Joint motor with end-mounted encoder and power-off self-locking function

Abstract

The application discloses a kind of end encoder joint motor with power-off self-locking function, comprising: worm gear reduction motor, movable arm connecting piece, mounting bracket, inductive magnetic sheet, hall element and magnetic encoder.The output shaft of worm gear reduction motor is divided into long shaft section and short shaft section, and is located on both sides respectively.Movable arm connecting piece is installed on long shaft section, and is driven to realize swing.Mounting bracket is fixed to motor housing, and the mounting plate and fixed plate arranged in parallel, the mounting plate can be rotatably sleeved on long shaft section, and the fixed plate is located on the side of short shaft section and is distributed with axial interval.Short shaft section is provided with inductive magnetic sheet, which can rotate synchronously with shaft;Hall element on fixed plate is used to detect the direction change of magnetic field, and magnetic encoder outputs the absolute angular value of output shaft according to hall signal output.The end encoder joint motor with power-off self-locking function provided by the application improves the accuracy of joint positioning and the stability of power-off position.

Description

Technical Field

[0001] This invention relates to the field of articulated motor technology, and more particularly to an end-mounted encoder articulated motor with a power-off self-locking function. Background Technology

[0002] In applications such as robot joints, automated equipment, and small robotic arms, it is necessary to achieve precise angle control and position maintenance in the event of power failure within a limited cost. Relying on angle closed-loop control combined with a mechanical self-locking structure improves the stability of joint use and is widely used in the fields of lightweight robotic arms and small rotary actuators.

[0003] Currently, most joint drive motors on the market and in existing patents adopt one of three solutions: open-loop worm gear motors without coding, high-speed end-coded geared motors, and standard servo or stepper motors. The joint positioning accuracy and stability of the power-off position are relatively poor for these three solutions. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide an end-mounted encoder joint motor with a power-off self-locking function, which improves the accuracy of joint positioning and the stability of the power-off position.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An end-mounted encoder joint motor with a power-off self-locking function includes: a worm gear reducer motor, a boom connector, a mounting bracket, an induction magnetic sheet, a Hall element, and a magnetic encoder;

[0007] The output shaft of the worm gear reducer motor has a long shaft section and a short shaft section, which are located on opposite sides.

[0008] The boom connector is located on the long shaft section so that it can swing under the drive of the long shaft section;

[0009] The mounting bracket is mounted on the housing of the worm gear reducer motor. The mounting bracket has a mounting plate and a fixing plate. The mounting plate and the fixing plate are arranged in parallel. The mounting plate is rotatably sleeved on the periphery of the long shaft section. The fixing plate is located on the side close to the short shaft section. The fixing plate and the short shaft section are distributed at intervals along the axial length direction of the output shaft.

[0010] The inductive magnetic sheet is disposed on the short shaft section so that it can rotate with the short shaft section;

[0011] The Hall element is disposed on the fixed plate and is used to sense changes in the direction of the magnetic field;

[0012] The magnetic encoder is mounted on the fixed plate and is electrically connected to the Hall element. The magnetic encoder is used to output the absolute angle value of the output shaft according to the signal change of the Hall element.

[0013] Furthermore, the mounting plate is provided with a fixed arm connector, which is used to connect to an external mounting part.

[0014] Furthermore, the fixed arm connector is a square flange structure.

[0015] Furthermore, the mounting bracket, the boom connector, and the fixed boom connector are all 3D printed structural parts.

[0016] Furthermore, the magnetic encoder is an absolute magnetic encoder with an I2C digital interface, which is used to connect to an external receiver and output the absolute angle value of the output shaft in real time.

[0017] Furthermore, the magnetic encoder is an AS5600 absolute magnetic encoder.

[0018] Furthermore, the magnetic encoder is a 12-bit resolution magnetic encoder.

[0019] Furthermore, the inductive magnetic sheet is made of radially magnetized steel.

[0020] Furthermore, the boom connector is a bushing structure, and the boom connector is screwed onto the long shaft section so as to swing with the rotation of the long shaft section.

[0021] Furthermore, the short shaft segment has a mounting end face, the fixing plate is provided with an alignment hole, the fixing plate is detachably connected to a receiving plate, and the receiving plate can block the alignment hole; the short shaft segment extends into the alignment hole and has a gap with the receiving plate; the sensing magnetic sheet is disposed on the mounting end face, the Hall element is disposed on the receiving plate and located in the alignment hole, and the sensing surface of the Hall element faces the mounting end face; the magnetic encoder is disposed on the receiving plate.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. The output shaft of the worm gear reducer motor has a long shaft section and a short shaft section, which are located on opposite sides. The boom connector is located on the long shaft section so that it can swing under the drive of the long shaft section. The induction magnet is located on the short shaft section so that it can rotate with the short shaft section. This invention achieves independent and synchronous linkage between the power output boom connector and the detection induction magnet on both sides of the output shaft by arranging the power output boom connector and the detection induction magnet on both sides of the shaft section. This avoids interference between the power transmission process and the angle detection, thereby improving the overall positioning accuracy of the joint.

[0024] 2. Based on the mounting bracket installed on the housing of the worm gear reducer motor, the mounting bracket has a mounting plate and a fixing plate, the mounting plate and the fixing plate are arranged in parallel, the mounting plate is rotatably sleeved on the periphery of the long shaft section, the fixing plate is located on the side close to the short shaft section, and the fixing plate and the short shaft section are distributed at intervals along the axial length direction of the output shaft; the present invention forms a stable mounting structure through the parallel mounting plate and fixing plate, providing a precise fixed mounting position for subsequent detection elements, while using the interval layout structure to avoid motion interference of the rotating structure, ensuring the stability and accuracy of angle detection, and further optimizing the joint positioning accuracy.

[0025] 3. Based on the Hall element mounted on the fixed plate and used to sense changes in the direction of the magnetic field, the magnetic encoder is mounted on the fixed plate and electrically connected to the Hall element. The magnetic encoder is used to output the absolute angle value of the output shaft according to the signal change of the Hall element. This invention integrates the Hall element and the magnetic encoder on the fixed plate, utilizes the Hall element to sense the magnetic field change of its sensing magnetic sheet in real time, and cooperates with the magnetic encoder to accurately output the absolute angle of the output shaft. Combined with the power-off self-locking characteristic of the worm gear reducer motor, the joint position can be stably locked after power failure, preventing position displacement problems and improving the stability of the power-off position. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of an end-mounted encoder joint motor with power-off self-locking function according to the present invention;

[0027] Figure 2 This is a cross-sectional schematic diagram of the present invention;

[0028] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0029] In the diagram: 1. Worm gear reducer motor; 11. Long shaft section; 12. Short shaft section; 121. Mounting end face; 2. Boom connector; 3. Mounting bracket; 31. Mounting plate; 32. Fixing plate; 321. Alignment hole; 4. Induction magnetic sheet; 5. Hall element; 6. Magnetic encoder; 7. Fixed boom connector; 8. Support plate. Detailed Implementation

[0030] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0031] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] See Figures 1-3 A preferred embodiment of the present invention provides an end-mounted encoder joint motor with a power-off self-locking function, comprising: a worm gear reducer motor 1, a boom connector 2, a mounting bracket 3, an induction magnetic sheet 4, a Hall element 5, and a magnetic encoder 6.

[0034] The output shaft of the worm gear reducer motor 1 has a long shaft section 11 and a short shaft section 12, which are located on opposite sides.

[0035] The boom connector 2 is located on the long shaft section 11 so that it can swing under the drive of the long shaft section 11.

[0036] The mounting bracket 3 is disposed on the housing of the worm gear reducer motor 1. The mounting bracket 3 has a mounting plate 31 and a fixing plate 32. The mounting plate 31 and the fixing plate 32 are arranged in parallel. The mounting plate 31 is rotatably sleeved on the periphery of the long shaft section 11. The fixing plate 32 is located on the side close to the short shaft section 12. The fixing plate 32 and the short shaft section 12 are distributed at intervals along the axial length direction of the output shaft.

[0037] The inductive magnetic sheet 4 is disposed on the short shaft section 12 so that it can rotate with the short shaft section 12;

[0038] The Hall element 5 is disposed on the fixed plate 32 and is used to sense changes in the direction of the magnetic field;

[0039] The magnetic encoder 6 is mounted on the fixed plate 32 and is electrically connected to the Hall element 5. The magnetic encoder 6 is used to output the absolute angle value of the output shaft according to the signal change of the Hall element 5.

[0040] Among them, the worm gear reducer motor 1 can be a double-headed worm gear reducer motor; the Hall element 5 can be an all-polar Hall element, a unipolar Hall element, or a latching Hall element.

[0041] The working principle of this invention is as follows: During use, the operator fixes the mounting frame 3 in a specific location and assembles the boom connector 2 with the external components that need to be connected, completing the overall installation. After the equipment is powered on, the magnetic encoder 6 reads the absolute angle data of the output shaft, compares the current actual angle with the preset target angle, and then drives the worm gear reducer motor 1 to operate. The worm gear reducer motor 1 synchronously drives the long shaft section 11 and the short shaft section 12 at both ends of the same output shaft to rotate synchronously, thereby driving the boom connector 2 on the long shaft section 11 and the induction magnetic sheet 4 on the short shaft section 12 to rotate synchronously. The magnetic encoder 6 uses the Hall element 5 to non-contactly sense the change in the magnetic field of the induction magnetic sheet 4 rotating with the shaft, collecting the real rotation angle of the output shaft in real time to form a closed-loop control until the boom connector... Connector 2 rotates with the output shaft to the target angle position. After the equipment is powered off, the worm gear reducer motor 1 has a reverse self-locking capability due to its own transmission characteristics. External reverse force cannot drive the output shaft to rotate. Mechanical self-locking is achieved by relying on meshing friction, locking the output shaft and boom connector 2 at the angle position at the moment of power failure. When the equipment is powered on again, the magnetic encoder 6 at the end of the short shaft section 12 can directly read the current absolute angle value of the output shaft. There is no need to perform zeroing operation, and the worm gear reducer motor 1 can be driven again to complete the angle adjustment. If it is necessary to release the self-locking state, only a positive driving torque needs to be applied to the worm gear reducer motor 1. The motor output power overcomes the self-locking friction, and the output shaft and boom connector 2 can be driven to rotate freely to adjust the position.

[0042] The worm gear reducer motor 1 has a long shaft section 11 and a short shaft section 12 on its output shaft, which are located on opposite sides. The boom connector 2 is located on the long shaft section 11 and can swing under the drive of the long shaft section 11. The induction magnet 4 is located on the short shaft section 12 and can rotate with the short shaft section 12. This invention achieves independent and synchronous linkage between the power output boom connector 2 and the detection induction magnet 4 on both sides of the output shaft by arranging the power output boom connector 2 and the detection induction magnet 4 separately. This avoids interference between the power transmission process and the angle detection, thereby improving the overall positioning accuracy of the joint.

[0043] The mounting bracket 3 is mounted on the housing of the worm gear reducer motor 1. The mounting bracket 3 has a mounting plate 31 and a fixing plate 32. The mounting plate 31 and the fixing plate 32 are arranged in parallel. The mounting plate 31 is rotatably sleeved on the periphery of the long shaft section 11. The fixing plate 32 is located on the side close to the short shaft section 12. The fixing plate 32 and the short shaft section 12 are distributed at intervals along the axial length direction of the output shaft. The present invention forms a stable mounting structure by using the parallel mounting plate 31 and the fixing plate 32, which provides a precise fixed mounting position for subsequent detection elements. At the same time, the spaced layout structure avoids motion interference of the rotating structure, ensuring the stability and accuracy of angle detection and further optimizing the joint positioning accuracy.

[0044] The Hall element 5 is mounted on the fixed plate 32 and is used to sense changes in the direction of the magnetic field. The magnetic encoder 6 is mounted on the fixed plate 32 and is electrically connected to the Hall element 5. The magnetic encoder 6 is used to output the absolute angle value of the output shaft according to the signal change of the Hall element 5. The present invention integrates the Hall element 5 and the magnetic encoder 6 on the fixed plate 32. The Hall element 5 senses the magnetic field change of its sensing magnetic sheet 4 in real time. The magnetic encoder 6 accurately outputs the absolute angle of the output shaft. Combined with the power-off self-locking characteristic of the worm gear reducer motor 1, the joint position can be stably locked after power failure to prevent position displacement and improve the stability of the power-off position.

[0045] Preferably, the mounting plate 31 is provided with a fixed arm connector 7, which is used to connect to the external mounting part. It can be understood that the mounting plate 31 is fixedly assembled with the external mounting part through the fixed arm connector 7, so that the worm gear reducer motor 1 and the mounting frame 3 are kept in a fixed state as a whole. It works with the boom connector 2 located on the long shaft section 11 to form a joint structure with static fixation and dynamic swing, thereby limiting the installation offset and vibration displacement of the motor during the operation of the whole machine, ensuring that the swing reference of the boom connector 2 always remains constant, preventing the angle detection deviation and self-locking position offset caused by the shaking of the whole machine, and improving the overall positioning accuracy and power-off position stability of the joint motor. The fixed arm connector 7 can be a flange connection seat, a threaded fixing seat, or a snap-fit ​​fixing support, or a welded fixing support, etc. The flange connection seat is suitable for high load and high precision fixed installation scenarios. The threaded fixing seat has a simple structure and is easy to disassemble and assemble, and is suitable for conventional lightweight installation conditions. The snap-fit ​​fixing support can realize quick disassembly and positioning, and is suitable for frequent disassembly and debugging scenarios.

[0046] Preferably, the fixed arm connector 7 is a square flange structure. It can be understood that the square flange structure of the fixed arm connector 7 is assembled on the mounting plate 31 and fixedly connected to the external mounting part, so that the worm gear reducer motor 1 and the mounting frame 3 form a stable fixed reference. The square flange has a multi-directional symmetrical force-bearing structure, which can resist torsional vibration and radial load during motor operation, limit the installation offset, swaying and deflection of the whole machine, and ensure that the swing reference of the boom connector 2, the detection reference of the Hall element 5 and the magnetic encoder 6 are always stable and reliable, preventing the angle detection error and power-off self-locking position offset caused by micro-displacement of the whole machine, further improving the positioning accuracy and power-off position stability of the joint motor. The square flange structure of the fixed arm connector 7 can be an integral stamped flange, a machined solid flange, or a hollowed-out weight-reducing flange. In addition, the fixed arm connector 7 can also be a circular flange structure, a polygonal flange structure, or an integral connecting plate structure, besides a square flange structure.

[0047] Preferably, the mounting frame 3, the boom connector 2, and the fixed arm connector 7 are all 3D printed structural components. It is understood that by using a 3D printed integrated structure for the mounting frame 3, boom connector 2, and fixed arm connector 7, no mold processing is required. This provides high flexibility in structural forming, allowing for adjustments to the specifications and dimensions of each component's interface with the external parts based on the actual load and equipment installation space, adapting to different assembly requirements. Furthermore, 3D printed structural components enable integrated forming of complex structures, reducing gaps and assembly errors between parts, ensuring the assembly accuracy and structural integrity of each connector and mounting frame 3, reducing overall assembly wobbling and positional deviation, and further guaranteeing the positioning accuracy of the joint motor and its positional stability after power failure and self-locking. The 3D printed structural components can be resin-printed, nylon / fiberglass-printed, or metal-printed.

[0048] Preferably, the magnetic encoder 6 is an absolute magnetic encoder with an I2C digital interface. This I2C digital interface is used to connect to an external receiver and output the absolute angle value of the output shaft in real time. It can be understood that by using an absolute magnetic encoder with an I2C digital interface, the device can directly read the absolute angle position of the output shaft each time it is powered on, without the need for mechanical zeroing or zero-finding calibration. Simultaneously, the I2C digital interface provides stable signal transmission, low latency, and strong anti-interference capabilities, enabling real-time, continuous, and accurate transmission of the absolute angle value of the output shaft. This ensures the real-time performance and accuracy of the joint motor angle acquisition, improves the dynamic positioning accuracy of the joint, and guarantees the continuity and reliability of the joint position data after power failure and restart, further enhancing the stability of the power-off position. The I2C digital interface of the absolute magnetic encoder can be a standard I2C interface, a high-speed I2C interface, or an enhanced anti-interference I2C interface.

[0049] Preferably, the magnetic encoder 6 is an AS5600 absolute magnetic encoder. It is understood that the AS5600 absolute magnetic encoder is chosen as the angle detection element of this device because this chip has high resolution and no blind spots in its omnidirectional detection capabilities. It can perform high-precision real-time analysis of the magnetic field changes of the sensing magnetic sheet 4, reducing angle sampling errors. Combined with a non-contact magnetic field acquisition method, it has no mechanical wear, no backlash, and strong long-term operational stability. It can continuously and stably output high-precision absolute angle values ​​for the output shaft, improving the dynamic positioning accuracy and repeatability of the joint motor. Simultaneously, it ensures the consistency of angle data after multiple power outages and restarts, further solidifying the locking effect of the joint's power-off position and overall operational reliability. In addition to the AS5600 absolute magnetic encoder, the absolute magnetic encoder 6 can also use the MLX90360, TLE5012, or MT6701 magnetic encoders. The MLX90360 magnetic encoder has high angle measurement accuracy and good fault tolerance, making it suitable for high-precision micro-motion adjustment scenarios. The TLE5012 magnetic encoder has strong anti-interference ability and excellent industrial stability, making it suitable for industrial joint conditions in complex electromagnetic environments. The MT6701 magnetic encoder has high integration and small size, making it suitable for small and lightweight robot joint installation scenarios.

[0050] Preferably, the magnetic encoder 6 is a 12-bit resolution magnetic encoder. It can be understood that using a 12-bit resolution magnetic encoder 6 for angle detection allows for high-precision subdivision of the single-turn rotation angle of the output shaft, improving the sampling accuracy and detection resolution of the absolute angle of the output shaft, reducing angle acquisition errors, and accurately capturing minute angle changes in the joint motor. This improves the fine-tuning positioning accuracy and repeatability of the joint motor. Simultaneously, high-resolution angle data ensures consistent angle position during each power-off locking and power-on reset, effectively preventing position drift and further enhancing the long-term positioning stability and power-off position locking reliability of the joint motor. The 12-bit resolution magnetic encoder 6 can be a fixed 12-bit resolution type, a range-adjustable resolution type, or a high-precision temperature-compensated 12-bit resolution type. The fixed 12-bit resolution type has a simple structure and controllable cost, suitable for conventional precision joint control scenarios. The range-adjustable resolution type allows for flexible switching of detection accuracy levels according to working conditions, adapting to multiple scenarios. The high-precision temperature-compensated 12-bit resolution type has a temperature compensation function, which can suppress angle deviations caused by temperature drift, suitable for high-precision positioning scenarios under complex high and low temperature conditions.

[0051] Preferably, the inductive magnetic sheet 4 is made of radially magnetized magnet. Obviously, using radially magnetized magnet for the inductive magnetic sheet 4 allows for a uniform, stable, and regular radial magnetic field distribution. This results in good linearity of magnetic field changes and a uniform magnetic field gradient throughout the entire rotation range of the output shaft. This enables the Hall element 5 to continuously and smoothly sense changes in the direction and intensity of the magnetic field, improving the accuracy and linearity of the angle resolution of the magnetic encoder 6. This ensures uniform and accurate angle detection throughout the entire stroke of the joint motor, further enhancing the joint positioning accuracy and the consistency and stability of the power-off position locking. The radially magnetized magnet can be made of radially magnetized neodymium iron boron magnet, radially magnetized ferrite magnet, or radially magnetized AlNiCo magnet.

[0052] Preferably, the boom connector 2 is a bushing structure, and the boom connector 2 is screwed and locked onto the long shaft section 11 so as to swing with the rotation of the long shaft section 11. Specifically, the boom connector 2 adopts a bushing structure and is fixed to the long shaft section 11 by screws, which can achieve high-precision coaxial assembly of the boom connector 2 and the output shaft long shaft section 11. The screw locking fastening method can eliminate assembly gaps, prevent loosening and slippage, and ensure that the rotational torque of the long shaft section 11 can be completely and synchronously transmitted to the boom connector 2, preventing transmission backlash and angle lag deviations, improving the joint power transmission accuracy and angle positioning accuracy. At the same time, the locking structure can prevent the connector from shifting or loosening due to long-term motor swing and alternating load, ensuring that the boom connector is in a self-locking state after power failure. The 2-angle position does not shift, further improving the overall positioning accuracy and stability of the joint when the power is off. Among them, the screw locking structure of the boom connector 2 can adopt a single-point screw locking structure, a double-point symmetrical screw locking structure, or a circumferentially distributed multi-point screw locking structure. The single-point screw locking structure is easy to assemble and simple in structure, and is suitable for light-load and low-speed swinging conditions. The double-point symmetrical screw locking structure has balanced force and strong locking stability, and is suitable for conventional medium-load joint working scenarios. The circumferentially distributed multi-point screw locking structure has uniform clamping, high coaxiality, and excellent anti-torsion ability, and is suitable for high-precision, high-load, and high-frequency swinging industrial joint scenarios.

[0053] Preferably, the short shaft segment 12 has a mounting end face 121, the fixing plate 32 is provided with an alignment hole 321, the fixing plate 32 is detachably connected to a receiving plate 8, and the receiving plate 8 can block the alignment hole 321; the short shaft segment 12 extends into the alignment hole 321 and has a gap with the receiving plate 8; the sensing magnetic sheet 4 is disposed on the mounting end face 121, the Hall element 5 is disposed on the receiving plate 8 and located in the alignment hole 321, and the sensing surface of the Hall element 5 faces the mounting end face 121; the magnetic encoder 6 is disposed on the receiving plate 8. It is understandable that by setting alignment holes 321 on the fixed plate 32 and forming a closed detection cavity structure with the detachable receiving plate 8, the mounting end face 121 of the short shaft section 12 and the sensing magnetic sheet 4 are housed inside the alignment holes 321. At the same time, the Hall element 5 and the magnetic encoder 6 are integrated and mounted on the receiving plate 8 and arranged facing the sensing magnetic sheet 4. The intermittent non-contact mounting structure can ensure smooth and jam-free rotation of the output shaft. Relying on the limiting and guiding effect of the alignment holes 321, the coaxiality and alignment accuracy of the Hall element 5 and the sensing magnetic sheet 4 can be ensured, making the magnetic field sensing more uniform and stable, thereby reducing the angle detection error. At the same time, the closed mounting structure can block external dust, debris and airflow interference, ensuring the stability of the detection element in long-term operation, improving the positioning accuracy of the joint motor, and continuously ensuring the position constant in the power-off self-locking state, improving the stability of the power-off position. The detachable receiving plate 8 structure also facilitates the later inspection, disassembly, debugging and maintenance of the components. The receiving plate 8 can be a solid closed receiving plate, a hollow heat dissipation receiving plate, or a positioning boss type receiving plate. The solid closed receiving plate has good protection and strong dust and interference prevention capabilities, and is suitable for complex dusty working conditions. The hollow heat dissipation receiving plate has excellent heat dissipation performance, which can avoid the encoder's heat accumulation affecting the detection accuracy, and is suitable for high-frequency continuous operation of motors. The positioning boss type receiving plate has high alignment accuracy and small assembly error, and is suitable for joint working scenarios with ultra-high precision angle detection.

[0054] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An end-mounted encoder joint motor with power-off self-locking function, characterized in that, include: The worm gear reducer motor (1) has a long shaft section (11) and a short shaft section (12) on its output shaft, and the long shaft section (11) and the short shaft section (12) are located on opposite sides respectively; Boom connector (2), the boom connector (2) is provided on the long shaft section (11) so as to be able to swing by the drive of the long shaft section (11); Mounting bracket (3), the mounting bracket (3) is disposed on the housing of the worm gear reducer motor (1), the mounting bracket (3) has mounting plate (31) and fixing plate (32), the mounting plate (31) and the fixing plate (32) are arranged in parallel, the mounting plate (31) is rotatably sleeved on the periphery of the long shaft section (11), the fixing plate (32) is located on the side close to the short shaft section (12), the fixing plate (32) and the short shaft section (12) are distributed at intervals along the axial length direction of the output shaft; Induction magnetic sheet (4), the induction magnetic sheet (4) is disposed on the short shaft section (12) so as to be able to rotate with the short shaft section (12); Hall element (5), the Hall element (5) is disposed on the fixed plate (32) and is used to sense changes in the direction of the magnetic field; A magnetic encoder (6) is mounted on the fixed plate (32). The magnetic encoder (6) is electrically connected to the Hall element (5). The magnetic encoder (6) is used to output the absolute angle value of the output shaft according to the signal change of the Hall element (5).

2. The end-mounted encoder joint motor with power-off self-locking function according to claim 1, characterized in that, The mounting plate (31) is provided with a fixed arm connector (7), which is used to connect to the external mounting part.

3. The end-mounted encoder joint motor with power-off self-locking function according to claim 2, characterized in that, The fixed arm connector (7) has a square flange structure.

4. An end-mounted encoder joint motor with power-off self-locking function according to claim 2, characterized in that, The mounting bracket (3), the boom connector (2), and the fixed boom connector (7) are all 3D printed structural parts.

5. An end-mounted encoder joint motor with power-off self-locking function according to claim 1, characterized in that, The magnetic encoder (6) is an absolute magnetic encoder. The magnetic encoder (6) has an I2C digital interface, which is used to connect to an external receiver and output the absolute angle value of the output shaft in real time.

6. An end-mounted encoder joint motor with power-off self-locking function according to claim 5, characterized in that, The magnetic encoder (6) is an AS5600 absolute magnetic encoder.

7. An end-mounted encoder joint motor with power-off self-locking function according to claim 5, characterized in that, The magnetic encoder (6) is a 12-bit resolution magnetic encoder.

8. An end-mounted encoder joint motor with power-off self-locking function according to claim 1, characterized in that, The induction magnetic sheet (4) is made of radially magnetized steel.

9. An end-mounted encoder joint motor with power-off self-locking function according to claim 1, characterized in that, The boom connector (2) is a bushing structure, and the boom connector (2) is screwed onto the long shaft section (11) so as to swing with the rotation of the long shaft section (11).

10. An end-mounted encoder joint motor with power-off self-locking function according to claim 1, characterized in that, The short shaft section (12) has a mounting end face (121), the fixing plate (32) is provided with an alignment hole (321), the fixing plate (32) is detachably connected to a receiving plate (8), and the receiving plate (8) can block the alignment hole (321); the short shaft section (12) extends into the alignment hole (321) and there is a gap between it and the receiving plate (8); the sensing magnetic sheet (4) is disposed on the mounting end face (121), the Hall element (5) is disposed on the receiving plate (8) and located in the alignment hole (321), and the sensing surface of the Hall element (5) faces the mounting end face (121); the magnetic encoder (6) is disposed on the receiving plate (8).

Images