Angle feedback rotary actuator and angle detection method

Abstract

The invention belongs to the technical field of rotary actuators, and particularly relates to an angle feedback rotary actuator and an angle detection method. The rotary actuator comprises a power source, a reduction gear set driven by the power source, a rotary output piece and a shell. The rotary output part is rotatably assembled on the shell; the reduction gear set is used for increasing the torque of the rotary driving force of the power source and then transmitting the torque to the rotary output part; a fluted disc is arranged on the rotary output piece, and a magnetic block is fixed on the fluted disc; the rotary output piece has a preset rotation angle range, and the motion path of the magnetic block is limited; magnetic detection elements are arranged in the shell and are opposite to the two ends of the motion path of the magnetic block respectively; the magnetic detection element is triggered to respond when the magnetic block rotates to a position opposite to the magnetic detection element; an optical code disc is installed on a rotating shaft of the power source, an optical detection element is installed on the shell, and the optical code disc rotates to trigger the optical detection element to respond. The actuator not only can provide high-precision position feedback, but also has excellent stability and is easy to maintain.

Description

Technical Field

[0001] The present invention belongs to the technical field of rotary actuators, and in particular relates to an angle feedback rotary actuator and an angle detection method. Background Art

[0002] With the development of smart home appliances, robots and other automated equipment, the demand for precise control of rotating parts is increasing. In these applications, the ability to accurately and reliably control the rotation angle is essential to achieve the intended function of the product. For example, in application scenarios such as door control systems in smart home appliances and joints of robots, rotary actuators must have high-precision position control capabilities to ensure accuracy and safety of operation.

[0003] Traditional rotary actuators typically rely on mechanical limit switches or contact sensors to determine the position of rotating parts. However, this type of structure has some significant disadvantages. First, mechanical contact may cause wear and loss of reliability, especially in long-term use or frequent operation. Second, contact sensors are easily affected by environmental factors such as dust and moisture, which may cause signal distortion or even complete failure. In addition, the installation and maintenance of such sensors are often complicated and require regular inspection and adjustment, which increases costs and reduces efficiency. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an angle feedback rotary actuator and an angle detection method. The purpose of the present invention is to provide a rotary actuator that can provide high-precision position feedback, has excellent stability and is easy to maintain.

[0005] The rotary actuator of the present invention includes a power source located at the upstream end of the power, a reduction gear group driven by the power source, a rotary output member located at the downstream end of the power for outputting a rotary driving force to an object of action, and a shell; the rotary output member is rotatably mounted on the shell, and the reduction gear group increases the torque of the rotary driving force of the power source and transmits it to the rotary output member; the rotary output member is provided with a toothed disc, and a magnetic block is fixed on the toothed disc; the rotary output member has a preset rotation angle range, which limits the movement path of the magnetic block; magnetic detection elements are respectively provided at both ends of the movement path of the magnetic block in the shell; when the magnetic block rotates to a position facing the magnetic detection element, the magnetic detection element is triggered to respond; an optical encoder is installed on the rotating shaft of the power source, and an optical detection element is installed on the shell, and the rotation of the optical encoder triggers the response of the optical detection element.

[0006] As a further optimization solution for the angle feedback rotary actuator, an embedding hole is provided on the toothed disc and on the side facing the magnetic detection element, and the magnetic block is installed in the embedding hole.

[0007] As a further optimization solution for the angle feedback rotary actuator: an elastic barb is provided at the opening of the embedding hole, and the elastic barb is in conflict with at least one side surface of the magnetic block accommodated in the embedding hole.

[0008] As a further optimization solution for the angle feedback rotary actuator: the rotary output member includes a shaft body and a gear disk integrally formed with the shaft body; the gear disk is accommodated in the housing, and at least one end of the shaft body is exposed from the housing.

[0009] As a further optimization solution for the angle feedback rotary actuator: one end of the shaft body exposed from the housing has a spline hole, and the end surface of the spline hole is flush with the outer wall of the housing at a neighboring position.

[0010] As a further optimization solution for the angle feedback rotary actuator: the reduction ratio from the power source to the rotary output member is 10~200.

[0011] As a further optimization solution for the angle feedback rotary actuator: the magnetic detection element is integrated on a prefabricated circuit board, the prefabricated circuit board has preset element mounting points forming a preset angle, the preset angle matches the preset rotation angle of the rotary output member; the prefabricated circuit board is mounted on the inner wall of the shell.

[0012] As a further optimization solution for the angle feedback rotary actuator: a limiting sleeve portion is formed on the inner wall of the shell and around the rotary output member; at least one side of the prefabricated circuit board has an arc-shaped interference edge, which interferes with the outer wall of the limiting sleeve portion.

[0013] As a further optimization of the angle feedback rotary actuator: the preset rotation angle of the rotary output member is 10°~180°.

[0014] As a further optimization solution for the angle feedback rotary actuator: the power source is an electric motor.

[0015] The angle detection method of the angle feedback rotary actuator comprises the following steps: Before starting, confirm that the rotating output member is at the minimum rotation angle or the maximum rotation angle, that is, the magnetic block is facing a magnetic detection element, and the magnetic detection element responds; Start the power source, and drive the rotating output member to start rotating through the reduction gear set; During the rotation of the rotating output member, the pulse signal from the optical code disk received by the light detection element is continuously monitored to calculate the real-time rotation speed and rotation angle of the rotating output member; When the magnetic block reaches a preset maximum rotation angle or a preset minimum rotation angle, the corresponding magnetic detection element is triggered to respond, and the control system immediately stops the power source according to the response of the magnetic detection element.

[0016] As a further optimization scheme of the angle detection method of the angle feedback rotary actuator: it also includes when the rotating output member moves from the maximum rotation angle to the minimum rotation angle or when the rotating output member moves from the minimum rotation angle to the maximum rotation angle, the control system dynamically adjusts the power output of the power source according to the real-time rotation speed information provided by the light detection element and according to the preset speed-time curve.

[0017] As a further optimization scheme of the angle detection method of the angle feedback rotary actuator: it also includes a periodic self-test step, wherein the power source is started in the self-test mode and the number of pulse signals received by the light detection element is recorded; when the rotating output member moves from the minimum rotation angle to the maximum rotation angle, the deviation between the actual recorded number of pulse signals and the theoretical value is compared; when the actual deviation exceeds the preset allowable deviation range, the control system sends an alarm signal that maintenance is required.

[0018] Beneficial Effects The actuator provided by the present invention can be widely used in application scenarios that require high-precision positioning, such as door control systems in smart home appliances, robot joints, etc. The actuator realizes precise control and monitoring of the rotation angle of the rotating output part through the cooperation of the magnetic detection element at the output end and the optical code disk at the power end. The non-contact design of the magnetic block and the magnetic detection element not only improves the durability and reliability of the system, but also simplifies the installation process and reduces maintenance costs. At the same time, the optical code disk works in conjunction with the optical detection element to provide real-time information on the power source speed and rotation angle, so that the control system can dynamically adjust the motor power to achieve smooth starting, acceleration, deceleration and stopping, ensuring the accuracy and efficiency of the rotation operation.

[0019] In addition, by fixing the magnetic detection element on a prefabricated circuit board with a preset angle point and using elastic barbs to fix the magnetic block, long-term stability is ensured, angle deviations caused by installation errors are reduced, and quick assembly is facilitated.

[0020] The actuator provided by the present invention also has a self-checking function, which can regularly check mechanical deviations and promptly discover potential faults, further improving the reliability and safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 and Figure 2 Schematic diagram of the overall structure of the rotary actuator.

[0022] Figure 3 , Figure 4 and Figure 5 Schematic diagram of the internal structure of the rotary actuator.

[0023] Figure 6 It is a structural schematic diagram of the rotating output member.

[0024] In the figure: 1. power source; 2. reduction gear set; 3. rotation output member; 4. optical encoder; 5. optical detection element; 6. prefabricated circuit board; 8. magnetic detection element; 9. housing; 31. toothed disc; 32. shaft body; 91. limiting sleeve portion; 311. magnetic block; 312. elastic barb. DETAILED DESCRIPTION

[0025] The present invention is further illustrated by the following examples, which are intended to more clearly illustrate the technical solution of the present invention and should not be construed as a limitation.

[0026] like Figures 1 to 6 As shown, an angle feedback rotary actuator can be used in application scenarios such as smart home appliances and robots that require precise control of the rotation angle, including a power source 1 located at the upstream end of the power, a reduction gear set 2 driven by the power source 1, a rotary output member 3 located at the downstream end of the power for outputting a rotary driving force to an object, and a housing 9; the rotary output member 3 is rotatably mounted on the housing 9, the power source 1 and the reduction gear set 2 are arranged in the housing 9, and the reduction gear set 2 transmits the rotary driving force of the power source 1 to the rotary output member 3 after torque increase. The housing 9 is used to protect the internal components from the external environment and provide a stable working environment for the internal devices. The power source 1 provides the original power output, and the rotary output member 3 is the part that directly contacts the external load. The reduction gear set 2 is located between the power source 1 and the rotary output member 3, and reduces the speed and increases the torque through a series of gears, so that the rotary output member 3 obtains a larger torque and a relatively slow rotation speed, thereby being able to drive a heavier load.

[0027] like Figure 3 and Figure 6As shown, the rotating output member 3 has a toothed disc 31, and a magnetic block 311 is fixed on the toothed disc 31; the rotating output member 3 has a preset rotation angle range, which limits the movement path of the magnetic block 311; magnetic detection elements 8 are respectively provided at both ends of the movement path of the magnetic block 311 in the housing 9; when the magnetic block 311 rotates to a position facing the magnetic detection element 8, the magnetic detection element 8 is triggered to respond; an optical encoder 4 is installed on the rotating shaft of the power source 1, and a light detection element 5 is installed on the housing 9, and the rotation of the optical encoder 4 triggers the light detection element 5 to respond. The toothed disc 31 is fixed on the rotating output member 3 and is equipped with a magnetic block 311. When the rotating output member 3 rotates, the magnetic block 311 will also move accordingly. When the magnetic block 311 rotates to a specific position with the rotating output member 3, that is, the position where the magnetic detection element 8 is located, the magnetic detection element 8 will be triggered to generate a signal, thereby allowing the angle of the rotating output member 3 to be detected in a non-contact manner. The two magnetic detection elements 8 are used to detect whether the rotating output member 3 has reached the preset minimum rotation angle corresponding to the initial position and the maximum rotation angle corresponding to the end position. Accurately judging the limit position can provide an accurate reference for the control of the rotating output member 3. For example, when the rotating output member 3 rotates to the limit position, the power is immediately cut off to avoid overload. Another example is that after power failure, the position of the rotating output member 3 can be directly found according to the signal of the magnetic detection element 8. The optical encoder 4 is installed on the rotating shaft of the power source 1. When the power source 1 rotates, the optical detection element 5 can generate pulse signals according to the changes in the light passing through the optical encoder. These pulse signals are used to calculate the rotation speed and angle, thereby achieving more precise control of the output of the power source 1 and more accurate measurement of the real-time angle of the rotating output member 3.

[0028] like Figure 6 As shown, there is an embedding hole on the toothed disc 31 and on one side facing the magnetic detection element 8, and the magnetic block 311 is installed in the embedding hole. By embedding the magnetic block 311 into the embedding hole of the toothed disc 31, the design of the entire rotary output member 3 can be made more compact. Embedding the magnetic block 311 instead of sticking or fixing it on the surface can effectively prevent the magnetic block 311 from falling off due to vibration, collision, etc. during long-term use, thereby ensuring the accuracy of the angle feedback information. Once the magnetic block 311 falls off, not only will the position detection function be lost, but the internal component structure may also be damaged.

[0029] like Figure 6As shown, the opening of the embedding hole is provided with an elastic barb 312, and the elastic barb 312 contacts at least one side surface of the magnetic block 311 accommodated in the embedding hole. The elastic barb 312 can provide additional mechanical restraint to ensure that the magnetic block 311 is firmly fixed in the embedding hole. When the magnetic block 311 is pressed into the embedding hole, the elastic barb 312 will deform slightly to allow the magnetic block 311 to enter, and then return to its original shape to tightly hold the magnetic block 311, which not only simplifies the assembly process, but also ensures the long-term stability and accuracy of the angle feedback system.

[0030] Preferably, if Figure 6 As shown, the rotary output member 3 includes a shaft body 32 and a toothed disc 31 integrally formed with the shaft body 32 ; the toothed disc 31 is accommodated in the housing 9 , and at least one end of the shaft body 32 is exposed from the housing 9 .

[0031] Preferably, if Figure 2 As shown, one end of the shaft body 32 exposed from the housing 9 has a spline hole, and the end surface of the spline hole is flush with the outer wall of the housing 9 at a neighboring position.

[0032] Preferably, the reduction ratio from the power source 1 to the rotary output member 3 is 10-200.

[0033] like Figure 4 and Figure 5 As shown, the magnetic detection element 8 is integrated on the prefabricated circuit board 6, and the prefabricated circuit board 6 has a preset component installation point that constitutes a preset angle, and the preset angle matches the preset rotation angle of the rotating output member 3; the prefabricated circuit board 6 is installed on the inner wall of the housing 9. By presetting the component installation point on the prefabricated circuit board 6, it can be ensured that the magnetic detection element 8 is installed at a very precise angle, so as to accurately correspond to the movement path of the magnetic block 311 in the rotating output member 3. The use of the prefabricated circuit board 6 with preset points makes the installation of the sensitive components of the magnetic detection element 8 simpler and faster, without the need for complex positioning and adjustment work on site, and greatly reduces the time cost of production and assembly while ensuring accuracy. In addition, since the magnetic detection element 8 is arranged based on the angle after precise calculation, it can more reliably capture the state change when the rotating output member 3 reaches its minimum or maximum rotation angle, reduce the possibility of misjudgment due to installation errors, and improve the stability and reliability of the system.

[0034] like Figure 5 As shown, a limiting sleeve portion 91 is formed on the inner wall of the housing 9 and around the rotating output member 3; at least one side of the prefabricated circuit board 6 has an arc-shaped abutment edge, which abuts against the outer wall of the limiting sleeve portion 91. By making the abutment edge of the prefabricated circuit board 6 in close contact with the limiting sleeve portion 91, the installation accuracy of the prefabricated circuit board 6 in the radial direction can be significantly improved, thereby ensuring the deviation of the angle of the magnetic detection element 8 caused by the installation process.

[0035] Preferably, the preset rotation angle of the rotary output member 3 is 10° to 180°.

[0036] Preferably, the magnetic detection element 8 is a Hall element, and the light detection element 5 is a photoelectric sensor.

[0037] Preferably, the power source 1 is a motor.

[0038] Control of rotary actuators with angular feedback.

[0039] Case 1: The rotation output member 3 moves from the initial position corresponding to the minimum rotation angle to the terminal position corresponding to the maximum rotation angle, including the following steps: A1 Initialization: Before starting the power source 1, confirm that the rotating output member 3 is at the minimum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotating output member 3 is in the initial position.

[0040] A2 start: Start the power source 1, and drive the rotating output member 3 to start rotating through the reduction gear set 2. During the rotation, the magnetic block 311 moves with it, leaving the magnetic detection element 8 corresponding to the initial position, and the magnetic detection element 8 no longer responds. When the power source 1 is started, the optical encoder 4 and the optical detection element 5 begin to monitor the speed of the power source 1. The control system adjusts the output of the power source 1 according to the preset speed change curve over time, and calibrates the speed deviation of the power source 1 according to the feedback of the optical detection element 5.

[0041] A3 Monitoring and Control: As the rotating output member 3 approaches the maximum rotation angle, the magnetic block 311 gradually approaches another magnetic detection element 8. When the magnetic block 311 reaches the maximum rotation angle, it triggers another magnetic detection element 8 to respond. After receiving the signal, the control system immediately stops the power source 1 to prevent overload or exceeding the preset maximum angle. During the rotation process, the optical detection element 5 continuously receives the pulse signal emitted by the optical code disk 4 and calculates the real-time rotation speed. Based on the real-time rotation speed information, the control system can dynamically adjust the power output of the power source 1, for example, gradually reduce the rotation speed when approaching the maximum rotation angle to achieve a softer stop.

[0042] A4 ends: After the power source 1 stops, the rotary output member 3 remains at the maximum rotation angle position.

[0043] Case 2: The rotation output member 3 moves from the end position corresponding to the maximum rotation angle to the initial position corresponding to the minimum rotation angle, including the following steps: B1 Initialization: Confirm that the rotating output member 3 is at the maximum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotating output member 3 is at the end position.

[0044] B2 Reverse: Reverse the direction of the power source 1, and drive the rotating output member 3 to rotate in the opposite direction through the reduction gear set 2. During the rotation process, the magnetic block 311 moves in the opposite direction with the rotating output member 3, leaving the magnetic detection element 8 corresponding to the end position, and the magnetic detection element 8 no longer responds. When the power source 1 is started to reverse, the optical encoder 4 and the optical detection element 5 begin to monitor the speed of the power source 1. The control system adjusts the output of the power source 1 according to the preset speed change curve over time, and calibrates the speed deviation of the power source 1 according to the feedback of the optical detection element 5.

[0045] B3 Monitoring and control: As the rotating output member 3 approaches the minimum rotation angle, the magnetic block 311 will gradually approach the magnetic detection element 8 corresponding to the initial position. When the magnetic block 311 returns to the minimum rotation angle, the corresponding magnetic detection element 8 is triggered to respond, and the control system immediately stops the power source 1 after receiving the signal to prevent overload or exceeding the preset minimum angle. During this period, the light detection element 5 continues to monitor the pulse signal generated by the optical code disk 4 and provides real-time speed data. When approaching the minimum rotation angle, the control system can slow down the speed of the power source 1 based on the data of the light detection element 5 to achieve the purpose of a smooth stop.

[0046] End of B4: After the power source 1 stops, the rotary output member 3 is kept at the minimum rotation angle position.

[0047] Case 3: Returning the rotating output member 3, that is, the rotating output member 3 may stop at any position, and it may be necessary to return the rotating output member 3 to the initial position corresponding to the minimum rotation angle, including the following steps: C1 system check: confirm that the control system is ready to receive the signal from the magnetic detection element 8.

[0048] C2 Determine the current position: Determine the current position of the rotating output member 3 through the existing magnetic detection element 8. If the magnetic block 311 is facing a magnetic detection element 8, it can be determined that the rotating output member 3 is at the maximum or minimum rotation angle; if no magnetic detection element 8 responds, it is determined that the rotating output member 3 is at a position between the two extreme positions.

[0049] C3 judges the start of homing: selects the correct direction according to the current position to drive the rotating output member 3. If the rotating output member 3 is at the maximum rotation angle or between the maximum rotation angle and the minimum rotation angle, the power source 1 needs to be reversed to move the rotating output member 3 toward the minimum rotation angle. If the rotating output member 3 is already at the minimum rotation angle, no action is required.

[0050] C4 monitoring and control: Start driving the rotating output member 3 to move toward the minimum rotation angle. During this process, the state of the magnetic detection element 8 is continuously monitored. When the rotating output member 3 approaches the minimum rotation angle, the magnetic block 311 gradually approaches the magnetic detection element 8 corresponding to the initial position. Once the magnetic block 311 reaches the minimum rotation angle, the corresponding magnetic detection element 8 is triggered to respond, and the control system immediately stops the power source 1 after receiving the signal.

[0051] C5 Confirming the return position: After the power source 1 stops, confirm again whether the magnetic detection element 8 keeps responding to ensure that the rotating output member 3 has returned to the minimum rotation angle.

[0052] Case 4: Regularly self-check the mechanical deviation of the actuator to ensure the accuracy and reliability of the system. The specific steps are as follows: D1 Initialization: Before starting the self-test, confirm that the rotating output member 3 is at the minimum rotation angle, that is, the magnetic block 311 is facing a magnetic detection element 8, and the magnetic detection element 8 has responded, indicating that the rotating output member 3 is in the initial position.

[0053] D2 Start self-check: The control system is set to self-check mode and is ready to record the number of pulse signals received by the light detection element 5. The power source 1 is started to drive the rotating output member 3 to move from the minimum rotation angle to the maximum rotation angle through the reduction gear set 2.

[0054] D3 Monitoring and data collection: During the rotation process, the optical detection element 5 continuously receives the pulse signals sent by the optical code disk 4 and records the number of these pulse signals. At the same time, when the magnetic block 311 reaches the maximum rotation angle, another magnetic detection element 8 is triggered to respond, and the control system immediately stops the power source 1 after receiving the signal.

[0055] D4 Data processing and analysis: The control system calculates the number of pulse signals that the light detection element 5 should receive from the minimum rotation angle to the maximum rotation angle according to the reduction ratio. Then, the number of pulse signals actually recorded is compared with the theoretical value.

[0056] D5 Deviation Judgment: If the deviation between the actual pulse signal number and the theoretical value is within the preset allowable range, the actuator is considered to be in normal working condition and can continue to be used. If the deviation exceeds the preset allowable range, it indicates that there is a large mechanical wear or other fault. At this time, the control system sends an alarm signal, indicating that the actuator or related components need to be maintained or replaced.

[0057] D6 End and Report: After completing the self-test, the control system generates a self-test report, which contains the test results, deviation information, and a judgment on whether maintenance is required.

[0058] D7 Return: After the self-check is completed, the rotating output member 3 is returned to the initial position corresponding to the minimum rotation angle according to the steps described in situation 2 or 3 to facilitate the next operation.

[0059] This self-checking mechanism can help users detect potential problems in a timely manner and prevent inaccurate angle feedback caused by mechanical wear, thereby ensuring the long-term safe and reliable operation of the actuator.

[0060] The above embodiments are exemplary, and their purpose is to illustrate the technical concept and features of the present invention so that people familiar with the technology in this field can understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An angle feedback rotary actuator, characterized in that: The invention comprises a power source (1) located at an upstream end of the power source, a reduction gear set (2) driven by the power source (1), a rotation output member (3) located at a downstream end of the power source and used to output a rotational driving force to an object, and a housing (9); the rotation output member (3) is rotatably mounted on the housing (9); the reduction gear set (2) increases the torque of the rotational driving force of the power source (1) and transmits it to the rotation output member (3); the rotation output member (3) has a toothed disc (31), and a magnetic block (311) is fixed to the toothed disc (31); the rotation output member (3) is provided with a toothed disc (31) ... The output member (3) has a preset rotation angle range, which limits the movement path of the magnetic block (311); magnetic detection elements (8) are respectively provided at both ends of the movement path of the magnetic block (311) in the housing (9); when the magnetic block (311) rotates to a position facing the magnetic detection element (8), the magnetic detection element (8) is triggered to respond; an optical code disk (4) is installed on the rotating shaft of the power source (1), and a light detection element (5) is installed on the housing (9); the rotation of the optical code disk (4) triggers the light detection element (5) to respond.

2. The angle feedback rotary actuator according to claim 1, characterized in that: An embedding hole is provided on the toothed disc (31) on a side facing the magnetic detection element (8), and the magnetic block (311) is installed in the embedding hole.

3. The angle feedback rotary actuator according to claim 2, characterized in that: An elastic barb (312) is provided at the opening of the embedding hole, and the elastic barb (312) abuts against at least one side surface of the magnetic block (311) accommodated in the embedding hole.

4. The angle feedback rotary actuator according to claim 2, characterized in that: The rotary output member (3) comprises a shaft body (32) and a toothed disc (31) integrally formed with the shaft body (32); the toothed disc (31) is accommodated in the housing (9), and at least one end of the shaft body (32) is exposed from the housing (9); the end of the shaft body (32) exposed from the housing (9) has a spline hole, and an end surface of the spline hole is flush with an outer wall of the housing (9) at a location adjacent thereto.

5. The angle feedback rotary actuator according to any one of claims 1 to 4, characterized in that: The reduction ratio from the power source (1) to the rotary output member (3) is 10-200.

6. The angle feedback rotary actuator according to claim 5, characterized in that: The magnetic detection element (8) is integrated on a prefabricated circuit board (6), the prefabricated circuit board (6) having preset element mounting points forming a preset angle, the preset angle matching a preset rotation angle of the rotary output member (3); the prefabricated circuit board (6) is mounted on the inner wall of the housing (9).

7. The angle feedback rotary actuator according to claim 6, characterized in that: A limiting sleeve portion (91) is formed on the inner wall of the housing (9) and around the rotary output member (3); at least one side of the prefabricated circuit board (6) has an arc-shaped abutment edge, the abutment edge abutting against the outer wall of the limiting sleeve portion (91).

8. The angle detection method of the angle feedback rotary actuator according to any one of claims 1 to 7, characterized in that: The following steps are involved: Before starting, confirming that the rotary output member (3) is at the minimum rotation angle or the maximum rotation angle, that is, the magnetic block (311) is facing one of the magnetic detection elements (8), and the magnetic detection element (8) responds; Starting the power source (1) to drive the rotary output member (3) to start rotating via the reduction gear set (2); During the rotation of the rotating output member (3), the pulse signal received by the light detection element (5) from the optical code disk (4) is continuously monitored to calculate the real-time rotation speed and rotation angle of the rotating output member (3); When the magnetic block (311) reaches a preset maximum rotation angle or a preset minimum rotation angle, the corresponding magnetic detection element (8) is triggered to respond, and the control system immediately stops the power source (1) according to the response of the magnetic detection element (8).

9. The angle detection method of the angle feedback rotary actuator according to claim 8, characterized in that: The control system also includes dynamically adjusting the power output of the power source (1) according to the real-time rotation speed information provided by the light detection element (5) and according to a preset rotation speed-time curve when the rotation output member (3) moves from a maximum rotation angle to a minimum rotation angle or when the rotation output member (3) moves from a minimum rotation angle to a maximum rotation angle.

10. The angle detection method of the angle feedback rotary actuator according to claim 8, characterized in that: The method further comprises a periodic self-checking step, wherein the power source (1) is started in a self-checking mode, and the number of pulse signals received by the light detection element (5) is recorded; when the rotary output member (3) moves from a minimum rotation angle to a maximum rotation angle, the deviation between the number of pulse signals actually recorded and a theoretical value is compared; when the actual deviation exceeds a preset allowable deviation range, the control system issues an alarm signal indicating that maintenance is required.

Images