Speed ​​detection structure of actuator and actuator

Abstract

The invention discloses a speed detection structure of an actuator and an actuator, wherein the speed detection structure of the actuator comprises a housing, a motor, and a speed reduction mechanism; the motor comprises a stator and a rotor, and a sleeve is connected to the rotor; the input end of the speed reduction mechanism is connected to the rotor, and the output end is connected to the code disk shaft; a first mounting surface is arranged on the code disk shaft, and a second mounting surface is arranged on the sleeve, a first magnetic ring is fixed on the first mounting surface, and a second magnetic ring is fixed on the second mounting surface; a PCB board is fixed on the housing, and the PCB board comprises a third mounting surface, and a first Hall element and a second Hall element are mounted on the third mounting surface, the first Hall element cooperates with the first magnetic ring to detect the rotation speed of the first magnetic ring to obtain the angular velocity of the code disk shaft, and the second Hall element cooperates with the second magnetic ring to detect the rotation speed of the second magnetic ring to obtain the angular velocity of the sleeve. The invention simplifies the internal structure of the actuator, improves the internal integration of the actuator, and is conducive to optimizing the internal space of the actuator.

Description

Technical Field

[0001] The present invention relates to the field of robot driving technology, and in particular to a rotation speed detection structure of an actuator and an actuator. Background Art

[0002] The actuator is a central component of the robot joint, which is used to provide power for the relative movement between the two movable parts of the robot joint and accurately control the movement angles of the two movable parts in the robot joint. In order to enable the robot joint to accurately execute relevant instructions, a detection structure is usually configured inside the actuator to detect the angular velocity of relevant parts inside the actuator, especially the output end; a motor and a reduction mechanism are usually arranged inside the actuator, and the reduction mechanism transmits the output power of the motor to the output end of the actuator. In order to control the angular velocity of the output end, it is usually necessary to respectively configure speed detection units at the output end of the motor (the high-speed end of the actuator) and the output end of the actuator (the low-speed end); in the actuator of the prior art, the high-speed end detection unit and the low-speed end detection unit are arranged independently, occupying a large space inside the actuator, which is not conducive to the miniaturization design of the actuator's external dimensions. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the present invention is to provide a speed detection structure and an actuator of an actuator to solve the problems of low integration and large space occupied by the high-speed end detection unit and the low-speed end detection unit in the prior art.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The speed detection structure of the actuator includes a housing, a motor, and a reduction mechanism;

[0006] The motor includes a stator fixedly matched with the housing, a rotor matched with the stator and capable of rotating relative to the stator, and a shaft sleeve synchronously connected to the rotor and pivotally matched with the housing; the input end of the speed reduction mechanism is connected to the rotor, and the output end of the speed reduction mechanism is connected to a code disk shaft that is inserted into the shaft sleeve and coaxially arranged with the shaft sleeve;

[0007] A first mounting surface is arranged on the code disk shaft, and a second mounting surface is arranged on the bushing. In the radial direction of the actuator, the second mounting surface is located on the outer side of the first mounting surface. A first magnetic ring is fixed on the first mounting surface, and a second magnetic ring is fixed on the second mounting surface. The central axes of the first magnetic ring and the second magnetic ring coincide with the central axis of the code disk shaft. A PCB board is fixed on the outer shell. The PCB board includes a third mounting surface facing the first mounting surface and the second mounting surface. A first Hall element and a second Hall element are mounted on the third mounting surface. The first Hall element cooperates with the first magnetic ring to detect the rotation speed of the first magnetic ring to obtain the angular velocity of the code disk shaft, and the second Hall element cooperates with the second magnetic ring to detect the rotation speed of the second magnetic ring to obtain the angular velocity of the bushing.

[0008] According to the rotation speed detection structure of the actuator of the embodiment of the present invention, since a first mounting surface for mounting the first magnetic ring and a second mounting surface for mounting the second magnetic ring are respectively provided on the mutually sleeved code disk shaft and the shaft sleeve, the first magnetic ring and the second magnetic ring can be located at the same position or approximately the same position in the axial direction of the actuator, and only one PCB board needs to be provided on the outer casing to install two Hall elements respectively matching the two magnetic rings, that is, the Hall elements corresponding to the two magnetic rings share the same PCB board, which simplifies the internal structure of the actuator, improves the internal integration of the actuator, and is beneficial to the optimization of the internal space of the actuator. In addition, the low-speed end detection and the high-speed end detection of the actuator are concentrated in the same area inside the actuator, which can facilitate the arrangement of internal wiring.

[0009] In a preferred embodiment, a first annular support is detachably fixed to the code disk shaft, a second annular support surrounding the periphery of the first annular support is detachably fixed to the shaft sleeve, the top surface of the first annular support forms a first mounting surface, and the top surface of the second annular support forms a second mounting surface. The first annular support and the second annular support are detachably fixed to the code disk shaft and the shaft sleeve, respectively, and the first magnetic ring and the second magnetic ring are respectively arranged on the first annular support and the second annular support, which can facilitate the assembly and maintenance of the actuator.

[0010] In a preferred embodiment, a first annular groove that is concave downward is provided on the top surface of the first annular support, and the thickness of the first magnetic ring is the same as the depth of the first annular groove and is embedded in the first annular groove; a second annular groove that is concave downward is provided on the top surface of the second annular support, and the thickness of the second magnetic ring is the same as the depth of the second annular groove and is embedded in the second annular groove, and the upper surface of the first magnetic ring is flush with the upper surface of the second magnetic ring. Since the first magnetic ring and the second magnetic ring are respectively installed on the top surface of the first annular support and the top surface of the second annular support in a sinking manner, there is a relatively small gap between the first annular support and the second annular support and the PCB board, and since the two magnetic rings are staggered in the radial direction of the actuator and the upper surfaces of the two magnetic rings are flush in the axial direction of the actuator, the space occupied by the entire speed detection structure in the axial direction of the actuator is further reduced.

[0011] In a preferred embodiment, a fixing seat is sleeved on the code disk shaft, and a set screw is screwed on the fixing seat. The inner end of the set screw is embedded in the screw hole set on the code disk shaft. The first annular support is sleeved on the fixing seat and cooperates with the fixing seat thread. By setting the fixing seat on the code disk shaft, the part of the code disk shaft for installing the first annular support has a relatively large outer diameter. Since the diameter of the code disk shaft is smaller than the diameter of the sleeve, after the diameter is increased by the fixing seat, in the radial direction of the actuator, the first annular support can be as close to the second annular support as possible, and then the first mounting surface is closer to the second mounting surface. The first magnetic ring and the second magnetic ring are spaced relatively close in the radial direction of the actuator. Only a smaller PCB board is needed to meet the installation of two Hall elements, which can further reduce the space occupied by the smaller PCB board, which is beneficial to the optimization of the space inside the actuator. The first magnetic ring and the first annular support are assembled into a component, and the component is screwed to the code disk shaft, so that the assembly of the actuator becomes simple and convenient.

[0012] In a preferred embodiment, the second annular support is sleeved on the top of the shaft sleeve and is threadedly matched with the shaft sleeve. The second magnetic ring and the second annular support are assembled into a component, and the component is threadedly connected with the shaft sleeve, so that the assembly of the actuator becomes simple and convenient.

[0013] In a preferred embodiment, the housing includes an outer wall, a top wall extending radially inward from the top of the outer wall along the actuator, and a support wall extending downward from the inner edge of the top wall. An installation space is formed between the support wall and the side wall. The motor is placed in the installation space. The stator is fixedly connected to the periphery of the support wall, and the rotor surrounds the periphery of the stator. The PCB board is fixedly connected to the top wall so that the PCB board is located above the first installation surface and the second installation surface. The outer wall, the top wall, and the support wall are used to form a U-shaped cross-section of the housing, which provides an installation space for the motor and provides better protection for the motor. At the same time, the top wall is used to provide an installation base for the PCB board, which is convenient for the installation of the PCB board.

[0014] In a preferred embodiment, a mounting plate is fixedly connected above the top wall, and an upwardly protruding annular rib is provided on the upper surface of the mounting plate, and the outer edge of the PCB is circular and abuts against the inner edge of the annular rib. The annular rib is used to position the PCB in the radial direction of the actuator, so that the two Hall elements pre-installed on the PCB can be aligned with the two magnetic rings in the radial direction of the actuator, respectively, and then on the basis of improving the installation accuracy of the PCB, it is ensured that the speed detection of the low-speed end and the high-speed end of the actuator has good accuracy.

[0015] In a preferred embodiment, the reduction mechanism is a harmonic reducer, the steel wheel of the harmonic reducer is fixedly matched with the housing, the wave generator of the harmonic reducer is connected to the bottom of the rotor through a connecting bracket, an output flange is fixed on the flexible wheel of the harmonic reducer and is pivotally connected to the housing through a bearing, and the bottom of the code disc shaft is fixedly connected to the output flange; a fixed bracket is fixedly connected above the top wall, and the top of the code disc shaft is pivotally connected to the fixed bracket through a bearing. The upper and lower ends of the code disc shaft are pivotally matched with the housing through bearings, respectively, and the bearings play a role of radial support for the code disc shaft, making the rotation of the code disc shaft more stable, thereby improving the accuracy of low-speed end speed detection.

[0016] In a preferred embodiment, the lower end of the sleeve is fixedly connected to the connecting bracket by bolts so that the sleeve is synchronously connected to the rotor; the sleeve is located on the inner side of the support wall and is pivotally matched with the support wall through a bearing. The support wall and the bearing provide radial support for the sleeve, making the rotation of the sleeve more stable and improving the accuracy of the high-speed end speed detection.

[0017] An actuator comprises the above-mentioned rotation speed detection structure of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 is a cross-sectional view of the present invention;

[0021] Figure 3 for Figure 2 Magnified view at A in the middle;

[0022] Figure 4 for Figure 2 A schematic diagram of the assembly of the two magnetic rings, the first annular support and the second annular support;

[0023] Figure 5 for Figure 2Schematic diagram of the structure of the installation disk.

[0024] In the figure: 10, shell; 11, outer wall; 12, top wall; 13, support wall; 14, mounting plate; 141, annular rib; 15, fixing bracket; 16, bearing; 20, motor; 21, rotor; 22, stator; 23, connecting bracket; 30, code disk shaft; 31, first annular support; 311, first mounting surface; 312, first annular groove; 32, fixing seat; 33, set screw; 40, bushing; 41, second annular support; 411, second mounting surface; 412, second annular groove; 42, bearing; 50, PCB board; 501, third mounting surface; 60, harmonic reducer; 61, steel wheel; 62, wave generator; 63, flexible wheel; 64, output flange; 70, lower shell; 71, bearing; 81, first magnetic ring; 82, second magnetic ring. DETAILED DESCRIPTION

[0025] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0026] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Please refer to Figure 1-5 As shown, a speed detection structure of an actuator of the present invention comprises a housing 10, a motor 20, and a reduction mechanism. The motor 20 and the reduction mechanism are installed inside the housing 10, wherein the reduction mechanism is a harmonic reducer 60. The motor 20 comprises a stator 22 and a rotor 21. The stator 22 is fixedly matched with the housing 10. The rotor 21 surrounds the periphery of the stator 22 and matches with the stator 22. Thus, the rotor 21 and the stator 22 form a frameless torque motor. A shaft sleeve 40 is synchronously connected to the rotor 21. The input of the harmonic reducer 60 The end is connected to the rotor 21, that is, the wave generator 62 of the harmonic reducer 60 is connected to the rotor 21, and the flexible wheel 63 of the harmonic reducer 60 is used as the output end, and a code disk shaft 30 is connected thereon, and the code disk shaft 30 is penetrated inside the shaft sleeve 40 and is coaxially arranged with the shaft sleeve 40, and the code disk shaft 30 is pivotally matched with the housing 10, and the code disk shaft 30 extends from the lower end of the actuator upward through the entire axis of the actuator and backward to the top of the actuator, and a first mounting surface 311 is provided on the code disk shaft 30, and a second mounting surface 41 is provided on the shaft sleeve 40. 1, a first magnetic ring 81 is fixedly connected to the first mounting surface 311, and a second magnetic ring 82 is fixedly connected to the second mounting surface 411, the first magnetic ring 81 and the second magnetic ring 82 are at the same height or almost at the same height, and the central axes of the first magnetic ring 81 and the second magnetic ring 82 coincide with the central axis of the code disk shaft 30; a PCB board 50 is fixed to the housing 10, and the PCB board 50 has a third mounting surface 501 facing the first mounting surface 311 and the second mounting surface 411, and the third mounting surface 501 is mounted with a first magnetic ring 81 and a second magnetic ring 82. A Hall element and a second Hall element, the first Hall element is matched with the first magnetic ring 81, and the rotation speed of the first magnetic ring 81 is detected by the cooperation of the first Hall element and the first magnetic ring 81 to obtain the angular velocity of the code disk shaft 30, and then the angular velocity of the output end (i.e., the low-speed end) of the actuator is obtained, and the second Hall element is matched with the second magnetic ring 82, and the rotation speed of the second magnetic ring 82 is detected by the cooperation of the second Hall element and the second magnetic ring 82 to obtain the angular velocity of the sleeve 40, and then the angular velocity of the rotor 21 (i.e., the high-speed end) of the motor 20 is obtained.

[0030] In the present invention, since a first mounting surface 311 for mounting the first magnetic ring 81 and a second mounting surface 411 for mounting the second magnetic ring 82 are respectively provided on the mutually sleeved code disk shaft 30 and the shaft sleeve 40, the first magnetic ring 81 and the second magnetic ring 82 can be located at the same position or approximately the same position in the axial direction of the actuator. Only one PCB board 50 needs to be provided on the housing 10 to install two Hall elements respectively matching the two magnetic rings, that is, the Hall elements corresponding to the two magnetic rings share the same PCB board, which simplifies the internal structure of the actuator, improves the internal integration of the actuator, and is beneficial to the optimization of the internal space of the actuator. In addition, the low-speed end detection and the high-speed end detection of the actuator are concentrated in the same area inside the actuator, which can facilitate the arrangement of internal wiring.

[0031] It should be noted that the speed reduction mechanism of the present invention is not limited to the above-mentioned harmonic speed reducer 60, and the speed reduction mechanism can also be a planetary speed reducer or an RV speed reducer. The motor 20 can also be a frameless torque motor with a built-in rotor, or a motor of other structural forms.

[0032] In a preferred embodiment, a first annular support 31 is detachably fixed on the code disk shaft 30, and a second annular support 41 surrounding the periphery of the first annular support 31 is detachably fixed on the bushing 40. The top surface of the first annular support 31 forms a first mounting surface 311, and the top surface of the second annular support 41 forms a second mounting surface 411. In this preferred embodiment, the first annular support 31 and the second annular support 41 are detachably fixed on the code disk shaft 30 and the bushing 40, respectively, and the first magnetic ring 81 and the second magnetic ring 82 are respectively arranged on the first annular support 31 and the second annular support 41, which can facilitate the assembly and maintenance of the actuator.

[0033] In addition, a fixing seat 32 is sleeved on the code disk shaft 30, and a set screw 33 is screwed on the fixing seat 32. The set screw 33 extends in the radial direction of the code disk shaft 30, and its inner end is embedded in the screw hole provided on the code disk shaft 30. An external thread is provided on the outer periphery of the fixing seat 32, and an internal thread is provided on the inner edge of the first annular support 31. The first annular support 31 is fixed to the periphery of the fixing seat 32 by the cooperation of the internal thread and the external thread. By providing the fixing seat 32 on the code disk shaft 30, the portion of the code disk shaft 30 for mounting the first annular support 31 has a relatively large outer diameter. Since the diameter of the code disk shaft 30 is smaller than that of the sleeve 40, after the diameter is increased by the fixing seat 32, in the radial direction of the actuator, the first annular support 31 can be as close to the second annular support 41 as possible, and then the first mounting surface 311 is closer to the second mounting surface 411. The distance between the first magnetic ring 81 and the second magnetic ring 82 in the radial direction of the actuator is relatively small, and only a smaller PCB board 50 is needed to meet the installation of two Hall elements, which can further reduce the space occupied by the smaller PCB board 50, which is beneficial to the space optimization inside the actuator.

[0034] The second annular support 41 can also be fixed to the sleeve 40 by threaded matching. Specifically, an external thread is provided on the top of the outer edge of the sleeve 40, and an internal thread is provided on the inner edge of the second annular support 41. The second annular support 41 is screwed to the top of the sleeve 40 by matching the internal thread with the external thread. In the present invention, the first annular support 31 is detachably fixed to the code disk shaft 30 or the fixing seat 32 of the code disk shaft 30 by thread, and the second annular support 41 is detachably fixed to the sleeve 40 by thread. During assembly, the first magnetic ring 81 and the first annular support 31 are assembled into a component, and the second magnetic ring 82 and the second annular support 41 are assembled into a component. The two components are respectively assembled from the upper part of the actuator to the code disk shaft 30 and the sleeve 40. Then, the PCB board 50 with two Hall elements is covered downward on the first annular support 31 and the second annular support 41 to ensure that the two Hall elements correspond to the two magnetic rings respectively. In this way, the assembly of the actuator becomes simple and convenient.

[0035] In order to further optimize the axial space of the actuator, a downwardly recessed first annular groove 312 is provided on the top surface of the first annular support 31, and the first magnetic ring 81 is embedded in the first annular groove 312. The thickness of the first magnetic ring 81 is the same as the depth of the first annular groove 312, so that the first magnetic ring 81 will not protrude from the top surface of the first annular support 31; similarly, a downwardly recessed second annular groove 412 is provided on the top surface of the second annular support 41, and the second magnetic ring 82 is embedded in the second annular groove 412. The thickness of the second magnetic ring 82 is the same as the thickness of the second annular groove 412, so that the second magnetic ring 82 will not protrude from the top surface of the second annular support 41. The top surface of the first annular support 31 is flush with the top surface of the second annular support 41, and with the above structure, the upper surface of the first magnetic ring 81 is flush with the upper surface of the second magnetic ring 82; since the first magnetic ring 81 and the second magnetic ring 82 are respectively installed on the top surface of the first annular support 31 and the top surface of the second annular support 41 in a sinking manner, there is a relatively small gap between the first annular support 31 and the second annular support 41 and the PCB board 50, and since the two magnetic rings are staggered with each other in the radial direction of the actuator and the upper surfaces of the two magnetic rings are flush in the axial direction of the actuator, the space occupied by the entire speed detection structure in the axial direction of the actuator is further reduced.

[0036] It should be particularly emphasized that, in the present invention, the first mounting surface 311 may be directly disposed on the code wheel shaft 30 , and the second mounting surface 411 may be directly disposed on the shaft sleeve 40 .

[0037] In another preferred embodiment, the housing 10 includes an outer wall 11, a top wall 12, and a support wall 13, wherein the top wall 12 extends inwardly from the top of the outer wall 11 along the radial direction of the actuator, and the support wall 13 extends downwardly from the inner edge of the top wall 12, and an installation space is formed between the support wall 13 and the outer wall 11, and the motor 20 is placed in the installation space, the stator 22 of the motor 20 is fixedly sleeved on the periphery of the support wall 13, the rotor 21 is placed between the stator 22 and the outer wall 11 and surrounds the periphery of the stator 22, and the PCB board 50 is fixedly connected to the top wall 12, so that the PCB board 50 is fixed to the housing 10 and is located above the first installation surface 311 and the second installation surface 411. The outer wall 11, the top wall 12, and the support wall 13 are used to form a structure with a U-shaped cross section of the housing 10, which provides an installation space for the motor 20 and plays a good protective role for the motor 20, and at the same time, the top wall 12 is used to provide an installation base for the PCB board 50, which is convenient for the installation of the PCB board 50.

[0038] In order to further improve the convenience of installation, a mounting plate 14 is fixedly connected above the top wall 12. The upper surface of the mounting plate 14 is provided with an upwardly protruding annular rib 141. The outer edge of the PCB board 50 is circular. The PCB board 50 is placed on the upper surface of the mounting plate 14 so that its outer edge abuts against the inner edge of the annular rib 141. The annular rib 141 is used to position the PCB board 50 in the radial direction of the actuator, so that the two Hall elements pre-installed on the PCB board 50 can be aligned with the two magnetic rings in the radial direction of the actuator respectively. Then, on the basis of improving the installation accuracy of the PCB board 50, it is ensured that the speed detection of the low-speed end and the high-speed end of the actuator has good accuracy.

[0039] The above-mentioned harmonic reducer 60 includes a wave generator 62, a steel wheel 61, and a flexible wheel 63. The steel wheel 61 is fixedly matched with the housing 10. The wave generator 62 is connected to the bottom of the rotor 21 through a connecting bracket 23. An output flange 64 is fixed on the flexible wheel 63. The output flange 64 is pivotally connected to the lower shell 70 fixedly connected to the housing 10 through a bearing 71. The steel wheel 61 can be clamped and fixed between the lower shell 70 and the housing 10 so that the steel wheel 61 is fixedly matched with the housing 10. The bottom of the code disk shaft 30 is fixedly connected to the output flange 64 by bolts; a fixed bracket 15 is fixedly connected to the top of the top wall 12, and the top of the code disk shaft 30 is pivotally connected to the fixed bracket 15 through a bearing 16. In this way, the upper and lower ends of the code disk shaft 30 are pivotally matched with the housing 10 through the bearings 16 and the bearings 71 respectively. The bearings 16 and the bearings 71 play a role of radial support for the code disk shaft 30, so that the rotation of the code disk shaft 30 is more stable, thereby improving the accuracy of the low-speed end speed detection.

[0040] The lower end of the sleeve 40 is fixedly connected to the connecting bracket 23 by bolts, so that the sleeve 40 is synchronously connected with the rotor 21. The sleeve 40 is located on the inner side of the support wall 13, and the sleeve 40 is pivotally matched with the support wall 13 through the bearing 42. The support wall 13 and the bearing 42 provide radial support for the sleeve 40, so that the rotation of the sleeve 40 is more stable, thereby improving the accuracy of high-speed end speed detection.

[0041] The actuator of the present invention includes the above-mentioned rotation speed detection structure of the actuator. The other structures of the actuator are the same as those in the prior art and will not be described in detail here.

[0042] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0043] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. The speed detection structure of the actuator is characterized by: Including housing, motor and reduction mechanism; The motor includes a stator fixedly matched with the housing, a rotor matched with the stator and capable of rotating relative to the stator, and a shaft sleeve synchronously connected to the rotor and pivotally matched with the housing; the input end of the speed reduction mechanism is connected to the rotor, and the output end of the speed reduction mechanism is connected to a code disk shaft that is inserted into the shaft sleeve and coaxially arranged with the shaft sleeve; A first mounting surface is provided on the code disk shaft, and a second mounting surface is provided on the shaft sleeve. In the radial direction of the actuator, the second mounting surface is located outside the first mounting surface. A first magnetic ring is fixed on the first mounting surface, and a second magnetic ring is fixed on the second mounting surface. The central axes of the first magnetic ring and the second magnetic ring coincide with the central axis of the code disk shaft. A PCB board is fixed on the outer shell. The PCB board includes a third mounting surface facing the first mounting surface and the second mounting surface. A first Hall element and a second Hall element are installed on the third mounting surface. The first Hall element cooperates with the first magnetic ring to detect the rotation speed of the first magnetic ring to obtain the angular velocity of the code disk shaft, and the second Hall element cooperates with the second magnetic ring to detect the rotation speed of the second magnetic ring to obtain the angular velocity of the shaft sleeve. The housing includes an outer wall, a top wall extending inwardly from the top of the outer wall along the radial direction of the actuator, and a support wall extending downwardly from the inner edge of the top wall, an installation space is formed between the support wall and the side wall, the motor is placed in the installation space, the stator is fixedly connected to the periphery of the support wall, and the rotor surrounds the periphery of the stator; The PCB board is fixedly connected to the top wall so that the PCB board is located above the first mounting surface and the second mounting surface; The speed reduction mechanism is a harmonic reducer, the steel wheel of the harmonic reducer is fixedly matched with the housing, and the wave generator of the harmonic reducer is connected to the bottom of the rotor through a connecting bracket; The lower end of the shaft sleeve is fixedly connected to the connecting bracket by bolts so that the shaft sleeve is synchronously connected with the rotor; the shaft sleeve is located on the inner side of the supporting wall and is pivotally matched with the supporting wall through a bearing.

2. The rotation speed detection structure of the actuator according to claim 1, characterized in that: A first annular support is detachably fixed on the code disk shaft, and a second annular support surrounding the first annular support is detachably fixed on the sleeve. The top surface of the first annular support forms a first mounting surface, and the top surface of the second annular support forms a second mounting surface.

3. The rotation speed detection structure of the actuator according to claim 2, characterized in that: A first annular groove which is concave downward is arranged on the top surface of the first annular support, and the first magnetic ring has a thickness which is the same as the depth of the first annular groove and is embedded in the first annular groove; A second annular groove is recessed downwardly on the top surface of the second annular support. The thickness of the second magnetic ring is the same as the depth of the second annular groove and is embedded in the second annular groove. The upper surface of the first magnetic ring is flush with the upper surface of the second magnetic ring.

4. The rotation speed detection structure of the actuator according to claim 2, characterized in that: A fixing seat is sleeved on the code disc shaft, a set screw is threaded on the fixing seat, the inner end of the set screw is embedded in the screw hole provided on the code disc shaft, and the first annular support is sleeved on the fixing seat and matched with the fixing seat thread.

5. The rotation speed detection structure of the actuator according to claim 2, characterized in that: The second annular support sleeve is arranged on the top of the shaft sleeve and is threadably matched with the shaft sleeve.

6. The rotation speed detection structure of the actuator according to claim 1, characterized in that: A mounting plate is fixedly connected above the top wall, and an upwardly protruding annular rib is arranged on the upper surface of the mounting plate. The outer edge of the PCB board is circular and abuts against the inner edge of the annular rib.

7. The rotation speed detection structure of the actuator according to claim 1, characterized in that: The reduction mechanism is a harmonic reducer, the steel wheel of the harmonic reducer is fixedly matched with the shell, the wave generator of the harmonic reducer is connected to the bottom of the rotor through a connecting bracket, the flexible wheel of the harmonic reducer is fixed with an output flange pivotally connected to the shell through a bearing, the bottom of the code disk shaft is fixedly connected to the output flange; a fixed bracket is fixedly connected to the top of the top wall, and the top of the code disk shaft is pivotally connected to the fixed bracket through a bearing.

8. An actuator, characterized in that The invention comprises a rotation speed detection structure of an actuator as described in any one of claims 1 to 7.

Images