Robot driving motor position sensor

Abstract

The utility model discloses a robot driving motor position sensor, which relates to the technical field of robots, and comprises a stator and a rotor, the rotor penetrates through the center of the stator, the stator and the rotor can rotate relatively, the stator comprises a stator disc, a plurality of groups of cosine windings and sine windings are arranged in the stator disc, and the cosine windings and the sine windings are arranged in the stator disc. The cosine windings and the sine windings are alternately distributed, are independent individuals relative to the stator disc, and can be disassembled and assembled on the stator disc. According to the robot driving motor position sensor, the plurality of cosine windings and sine windings arranged on the stator are fixedly connected with the stator disc through the locking structures, and when coil windings of a certain cosine winding and sine winding are burnt out, the cosine winding or sine winding can be directly detached from the stator disc and replaced with a new one, so that the operation is simple and convenient. Therefore, the replacement steps are simplified, the replacement difficulty is reduced, and the replacement efficiency is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot driving motor position sensor. Background Art

[0002] The motor is the driving source for the robot to perform daily actions. In order to facilitate understanding of the actions performed by the robot, the driving motor of the existing robot is usually equipped with a sensor that can detect the position of the driving motor rotor.

[0003] The rotor position sensor, also called a resolver sensor, is composed of a stator and the rotor of the motor itself. The stator is installed on the inner side of the end cover of the robot drive motor. Several alternating cosine windings and sine windings are installed on the stator. The structure of the cosine winding and the sine winding is to wind the coil winding on the outside of the magnetic core. In the common structure of the existing rotor position sensor, the magnetic core of the cosine winding and the sine winding are integrally formed with the stator disk. The disadvantage of this integrated structure is that when a cosine winding and a sine winding are burned out, the entire stator disk needs to be removed from the motor end cover. The process is relatively cumbersome, time-consuming, and has low work efficiency. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a robot drive motor position sensor, which solves the problems raised by the above-mentioned background technology.

[0005] To achieve the above objectives, the utility model is implemented through the following technical solutions: a robot drive motor position sensor, comprising a stator installed inside the end cover of the robot drive motor, and a rotor installed inside the housing of the robot drive motor, the rotor passes through the center of the stator, and the stator and the rotor can rotate relative to each other;

[0006] The stator comprises a stator disk, and a plurality of groups of cosine windings and sine windings are installed inside the stator disk. The cosine windings and sine windings are distributed alternately. The cosine windings and sine windings are independent entities relative to the stator disk, and the cosine windings and sine windings can be disassembled and assembled on the stator disk.

[0007] Furthermore, a plurality of mounting holes are reserved on the edge of the stator disk, and the mounting holes are matched with the end cover of the robot drive motor.

[0008] Furthermore, a plurality of slots are reserved on the inner wall of the stator disk, and a plurality of first insertion holes and threaded holes are reserved on the surface of the stator disk, and the slots are connected to the first insertion hole.

[0009] Furthermore, the cosine winding and the sine winding have the same structure.

[0010] Furthermore, the cosine winding includes a "Y"-shaped magnetic core, the outside of which is wound with a coil winding, and the top of the magnetic core is connected to an insert block, and a second insert hole is provided through the inside of the insert block.

[0011] Furthermore, the cosine winding and the sine winding are both connected to the stator disk via a locking mechanism.

[0012] Furthermore, the locking mechanism includes a bracket installed on the surface of the stator disk, a through hole 1 is reserved at the bottom of the bracket, a locking rod is inserted into the inside of the through hole 1, a limit ring is fixedly connected to the outside of the locking rod, and a spring is also sleeved on the outside of the locking rod, and the spring abuts between the limit ring and the bracket.

[0013] Furthermore, a handle is integrally connected to the end of the locking rod, and a second through hole is reserved on the top of the bracket, and a bolt is inserted into the inside of the second through hole.

[0014] Furthermore, the rotor includes a rotor plate, the cosine winding and the sine winding surround the rotor plate, a plurality of recessed portions and raised portions are arranged on the surface of the rotor plate, the recessed portions and raised portions are distributed alternately, an axial hole and a spline groove are respectively penetrated through the middle of the rotor plate, the interior of the axial hole is connected to the rotor shaft, the surface of the rotor shaft is integrally connected to the spline protrusion, and the spline protrusion is engaged in the interior of the spline groove.

[0015] The utility model provides a robot drive motor position sensor. Compared with the prior art, it has the following beneficial effects:

[0016] The robot drive motor position sensor, the several cosine windings and sine windings arranged on the stator are independent entities from the stator disk, and are connected and fixed by a locking structure. Compared with the existing integrated structure, when the coil winding of a cosine winding or a sine winding is burned out, the cosine winding or the sine winding can be directly removed from the stator disk and replaced with a new one, without the need to remove the entire stator disk and other intact cosine windings and sine windings from the motor end cover, which simplifies the replacement steps, reduces the difficulty of replacement, and improves the replacement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a structural schematic diagram of the stator in the utility model;

[0019] Figure 3 It is a structural schematic diagram of the stator disc in the utility model;

[0020] Figure 4 It is a schematic diagram of the splitting of the cosine winding and the locking mechanism in the utility model;

[0021] Figure 5 It is a schematic diagram of the assembly of the cosine winding and the locking mechanism in the utility model;

[0022] Figure 6 This is a schematic diagram of the split rotor in the utility model;

[0023] Figure 7 This is a cross-sectional view of the utility model using a locking mechanism to lock the cosine winding on the stator disk.

[0024] In the figure: 1. stator; 11. stator plate; 111. mounting hole; 112. slot; 113. socket one; 114. threaded hole; 12. cosine winding; 121. magnetic core; 122. coil winding; 123. plug block; 124. socket two; 13. sine winding; 14. locking mechanism; 141. bracket; 142. through hole one; 143. locking rod; 144. limit ring; 145. spring; 146. handle; 147. through hole two; 148. bolt; 2. rotor; 21. rotor sheet; 22. recessed portion; 23. raised portion; 24. rotor shaft; 25. shaft hole; 26. spline groove; 27. spline raised portion. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-7The utility model provides a technical solution: a robot drive motor position sensor, which is composed of a stator 1 and a rotor 2. The stator 1 is installed on the inner side of the end cover of the robot drive motor. The rotor 2 is the rotor of the robot drive motor. The rotor 2 is mainly composed of a rotor sheet 21 and a rotor shaft 24. A plurality of alternately distributed concave portions 22 and convex portions 23 are arranged around the rotor sheet 21. The carrier of the stator 1 is a stator disk 11. A plurality of cosine windings 12 and sine windings 13, which are also alternately distributed, are installed in the middle of the stator disk 11. The structures of the cosine windings 12 and the sine windings 13 are the same, except that the magnetic The winding methods of the coil winding 122 on the core 121 are different. When the cosine winding 12 and the sine winding 13 are energized, a magnetic field will be generated. When the rotor sheet 21 rotates with the rotor shaft 24, the concave portion 22 and the convex portion 23 on its surface will cause a change in the magnetic flux, and the voltage on the sine winding 13 will form an envelope signal. Similarly, the voltage on the cosine winding 12 will also form an envelope signal, but the curves of the two envelope signals are complementary and differ by 90°. After calculation through these signals, the position of the rotor shaft 24 can be known. This is the principle that the position sensor can detect the rotor position and angle;

[0027] In the prior art, the magnetic core 121 of the cosine winding 12 and the sine winding 13 is usually formed integrally with the stator disk 11, that is, it is a whole. The design defect of this structure is that when the coil winding 122 on a cosine winding 12 or a sine winding 13 is burned out, a new coil winding 122 needs to be wound. At this time, the entire stator disk 11 needs to be removed from the end cover of the robot drive motor, and then a new coil winding is wound on the burned coil. This process is relatively troublesome. In order to solve this problem, The cosine windings 12, the sine windings 13 and the stator disk 11 are designed to be split, that is, the cosine windings 12, the sine windings 13 and the stator disk 11 are independent of each other, and they are locked and fixed by a locking mechanism 14. In this way, when the coil winding 122 on a cosine winding 12 or a sine winding 13 is burned, it is only necessary to remove the cosine winding 12 or the sine winding 13 from the stator disk 11, that is, there is no need to remove the stator disk 11, which can simplify the steps and speed up the efficiency. The specific method is as follows:

[0028] The stator disk 11 is respectively provided with a slot 112, a first socket 113 and a threaded hole 114, and a plug block 123 is fixedly connected to each magnetic core 121. A second socket 124 is provided inside the plug block 123, and the plug block 123 can be inserted into the slot 112. After insertion, the first socket 113, the slot 112 and the second socket 124 are connected. In the structure of the locking mechanism 14, after a locking rod 143 is inserted into the first socket 113, the slot 112 and the second socket 124, the locking rod 143 can be fixed inside the first socket 113, the slot 112 and the second socket 124 with the spring 145 pushing the limit ring 144;

[0029] The entire locking mechanism 14 is based on the bracket 141. The top of the bracket 141 is provided with a second through hole 147, and the bottom is provided with a first through hole 142. The bracket 141 can be installed on the stator plate 11 by screwing a bolt 148 into the threaded hole 114. The locking rod 143 passes through the inside of the first through hole 142, and the end of the locking rod 143 is also integrally connected to a handle 146 that can be easily operated. The spring 145 abuts against the limit ring 144 and The bracket 141 is provided with a limit ring 144, and the limit ring 144 is fixed to the locking rod 143. When the cosine winding 12 or the sine winding 13 needs to be removed, the locking rod 143 can be pulled outward, and the spring 145 is compressed. After the locking rod 143 is separated from the jack 113, the slot 112 and the jack 2 124, the cosine winding 12 or the sine winding 13 can be separated from the stator disk 11. When the cosine winding 12 or the sine winding 13 needs to be installed, the same operation can be performed.

Claims

1. A robot drive motor position sensor, comprising a stator (1) mounted on the inner side of an end cover of the robot drive motor, and a rotor (2) mounted on the inner side of a housing of the robot drive motor, wherein the rotor (2) passes through the center of the stator (1), and the stator (1) and the rotor (2) are capable of relative rotation, characterized in that: The stator (1) comprises a stator disk (11), wherein a plurality of groups of cosine windings (12) and sine windings (13) are installed inside the stator disk (11), wherein the cosine windings (12) and the sine windings (13) are distributed alternately, and the cosine windings (12) and the sine windings (13) are independent entities relative to the stator disk (11), and the cosine windings (12) and the sine windings (13) can be disassembled and assembled on the stator disk (11).

2. A robot drive motor position sensor according to claim 1, characterized in that: A plurality of mounting holes (111) are reserved on the edge of the stator disk (11), and the mounting holes (111) are adapted to the end cover of the robot driving motor.

3. A robot drive motor position sensor according to claim 2, characterized in that: The inner wall of the stator disc (11) is reserved with a plurality of slots (112), and the surface of the stator disc (11) is also reserved with a plurality of first insertion holes (113) and threaded holes (114), and the slots (112) are in communication with the first insertion holes (113).

4. A robot drive motor position sensor according to claim 1, characterized in that: The cosine winding (12) and the sine winding (13) have the same structure.

5. A robot drive motor position sensor according to claim 4, characterized in that: The cosine winding (12) comprises a "Y"-shaped magnetic core (121), a coil winding (122) is wound around the outside of the magnetic core (121), and a plug block (123) is connected to the top of the magnetic core (121), and a second plug hole (124) is provided through the inside of the plug block (123).

6. A robot drive motor position sensor according to claim 1, characterized in that: The cosine winding (12) and the sine winding (13) are both connected to the stator disk (11) via a locking mechanism (14).

7. A robot drive motor position sensor according to claim 6, characterized in that: The locking mechanism (14) comprises a bracket (141) mounted on the surface of the stator disk (11); a through hole (142) is reserved at the bottom of the bracket (141); a locking rod (143) is inserted into the through hole (142); a limit ring (144) is fixedly connected to the outside of the locking rod (143); a spring (145) is also sleeved on the outside of the locking rod (143); and the spring (145) is abutted between the limit ring (144) and the bracket (141).

8. A robot drive motor position sensor according to claim 7, characterized in that: The end of the locking rod (143) is integrally connected with a handle (146), and a second through hole (147) is reserved at the top of the bracket (141), and a bolt (148) is inserted into the second through hole (147).

9. A robot drive motor position sensor according to claim 1, characterized in that: The rotor (2) comprises a rotor plate (21), the cosine winding (12) and the sine winding (13) surround the rotor plate (21), a plurality of recessed portions (22) and raised portions (23) are arranged on the surface of the rotor plate (21), the recessed portions (22) and raised portions (23) are distributed in an alternating manner, an axial hole (25) and a spline groove (26) are respectively penetrated through the middle of the rotor plate (21), the interior of the axial hole (25) is connected to a rotor shaft (24), the surface of the rotor shaft (24) is integrally connected to a spline protrusion (27), and the spline protrusion (27) is engaged in the interior of the spline groove (26).

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