounting area. The first mounting area is used for corresponding mounting with the fixing surface 13a of the speed reducer 13, and the second mounting area is used for mounting the second encoder 20.

[0074] Exemplarily, as Figure 3 shown, the device mounting plate 51 can be configured as a rectangle, and one side surface of the device mounting plate 51 forms the device mounting surface. Further, the device mounting surface is uniformly divided into a first mounting area and a second mounting area in its length direction. Among them, the first mounting area corresponds to the mounting surface of the speed reducer 13, and the second mounting area is used for fixing the second encoder 20. Thus, the motor body 10 and the second encoder 20 are respectively fixed on one side of the device mounting surface of the device mounting plate 51 to improve the mounting integration of the motor body 10 and the second encoder 20.

[0075] It should be noted that the above examples are only for better describing the device mounting plate 51 and should not be construed as a limitation to the embodiments of the present disclosure. In fact, the shape of the device mounting plate 51 can be any shape, and the division method of the first mounting area and the second mounting area can also be any method. The embodiments of the present disclosure do not make specific limitations thereto.

[0076] Through the above embodiments, the integrated mounting of the motor body 10 and the second encoder 20 can be realized, and the mounting method is relatively simple.

[0077] In one embodiment, as Figure 3 shown, the first mounting area is provided with a first through hole 512, and the second mounting area is provided with a second through hole 513. The first through hole 512 and the second through hole 513 respectively penetrate the device mounting plate 51 in the thickness direction of the device mounting plate 51. Among them, the first through hole 512 is used for the output shaft of the speed reducer 13 to pass through, and the second through hole 513 is used for the rotating shaft 21 of the second encoder 20 to pass through.

[0078] Exemplarily, the transmission device 40 can be disposed on the other side surface of the device mounting plate 51 opposite to the device mounting surface, that is, the transmission device 40, the motor body 10, and the second encoder 20 are respectively disposed on opposite sides of the device mounting plate 51. The output shaft of the speed reducer 13 passes through the first through hole 512 and is connected to the first transmission wheel 41 of the transmission device 40, and the rotating shaft 21 of the second encoder 20 passes through the second through hole 513 and is connected to the second transmission wheel 42 of the transmission device 40.

[0079] Among them, the shapes of the first via hole 512 and the second via hole 513 can be of any shape, and the embodiments of the present disclosure do not make specific limitations thereto. For example, in Figure 3 In the illustrated example, the shape of the first via hole 512 can be circular, and the shape of the second via hole 513 can be oval.

[0080] It should be understood that the first via hole 512 can not only allow the output shaft of the speed reducer 13 to pass through, but also allow at least part of the fixing surface 13a of the speed reducer 13 to pass through the first via hole 512. For example, a circular boss is provided in the central region of the fixing surface 13a of the speed reducer 13, and the shape of the first via hole 512 is a circle adapted to the boss, so that the boss can be clamped in the first via hole 512 to improve the matching stability between the speed reducer 13 and the equipment mounting plate 51.

[0081] Through the above implementation manner, the relative positional relationship among the transmission device 40, the motor body 10, and the second encoder 20 is relatively reasonable. While ensuring a high integration degree of the motor device 1, it can ensure that the transmission of the transmission device 40 is not interfered by the second encoder 20 or the motor body 10.

[0082] In one implementation manner, as Figure 3 shown, a plurality of first mounting holes 511 are provided in the first mounting area of the equipment mounting plate 51, and a plurality of second mounting holes 131 are provided in the fixing surface 13a of the speed reducer 13, and the positions of the plurality of first mounting holes 511 and the plurality of second mounting holes 131 are correspondingly arranged. Among them, the plurality of first mounting holes 511 are located on the same circle and are equally spaced in the equipment mounting surface.

[0083] It should be noted that in the embodiments of the present disclosure, the term "plurality" means two or more.

[0084] In an example, two first mounting holes 511, namely the first mounting hole A and the first mounting hole B, are provided in the first mounting area, and two second mounting holes 131, namely the second mounting hole A' and the second mounting hole B', are provided in the fixing surface 13a of the speed reducer 13, and the positions of the two first mounting holes 511 and the two second mounting holes 131 are correspondingly arranged. The fasteners sequentially pass through the first mounting hole 511 and the second mounting hole 131 to fix the equipment mounting plate 51 to the fixing surface 13a of the speed reducer 13. In one mounting manner, the first mounting hole A corresponds to the second mounting hole A', and the first mounting hole B corresponds to the second mounting hole B', so that the mounting angle between the motor body 10 and the second encoder 20 is 0 degrees. In another mounting manner, the first mounting hole A corresponds to the second mounting hole B', and the first mounting hole B corresponds to the second mounting hole A', so that the mounting angle between the motor body 10 and the second encoder 20 is 180 degrees.

[0085] Thus, two installation methods with two relative position relationships between the motor body 10 and the second encoder 20 can be achieved.

[0086] In another example, the number of the plurality of first mounting holes 511 is the same as the number of the plurality of second mounting holes 131 and is more than two, and the plurality of first mounting holes 511 are located on the same circle within the device mounting surface, that is, the shape formed by the connection lines of the plurality of first mounting holes 511 is a regular polygon, such as an equilateral triangle, a square, etc., and the plurality of first mounting holes 511 are respectively located at the vertices of the regular polygon. Thus, a variety of installation methods equal to the number of the first mounting holes 511 or the second mounting holes 131 can be achieved, so as to flexibly adjust the installation angle of the second encoder 20 relative to the motor body 10.

[0087] Hereinafter, an example in which the number of the first mounting holes and the second mounting holes are both set to four will be described.

[0088] The four first mounting holes 511 form the four vertices of a square, and the four first mounting holes 511 are respectively the first mounting hole A, the first mounting hole B, the first mounting hole C, and the first mounting hole D (not shown in the figure) arranged in sequence in the clockwise direction. The four second mounting holes 131 correspond to the positions of the four first mounting holes 511, and the four second mounting holes 131 are the second mounting hole A', the second mounting hole B', the second mounting hole C', and the second mounting hole D' (not shown in the figure) in sequence in the clockwise direction.

[0089] When installing the device mounting plate 51 on the fixing surface 13a, it can be installed in the corresponding manner of A and A', B and B', C and C', and D and D' so that the installation angle of the second encoder 20 relative to the motor body 10 is 0 degree. Or, it can be installed in the corresponding manner of A and B', B and C', C and D', and D and A' so that the installation angle of the second encoder 20 relative to the motor body 10 is 90 degrees. And so on, two installation methods in which the installation angle of the second encoder 20 relative to the motor body 10 is 180 degrees and 270 degrees can also be achieved. Thus, four installation methods of the second encoder 20 and the motor body 10 are achieved, and the installation angles are different from each other.

[0090] Through the above embodiments, for the second encoder 20 and the motor body 10, a variety of installation methods corresponding to the number of the first mounting holes 511 can be achieved, so that the installation angle of the second encoder 20 relative to the motor body 10 can be flexibly adjusted according to the actual installation space and installation requirements, thereby reducing the requirement for the installation space of the motor device 1 and increasing the applicable range of the motor device 1.

[0091] In one embodiment, as Figure 3As shown, the mounting assembly 50 further includes a vibration damping plate 52. Specifically, the vibration damping plate 52 is disposed between the first mounting area of the equipment mounting plate 51 and the fixing surface 13a of the speed reducer 13, and the vibration damping plate 52 is made of a soft material.

[0092] Exemplarily, the shape of the vibration damping plate 52 can be a shape adapted to the mounting surface of the speed reducer 13, and the shape of the first mounting area of the equipment mounting plate 51 is adapted to the mounting surface of the speed reduction plate.

[0093] Further, the vibration damping plate 52 can be provided with a through hole having the same shape as the first through hole 512, so that the output end of the speed reducer 13 can pass through the through hole and the first through hole 512 in sequence.

[0094] The material of the vibration damping plate 52 can be any form of soft material. For example, rubber can be used to achieve the vibration damping function of the vibration damping plate 52.

[0095] Through the above embodiments, during the operation of the motor 11, the rigid collision between the fixing surface 13a of the speed reducer 13 and the equipment mounting plate 51 can be avoided, and a certain vibration damping effect can be provided, reducing the possibility of the vibration generated by the operation of the motor 11 being transmitted to the equipment mounting plate 51 and then transmitted to the second encoder 20, thereby improving the working stability of the second encoder 20.

[0096] In one embodiment, as Figure 3 and Figure 4 shown, the mounting assembly 50 further includes a second encoder fixing plate 53 and a second encoder adjusting plate 54.

[0097] Specifically, the second encoder fixing plate 53 is fixed to the second mounting area of the equipment mounting plate 51. The second encoder adjusting plate 54 is slidably engaged with the second encoder fixing plate 53 and is used to fix the second encoder 20. Wherein, during the process of the second encoder adjusting plate 54 sliding relative to the second encoder fixing plate 53, the relative distance between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 changes.

[0098] Wherein, the second encoder 20 can be fixed to the second encoder adjusting plate 54 by fasteners.

[0099] Exemplarily, the sliding fit between the second encoder adjusting plate 54 and the second encoder fixing plate 53 can be in any form.

[0100] For example, the second encoder adjusting plate 54 and the second encoder fixing plate 53 can slide along the direction parallel to the connection line between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13, so as to adjust the relative positional relationship between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 through the relative sliding between the second encoder adjusting plate 54 and the second encoder fixing plate 53.

[0101] Furthermore, the second encoder adjusting plate 54 and the second encoder fixing plate 53 are respectively provided with through holes for the rotating shaft 21 of the second encoder 20 to pass through, and the positions of the through holes correspond to each other.

[0102] More specifically, the through hole on the second encoder adjusting plate 54 can be circular, and the through hole on the second encoder adjusting plate 54 can be strip-shaped, so that during the process of the relative sliding of the second encoder adjusting plate 54 relative to the second encoder fixing plate 53, the rotating shaft 21 of the second encoder 20 can slide in the through hole of the second encoder fixing plate 53 along with the second encoder adjusting plate 54, ensuring that the rotating shaft 21 of the second encoder 20 can pass through the two through holes and extend out through the second through hole 513 on the equipment mounting plate 51.

[0103] Through the above implementation manners, the relative position between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 can be adjusted, and then the distance between the first driving wheel 41 and the second driving wheel 42 of the transmission device 40 can be adjusted, thereby adjusting the tension degree of the transmission belt 43 sleeved on the first driving wheel 41 and the second driving wheel 42, ensuring that the transmission belt 43 is in a tensioned state, and further ensuring the stability of the synchronous transmission of the transmission device 40.

[0104] In one implementation manner, as Figure 3 and Figure 4 shown, the edge of the second encoder fixing plate 53 is provided with a first bending portion 531, and the first bending portion 531 is provided with a first through hole; the edge of the second encoder fixing plate 53 is provided with a second bending portion 541, and the second bending portion 541 is provided with a second through hole. Among them, the first through hole is used for the adjusting bolt 55 to pass through, and the adjusting bolt 55 forms a threaded fit with the second through hole.

[0105] Exemplarily, the first bending portion 531 can be provided on the upper edge of the second encoder fixing plate 53, the second bending portion 541 can be provided on the upper edge of the second encoder adjusting plate 54, and the first bending portion 531 and the second bending portion 541 are correspondingly arranged in the up-down direction. The positions of the first through hole and the second through hole correspond to each other in the up-down direction. The end of the adjusting bolt 55 passes downward through the first through hole, and the head of the adjusting bolt 55 is clamped on the upper surface of the first bending portion 531. Furthermore, the end of the adjusting bolt 55 is in threaded fit with the second through hole.

[0106] Wherein, the up-down direction is parallel to the connection line between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13.

[0107] Thus, by screwing the adjusting bolt 55, the distance between the first bending plate and the second bending plate can be adjusted by the thread fit between the adjusting bolt 55 and the second through hole, so that relative sliding occurs between the second encoder fixing plate 53 and the second encoder adjusting plate 54, and further the relative distance between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 can be adjusted.

[0108] In one embodiment, both the first encoder 12 and the second encoder 20 adopt absolute encoders.

[0109] It should be noted that the absolute encoder has the characteristic that the absolute position is not lost. As a position confirmation tool with the characteristic that the absolute position is not lost, the absolute encoder can ensure that the true position value of the system will not be lost when the motor 11 of the motor device 1 fails or the system power is cut off and the movement still occurs. That is to say, the code value of the absolute encoder corresponds uniquely to the shaft position of the motor 11, has the "power-off memory" function, and has no accumulated rotation measurement error. Compared with the incremental encoder, it can still ensure a high measurement accuracy in the power-off or fault scenario.

[0110] Preferably, the measurement accuracy of the second encoder 20 is not less than that of the first encoder 12. Thus, it can be ensured that the accuracy of the second shaft position information collected by the second encoder 20 is not lower than that of the first shaft position information collected by the first encoder 12, so that the first encoder 12 can be calibrated with reference to the second shaft position information.

[0111] Through the above embodiments, it can still be ensured that the first encoder 12 and the second encoder 20 can normally collect the shaft position information of the motor 11 in the power-off or fault scenario.

[0112] In one embodiment, the calibration module 30 is configured to send an alarm indication when the difference between the first shaft position information and the second shaft position information meets a preset condition.

[0113] Exemplarily, the preset condition may be a preset difference threshold. After receiving the first-axis position information and the second-axis position information, the calibration module 30 calculates the absolute value of the difference between the first-axis position information and the second-axis position information. When the absolute value of the difference is less than or equal to the difference threshold, it indicates that the first-axis position information of the first encoder 12 is accurate, and the motor device 1 can be powered on and operated normally. When the absolute value of the difference is greater than the difference threshold, it indicates that the first-axis position information of the first encoder 12 is inaccurate, and an alarm indication is generated. Among them, the difference threshold can be specifically set according to the actual situation, and the embodiments of the present disclosure do not make specific limitations on this.

[0114] In a specific example, the calibration module 30 is in electrical communication with the alarm device 2. After generating the alarm indication, the calibration module 30 sends the alarm indication to the alarm device 2. In response to the alarm indication, the alarm device 2 emits an alarm sound or controls the alarm light to flash to prompt the user that the motor device 1 cannot be directly powered on and operated.

[0115] Through the above implementation manner, the motor device 1 can be provided with an alarm function, so as to remind the user that when the difference between the first-axis position information and the second-axis position information meets the preset condition, it cannot be directly powered on and operated, thereby improving the working safety of the motor device 1.

[0116] It should be noted that other components of the motor device 1 in the embodiments of the present disclosure can adopt various technical solutions known to those of ordinary skill in the art now and in the future, which will not be described in detail here.

[0117] In the description of this specification, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present disclosure.

[0118] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present disclosure, "a plurality" means two or more, unless otherwise specifically defined.

[0119] In this disclosure, unless otherwise clearly defined and limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

[0120] In this disclosure, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features between them. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0121] The above disclosure provides many different embodiments or examples for implementing different structures of this disclosure. To simplify the disclosure of this disclosure, the components and settings of specific examples are described above. Of course, they are only examples and are not intended to limit this disclosure. In addition, this disclosure may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between various embodiments and / or settings discussed.

[0122] The above specific embodiments do not constitute a limitation on the protection scope of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of this disclosure shall be included within the protection scope of this disclosure.

Claims

1. A motor device, Features ,include: The motor body comprises a motor, a first encoder and a reducer, wherein the motor is a stepping motor, the first encoder is used to collect the position information of the first shaft of the motor, and the reducer is arranged on the output shaft of the motor; A second encoder is drivingly connected to the output shaft of the reducer, and the second encoder is used to collect the position information of the second shaft of the motor; A calibration module, used for receiving the first axis position information and the second axis position information, and outputting a calibration result; The mounting assembly comprises a device mounting plate, the device mounting plate having a device mounting surface, the device mounting surface having a first mounting area and a second mounting area, the first mounting area being used for mounting corresponding to the fixed surface of the reducer, and the second mounting area being used for mounting the second encoder; The installation assembly also includes: A second encoder fixing plate, fixed to a second mounting area of ​​the device mounting plate; The second encoder adjustment plate is slidably matched with the second encoder fixing plate and is used to fix the second encoder; wherein, during the sliding process of the second encoder adjustment plate relative to the second encoder fixing plate, the relative distance between the rotating shaft of the second encoder and the output shaft of the reducer changes.

2. The motor device according to claim 1, Features , also includes: The transmission device comprises a first transmission wheel, a second transmission wheel and a transmission belt, wherein the first transmission wheel is transmission-connected to the output shaft of the reducer, the second transmission wheel is transmission-connected to the rotating shaft of the second encoder, and the transmission belt is sleeved on the first transmission wheel and the second transmission wheel.

3. The motor device according to claim 1, Features , a first mounting area of ​​the equipment mounting plate is provided with a plurality of first mounting holes, a fixing surface of the reducer is provided with a plurality of second mounting holes, and the positions of the plurality of first mounting holes and the plurality of second mounting holes are arranged correspondingly; Among them, the plurality of first mounting holes are located on the same circle within the equipment mounting surface and are distributed at equal intervals.

4. The motor device according to claim 1, Features , the installation component also includes: The vibration damping plate is arranged between the first mounting area of ​​the equipment mounting plate and the fixing surface of the reducer, and the vibration damping plate is made of soft material.

5. The motor device according to claim 4, Features The edge of the second encoder fixing plate is provided with a first bending portion, and the first bending portion is provided with a first through hole; the edge of the second encoder fixing plate is provided with a second bending portion, and the second bending portion is provided with a second through hole; Wherein, the first through hole is used for an adjusting bolt to pass through, and the adjusting bolt and the second through hole form a threaded fit.

6. The motor device according to claim 1, Features , the first mounting area is provided with a first via hole, the second mounting area is provided with a second via hole, the first via hole and the second via hole respectively penetrate the device mounting plate in the thickness direction of the device mounting plate; Wherein, the first via is for the output shaft of the reducer to pass through, and the second via is for the rotating shaft of the second encoder to pass through.

7. The motor device according to any one of claims 1 to 6, characterized in that , both the first encoder and the second encoder are absolute encoders.

8. The motor device according to any one of claims 1 to 6, characterized in that , the calibration module is configured to send an alarm indication when the difference between the first shaft position information and the second shaft position information meets a preset condition.

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